unit_sh200q_data.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_SH200Q_DATA_HPP
#define M5_UNIT_IMU_UNIT_UNIT_SH200Q_DATA_HPP
 
#include <array>
#include <cstdint>
 
namespace m5 {
namespace unit {
namespace sh200q {
 
enum class AccelRange : uint8_t {
    G4,   
    G8,   
    G16,  
};
 
enum class GyroRange : uint8_t {
    DPS2000,  
    DPS1000,  
    DPS500,   
    DPS250,   
    DPS125,   
};
 
enum class AccelOdr : uint8_t {
    HZ1024,  
    HZ512,   
    HZ256,   
    HZ128,   
};
 
enum class GyroOdr : uint8_t {
    HZ1000,  
    HZ500,   
    HZ250,   
};
 
enum class GyroDlpf : uint8_t {
    BW250,  
    BW200,  
    BW100,  
    BW50,   
    BW25,   
};
 
constexpr float accel_res(const AccelRange r)
{
    return (4.0f * (1 << static_cast<uint8_t>(r))) / 32768;
}
constexpr float gyro_res(const GyroRange r)
{
    return (2000.0f / (1 << static_cast<uint8_t>(r))) / 32768;
}
constexpr uint32_t gyro_odr_hz(const GyroOdr r)
{
    return 1000U >> static_cast<uint8_t>(r);
}
 
struct Data {
    std::array<uint8_t, 14> raw{};  
 
    inline int16_t accel_x() const
    {
        return static_cast<int16_t>((raw[1] << 8) | raw[0]);
    }
    inline int16_t accel_y() const
    {
        return static_cast<int16_t>((raw[3] << 8) | raw[2]);
    }
    inline int16_t accel_z() const
    {
        return static_cast<int16_t>((raw[5] << 8) | raw[4]);
    }
    inline int16_t gyro_x() const
    {
        return static_cast<int16_t>((raw[7] << 8) | raw[6]);
    }
    inline int16_t gyro_y() const
    {
        return static_cast<int16_t>((raw[9] << 8) | raw[8]);
    }
    inline int16_t gyro_z() const
    {
        return static_cast<int16_t>((raw[11] << 8) | raw[10]);
    }
    inline int16_t temp_adc() const
    {
        return static_cast<int16_t>((raw[13] << 8) | raw[12]);
    }
 
    inline float temperature() const
    {
        return temp_adc() / 333.87f + 21.0f;
    }
};
 
}  // namespace sh200q
}  // namespace unit
}  // namespace m5
#endif