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

#include <array>

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

static const FRToSI2C::I2C_REG i2c_registers[] = { { LIS_CTRL_REG1, 0x17, 0 }, // 25Hz
		{ LIS_CTRL_REG2, 0b00001000, 0 }, // Highpass filter off
		{ LIS_CTRL_REG3, 0b01100000, 0 }, // Setup interrupt pins
		{ LIS_CTRL_REG4, 0b00001000, 0 }, // Block update mode off, HR on
		{ LIS_CTRL_REG5, 0b00000010, 0 }, //
		{ LIS_CTRL_REG6, 0b01100010, 0 },
		//Basically setup the unit to run, and enable 4D orientation detection
		{ LIS_INT2_CFG, 0b01111110, 0 }, //setup for movement detection
		{ LIS_INT2_THS, 0x28, 0 }, //
		{ LIS_INT2_DURATION, 64, 0 }, //
		{ LIS_INT1_CFG, 0b01111110, 0 }, //
		{ LIS_INT1_THS, 0x28, 0 }, //
		{ LIS_INT1_DURATION, 64, 0 } };

bool LIS2DH12::initalize() {
	return FRToSI2C::writeRegistersBulk(LIS2DH_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
}

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, reinterpret_cast<uint8_t*>(sensorData.begin()), sensorData.size() * sizeof(int16_t));

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

bool LIS2DH12::detect() {
	return FRToSI2C::probe(LIS2DH_I2C_ADDRESS);
}