FXOS8700CQ.hpp

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/*
 * This file is part of the DUDS project. It is subject to the BSD-style
 * license terms in the LICENSE file found in the top-level directory of this
 * distribution and at https://github.com/jjackowski/duds/blob/master/LICENSE.
 * No part of DUDS, including this file, may be copied, modified, propagated,
 * or distributed except according to the terms contained in the LICENSE file.
 *
 * Copyright (C) 2017  Jeff Jackowski
 */
#include <duds/hardware/interface/I2c.hpp>
#include <duds/hardware/interface/Conversation.hpp>
#include <duds/hardware/devices/DeviceErrors.hpp>
#include <duds/data/QuantityArray.hpp>

namespace duds { namespace hardware { namespace devices { namespace instruments {

struct FXOS8700CQError : DeviceError { };
struct FXOS8700CQBadDataRate : FXOS8700CQError { };
struct FXOS8700CQBadMagnitude : FXOS8700CQError { };
struct FXOS8700CQNoInsturment : FXOS8700CQError { };

typedef boost::error_info<struct Info_UpdateRate, float>  RequestedUpdateRate;

class FXOS8700CQ : boost::noncopyable {
public:
    union RawSample {
        std::int16_t vals[3];
        struct {
            std::int16_t x;
            std::int16_t y;
            std::int16_t z;
        };
    };
    typedef duds::data::QuantityXyz  ConvertedSample;
    enum Magnitude {
        Magnitude2g,
        Magnitude4g,
        Magnitude8g
    };
    enum OversampleMode {
        Normal,
        LowNoiseLowPower,
        HighResolution,
        LowPower
    };
    struct Settings {
        unsigned int accelerometer         : 1;
        unsigned int magnetometer          : 1;
        unsigned int accelLowNoise         : 1;
        unsigned int highPassFilter        : 1;
        unsigned int highPassLowCutoff     : 1;
        Magnitude maxMagnitude             : 2;
        OversampleMode oversampleMode      : 2;
        OversampleMode oversampleSleepMode : 2;
        unsigned int oversampleRatio       : 3;
        unsigned int threadedSample        : 1;
    };
private:
    std::unique_ptr<duds::hardware::interface::I2c> com;
    duds::hardware::interface::Conversation initialize;
    duds::hardware::interface::Conversation input, bufq;
    RawSample accl, magn;
    float datarate;
    Settings cfg;
    std::int8_t drval;
public:
    FXOS8700CQ(std::unique_ptr<duds::hardware::interface::I2c> &i2ccom);
    ~FXOS8700CQ();
    void configure(float freq, Settings settings);
    void start();
    void suspend();
    void resume() {
        start();
    }
    bool sample();
    float sampleRate() const {
        return datarate;
    }
    const RawSample &rawAccelerometer() const {
        return accl;
    }
    const RawSample &rawMagnetometer() const {
        return magn;
    }
};

} } } }