//////////////////////////////////////////////////////////////////////////////////////
// The MIT License (MIT)
//
// Submit Date: 03/09/2015
// Author: Juan Jose Chong <juanjchong@gmail.com>
// Copyright (c) 2015 Juan Jose Chong
//
//////////////////////////////////////////////////////////////////////////////////////
// adis16448.hpp
//////////////////////////////////////////////////////////////////////////////////////
//
// This library runs on an Intel Edison and uses mraa to acquire data
// from an ADIS16448. This data is then scaled and printed onto the terminal.
//
// This software has been tested to connect to an ADIS16448 through a level shifter
// such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired through
// the level shifter and the ADIS16448 is also being powered by the Intel Edison.
//
// Permission is hereby granted, free of charge, to any person obtaining
// a copy of this software and associated documentation files (the
// "Software"), to deal in the Software without restriction, including
// without limitation the rights to use, copy, modify, merge, publish,
// distribute, sublicense, and/or sell copies of the Software, and to
// permit persons to whom the Software is furnished to do so, subject to
// the following conditions:
//
// The above copyright notice and this permission notice shall be
// included in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
// LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
// WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//
//////////////////////////////////////////////////////////////////////////////////////
#include <string>
#include <mraa/spi.h>
#include <mraa/gpio.h>
#include <mraa/initio.hpp>

// User Register Memory Map from Table 6 of the Datasheet
#define FLASH_CNT 0x00 //Flash memory write count
#define XGYRO_OUT 0x04 //X-axis gyroscope output
#define YGYRO_OUT 0x06 //Y-axis gyroscope output
#define ZGYRO_OUT 0x08 //Z-axis gyroscope output
#define XACCL_OUT 0x0A //X-axis accelerometer output
#define YACCL_OUT 0x0C //Y-axis accelerometer output
#define ZACCL_OUT 0x0E //Z-axis accelerometer output
#define XMAGN_OUT 0X10 //X-axis magnetometer output
#define YMAGN_OUT 0x12 //Y-axis magnetometer output
#define ZMAGN_OUT 0x14 //Z-axis magnetometer output
#define BARO_OUT 0x16 //Barometer pressure measurement, high word
#define TEMP_OUT 0x18 //Temperature output
#define XGYRO_OFF 0x1A //X-axis gyroscope bias offset factor
#define YGYRO_OFF 0x1C //Y-axis gyroscope bias offset factor
#define ZGYRO_OFF 0x1E //Z-axis gyroscope bias offset factor
#define XACCL_OFF 0x20 //X-axis acceleration bias offset factor
#define YACCL_OFF 0x22 //Y-axis acceleration bias offset factor
#define ZACCL_OFF 0x24 //Z-axis acceleration bias offset factor
#define XMAGN_HIC 0x26 //X-axis magnetometer, hard iron factor
#define YMAGN_HIC 0x28 //Y-axis magnetometer, hard iron factor
#define ZMAGN_HIC 0x2A //Z-axis magnetometer, hard iron factor
#define XMAGN_SIC 0x2C //X-axis magnetometer, soft iron factor
#define YMAGN_SIC 0x2E //Y-axis magnetometer, soft iron factor
#define ZMAGN_SIC 0x30 //Z-axis magnetometer, soft iron factor
#define GPIO_CTRL 0x32 //GPIO control
#define MSC_CTRL 0x34 //Misc. control
#define SMPL_PRD 0x36 //Sample clock/Decimation filter control
#define SENS_AVG 0x38 //Digital filter control
#define SEQ_CNT 0x3A //xMAGN_OUT and BARO_OUT counter
#define DIAG_STAT 0x3C //System status
#define GLOB_CMD 0x3E //System command
#define ALM_MAG1 0x40 //Alarm 1 amplitude threshold
#define ALM_MAG2 0x42 //Alarm 2 amplitude threshold
#define ALM_SMPL1 0x44 //Alarm 1 sample size
#define ALM_SMPL2 0x46 //Alarm 2 sample size
#define ALM_CTRL 0x48 //Alarm control
#define LOT_ID1 0x52 //Lot identification number
#define LOT_ID2 0x54 //Lot identification number
#define PROD_ID 0x56 //Product identifier
#define SERIAL_NUM 0x58 //Lot-specific serial number

namespace upm {
 /**
  * @brief ADIS16448 Accelerometer
  * @defgroup adis16448 libupm-adis16448
  * @ingroup generic spi accelerometer
  */

 /**
  * @library adis16448
  * @sensor adis16448
  * @comname Industrial Grade Ten Degrees of Freedom Inertial Sensor
  * @type accelerometer
  * @man generic
  * @web http://www.analog.com/en/products/sensors/isensor-mems-inertial-measurement-units/adis16448.html
  * @con spi
  *
  * @brief API for the Analog Devices ADIS16448 Accelerometer
  *
  * This is an industrial-grade accelerometer by Analog Devices.
  *
  * @snippet adis16448.cxx Interesting
  */
    class ADIS16448{

        public:

        /**
         * Constructor with configurable HW Reset
         */
        ADIS16448(int bus, int rst);

        /**
         * Instantiates ADIS16448 Accelerometer object based on a given string.
         *
         * @param initStr string containing specific information for ADIS16448 initialization.
         */
        ADIS16448(std::string initStr);

        /**
         * Destructor
         */
        ~ADIS16448();

        /**
         * Performs hardware reset by sending the specified pin low for 2 seconds
         */
        void resetDUT();

        /**
         * Sets SPI frequency, mode, and bits/word
         */
        void configSPI();

        /**
         * Reads a specified register and returns data
         */
        int16_t regRead(uint8_t regAddr);

        /**
         * Writes to a specified register
         */
        void regWrite(uint8_t regAddr, uint16_t regData);

        /**
         * Scales accelerometer data
         */
        float accelScale(int16_t sensorData);

        /**
         * Scales gyro data
         */
        float gyroScale(int16_t sensorData);

        /**
         * Scales temperature data
         */
        float tempScale(int16_t sensorData);

        /**
         * Scales pressure data
         */
        float pressureScale(int16_t sensorData);

        /**
         * Scales magnetometer data
         */
        float magnetometerScale(int16_t sensorData);

        private:

        mraa::MraaIo mraaIo;
        mraa_spi_context _spi;
        mraa_gpio_context _rst;

    };
}

