Adafruit_FXOS8700.h

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#ifndef __FXOS8700_H__
#define __FXOS8700_H__

#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Arduino.h>

/*=========================================================================
    I2C ADDRESS/BITS AND SETTINGS
    -----------------------------------------------------------------------*/
// #define FXOS8700_ADDRESS (0x1F) // 0011111
#define FXOS8700_ID (0xC7) // 1100 0111
/*=========================================================================*/

/*=========================================================================
    REGISTERS
    -----------------------------------------------------------------------*/
typedef enum {
  FXOS8700_REGISTER_STATUS = 0x00,    
  FXOS8700_REGISTER_OUT_X_MSB = 0x01, 
  FXOS8700_REGISTER_OUT_X_LSB = 0x02, 
  FXOS8700_REGISTER_OUT_Y_MSB = 0x03, 
  FXOS8700_REGISTER_OUT_Y_LSB = 0x04, 
  FXOS8700_REGISTER_OUT_Z_MSB = 0x05, 
  FXOS8700_REGISTER_OUT_Z_LSB = 0x06, 
  FXOS8600_REGISTER_SYSMOD = 0x0B,    
  FXOS8700_REGISTER_WHO_AM_I =
      0x0D, 
  FXOS8700_REGISTER_XYZ_DATA_CFG = 0x0E, 
  FXOS8700_REGISTER_CTRL_REG1 =
      0x2A, 
  FXOS8700_REGISTER_CTRL_REG2 =
      0x2B, 
  FXOS8700_REGISTER_CTRL_REG3 =
      0x2C, 
  FXOS8700_REGISTER_CTRL_REG4 =
      0x2D, 
  FXOS8700_REGISTER_CTRL_REG5 =
      0x2E, 
  FXOS8700_REGISTER_MSTATUS = 0x32,    
  FXOS8700_REGISTER_MOUT_X_MSB = 0x33, 
  FXOS8700_REGISTER_MOUT_X_LSB = 0x34, 
  FXOS8700_REGISTER_MOUT_Y_MSB = 0x35, 
  FXOS8700_REGISTER_MOUT_Y_LSB = 0x36, 
  FXOS8700_REGISTER_MOUT_Z_MSB = 0x37, 
  FXOS8700_REGISTER_MOUT_Z_LSB = 0x38, 
  FXOS8700_REGISTER_MCTRL_REG1 =
      0x5B, 
  FXOS8700_REGISTER_MCTRL_REG2 =
      0x5C, 
  FXOS8700_REGISTER_MCTRL_REG3 =
      0x5D, 
} fxos8700Registers_t;
/*=========================================================================*/

/*=========================================================================
    OPTIONAL SENSOR MODE SETTINGS
    -----------------------------------------------------------------------*/
typedef enum {
  STANDBY = 0x00, 
  WAKE = 0x01,    
  SLEEP = 0x02    
} fxos8700SystemStatus_t;

typedef enum {
  ACCEL_ONLY_MODE = 0b00, 
  MAG_ONLY_MODE = 0b01,   
  HYBRID_MODE = 0b11      
} fxos8700SensorMode_t;
/*=========================================================================*/

/*=========================================================================
    OPTIONAL SPEED SETTINGS
    -----------------------------------------------------------------------*/
typedef enum {
  ODR_800HZ,    
  ODR_400HZ,    
  ODR_200HZ,    
  ODR_100HZ,    
  ODR_50HZ,     
  ODR_25HZ,     
  ODR_12_5HZ,   
  ODR_6_25HZ,   
  ODR_3_125HZ,  
  ODR_1_5625HZ, 
  ODR_0_7813HZ, 
} fxos8700ODR_t;

const fxos8700ODR_t ACCEL_MAG_ONLY_AVAILABLE_ODRs[] = {
    ODR_800HZ,    
    ODR_400HZ,    
    ODR_200HZ,    
    ODR_100HZ,    
    ODR_50HZ,     
    ODR_12_5HZ,   
    ODR_6_25HZ,   
    ODR_1_5625HZ, 
};

const fxos8700ODR_t HYBRID_AVAILABLE_ODRs[] = {
    ODR_400HZ,    
    ODR_200HZ,    
    ODR_100HZ,    
    ODR_50HZ,     
    ODR_25HZ,     
    ODR_6_25HZ,   
    ODR_3_125HZ,  
    ODR_0_7813HZ, 
};

const uint16_t ODR_drBits[] = {
    0x00, 
    0x08, 
    0x10, 
    0x18, 
    0x20, 
    0x28, 
    0x30, 
    0x38, 
};
/*=========================================================================*/

