#pragma once
#include <Arduino.h>
#include <Wire.h>
 
// Sparrow wiring / addresses
#define LSM6DSL_I2C_ADDR 0x6A
#define LSM6DSL_SDA_PIN  21   // GPIO21 on Sparrow
#define LSM6DSL_SCL_PIN  22   // GPIO22 on Sparrow
 
// LSM6DSL registers we care about
#define LSM6DSL_CTRL1_XL   0x10  // accel config
#define LSM6DSL_CTRL2_G    0x11  // gyro config
#define LSM6DSL_CTRL3_C    0x12  // IF_INC, BDU, etc.
#define LSM6DSL_OUTX_L_XL  0x28  // accel data start (X_L, X_H, Y_L, Y_H, Z_L, Z_H)
 
// Sensitivity: ±2g -> 0.061 mg/LSB = 0.000061 g/LSB
#define LSM6DSL_ACC_SENS_2G_G_PER_LSB  (0.061f / 1000.0f)
 
class LSM6DSL {
public:
    bool begin();
    bool readAccelG(float &ax_g, float &ay_g, float &az_g);
 
private:
    bool writeReg(uint8_t reg, uint8_t value);
    bool readBytes(uint8_t startReg, uint8_t *buffer, size_t len);
};