/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "interfaces/Accelerometer.h"
#include "I2C.h"

/**
 * ADXL345 Accelerometer on I2C.
 *
 * This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
 * This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).
 */
class ADXL345_I2C : public Accelerometer, public I2C
{
protected:
	static const uint8_t kAddress = 0x1D;
	static const uint8_t kPowerCtlRegister = 0x2D;
	static const uint8_t kDataFormatRegister = 0x31;
	static const uint8_t kDataRegister = 0x32;
	static constexpr double kGsPerLSB = 0.00390625;
	enum PowerCtlFields {kPowerCtl_Link=0x20, kPowerCtl_AutoSleep=0x10, kPowerCtl_Measure=0x08, kPowerCtl_Sleep=0x04};
	enum DataFormatFields {kDataFormat_SelfTest=0x80, kDataFormat_SPI=0x40, kDataFormat_IntInvert=0x20,
		kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};

public:
	enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
	struct AllAxes
	{
		double XAxis;
		double YAxis;
		double ZAxis;
	};

public:
	explicit ADXL345_I2C(Port port, Range range = kRange_2G);
	virtual ~ADXL345_I2C();

	// Accelerometer interface
	virtual void SetRange(Range range);
	virtual double GetX();
	virtual double GetY();
	virtual double GetZ();

	virtual double GetAcceleration(Axes axis);
	virtual AllAxes GetAccelerations();

protected:
	//I2C* m_i2c;
};