/*
 * LIS2DH12.cpp
 *
 *  Created on: 27Feb.,2018
 *      Author: Ralim
 */

#include <array>

#include "LIS2DH12.hpp"
#include "cmsis_os.h"

typedef struct {
        const uint8_t reg;
        const uint8_t value;
} LIS_REG;

static const LIS_REG i2c_registers[] = {
        {LIS_CTRL_REG1, 0x17}, // 25Hz
        {LIS_CTRL_REG2, 0b00001000}, // Highpass filter off
        {LIS_CTRL_REG3, 0b01100000}, // Setup interrupt pins
        {LIS_CTRL_REG4, 0b00001000}, // Block update mode off, HR on
        {LIS_CTRL_REG5, 0b00000010},
        {LIS_CTRL_REG6, 0b01100010},
        //Basically setup the unit to run, and enable 4D orientation detection
        {LIS_INT2_CFG, 0b01111110}, //setup for movement detection
        {LIS_INT2_THS, 0x28},
        {LIS_INT2_DURATION, 64},
        {LIS_INT1_CFG, 0b01111110},
        {LIS_INT1_THS, 0x28},
        {LIS_INT1_DURATION, 64}
};

void LIS2DH12::initalize() {
    for (size_t index = 0; index < (sizeof(i2c_registers) / sizeof(i2c_registers[0])); index++) {
    	FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].value);
    }
}

void LIS2DH12::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
    std::array<int16_t, 3> sensorData;

    FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
        reinterpret_cast<uint8_t*>(sensorData.begin()),
        sensorData.size() * sizeof(int16_t));

    x = sensorData[0];
    y = sensorData[1];
    z = sensorData[2];
}