#include <Figments.h>

class MPU5060: public InputSource {
    const int ACCEL_XOUT_HIGH = 0x3B;
    const int ACCEL_XOUT_LOW = 0x3C;
    const int ACCEL_YOUT_HIGH = 0x3D;
    const int ACCEL_YOUT_LOW = 0x3E;
    const int ACCEL_ZOUT_HIGH = 0x3F;
    const int ACCEL_ZOUT_LOW = 0x40;

    const int I2C_ADDRESS = 0x68;

    const int PWR_MGMT_1 = 0x6B;
    const int CONFIG_REG = 0x1A;
    const int ACCEL_CONFIG_REG = 0x1C;

public:
    MPU5060();

    void onStart() override;
    void onStop() override;
    InputEvent read() override;

    template<typename T, uint8_t Size = 8>
    struct Averager {
        std::array<T, Size> buf;
        unsigned int idx = 0;
        unsigned int count = 0;

        void add(const T &value) {
            buf[idx] = value;
            idx = (idx + 1) % Size;
            if (count < Size) {
                count += 1;
            }
        }

        T value() const {
            if (count == 0) {
                return T{};
            }
            long long int sum = 0;
            for(unsigned int i = 0; i < count; i++) {
                sum += buf[i];
            }
            return sum / count;
        }
    };

    Averager<int16_t, 32> m_value;
};