/home/travis/build/lis-epfl/MAVRIC_Library/drivers/mpu_6050.hpp

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/*******************************************************************************
 * \file mpu_6050.hpp
 *
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 *
 * \brief Driver for the MPU_6050 imu using i2C communication protocol
 *
 ******************************************************************************/


#ifndef MPU_6050_HPP_
#define MPU_6050_HPP_

#include <cstdint>

#include "drivers/accelerometer.hpp"
#include "drivers/gyroscope.hpp"
#include "hal/common/i2c.hpp"


class Mpu_6050_acc: public Accelerometer
{
public:
    virtual bool update_acc(void) = 0;

    bool update(void)
    {
        return update_acc();
    }
};


class Mpu_6050_gyr: public Gyroscope
{
public:
    virtual bool update_gyr(void) = 0;

    bool update(void)
    {
        return update_gyr();
    }
};


class Mpu_6050: public Mpu_6050_acc, public Mpu_6050_gyr
{
public:
    Mpu_6050(I2c& i2c);


    bool init(void);


    bool update_acc(void);
    bool update_gyr(void);


    const float& last_update_us(void) const;


    const std::array<float, 3>& gyro(void) const;



    const float& gyro_X(void) const;


    const float& gyro_Y(void) const;


    const float& gyro_Z(void) const;


    const std::array<float, 3>& acc(void) const;


    const float& acc_X(void) const;


    const float& acc_Y(void) const;


    const float& acc_Z(void) const;


    const float& temperature(void) const;


private:
    I2c&                 i2c_;              
    std::array<float, 3> gyro_data_;        
    std::array<float, 3> acc_data_;         
    float                temperature_;      
    float                last_update_us_;   

     bool wake_up_MPU6050(const uint8_t address);
};

#endif /* MPU_6050_H */