unit_mpu6886_data.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_MPU6886_DATA_HPP
#define M5_UNIT_IMU_UNIT_UNIT_MPU6886_DATA_HPP
 
#include <array>
#include <cstdint>
 
namespace m5 {
namespace unit {
namespace mpu6886 {
 
enum class AccelRange : uint8_t {
    G2,   
    G4,   
    G8,   
    G16,  
};
 
enum class GyroRange : uint8_t {
    DPS250,   
    DPS500,   
    DPS1000,  
    DPS2000,  
};
 
enum class Dlpf : uint8_t {
    BW250,   
    BW176,   
    BW92,    
    BW41,    
    BW20,    
    BW10,    
    BW5,     
    BW3281,  
};
 
constexpr float accel_res(const AccelRange r)
{
    return (2.0f * (1 << static_cast<uint8_t>(r))) / 32768;
}
constexpr float gyro_res(const GyroRange r)
{
    return (250.0f * (1 << static_cast<uint8_t>(r))) / 32768;
}
 
struct Data {
    std::array<uint8_t, 14> raw{};  
 
    inline int16_t accel_x() const
    {
        return static_cast<int16_t>((raw[0] << 8) | raw[1]);
    }
    inline int16_t accel_y() const
    {
        return static_cast<int16_t>((raw[2] << 8) | raw[3]);
    }
    inline int16_t accel_z() const
    {
        return static_cast<int16_t>((raw[4] << 8) | raw[5]);
    }
    inline int16_t temp_adc() const
    {
        return static_cast<int16_t>((raw[6] << 8) | raw[7]);
    }
    inline int16_t gyro_x() const
    {
        return static_cast<int16_t>((raw[8] << 8) | raw[9]);
    }
    inline int16_t gyro_y() const
    {
        return static_cast<int16_t>((raw[10] << 8) | raw[11]);
    }
    inline int16_t gyro_z() const
    {
        return static_cast<int16_t>((raw[12] << 8) | raw[13]);
    }
 
    inline float temperature() const
    {
        return temp_adc() / 326.8f + 25.0f;
    }
};
 
}  // namespace mpu6886
}  // namespace unit
}  // namespace m5
#endif