bno08x_comm_interface.hpp

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#pragma once
#include <cstdint>
#include <type_traits>
#include <utility>
 
// ============================================================================
// 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  
};
 
namespace detail {
 
template <typename Port>
using GpioSetResult =
    decltype(std::declval<Port&>().GpioSet(std::declval<CtrlPin>(), std::declval<GpioSignal>()));
 
template <typename Port>
inline constexpr bool kGpioSetReportsStatus =
    std::is_same_v<std::remove_cv_t<std::remove_reference_t<GpioSetResult<Port>>>, bool>;
 
template <typename Port>
inline bool GpioSet(Port& port, CtrlPin pin, GpioSignal signal) noexcept {
  using Result = GpioSetResult<Port>;
  static_assert(std::is_void_v<Result> || kGpioSetReportsStatus<Port>,
                "bno08x: the port's GpioSet(pin, signal) must return bool (true = pin driven, "
                "false = GPIO error), or void for a port that never reports errors");
  if constexpr (std::is_void_v<Result>) {
    port.GpioSet(pin, signal);
    return true;
  } else {
    return static_cast<bool>(port.GpioSet(pin, signal));
  }
}
 
template <typename Port, typename = void>
struct HasI2cAddressHooks : std::false_type {};
 
template <typename Port>
struct HasI2cAddressHooks<
    Port, std::void_t<decltype(std::declval<Port&>().GetI2cAddress()),
                      decltype(std::declval<Port&>().SetI2cAddress(std::declval<uint8_t>()))>>
    : std::true_type {};
 
template <typename Port>
inline constexpr bool kHasI2cAddressHooks = HasI2cAddressHooks<Port>::value;
 
} // namespace detail
 
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();
  }
 
 
  // --------------------------------------------------------------------------
 
  bool GpioSet(CtrlPin pin, GpioSignal signal) noexcept {
    return detail::GpioSet(*static_cast<Derived*>(this), pin, signal);
  }
 
  bool GpioSetActive(CtrlPin pin) noexcept {
    return GpioSet(pin, GpioSignal::ACTIVE);
  }
 
  bool GpioSetInactive(CtrlPin pin) noexcept {
    return 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