esp-fc

#pragma once

#include "BusAwareDevice.hpp"
#include "Hal/BusDevice.hpp"
#include <helper_3dmath.hpp>

namespace Espfc {

enum GyroDeviceType : uint8_t
{
  GYRO_NONE = 0,
  GYRO_AUTO = 1,
  GYRO_MPU6000 = 2,
  GYRO_MPU6050 = 3,
  GYRO_MPU6500 = 4,
  GYRO_MPU9250 = 5,
  GYRO_LSM6DSO = 6,
  GYRO_ICM20602 = 7,
  GYRO_BMI160 = 8,
  GYRO_ICM42688 = 9,
  GYRO_MAX
};

namespace Device {

class GyroDevice : public BusAwareDevice
{
public:
  typedef GyroDeviceType DeviceType;

  virtual int begin(Hal::BusDevice* bus) = 0;
  virtual int begin(Hal::BusDevice* bus, uint8_t addr) = 0;

  virtual DeviceType getType() const = 0;

  virtual int readGyro(VectorInt16& v) = 0;
  virtual int readAccel(VectorInt16& v) = 0;

  virtual void setDLPFMode(uint8_t mode) = 0;
  virtual int getRate() const = 0;
  virtual void setRate(int rate) = 0;

  virtual bool testConnection() = 0;

  static const char** getNames();
  static const char* getName(DeviceType type);
};

} // namespace Device

} // namespace Espfc