bmc050_parameters.hpp

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/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

/*
 * This class contains a set of parameters that are specific to the 
 * BMC050 sensor.  The class inherits from a generic parent class of 
 * parameters.  I have listed the inherited parameters as comments
 * below.
 * The sensor parameters are stored as members of the class and 
 * accessible to other classes through methods such as 
 * "getProtocol()."
 */

#ifndef BMC050_PARAMETERS_H_
#define BMC050_PARAMETERS_H_

// ROS debugging output
#include <ros/console.h>

#include <bosch_drivers_parameters.hpp>
#include <bosch_drivers_hardware_interface.hpp>

using namespace bosch_drivers_common;

class BMC050Parameters: public Parameters
{
public:
  friend class BMC050;

  enum accel_range
  {
    RANGE_2  = 0x03, // ±2.0 g   3.91  [mg/LSB]
    RANGE_4  = 0x05, // ±4 g    7.81 [mg/LSB]
    RANGE_8  = 0x08, // ±8 g    15.62 [mg/LSB]
    RANGE_16 = 0x0C  // ±16 g    31.25 [mg/LSB]
  };

  enum bandwidth
  {
    BW_8HZ    = 0x08, // 7.81  [Hz]
    BW_16HZ   = 0x09, // 15.63 [Hz]
    BW_31HZ   = 0x0A, // 31.25 [Hz]
    BW_63HZ   = 0x0B, // 62.5 [Hz]
    BW_125HZ  = 0x0C, // 125  [Hz]
    BW_250HZ  = 0x0D, // 250  [Hz]
    BW_500HZ  = 0x0E, // 500  [Hz]
    BW_1000HZ = 0x0F  // 1000 [Hz]
  };


  // Compass Output Data Rate: 
  // write to 0x4C
  enum compass_rate 
  {
    ODR_10HZ = 0x00, // 000b  default   
    ODR_2HZ  = 0x01, // 001b
    ODR_6HZ  = 0x02, // 010b
    ODR_8HZ  = 0x03, // 011b
    ODR_15HZ = 0x04, // 100b
    ODR_20HZ = 0x05, // 101b
    ODR_25HZ = 0x06, // 110b
    ODR_30HZ = 0x07  // 111b
  };
 
  BMC050Parameters();

  ~BMC050Parameters();
  
  bool setProtocol( interface_protocol protocol );
  
  
  bool setFrequency( int frequency );

  bool setPin( uint8_t pin ); // always false... Needed because of inheritance

  bool setAccelPin( uint8_t pin );
  
  bool setCompassPin( uint8_t pin );


  void setAccelRange( accel_range new_range );

  void setFilter(bool input);        

  void setAccelBandwidth( bandwidth bw ); // sets bandwidth register according to desired bandwidth
  
  // compass-specific
  void setCompassRate( compass_rate rate ); 

  void setNumRepetitionsXY( uint16_t num_repetitions );
  
  void setNumRepetitionsZ( uint16_t num_repetitions );
  
  // These pins determine Accel and Compass addresses:
  void setCSB2( bool val );

  void setSDO( bool val );
  
  accel_range getAccelRange();
  
  // FIXME: change level of access on these methods:  
  uint8_t getAccelAddress(); // return the i2c addresses based on
  uint8_t getCompassAddress(); // settings in the two previous methods.
  
  double getAccelSensitivity();

  interface_protocol getProtocol();
  int getFrequency();
  int* getFlags();
  int getPin(); // valid for SPI only


private:
  accel_range accel_range_;
  bool accel_is_filtered_;  
  double accel_sensitivity_;
  bandwidth bw_reg_;
  compass_rate  compass_rate_;
  uint8_t repsXY_;
  uint8_t repsZ_;
  
  bool CSB2;
  bool SDO;
  uint8_t accel_pin_;
  uint8_t compass_pin_;

  bool setSpiMode( uint8_t mode );

  bool setByteOrder( uint8_t value ); // MSB_FIRST or LSB_FIRST

};

#endif // BMC050_PARAMETERS_H_