mrm-imu.h

#pragma once
#include <Wire.h>
#include "bno055.h"// bno055.h and bno055.cpp files must be in Arduino libraries.
#ifdef ESP_PLATFORM
#include <mrm-board.h>
#else
#include <Arduino.h>
#endif
 
#define MAX_MRM_IMU 1 //Maximum number of IMUs. 
 
typedef bool(*BreakCondition)();
 
class Mrm_imu
{
    bool defaultI2CAddresses[MAX_MRM_IMU]; //If true, it will use default I2C address (0x29) otherwise 0x28.
    struct bno055_t bno055; // Structure declaration.
    int nextFree;
#ifdef ESP_PLATFORM
    Robot* robotContainer;
#endif
 
    void bno055Initialize(bool defaultI2CAddress = true); //IMU initialization of the sensor. It should be called once, after Wire.begin(). 
 
    s32 bno055_data_readout_template(void); //A function You do not use.
 
    void errorGeneric() { Serial.println("Error."); }
 
    void testHelper();
 
public:
#ifdef ESP_PLATFORM
    Mrm_imu(Robot* robot = NULL);
#else
    Mrm_imu();
#endif
 
    ~Mrm_imu();
 
    uint8_t accelerationCalibration();
 
    void add(bool defautI2CAddress = true);
 
    uint8_t gyroCalibration();
 
    float heading();
 
    uint8_t magneticCalibration();
 
    float pitch();
 
    float roll();
 
    uint8_t systemCalibration();
 
    void test();
};
 
//Declaration of error function. Definition is in Your code.
extern void error(char* message);