LSM9DS1.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 LSM9DS1Error : DeviceError { };
struct LSM9DS1BadDataRate : LSM9DS1Error { };
struct LSM9DS1BadMagnitude : LSM9DS1Error { };
struct LSM9DS1NoInsturment : LSM9DS1Error { };

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

class LSM9DS1AccelGyro : 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  ConvertedQuantity;
    enum AccelRange {
        AccelRange2g,
        AccelRange16g,
        AccelRange4g,
        AccelRange8g,
        AccelRange19m61ps2 = 0,  
        AccelRange156m9ps2,      
        AccelRange39m23ps2,      
        AccelRange78m45ps2,      
    };
    enum GyroRange {
        GyroRange245dps,       
        GyroRange500dps,       
        GyroRange2000dps = 3,  
        GyroRange4r276ps = 0,  
        GyroRange8r727ps,      
        GyroRange34r91ps = 3,  
    };
    struct Settings {
        unsigned int accelerometer         : 1;
        unsigned int gyroscope             : 1;
        AccelRange accelRange              : 2;
        GyroRange gyroRange               : 2;
        unsigned int gyroLowPower         : 1;
        unsigned int gyroHighPass         : 1;
    };
private:
    std::unique_ptr<duds::hardware::interface::I2c> agcom;
    duds::hardware::interface::Conversation initialize;
    duds::hardware::interface::Conversation agsample, statq;
    RawSample accl, gyro;
    float agdatarate;
    Settings cfg;
    std::int8_t agdrval;
public:
    LSM9DS1AccelGyro(
        std::unique_ptr<duds::hardware::interface::I2c> &i2c
    );
    ~LSM9DS1AccelGyro();
    void configure(float freq, Settings settings);
    void start() {
        // oops.
    }
    void suspend();
    void resume() {
        start();
    }
    bool sample();
    float sampleRate() const {
        return agdatarate;
    }
    const RawSample &rawAccelerometer() const {
        return accl;
    }
    const RawSample &rawGyroscope() const {
        return gyro;
    }
    void accelerometerQuantity(ConvertedQuantity &ps) const;
    void gyroscopeQuantity(ConvertedQuantity &ps) const;
};


class LSM9DS1Mag : 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  ConvertedQuantity;
    enum MagRange {
        MagRange400uT,   
        MagRange800uT,   
        MagRange1200uT,  
        MagRange1600uT   
    };
    enum MagAxesMode {
        AxesLowPower,
        AxesLowPerformance,
        AxesMediumPerformance,
        AxesHighPerformance
    };
    struct Settings {
        unsigned int magnetometer          : 1;
        MagRange magRange             : 2;
        unsigned int magLowPower          : 1;
        MagAxesMode xyMagMode             : 2;
        MagAxesMode zMagMode              : 2;
        unsigned int magTempComp          : 1;
    };
private:
    std::unique_ptr<duds::hardware::interface::I2c> magcom;
    duds::hardware::interface::Conversation initialize;
    duds::hardware::interface::Conversation magsample, statq;
    RawSample magn;
    float mdatarate;
    Settings cfg;
    std::int8_t mdrval;
public:
    LSM9DS1Mag(
        std::unique_ptr<duds::hardware::interface::I2c> &i2c
    );
    ~LSM9DS1Mag();
    void configure(float freq, Settings settings);
    void start() {
        // oops.
    }
    void suspend();
    void resume() {
        start();
    }
    bool sample();
    float sampleRate() const {
        return mdatarate;
    }
    const RawSample &rawSample() const {
        return magn;
    }
    void quantity(ConvertedQuantity &ps) const;
};

} } } }