bno08x_comm_interface.hpp

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#pragma once
#include <cstdint>
 
// ============================================================================
// Interface Type Enum
// ============================================================================
 
enum class BNO085Interface : uint8_t {
  I2C = 0,     
  UARTRVC = 1, 
  UART = 2,    
  SPI = 3      
};
 
// ============================================================================
// CommInterface CRTP Base
// ============================================================================
 
namespace bno08x {
 
// ============================================================================
// GPIO Enums -- Standardised Control Pin Model
// ============================================================================
 
enum class CtrlPin : uint8_t {
  RSTN = 0, 
  BOOTN,    
  WAKE,     
  PS0,      
  PS1       
};
 
enum class GpioSignal : uint8_t {
  INACTIVE = 0, 
  ACTIVE   = 1  
};
 
template <typename Derived>
class CommInterface {
public:
  // --------------------------------------------------------------------------
 
  BNO085Interface GetInterfaceType() noexcept {
    return static_cast<Derived*>(this)->GetInterfaceType();
  }
 
 
  // --------------------------------------------------------------------------
 
  bool Open() noexcept {
    return static_cast<Derived*>(this)->Open();
  }
 
  void Close() noexcept {
    static_cast<Derived*>(this)->Close();
  }
 
  int Write(const uint8_t* data, uint32_t length) noexcept {
    return static_cast<Derived*>(this)->Write(data, length);
  }
 
  int Read(uint8_t* data, uint32_t length) noexcept {
    return static_cast<Derived*>(this)->Read(data, length);
  }
 
  bool DataAvailable() noexcept {
    return static_cast<Derived*>(this)->DataAvailable();
  }
 
  void Delay(uint32_t ms) noexcept {
    static_cast<Derived*>(this)->Delay(ms);
  }
 
  uint32_t GetTimeUs() noexcept {
    return static_cast<Derived*>(this)->GetTimeUs();
  }
 
 
  // --------------------------------------------------------------------------
 
  void GpioSet(CtrlPin pin, GpioSignal signal) noexcept {
    static_cast<Derived*>(this)->GpioSet(pin, signal);
  }
 
  void GpioSetActive(CtrlPin pin) noexcept {
    GpioSet(pin, GpioSignal::ACTIVE);
  }
 
  void GpioSetInactive(CtrlPin pin) noexcept {
    GpioSet(pin, GpioSignal::INACTIVE);
  }
 
 
protected:
  CommInterface() = default;
  ~CommInterface() = default;
 
  CommInterface(const CommInterface&) = delete;                 
  CommInterface& operator=(const CommInterface&) = delete;      
  CommInterface(CommInterface&&) noexcept = default;            
  CommInterface& operator=(CommInterface&&) noexcept = default; 
};
 
} // namespace bno08x