Adafruit_BNO08x.h

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#ifndef _ADAFRUIT_BNO08x_H
#define _ADAFRUIT_BNO08x_H

#include "Arduino.h"
#include "sh2.h"
#include "sh2_SensorValue.h"
#include "sh2_err.h"
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

#define BNO08x_I2CADDR_DEFAULT 0x4A 

/* Additional Activities not listed in SH-2 lib */
#define PAC_ON_STAIRS 8 
#define PAC_OPTION_COUNT                                                       \
  9 


class Adafruit_BNO08x {
public:
  Adafruit_BNO08x(int8_t reset_pin = -1);
  ~Adafruit_BNO08x();

  bool begin_I2C(uint8_t i2c_addr = BNO08x_I2CADDR_DEFAULT,
                 TwoWire *wire = &Wire, int32_t sensor_id = 0);
  bool begin_UART(HardwareSerial *serial, int32_t sensor_id = 0);

  bool begin_SPI(uint8_t cs_pin, uint8_t int_pin, SPIClass *theSPI = &SPI,
                 int32_t sensor_id = 0);

  void hardwareReset(void);
  bool wasReset(void);

  bool enableReport(sh2_SensorId_t sensor, uint32_t interval_us = 10000);
  bool getSensorEvent(sh2_SensorValue_t *value);

  sh2_ProductIds_t prodIds; 

protected:
  virtual bool _init(int32_t sensor_id);

  sh2_Hal_t
      _HAL; 
};

#endif