Sensor_LSM6DSO32.h

//
// Created by Tom Danvers on 17/12/2022.
//
 
#ifndef MRAS_SENSOR_LSM6DSO32_H
#define MRAS_SENSOR_LSM6DSO32_H
 
 
#include "Subsystem.h"
#include "LSM6DSO32.h"
#include "Arduino.h"
#include "SPI.h"
 
#include "system_messages/AccelerometerDataMsg.h"
#include "system_messages/GyroDataMsg.h"
 
class Sensor_LSM6DSO32 : public Subsystem {
private:
    LSM6DSO32::LSM6DSO32 *lsm;
public:
    Sensor_LSM6DSO32(uint8_t id, uint8_t chip_select, SPIClass &spi, uint32_t frequency) : Subsystem(id) {
        lsm = new LSM6DSO32::LSM6DSO32(chip_select, spi, frequency);
    }
 
    ~Sensor_LSM6DSO32() {
        delete lsm;
    }
 
    int8_t setup() override;
 
    int8_t loop() override;
 
    SUBSYSTEM_NAME("LSM6DSO32")
    SUBSYSTEM_NO_MESSAGE_HANDLER
};
 
 
#endif //MRAS_SENSOR_LSM6DSO32_H