Tli493d.h

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#ifndef TLI493D_H_INCLUDED
#define TLI493D_H_INCLUDED

#include <Arduino.h>
#include <Wire.h>
#include "./util/BusInterface.h"
#include "./util/Tli493d_conf.h"

#define NO_POWER_PIN -1

typedef enum Tli493d_Error
{
    TLI493D_NO_ERROR = 0,
    TLI493D_BUS_ERROR = 1,
    TLI493D_FRAME_ERROR = 2
} Tli493d_Error_t;

class Tli493d
{
  public:
    enum TypeAddress_e
    {
        TLI493D_A0 = 0x35,
        TLI493D_A1 = 0x22,
        TLI493D_A2 = 0x78,
        TLI493D_A3 = 0x44
    };

    enum AccessMode_e
    {
        LOWPOWERMODE = 0,
        MASTERCONTROLLEDMODE = 1,
        FASTMODE = 3,
    };
    enum Range_e
    {
        FULL = 0,
        SHORT = 1,
        EXTRASHORT = 3,
    };
    Tli493d(AccessMode_e mode = MASTERCONTROLLEDMODE,
            TypeAddress_e productType = TLI493D_A0,
            int resetPin = NO_POWER_PIN,
            bool powerLevel = HIGH);
    
    Tli493d(int resetPin, 
            bool powerLevel = HIGH, 
            AccessMode_e mode = MASTERCONTROLLEDMODE,
            TypeAddress_e productType = TLI493D_A0);

    ~Tli493d(void);
    void begin(void);
    
    void begin(bool);

    void begin(TwoWire &bus, TypeAddress_e slaveAddress, bool reset,
               uint8_t oneByteRead);

    bool setAccessMode(AccessMode_e mode);
    
    void setTrigger(uint8_t trigger);
    
    void enableTemp(void);

    void disableTemp(void);
    
    void enableBz(void);

    void disableBz(void);
    
    bool setWakeUpThreshold(float xh, float xl, float yh, float yl, float zh,
                            float zl);
                            
    bool setWakeUpThresholdLSB(int16_t xh, int16_t xl, int16_t yh, int16_t yl, int16_t zh,
                            int16_t zl);
                            
    bool setWakeUpThresholdMT(float xh, float xl, float yh, float yl, float zh,
                            float zl);

    bool wakeUpEnabled(void);
    
    void enableWakeUp(void);
    
    void disableWakeUp(void);

    void setUpdateRate(uint8_t updateRate);
    
    bool setMeasurementRange(Range_e range);

    Tli493d_Error updateData(void);

    float getX(void);
    float getY(void);
    float getZ(void);

    float getNorm(void);

    float getAzimuth(void);

    float getPolar(void);

    float getTemp(void);

    void resetSensor(void);

    void readDiagnosis(uint8_t (&diag)[7]);
    
    void enableInterrupt(void);

    void disableInterrupt(void);

    void enableCollisionAvoidance(void);

    void disableCollisionAvoidance(void);


  protected:
    tli493d::BusInterface_t mInterface;
    void setRegBits(uint8_t regMaskIndex, uint8_t data);

    uint8_t getRegBits(uint8_t regMaskIndex);

  private:
    const TypeAddress_e mProductType;
    AccessMode_e mMode;
    int mPowerPin;
    bool mPowerLevel;
    int16_t mXdata;
    int16_t mYdata;
    int16_t mZdata;
    int16_t mTempdata;
    float mBMult = TLI493D_B_MULT_FULL;

    void calcParity(uint8_t regMaskIndex);

    int16_t concatResults(uint8_t upperByte, uint8_t lowerByte, bool isB);
};

#endif /* TLI493D_H_INCLUDED */