void COM::ReadAndFuse(uint8_t nCapacityBit, uint8_t nValueSelectOption, uint8_t nSDSelectOption, uint8_t nSlot) {

  int32_t nValue, nStdDev;
  bool bFirst = true;

  if (m_anSlotListPerCapacity[nCapacityBit] & (1UL << nSlot)) {

    nValue = m_cSPIProtocol.ReadLongViaSPI(nValueSelectOption, nSlot);
    nStdDev = m_cSPIProtocol.ReadLongViaSPI(nSDSelectOption, nSlot);

    if (bFirst) {
      bFirst = false;
      m_anDataArray[nValueSelectOption] = nValue;
      m_anDataArray[nSDSelectOption] = nStdDev;
    }
    else {
      int32_t nFusedSigma;
      m_anDataArray[nValueSelectOption] = FuseValues(m_anDataArray[nValueSelectOption],
                                                     m_anDataArray[nSDSelectOption],
                                                     nValue,
                                                     nStdDev,
                                                     nFusedSigma);
      m_anDataArray[nSDSelectOption] = nFusedSigma;
    }
  }
}

int32_t COM::FuseValues(int32_t nZ1, int32_t nSigma1, int32_t nZ2, int32_t nSigma2, int32_t &nFusedSigma) {
  int32_t nVariance1 = pow(nSigma1, 2);
  int32_t nVariance2 = pow(nSigma2, 2);

  int32_t nSumVariances = nVariance1 + nVariance2;

  int32_t nFusedVariance = (nVariance1 * nVariance2) / (nVariance1 + nVariance2);

  nFusedSigma = isqrt(nFusedVariance);

  return ((nVariance2 / nSumVariances) * nZ1 + (nVariance1 / nSumVariances) * nZ2);
}