AltimeterArduinoEPS32TFT/sensorIMU.h at master · thzero/AltimeterArduinoEPS32TFT · GitHub

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#ifndef _SENSOR_IMU_H
#define _SENSOR_IMU_H

#include "SensorQMI8658.hpp"

#include "kalman.h"
#include "sensorData.h"

//////////////////////////////////////////////////////////////////////
// Constants
//////////////////////////////////////////////////////////////////////
#ifndef SENSOR_SDA
#define SENSOR_SDA 42
#endif

#ifndef SENSOR_SCL
#define SENSOR_SCL 41
#endif

struct qmiData {
  IMUdata acc;
  IMUdata gyr;
};

class sensorIMU {
  public:
    sensorIMU();
    void sleepSensors();
    void setupSensors();
    accelerometerValues readSensorAccelerometer();
    gyroscopeValues readSensorGyroscope();

  private:
    struct qmiData _qmiData;
    SensorQMI8658 _qmi;
    kalman _kalmanAccelX;
    kalman _kalmanAccelY;
    kalman _kalmanAccelZ;
    kalman _kalmanGyroX;
    kalman _kalmanGyroY;
    kalman _kalmanGyroZ;
};

#endif