#ifndef __Arduino_ICM20948_H__
#define __Arduino_ICM20948_H__

#include "main.h"

#include "HAL_impl.h"
#include "HAL_STM32_config.h"

/*************************************************************************
  Defines
*************************************************************************/

static const uint8_t EXPECTED_WHOAMI[] = { 0xEA }; /* WHOAMI value for ICM20948 or derivative */
#define AK0991x_DEFAULT_I2C_ADDR  0x0C
#define AK0991x_SECONDARY_I2C_ADDR  0x0E  /* The secondary I2C address for AK0991x Magnetometers */

#define ICM_I2C_ADDR_REVA      0x68  /* I2C slave address for INV device on Rev A board */
#define ICM_I2C_ADDR_REVB     0x69  /* I2C slave address for INV device on Rev B board */

#define AD0_VAL   1     // The value of the last bit of the I2C address.

#define THREE_AXES 3

#ifdef __cplusplus

typedef struct {
  int mode;
  uint8_t enable_gyroscope;
  uint8_t enable_accelerometer;
  uint8_t enable_magnetometer;
  uint8_t enable_gravity;
  uint8_t enable_linearAcceleration;
  uint8_t enable_quaternion6;
  uint8_t enable_quaternion9;
  uint8_t enable_har;
  uint8_t enable_steps;
  int gyroscope_frequency;
  int accelerometer_frequency;
  int magnetometer_frequency;
  int gravity_frequency;
  int linearAcceleration_frequency;
  int quaternion6_frequency;
  int quaternion9_frequency;
  int har_frequency;
  int steps_frequency;

} DMP_ICM20948Settings;


/*************************************************************************
  Class
*************************************************************************/

class DMP_ICM20948
{
  public:

	DMP_ICM20948();

    //void init(TwoWire *theWire = &Wire, JTICM20948Settings settings);
    void init(DMP_ICM20948Settings settings);
    void task();

    bool gyroDataIsReady();
    bool accelDataIsReady();
    bool magDataIsReady();
    bool gravDataIsReady();
    bool linearAccelDataIsReady();
    bool quat6DataIsReady();
    bool euler6DataIsReady();
    bool quat9DataIsReady();
    bool euler9DataIsReady();
    bool harDataIsReady();
    bool stepsDataIsReady();

    void readGyroData(float *x, float *y, float *z);
    void readAccelData(float *x, float *y, float *z);
    void readMagData(float *x, float *y, float *z);
    void readGravData(float* x, float* y, float* z);
    void readLinearAccelData(float* x, float* y, float* z);
    void readQuat6Data(float *w, float *x, float *y, float *z);
    void readEuler6Data(float *roll, float *pitch, float *yaw);
    void readQuat9Data(float* w, float* x, float* y, float* z);
    void readEuler9Data(float* roll, float* pitch, float* yaw);
    void readHarData(char* activity);
    void readStepsData(unsigned long* steps_count);
};

#endif

#endif