text: /*
   Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
   Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
   a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
   library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
   I2C mode by setting the TWI_FREQ  to 400000L /twi.h utility file.
   */
  #ifndef _MPU6886_H_
  #define _MPU6886_H_
  
  #include <Wire.h>
  #include <Arduino.h>
  #include "MahonyAHRS.h"
  
  #define MPU6886_ADDRESS           0x68 
  #define MPU6886_WHOAMI            0x75
  #define MPU6886_ACCEL_INTEL_CTRL  0x69
  #define MPU6886_SMPLRT_DIV        0x19
  #define MPU6886_INT_PIN_CFG       0x37
  #define MPU6886_INT_ENABLE        0x38
  #define MPU6886_FIFO_WM_INT_STATUS 0x39
  #define MPU6886_INT_STATUS        0x3A
  #define MPU6886_ACCEL_WOM_X_THR   0x20
  #define MPU6886_ACCEL_WOM_Y_THR   0x21
  #define MPU6886_ACCEL_WOM_Z_THR   0x22
  
  #define MPU6886_ACCEL_XOUT_H      0x3B
  #define MPU6886_ACCEL_XOUT_L      0x3C
  #define MPU6886_ACCEL_YOUT_H      0x3D
  #define MPU6886_ACCEL_YOUT_L      0x3E
  #define MPU6886_ACCEL_ZOUT_H      0x3F
  #define MPU6886_ACCEL_ZOUT_L      0x40
  
  #define MPU6886_TEMP_OUT_H        0x41
  #define MPU6886_TEMP_OUT_L        0x42
  
  #define MPU6886_GYRO_XOUT_H       0x43
  #define MPU6886_GYRO_XOUT_L       0x44
  #define MPU6886_GYRO_YOUT_H       0x45
  #define MPU6886_GYRO_YOUT_L       0x46
  #define MPU6886_GYRO_ZOUT_H       0x47
  #define MPU6886_GYRO_ZOUT_L       0x48
  
  #define MPU6886_USER_CTRL         0x6A
  #define MPU6886_PWR_MGMT_1        0x6B
  #define MPU6886_PWR_MGMT_2        0x6C
  #define MPU6886_CONFIG            0x1A
  #define MPU6886_GYRO_CONFIG       0x1B
  #define MPU6886_ACCEL_CONFIG      0x1C
  #define MPU6886_ACCEL_CONFIG2     0x1D
  #define MPU6886_FIFO_EN           0x23
  
  //#define G (9.8)
  #define RtA     57.324841
  #define AtR    	0.0174533	
  #define Gyro_Gr	0.0010653
  
  class MPU6886 {
      public:
        enum Ascale {
          AFS_2G = 0,
          AFS_4G,
          AFS_8G,
          AFS_16G
        };
  
        enum Gscale {
          GFS_250DPS = 0,
          GFS_500DPS,
          GFS_1000DPS,
          GFS_2000DPS
        };
  
        Gscale Gyscale = GFS_2000DPS;
        Ascale Acscale = AFS_8G;
      public:
        MPU6886();
        int Init(void);
        void enableWakeOnMotion(Ascale ascale, uint8_t thresh_num_lsb);
        void getAccelAdc(int16_t* ax, int16_t* ay, int16_t* az);
        void getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz);
        void getTempAdc(int16_t *t);
  
        void getAccelData(float* ax, float* ay, float* az);
        void getGyroData(float* gx, float* gy, float* gz);
        void getTempData(float *t);
  
        void SetGyroFsr(Gscale scale);
        void SetAccelFsr(Ascale scale);
  
        void getAhrsData(float *pitch,float *roll,float *yaw);
  
        void SetINTPinActiveLogic(uint8_t level);
        void DisableAllIRQ();
        void ClearAllIRQ();
  
      public:
        float aRes, gRes;
  
      private:
  
      private:
        void I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *read_Buffer);
        void I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *write_Buffer);
        void getGres();
        void getAres();
  
  };
  #endif