bmg160_parameters.hpp

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 * This source code is not officially released or supported by Bosch Sensortec.
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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

#ifndef BMG160_PARAMETERS_H_
#define BMG160_PARAMETERS_H_

#include <ros/console.h>

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


using namespace bosch_drivers_common;

class BMG160Parameters: public Parameters
{
public:

  enum range
  {
    RANGE_2000 = 0x00,
    RANGE_1000 = 0x01,
    RANGE_500 = 0x02,
    RANGE_250 = 0x03,
    RANGE_125 = 0x04 
  };

  enum bandwidth
  {
    BW_32HZ  = 0x07,  
    BW_64HZ  = 0x06,  
    BW_12HZ  = 0x05, 
    BW_23HZ  = 0x04,
    BW_47HZ  = 0x03,  
    BW_116HZ = 0x02, 
    BW_230HZ = 0x01,
    BW_UNFILTERED  = 0x00, 
  };

  BMG160Parameters();
  
  ~BMG160Parameters();
  
  bool setProtocol( interface_protocol protocol );

  bool setFrequency( int frequency );

  bool setPin( uint8_t pin );

  void setSlaveAddressBit( bool high_or_low );
        
  bool setSpiMode( uint8_t mode );

  bool setByteOrder( uint8_t value );

  void setRange( range new_range );

  void setFilter( bool input ); 

  void setBandwidth( bandwidth bw );

  double getSensitivity();
  
  interface_protocol getProtocol();

  int getFrequency();

  int* getFlags();

  int getPin();
 
  bool getSlaveAddressBit();

  range range_;

  bool gyro_is_filtered_;

  bandwidth bw_reg_;

  double sensitivity_;                        

  bool slave_address_bit_;
};

#endif // BMG160_PARAMETERS_H_