/*
 * ________________________________________________________________________________________________________
 * Copyright (c) 2018-2019 InvenSense Inc. All rights reserved.
 *
 * This software, related documentation and any modifications thereto (collectively "Software") is subject
 * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
 * and other intellectual property rights laws.
 *
 * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
 * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
 * from InvenSense is strictly prohibited.
 *
 * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
 * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
 * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
 * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
 * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
 * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
 * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
 * OF THE SOFTWARE.
 * ________________________________________________________________________________________________________
 */
#ifndef __EXAMPLE_SANITY_H__
#define __EXAMPLE_SANITY_H__

#include <stdint.h>
#include "Invn/Drivers/Icm426xx/Icm426xxDriver_HL.h"
#include "Invn/Drivers/Icm426xx/Icm426xxExtFunc.h"
#include "invn_algo_agm.h"

#define NUM_COLUMN 24

/**
 * \brief This function is in charge of reseting and initializing Icm426xx device. It should
 * be succesfully executed before any access to Icm426xx device.
 * 
 * \param[in] icm_serif : Serial interface object.
 * \return 0 on success, negative value on error.
 */
int SetupInvDevice(struct inv_icm426xx_serif *icm_serif);

/**
 * \brief This function initializes the agm_fusion algorithm.
 * 
 * \return 0 on success, negative value on error.
 */
int InitInvAgmFusionAlgo();

/**
 * \brief This function plays a test vector and compare the output.
 * 
 * \return 0 on success, negative value on error.
 */
int RunTestVector(const int32_t testVector[][NUM_COLUMN], uint32_t numRows, uint32_t numCol,
                  const char *testName);

#endif /* !__EXAMPLE_SANITY_H__ */
