/*
    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

    This file is part of ChibiOS.

    ChibiOS is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 3 of the License, or
    (at your option) any later version.

    ChibiOS is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
	
*/

/**
 * @file    l3gd20.h
 * @brief   L3GD20 MEMS interface module header.
 *
 * @{
 */

#ifndef _L3GD20_H_
#define _L3GD20_H_

#include "hal_gyroscope.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/**
 * @brief   L3GD20 number of axes.
 */
#define  L3GD20_NUMBER_OF_AXES              ((size_t)   3U)

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/**
 * @name    Configuration options
 * @{
 */
/**
 * @brief   L3GD20 SPI interface switch.
 * @details If set to @p TRUE the support for SPI is included.
 * @note    The default is @p TRUE.
 */
#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
#define L3GD20_USE_SPI                      TRUE
#endif

/**
 * @brief   L3GD20 I2C interface switch.
 * @details If set to @p TRUE the support for I2C is included.
 * @note    The default is @p FALSE.
 */
#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
#define L3GD20_USE_I2C                      FALSE
#endif

/**
 * @brief   L3GD20 shared SPI switch.
 * @details If set to @p TRUE the device acquires SPI bus ownership
 *          on each transaction.
 * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
 */
#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI                   FALSE
#endif

/**
 * @brief   Number of acquisitions for bias removal
 * @details This is the number of acquisitions performed to compute the
 *          bias. A repetition is required in order to remove noise.
 */
#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
#define L3GD20_BIAS_ACQ_TIMES               50
#endif

/**
 * @brief   Settling time for bias removal
 * @details This is the time between each bias acquisition.
 */
#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
#define L3GD20_BIAS_SETTLING_uS             5000
#endif
/** @} */

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif

#if L3GD20_USE_SPI && !HAL_USE_SPI
#error "L3GD20_USE_SPI requires HAL_USE_SPI"
#endif

#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif

#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

/**
 * @name    L3GD20 data structures and types
 * @{
 */
/**
 * @brief   L3GD20 full scale
 */
typedef enum {
  L3GD20_FS_250DPS = 0x00,          /**< Full scale 250 degree per second.  */        
  L3GD20_FS_500DPS = 0x10,          /**< Full scale 500 degree per second.  */        
  L3GD20_FS_2000DPS = 0x20          /**< Full scale 2000 degree per second. */         
}l3gd20_fs_t;

/**
 * @brief   L3GD20 output data rate and bandwidth
 */
typedef enum {
  L3GD20_ODR_95HZ_FC_12_5 = 0x00,   /**< ODR 95 Hz, BW 12.5 Hz.             */       
  L3GD20_ODR_95HZ_FC_25 = 0x10,     /**< ODR 95 Hz, BW 25Hz.                */     
  L3GD20_ODR_190HZ_FC_12_5 = 0x40,  /**< ODR 190 Hz, BW 12.5 Hz.            */        
  L3GD20_ODR_190HZ_FC_25 = 0x50,    /**< ODR 190 Hz, BW 25 Hz.              */      
  L3GD20_ODR_190HZ_FC_50 = 0x60,    /**< ODR 190 Hz, BW 50 Hz.              */      
  L3GD20_ODR_190HZ_FC_70 = 0x70,    /**< ODR 190 Hz, BW 70 Hz.              */      
  L3GD20_ODR_380HZ_FC_20 = 0x80,    /**< ODR 380 Hz, BW 20 Hz.              */      
  L3GD20_ODR_380HZ_FC_25 = 0x90,    /**< ODR 380 Hz, BW 25 Hz.              */      
  L3GD20_ODR_380HZ_FC_50 = 0xA0,    /**< ODR 380 Hz, BW 50 Hz.              */      
  L3GD20_ODR_380HZ_FC_100 = 0xB0,   /**< ODR 380 Hz, BW 100 Hz.             */       
  L3GD20_ODR_760HZ_FC_30 = 0xC0,    /**< ODR 760 Hz, BW 30 Hz.              */      
  L3GD20_ODR_760HZ_FC_35 = 0xD0,    /**< ODR 760 Hz, BW 35 Hz.              */      
  L3GD20_ODR_760HZ_FC_50 = 0xE0,    /**< ODR 760 Hz, BW 50 Hz.              */     
  L3GD20_ODR_760HZ_FC_100 = 0xF0    /**< ODR 760 Hz, BW 100 Hz.             */       
}l3gd20_odr_t;

