#ifndef __INERTIALSENSOR_BMI055_H__
#define __INERTIALSENSOR_BMI055_H__

#include "SPIDevice.h"
#include <stdint.h>
#include <stdbool.h>

typedef struct InertialSensor_BMI088
{
	SPI_DEV_t *dev_accel;
	SPI_DEV_t *dev_gyro;
	const char *name;
	bool success;

	uint32_t accel_error_count;
	uint32_t gyro_error_count;
	int temperature_counter;

	float accel[3];
	float gyro[3];
	float temp_degc;
	uint8_t accel_seq;
	uint8_t gyro_seq;

	uint32_t accel_count;
	uint32_t gyro_count;
	uint32_t accel_pps;
	uint32_t gyro_pps;

	bool done_accel_config;
	uint32_t accel_config_count;
} InertialSensor_BMI088_t;

bool InertialSensor_BMI088_init(InertialSensor_BMI088_t *imu, const char *name, SPI_DEV_t *dev_accel, SPI_DEV_t *dev_gyro);
void InertialSensor_BMI088_update(InertialSensor_BMI088_t *imu);
void InertialSensor_BMI088_loop(InertialSensor_BMI088_t *imu);
void InertialSensor_BMI088_monitor(InertialSensor_BMI088_t *imu);

#endif /* __INERTIALSENSOR_BMI055_H__ */