#ifndef IMUDATA_h
#define IMUDATA_h

#define SAVE 			0x00
#define CALSW 		0x01
#define RSW 			0x02
#define RRATE			0x03
#define BAUD 			0x04
#define AXOFFSET	0x05
#define AYOFFSET	0x06
#define AZOFFSET	0x07
#define GXOFFSET	0x08
#define GYOFFSET	0x09
#define GZOFFSET	0x0a
#define HXOFFSET	0x0b
#define HYOFFSET	0x0c
#define HZOFFSET	0x0d
#define D0MODE		0x0e
#define D1MODE		0x0f
#define D2MODE		0x10
#define D3MODE		0x11
#define D0PWMH		0x12
#define D1PWMH		0x13
#define D2PWMH		0x14
#define D3PWMH		0x15
#define D0PWMT		0x16
#define D1PWMT		0x17
#define D2PWMT		0x18
#define D3PWMT		0x19
#define IICADDR		0x1a
#define LEDOFF 		0x1b
#define GPSBAUD		0x1c

#define YYMM				0x30
#define DDHH				0x31
#define MMSS				0x32
#define MS					0x33
#define AX					0x34
#define AY					0x35
#define AZ					0x36
#define GX					0x37
#define GY					0x38
#define GZ					0x39
#define HX					0x3a
#define HY					0x3b
#define HZ					0x3c			
#define Roll				0x3d
#define Pitch				0x3e
#define Yaw					0x3f
#define TEMP				0x40
#define D0Status		0x41
#define D1Status		0x42
#define D2Status		0x43
#define D3Status		0x44
#define PressureL		0x45
#define PressureH		0x46
#define HeightL			0x47
#define HeightH			0x48
#define LonL				0x49
#define LonH				0x4a
#define LatL				0x4b
#define LatH				0x4c
#define GPSHeight   0x4d
#define GPSYAW      0x4e
#define GPSVL				0x4f
#define GPSVH				0x50
#define QUATER      0x51
      
#define DIO_MODE_AIN 0
#define DIO_MODE_DIN 1
#define DIO_MODE_DOH 2
#define DIO_MODE_DOL 3
#define DIO_MODE_DOPWM 4
#define DIO_MODE_GPS 5		

struct STime
{
	unsigned char ucYear;
	unsigned char ucMonth;
	unsigned char ucDay;
	unsigned char ucHour;
	unsigned char ucMinute;
	unsigned char ucSecond;
	unsigned short usMiliSecond;
};
struct SAcc
{
	short a[3];
	short T;
};
struct SGyro
{
	short w[3];
	short T;
};
struct SAngle
{
	short Angle[3];
	short T;
};
struct SMag
{
	short h[3];
	short T;
};

struct SDStatus
{
	short sDStatus[4];
};

struct SPress
{
	long lPressure;
	long lAltitude;
};

struct SLonLat
{
	long lLon;
	long lLat;
};

struct SGPSV
{
	short sGPSHeight;
	short sGPSYaw;
	long lGPSVelocity;
};
struct SQuater
{
  short q[4];
  short T;
};
class ImuDataClass 
{
  public: 
	struct STime		stcTime;
	struct SAcc 		stcAcc;
	struct SGyro 		stcGyro;
	struct SAngle 		stcAngle;
	struct SMag 		stcMag;
	struct SDStatus 	stcDStatus;
	struct SPress 		stcPress;
	struct SLonLat 		stcLonLat;
	struct SGPSV 		stcGPSV;
  struct SQuater     stcQuater;
	
    ImuDataClass (); 
	void StartIIC();
	void StartIIC(unsigned char ucAddr);
    void CopeSerialData(unsigned char ucData);
	short ReadWord(unsigned char ucAddr);
	void WriteWord(unsigned char ucAddr,short sData);
	void ReadData(unsigned char ucAddr,unsigned char ucLength,char chrData[]);
	void GetTime();
	void GetAcc();
	void GetGyro();
	void GetAngle();
	void GetMag();
	void GetPress();
	void GetDStatus();
	void GetLonLat();
	void GetGPSV();
  void GetQuater();
  
  private: 
	unsigned char ucDevAddr; 
	void readRegisters(unsigned char deviceAddr,unsigned char addressToRead, unsigned char bytesToRead, char * dest);
	void writeRegister(unsigned char deviceAddr,unsigned char addressToWrite,unsigned char bytesToRead, char *dataToWrite);
};
extern ImuDataClass imuData;
#include <Wire.h>
#endif