imu.h

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#pragma once
 
#include <driver/i2c_types.h>
#include "types/vector3.h"
#include "types/quaternion.h"
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Imu {
    private:
        static constexpr const char* TAG = "Device::Imu";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_IMU;
 
        static constexpr uint8_t I2C_ADDRESS = 0x68;
        static constexpr uint32_t I2C_CLOCK_SPEED = 100'000;
        static constexpr uint8_t MPU6050_DEVICE_ID = 0x68;
        static constexpr uint8_t FIFO_BUFFER_SIZE = 42;
 
        Robot& robot;
        i2c_master_dev_handle_t device_handle;
        quaternion quaternion_values;
        vector3 gyro_values;
 
    private:
        void write_register(uint8_t register_address, uint8_t value) const;

        [[nodiscard]] uint8_t read_register(uint8_t register_address) const;
 
    private:
        #include "imu_registers.inc.h"
        #include "imu_dmp_firmware.inc.h"
 
    public:
        explicit Imu(Robot& robot);
        ~Imu();

        void initialize();

        void read_fifo_buffer();

        [[nodiscard]] quaternion get_quaternion() const { return quaternion_values; }

        [[nodiscard]] vector3 get_gyro_values() const { return gyro_values; }
    };
}