/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#pragma once

#include "AP_InertialSensor.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
extern "C" {
#undef DEG_TO_RAD
#include "mpu9x50.h"
}
#include <AP_HAL/utility/RingBuffer.h>

extern ObjectBuffer<mpu9x50_data> *mpu9250_mag_buffer;

class AP_InertialSensor_QURT : public AP_InertialSensor_Backend
{
public:
    AP_InertialSensor_QURT(AP_InertialSensor &imu);

    /* update accel and gyro state */
    bool update() override;
    void accumulate(void) override;
    
    // detect the sensor
    static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);

    void data_ready(void);
    
private:
    bool init_sensor();
    void init_mpu9250();

    uint64_t last_timestamp;
    uint32_t start_time_ms;
    
    uint8_t gyro_instance;
    uint8_t accel_instance;

    ObjectBuffer<mpu9x50_data> buf{100};
};

#endif // CONFIG_HAL_BOARD