ImuBase.hpp

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#pragma once
 
#include "SensorDefs.hpp"
 
class ImuBase
{
public:
    enum class DataReadyMask : uint8_t {
        ACCEL = 0x01,
        GYRO  = 0x02,
        BOTH  = 0x03,
    };
 
    virtual ~ImuBase() = default;
 
    // ==================== Common / Device-level Operations ====================
 
    virtual bool reset() = 0;
 
    virtual bool selfTest() = 0;
 
    virtual bool isPresent() = 0;
 
    virtual uint8_t getChipID() = 0;
 
    virtual uint32_t getFirmwareVersion() = 0;
 
    virtual bool setOperationMode(OperationMode mode) = 0;
 
    bool powerOn()
    {
        return setOperationMode(OperationMode::NORMAL);
    }
 
    bool powerDown()
    {
        return setOperationMode(OperationMode::SUSPEND);
    }
 
    virtual float getTemperature() = 0;
 
    virtual uint32_t getTimestamp() = 0;
 
    // ==================== Accelerometer Operations ====================
 
    virtual bool isDataReady(uint8_t mask = static_cast<uint8_t>(DataReadyMask::BOTH)) = 0;
 
    virtual bool readAccel(AccelerometerData &out) = 0;
 
    virtual bool enableAccel() = 0;
 
    virtual bool disableAccel() = 0;
 
    virtual bool isAccelEnabled() = 0;
 
    virtual bool setAccelFullScaleRange(AccelFullScaleRange range) = 0;
 
    virtual bool setAccelOutputDataRate(float data_rate_hz) = 0;
 
    virtual bool readAccelRaw(int16_t &x, int16_t &y, int16_t &z) = 0;
 
    // ==================== Gyroscope Operations ====================
 
    virtual bool readGyro(GyroscopeData &out) = 0;
 
    virtual bool enableGyro() = 0;
 
    virtual bool disableGyro() = 0;
 
    virtual bool isGyroEnabled() = 0;
 
    virtual bool setGyroFullScaleRange(GyroFullScaleRange range) = 0;
 
    virtual bool setGyroOutputDataRate(float data_rate_hz) = 0;
 
    virtual bool readGyroRaw(int16_t &x, int16_t &y, int16_t &z) = 0;
 
    // ==================== Synchronous Sample Mode ====================
 
    virtual bool enableSyncMode() = 0;
 
    virtual bool disableSyncMode() = 0;
 
    // ==================== Advanced Features (Optional) ====================
 
    virtual bool configureFifo(bool enable, uint8_t watermark_samples = 16) = 0;
 
    virtual uint16_t readFromFifo(AccelerometerData *accel_data, uint16_t accel_count,
                                  GyroscopeData *gyro_data, uint16_t gyro_count) = 0;
};