imu_wrapper.h

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#ifndef BSP_IMU_WRAPPER_H
#define BSP_IMU_WRAPPER_H
 
#include <cstdint>
 
#include "src/system/utils/vector_math.h"
 
namespace lampda {
namespace bsp {
namespace imu {
 
struct Reading
{
  utils::vec3d accel;
  utils::vec3d gyro;
};
 
class Wrapper
{
public:
  bool init() const;
  bool shutdown() const;
 
  Reading get_reading() const;
 
  enum class InterruptType
  {
    FreeFall,    
    BigMotion,   
    Step,        
    AngleChange, 
  };
 
  bool enable_free_fall_detection() const;
  bool disable_free_fall_detection() const;
 
  bool enable_big_motion_detection() const;
  bool disable_big_motion_detection() const;
 
  bool enable_step_detection() const;
  bool disable_step_detection() const;
 
  bool enable_tilt_detection() const;
  bool disable_tilt_detection() const;
 
  void disable_detection(const InterruptType interr) const;
 
  bool enable_interrupt1(const InterruptType interr) const;
  void disable_interrupt1() const;
 
  bool enable_interrupt2(const InterruptType interr) const;
  void disable_interrupt2() const;
 
  uint16_t get_step_count() const;
 
  bool is_event_detected(const InterruptType interr) const;
};
 
} // namespace imu
} // namespace bsp
} // namespace lampda
 
#endif