/*=========================================================================
    OPTIONAL RANGE SETTINGS
    -----------------------------------------------------------------------*/
typedef enum {
  ACCEL_RANGE_2G = 0x00, 
  ACCEL_RANGE_4G = 0x01, 
  ACCEL_RANGE_8G = 0x02  
} fxos8700AccelRange_t;
/*=========================================================================*/

/*=========================================================================
    OPTIONAL MAGNETOMETER OVERSAMPLING SETTINGS
    -----------------------------------------------------------------------*/
typedef enum {
  MAG_OSR_0, 
  MAG_OSR_1, 
  MAG_OSR_2, 
  MAG_OSR_3, 
  MAG_OSR_4, 
  MAG_OSR_5, 
  MAG_OSR_6, 
  MAG_OSR_7, 
} fxos8700MagOSR_t;
/*=========================================================================*/

/*=========================================================================
    RAW 3DOF SENSOR DATA TYPE
    -----------------------------------------------------------------------*/
typedef struct {
  int16_t x; 
  int16_t y; 
  int16_t z; 
} fxos8700RawData_t;
/*=========================================================================*/

class Adafruit_FXOS8700;

class Adafruit_FXOS8700_Accelerometer : public Adafruit_Sensor {
public:
  Adafruit_FXOS8700_Accelerometer(Adafruit_FXOS8700 *parent) {
    _theFXOS8700 = parent;
  }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 8701;
  Adafruit_FXOS8700 *_theFXOS8700 = NULL;
};

class Adafruit_FXOS8700_Magnetometer : public Adafruit_Sensor {
public:
  Adafruit_FXOS8700_Magnetometer(Adafruit_FXOS8700 *parent) {
    _theFXOS8700 = parent;
  }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 8702;
  Adafruit_FXOS8700 *_theFXOS8700 = NULL;
};

/**************************************************************************/
/**************************************************************************/
class Adafruit_FXOS8700 : public Adafruit_Sensor {
public:
  Adafruit_FXOS8700(int32_t accelSensorID = -1, int32_t magSensorID = -1);
  ~Adafruit_FXOS8700();
  bool begin(uint8_t addr = 0x1F, TwoWire *wire = &Wire);

  bool getEvent(sensors_event_t *accel);
  void getSensor(sensor_t *singleSensorEvent);
  bool getEvent(sensors_event_t *accel, sensors_event_t *mag);
  void getSensor(sensor_t *accel, sensor_t *mag);
  void standby(boolean standby);

  fxos8700RawData_t accel_raw;
  fxos8700RawData_t mag_raw;

  Adafruit_Sensor *getMagnetometerSensor(void);
  Adafruit_Sensor *getAccelerometerSensor(void);

  Adafruit_FXOS8700_Accelerometer *accel_sensor =
      NULL; 
  Adafruit_FXOS8700_Magnetometer *mag_sensor = NULL; 

  void setSensorMode(fxos8700SensorMode_t mode);
  fxos8700SensorMode_t getSensorMode();

  void setAccelRange(fxos8700AccelRange_t range);
  fxos8700AccelRange_t getAccelRange();

  void setOutputDataRate(fxos8700ODR_t rate);
  fxos8700ODR_t getOutputDataRate();

  void setMagOversamplingRatio(fxos8700MagOSR_t ratio);
  fxos8700MagOSR_t getMagOversamplingRatio();

protected:
  Adafruit_I2CDevice *i2c_dev = NULL; 

private:
  bool initialize();
  fxos8700SensorMode_t _mode = HYBRID_MODE;
  fxos8700AccelRange_t _range = ACCEL_RANGE_2G;
  fxos8700ODR_t _rate = ODR_100HZ;
  fxos8700MagOSR_t _ratio = MAG_OSR_7;
  int32_t _accelSensorID;
  int32_t _magSensorID;
};

#endif