IMU.h

#ifndef __IMU_H__
#define __IMU_H__

#include <Arduino.h>
#include <Wire.h>

#include "utility/MahonyAHRS.h"

class IMU {
   public:
    enum ImuType { IMU_UNKNOWN = 0, IMU_SH200Q, IMU_MPU6886 };

    IMU();

    int Init(void);

    void getGres();
    void getAres();

    void getAccelAdc(int16_t *ax, int16_t *ay, int16_t *az);
    void getGyroAdc(int16_t *gx, int16_t *gy, int16_t *gz);
    void getTempAdc(int16_t *t);

    void getAccelData(float *ax, float *ay, float *az);
    void getGyroData(float *gx, float *gy, float *gz);
    void getTempData(float *t);

    void getAhrsData(float *pitch, float *roll, float *yaw);

    void setFIFOEnable(bool enable_flag);
    uint8_t ReadFIFO();
    void ReadFIFOBuff(uint8_t *data_buf, uint16_t length);
    uint16_t ReadFIFOCount();
    void RestFIFO();

    ImuType imuType;
    float aRes, gRes;
};

#endif