#ifndef LIS2DH12_H
#define LIS2DH12_H
#include "gSensor/gSensor_manage.h"
// #include <stdatomic.h>
#include "le_rcsp_adv_module.h"


// Constants
#define GRAVITY_EARTH       9.80665f    // m/s^2
#define SAMPLING_PERIOD_S   2        // 采样周期，s
#define LPF_ALPHA           0.8f        // 低通滤波系数

typedef struct {
    float x;
    float y;
    float z;
} axis_info_xtell;

typedef struct {
    axis_info_xtell velocity;     // m/s
    axis_info_xtell distance;     // m
} motion_data_t;


// 定义可能的满量程范围
typedef enum {
    SCALE_2G = 2,
    SCALE_4G = 4,
    SCALE_8G = 8,
    SCALE_16G = 16
} scale_t;


unsigned char  LIS2DH12_Config(void);
char LIS2DH12_Check();
unsigned char LIS2DH12_disable(void);
void LIS2DH12_read_data(axis_info_t *sl_accel);
void print_register_values();
void LIS2DH12_reinit_fifo();
// float convert_to_g(int16_t raw_value, scale_t scale);
float convert_to_g(int16_t raw_value);
void xtell_i2c_test();

// 获取运动数据
void get_motion_data(motion_data_t *data);
axis_info_xtell get_current_accel_mss(void);


//10位2补码转换
int16_t convert_10bit_2s_complement(int16_t data);
// typedef struct {
//     short x;
//     short y;
//     short z;
// } axis_info_t;

#endif