/**
 * @brief   L3GD20 axes enabling
 */
typedef enum {
  L3GD20_AE_DISABLED = 0x00,        /**< All axes disabled.                 */        
  L3GD20_AE_X = 0x01,               /**< Only X-axis enabled.               */ 
  L3GD20_AE_Y = 0x02,               /**< Only Y-axis enabled.               */ 
  L3GD20_AE_XY = 0x03,              /**< X and Y axes enabled.              */  
  L3GD20_AE_Z = 0x04,               /**< Only Z-axis enabled.               */  
  L3GD20_AE_XZ = 0x05,              /**< X and Z axes enabled.              */  
  L3GD20_AE_YZ = 0x06,              /**< Y and Z axes enabled.              */       
  L3GD20_AE_XYZ = 0x07              /**< All axes enabled.                  */            
}l3gd20_ae_t;

/**
 * @brief   L3GD20 block data update
 */
typedef enum {
  L3GD20_BDU_CONTINOUS = 0x00,      /**< Block data continuously updated.   */         
  L3GD20_BDU_BLOCKED = 0x80         /**< Block data updated after reading.  */     
}l3gd20_bdu_t;

/**
 * @brief   L3GD20 endianness
 */
typedef enum {
  L3GD20_END_LITTLE = 0x00,         /**< Little endian.                     */ 
  L3GD20_END_BIG = 0x40             /**< Big endian.                        */
}l3gd20_end_t;

/**
 * @brief   Driver state machine possible states.
 */
typedef enum {
  L3GD20_UNINIT = 0,                /**< Not initialized.                   */
  L3GD20_STOP = 1,                  /**< Stopped.                           */
  L3GD20_READY = 2,                 /**< Ready.                             */
} l3gd20_state_t;

/**
 * @brief   L3GD20 configuration structure.
 */
typedef struct {

#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
  /**
   * @brief SPI driver associated to this L3GD20.
   */
  SPIDriver                 *spip;
  /**
   * @brief SPI configuration associated to this L3GD20.
   */
  const SPIConfig           *spicfg;
#endif /* L3GD20_USE_SPI */
#if (L3GD20_USE_I2C) || defined(__DOXYGEN__)
  /**
   * @brief I2C driver associated to this L3GD20.
   */
  I2CDriver                 *i2cp;
  /**
   * @brief I2C configuration associated to this L3GD20.
   */
  const I2CConfig           *i2ccfg;
#endif /* L3GD20_USE_I2C */
  /**
   * @brief L3GD20 full scale value.
   */
  l3gd20_fs_t               fullscale;
  /**
   * @brief L3GD20 output data rate selection.
   */
  l3gd20_odr_t              outputdatarate;
  /**
   * @brief L3GD20 axes enabling.
   */
  l3gd20_ae_t               axesenabling;
  /**
   * @brief L3GD20 block data update.
   */
  l3gd20_bdu_t              blockdataupdate;
  /**
   * @brief L3GD20 endianness.
   */
  l3gd20_end_t              endianness;
} L3GD20Config;

/**
 * @brief   Structure representing a L3GD20 driver.
 */
typedef struct L3GD20Driver L3GD20Driver;

/**
 * @brief   @p L3GD20 specific methods.
 */
#define _l3gd20_methods                                                     \
  _base_gyroscope_methods

/**
 * @extends BaseGyroscopeVMT
 *
 * @brief   @p L3GD20 virtual methods table.
 */
struct L3GD20VMT {
  _l3gd20_methods
};

/**
 * @brief   @p L3GD20Driver specific data.
 */
#define _l3gd20_data                                                        \
  _base_gyroscope_data                                                      \
  /* Driver state.*/                                                        \
  l3gd20_state_t            state;                                          \
  /* Current configuration data.*/                                          \
  const L3GD20Config        *config;                                        \
  /* Current sensitivity.*/                                                 \
  float                     sensitivity[L3GD20_NUMBER_OF_AXES];             \
  /* Bias data.*/                                                           \
  int32_t                   bias[L3GD20_NUMBER_OF_AXES];

/**
 * @extends BaseGyroscope
 *
 * @brief   L3GD20 3-axis gyroscope class.
 * @details This class extends @p BaseGyroscope by adding physical
 *          driver implementation.
 */
struct L3GD20Driver {
  /** @brief Virtual Methods Table.*/
  const struct BaseSensorVMT *vmt_basesensor;
  /** @brief Virtual Methods Table.*/
  const struct BaseGyroscopeVMT *vmt_basegyroscope;
  /** @brief Virtual Methods Table.*/
  const struct L3GD20VMT *vmt;
  _l3gd20_data
};
/** @} */

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif
  void l3gd20ObjectInit(L3GD20Driver *devp);
  void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
  void l3gd20Stop(L3GD20Driver *devp);
#ifdef __cplusplus
}
#endif

#endif /* _L3GD20_H_ */

/** @} */

