/*
   * Copyright (C) 2014 PHYTEC Messtechnik GmbH
   *
   * This file is subject to the terms and conditions of the GNU Lesser
   * General Public License v2.1. See the file LICENSE in the top level
   * directory for more details.
   */
  
  /**
   * @defgroup    drivers_mma8652 MMA8652 Accelerometer
   * @ingroup     drivers_sensors
   * @brief       Driver for the Freescale MMA8652 3-Axis accelerometer.
   *              The driver will initialize the accelerometer for
   *              best resolution (12 bit).
   *              After initialization and set activ the accelerometer
   *              will make measurements at periodic times.
   *              The measurements period and scale range can be determined by
   *              accelerometer initialization.
   *              This driver only implements basic functionality.
   *
   * @{
   *
   * @file
   * @brief       Interface definition for the MMA8652 accelerometer driver.
   *
   * @author      Johann Fischer <j.fischer@phytec.de>
   */
  
  #ifndef MMA8652_H
  #define MMA8652_H
  
  #include <stdint.h>
  #include <stdbool.h>
  #include "periph/i2c.h"
  
  #ifdef __cplusplus
  extern "C"
  {
  #endif
  
  #ifndef MMA8652_I2C_ADDRESS
  #define MMA8652_I2C_ADDRESS           0x1D /**< Accelerometer Default Address */
  #endif
  
  #define MMA8652_DATARATE_800HZ        0 /**< 800 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_400HZ        1 /**< 400 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_200HZ        2 /**< 200 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_100HZ        3 /**< 100 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_50HZ         4 /**< 50 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_1HZ25        5 /**< 12.5 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_6HZ25        6 /**< 6.25 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_1HZ56        7 /**< 1.56 Hz Ouput Data Rate in WAKE mode */
  #define MMA8652_DATARATE_DEFAULT      MMA8652_DATARATE_6HZ25 /**< Data Rate for testing */
  
  #define MMA8652_FS_RANGE_2G           0 /**< +/- 2 g Full Scale Range */
  #define MMA8652_FS_RANGE_4G           1 /**< +/- 4 g Full Scale Range */
  #define MMA8652_FS_RANGE_8G           2 /**< +/- 8 g Full Scale Range */
  #define MMA8652_FS_RANGE_DEFAULT      MMA8652_FS_RANGE_2G /**< Full-Scale Range for testing */
  
  enum {
      MMA8x5x_TYPE_MMA8652 = 0,
      MMA8x5x_TYPE_MMA8653,
      MMA8x5x_TYPE_MMA8451,
      MMA8x5x_TYPE_MMA8452,
      MMA8x5x_TYPE_MMA8453,
      MMA8x5x_TYPE_MAX,
  };
  
  /**
   * @brief Device descriptor for MMA8652 accelerometer.
   */
  typedef struct {
      i2c_t i2c;              /**< I2C device, the accelerometer is connected to */
      uint8_t addr;           /**< the accelerometer's slave address on the I2C bus */
      bool initialized;       /**< accelerometer status, true if accelerometer is initialized */
      int16_t scale;          /**< each count corresponds to (1/scale) g */
      uint8_t type;           /**< mma8x5x type */
  } mma8652_t;
  
  /**
   * @brief Data structure holding all the information needed for initialization
   */
  typedef struct {
      i2c_t i2c;              /**< I2C bus used */
      uint8_t addr;           /**< accelerometer's I2C address */
      uint8_t rate;           /**< accelerometer's sampling rate */
      uint8_t scale;          /**< accelerometer's scale factor */
      uint8_t type;           /**< mma8x5x type */
  } mma8652_params_t;
  
  /**
   * @brief MMA8652 accelerometer test.
   * This function looks for Device ID of the MMA8652 accelerometer.
   *
   * @param[in]  dev          device descriptor of accelerometer
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_test(mma8652_t *dev);
  
  /**
   * @brief Initialize the MMA8652 accelerometer driver.
   *
   * @param[out] dev          device descriptor of accelerometer to initialize
   * @param[in]  i2c          I2C bus the accelerometer is connected to
   * @param[in]  address      accelerometer's I2C slave address
   * @param[in]  dr           output data rate selection in WAKE mode
   * @param[in]  range        full scale range
   * @param[in]  type         mma8x5x type
   *
   * @return                  0 on success
   * @return                  -1 if parameters are wrong
   * @return                  -2 if initialization of I2C bus failed
   * @return                  -3 if accelerometer test failed
   * @return                  -4 if setting to STANDBY mode failed
   * @return                  -5 if accelerometer configuration failed
   */
  int mma8652_init(mma8652_t *dev, i2c_t i2c, uint8_t address, uint8_t dr, uint8_t range, uint8_t type);
  
  /**
   * @brief Set user offset correction.
   * Offset correction registers will be erased after accelerometer reset.
   *
   * @param[out] dev          device descriptor of accelerometer to initialize
   * @param[in]  x            offset correction value for x-axis
   * @param[in]  y            offset correction value for y-axis
   * @param[in]  z            offset correction value for z-axis
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_set_user_offset(mma8652_t *dev, int8_t x, int8_t y, int8_t z);
  
  /**
   * @brief Reset the MMA8652 accelerometer. After that accelerometer should be reinitialized.
   *
   * @param[out] dev          device descriptor of accelerometer to reset
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_reset(mma8652_t *dev);
  
  /**
   * @brief Set active mode, this enables periodic measurements.
   *
   * @param[out] dev          device descriptor of accelerometer to reset
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_set_active(mma8652_t *dev);
  
  /**
   * @brief Set standby mode.
   *
   * @param[in]  dev          device descriptor of accelerometer
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_set_standby(mma8652_t *dev);
  
  /**
   * @brief Check for new set of measurement data.
   *
   * @param[in]  dev          device descriptor of accelerometer
   *
   * @return                  >0 if x- ,y- ,z-axis new sample is ready
   * @return                  0 measurement in progress
   * @return                  -1 on error
   */
  int mma8652_is_ready(mma8652_t *dev);
  
  /**
   * @brief Read accelerometer's data.
   * Acceleration will be calculated as:<br>
   *     \f$ a = \frac{value \cdot 1000}{1024} \cdot mg \f$ if full scale is set to 2g<br>
   *     \f$ a = \frac{value \cdot 1000}{512} \cdot mg \f$ if full scale is set to 4g<br>
   *     \f$ a = \frac{value \cdot 1000}{256} \cdot mg \f$ if full scale is set to 8g<br>
   *
   * @param[in]  dev          device descriptor of accelerometer
   * @param[out] x            x-axis value in mg
   * @param[out] y            y-axis value in mg
   * @param[out] z            z-axis value in mg
   * @param[out] status       accelerometer status register
   *
   * @return                  0 on success
   * @return                  -1 on error
   */
  int mma8652_read(mma8652_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif
  /** @} */