registers.h

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#ifndef UM6_REGISTERS_H
#define UM6_REGISTERS_H
 
#if __APPLE__
#include <machine/endian.h>
#else
#include <endian.h>
#endif
 
#include <math.h>
#include <stdint.h>
#include <string.h>
 
#include <stdexcept>
#include <string>
 
#include "um6/firmware_registers.h"
 
#define TO_RADIANS (M_PI / 180.0)
#define TO_DEGREES (180.0 / M_PI)
 
// This excludes the command registers, which are always sent
// and received with no data.
#define NUM_REGISTERS (DATA_REG_START_ADDRESS + DATA_ARRAY_SIZE)
 
 
namespace um6
{
 
inline void memcpy_network(void* dest, void* src, size_t count)
{
#if __BYTE_ORDER == __LITTLE_ENDIAN
  uint8_t* d = reinterpret_cast<uint8_t*>(dest);
  uint8_t* s = reinterpret_cast<uint8_t*>(src);
  for (uint8_t i = 0; i < count; i++)
  {
    d[i] = s[count - (i+1)];
  }
#else
  // Copy bytes without reversing.
#warning Big-endian implementation is untested.
  memcpy(dest, src, count);
#endif
}
 
class Registers;
 
class Accessor_
{
public:
  Accessor_(Registers* registers, uint8_t register_index,
            uint8_t register_width, uint8_t array_length)
    : index(register_index), width(register_width),
      length(array_length), registers_(registers)
  {}
 
  void* raw() const;
 
  const uint8_t index;
 
  const uint8_t width;
 
  const uint16_t length;
 
private:
  Registers* registers_;
};
 
template<typename RegT>
class Accessor : public Accessor_
{
public:
  Accessor(Registers* registers, uint8_t register_index, uint8_t array_length = 0, double scale_factor = 1.0)
    : Accessor_(registers, register_index, sizeof(RegT), array_length), scale_(scale_factor)
  {}
 
  RegT get(uint8_t field) const
  {
    RegT* raw_ptr = reinterpret_cast<RegT*>(raw());
    RegT value;
    memcpy_network(&value, raw_ptr + field, sizeof(value));
    return value;
  }
 
  double get_scaled(uint16_t field) const
  {
    return get(field) * scale_;
  }
 
  void set(uint8_t field, RegT value) const
  {
    RegT* raw_ptr = reinterpret_cast<RegT*>(raw());
    memcpy_network(raw_ptr + field, &value, sizeof(value));
  }
 
  void set_scaled(uint16_t field, double value) const
  {
    set(field, value / scale_);
  }
 
private:
  const double scale_;
};
 
class Registers
{
public:
  Registers() :
    gyro_raw(this, UM6_GYRO_RAW_XY, 3),
    accel_raw(this, UM6_ACCEL_RAW_XY, 3),
    mag_raw(this, UM6_MAG_RAW_XY, 3),
    gyro(this, UM6_GYRO_PROC_XY, 3, 0.0610352 * TO_RADIANS),
    accel(this, UM6_ACCEL_PROC_XY, 3, 0.00179639),
    mag(this, UM6_MAG_PROC_XY, 3, 0.000305176),
    euler(this, UM6_EULER_PHI_THETA, 3, 0.0109863 * TO_RADIANS),
    quat(this, UM6_QUAT_AB, 4, 0.0000335693),
    covariance(this, UM6_ERROR_COV_00, 16),
    temperature(this, UM6_TEMPERATURE, 1),
    communication(this, UM6_COMMUNICATION, 1),
    misc_config(this, UM6_MISC_CONFIG, 1),
    status(this, UM6_STATUS, 1),
    mag_ref(this, UM6_MAG_REF_X, 3),
    accel_ref(this, UM6_ACCEL_REF_X, 3),
    gyro_bias(this, UM6_GYRO_BIAS_XY, 3),
    accel_bias(this, UM6_ACCEL_BIAS_XY, 3),
    mag_bias(this, UM6_MAG_BIAS_XY, 3),
    cmd_zero_gyros(this, UM6_ZERO_GYROS),
    cmd_reset_ekf(this, UM6_RESET_EKF),
    cmd_set_accel_ref(this, UM6_SET_ACCEL_REF),
    cmd_set_mag_ref(this, UM6_SET_MAG_REF)
  {
    memset(raw_, 0, sizeof(raw_));
  }
 
  // Data
  const Accessor<int16_t> gyro_raw, accel_raw, mag_raw,
        gyro, accel, mag, euler, quat;
  const Accessor<float> covariance, temperature;
 
  // Configs
  const Accessor<uint32_t> communication, misc_config, status;
  const Accessor<float> mag_ref, accel_ref;
  const Accessor<int16_t> gyro_bias, accel_bias, mag_bias;
 
  // Commands
  const Accessor<uint32_t> cmd_zero_gyros, cmd_reset_ekf,
        cmd_set_accel_ref, cmd_set_mag_ref;
 
  void write_raw(uint8_t register_index, std::string data)
  {
    if ((register_index - 1) + (data.length()/4 - 1) >= NUM_REGISTERS)
    {
      throw std::range_error("Index and length write beyond boundaries of register array.");
    }
    memcpy(&raw_[register_index], data.c_str(), data.length());
  }
 
private:
  uint32_t raw_[NUM_REGISTERS];
 
  friend class Accessor_;
};
}  // namespace um6
 
#endif  // UM6_REGISTERS_H