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/* FXOS8700Q sensor driver
 * Copyright (c) 2014-2015 ARM Limited
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef FXOS8700Q_H
#define FXOS8700Q_H

#include "mbed.h"
#include "MotionSensor.h"

// FXOS8700CQ I2C address
#define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
#define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
#define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
#define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
// FXOS8700CQ internal register addresses
#define FXOS8700Q_STATUS 0x00
#define FXOS8700Q_OUT_X_MSB 0x01
#define FXOS8700Q_OUT_Y_MSB 0x03
#define FXOS8700Q_OUT_Z_MSB 0x05
#define FXOS8700Q_M_OUT_X_MSB 0x33
#define FXOS8700Q_M_OUT_Y_MSB 0x35
#define FXOS8700Q_M_OUT_Z_MSB 0x37
#define FXOS8700Q_WHOAMI 0x0D
#define FXOS8700Q_XYZ_DATA_CFG 0x0E
#define FXOS8700Q_CTRL_REG1 0x2A
#define FXOS8700Q_M_CTRL_REG1 0x5B
#define FXOS8700Q_M_CTRL_REG2 0x5C
#define FXOS8700Q_WHOAMI_VAL 0xC7


/** FXOS8700Q accelerometer example
    @code
    #include "mbed.h"
    #include "FXOS8700Q.h"
    I2C i2c(PTE25, PTE24);
    FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
    FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
    int main(void)
    {
        motion_data_units_t acc_data, mag_data;
        motion_data_counts_t acc_raw, mag_raw;
        float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
        int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
        acc.enable();
        mag.enable();
        while (true) {
            // counts based results
            acc.getAxis(acc_raw);
            mag.getAxis(mag_raw);
            acc.getX(raX);
            acc.getY(raY);
            acc.getZ(raZ);
            mag.getX(rmX);
            mag.getY(rmY);
            mag.getZ(rmZ);
            // unit based results
            acc.getAxis(acc_data);
            mag.getAxis(mag_data);
            acc.getX(faX);
            acc.getY(faY);
            acc.getZ(faZ);
            mag.getX(fmX);
            mag.getY(fmY);
            mag.getZ(fmZ);
            wait(0.1f);
        }
    }
    @endcode
 */

/** FXOS8700Q driver class
 */
class FXOS8700Q : public MotionSensor
{
public:

    /** Read a device register
        @param addr The address to read from
        @param data The data to read from it
        @param len The amount of data to read from it
        @return 0 if successful, negative number otherwise
     */
    void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const;

    /** Read the ID from a whoAmI register
        @return The device whoAmI register contents
     */
    uint8_t whoAmI(void) const;

    virtual void enable(void) const;
    virtual void disable(void) const;
    virtual uint32_t sampleRate(uint32_t frequency) const;
    virtual uint32_t dataReady(void) const;

protected:
    I2C *_i2c;
    uint8_t _addr;
    
    /** FXOS8700Q constructor
        @param i2c a configured i2c object
        @param addr addr of the I2C peripheral as wired
     */
    FXOS8700Q(I2C &i2c, uint8_t addr);

    /** FXOS8700Q deconstructor
     */
    ~FXOS8700Q();
    
    void writeRegs(uint8_t *data, uint32_t len) const;
    int16_t getSensorAxis(uint8_t addr) const;
};

/** FXOS8700QAccelerometer interface
 */
class FXOS8700QAccelerometer : public FXOS8700Q
{
public:

    FXOS8700QAccelerometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}

    virtual int16_t getX(int16_t &x) const;
    virtual int16_t getY(int16_t &y) const;
    virtual int16_t getZ(int16_t &z) const;
    virtual float getX(float &x) const;
    virtual float getY(float &y) const;
    virtual float getZ(float &z) const;
    virtual void getAxis(motion_data_counts_t &xyz) const;
    virtual void getAxis(motion_data_units_t &xyz) const;

};

/** FXOS8700QMagnetometer interface
 */
class FXOS8700QMagnetometer : public FXOS8700Q
{
public:

    FXOS8700QMagnetometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}

    virtual int16_t getX(int16_t &x) const;
    virtual int16_t getY(int16_t &y) const;
    virtual int16_t getZ(int16_t &z) const;
    virtual float getX(float &x) const;
    virtual float getY(float &y) const;
    virtual float getZ(float &z) const;
    virtual void getAxis(motion_data_counts_t &xyz) const;
    virtual void getAxis(motion_data_units_t &xyz) const;

};

#endif