#ifndef __INERTIALSENSOR_INVENSENSE_H__
#define __INERTIALSENSOR_INVENSENSE_H__

#include "SPIDevice.h"

enum Invensense_Type {
        Invensense_MPU6000=0,
        Invensense_MPU6500,
        Invensense_MPU9250,
        Invensense_ICM20600,
        Invensense_ICM20608,
        Invensense_ICM20602,
        Invensense_ICM20601,
        Invensense_ICM20789,
        Invensense_ICM20689,
};

typedef struct {
		float accel[3];
		float gyro[3];
		uint8_t count;
} ACCUM_t;

typedef struct {
    int16_t _raw_temp;

    float temp_sensitivity; // degC/LSB
    float temp_zero; // degC
    
    float _accel_scale;

    GPIO_TypeDef* _drdy;
    uint16_t _drdy_Pin;
    SPI_DEV_t* _dev;

    // which sensor type this is
    enum Invensense_Type _mpu_type;

    // Last status from register user control
    uint8_t _last_stat_user_ctrl;    

    // buffer for fifo read
    uint8_t *_fifo_buffer;
		
		ACCUM_t _accum;
		
		uint32_t accel_clip_count;
		
	  float accel[3];
	  float gyro[3];
	  float temp_degc;

		const char *name;
		bool success;
    int cnt;
    int pps;
    int seq;
	  osMutexId mutex;
}InertialSensor_Invensense_t;

bool InertialSensor_Invensense_init(InertialSensor_Invensense_t *imu, const char *name, SPI_DEV_t* dev, GPIO_TypeDef* drdy, uint16_t drdy_Pin);
void InertialSensor_Invensense_update(InertialSensor_Invensense_t *imu);
void InertialSensor_Invensense_loop(InertialSensor_Invensense_t *imu);
void InertialSensor_Invensense_monitor(InertialSensor_Invensense_t *imu);

#endif /* __INERTIALSENSOR_INVENSENSE_H__ */