unit_dof9.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_DOF9_HPP
#define M5_UNIT_IMU_UNIT_UNIT_DOF9_HPP
 
#include <M5UnitComponent.hpp>
#include "unit_bmi270.hpp"
#include "unit_bmm350.hpp"
 
namespace m5 {
namespace unit {
 
class UnitDoF9 : public Component {
    M5_UNIT_COMPONENT_HPP_BUILDER(UnitDoF9, 0xFF /* dummy: parent has no device of its own */);
 
public:
    explicit UnitDoF9(const uint8_t bmi_addr = 0x68);
    virtual ~UnitDoF9()
    {
    }
 
    UnitBMI270& imu()
    {
        return _bmi;
    }
    UnitBMM350& mag()
    {
        return _bmm;
    }
 
    virtual bool begin() override
    {
        return _valid;
    }
 
protected:
    // Share this composite's bus with each child, duplicated at the child's address
    virtual std::shared_ptr<Adapter> ensure_adapter(const uint8_t ch) override;
 
private:
    UnitBMI270 _bmi;
    UnitBMM350 _bmm;
    bool _valid{};
};
 
}  // namespace unit
}  // namespace m5
#endif