#pragma once

#ifndef IIMU_H
#define IIMU_H

#pragma pack(push, 1)
struct IMU_Data
{
  long Temp;
  struct { float X, Y, Z; } Acc;
  struct { float X, Y, Z; } RawAcc;
  struct { float X, Y, Z; } Gyr;
  struct { float X, Y, Z; } RawGyr;
  struct { float X, Y, Z; } Mag;
  struct { float X, Y, Z; } RawMag;
};

struct XYZ_Calib
{
  short X[2] = {-4096, 4096};
  short Y[2] = {-4096, 4096};
  short Z[2] = {-4096, 4096};
};

struct XYZ_IMU_DATA
{
  char Writed = sizeof(XYZ_IMU_DATA);
  XYZ_Calib Acc;
};

struct IMU_Calib_Data
{
  bool AllowedCalib = false;
  bool AccCalibNeed = true;
  XYZ_IMU_DATA Data;
};

struct IMU_Info
{
  unsigned char Addrs[1]        = {0x68};
  unsigned char WhoIAMReg[1]    = {0x00};
  unsigned char ExpectedIDs[1]  = {0xEA};
};
#pragma pack(pop)

typedef void (*IMU_Proc)(IMU_Data&);

extern IMU_Calib_Data CalibDataIMU;

void IMU_InitPower();

void IMU_SetReg(unsigned char Addr, unsigned char Reg, unsigned char Value);

unsigned char IMU_GetReg(unsigned char Addr, unsigned char Reg);

class IIMU
{
protected:
  virtual ~IIMU() = default;
public:
  virtual void Init() = 0;
  virtual void Get(IMU_Data& Data) = 0;
  virtual void GetAsync(const IMU_Proc& DoneProc) = 0;
};

IIMU* TryFindIMU(bool& find);

#endif