//*
//*  Energia Library for the MPU6050 Accelerometer
//* 
//*  Partially based off of: "MPU-6050 Short Example Sketch"
//*  By Arduino User JohnChi, August 17, 2014
//*
//*  Written by SpEcTrUm
//*  07/10/2015
//*  
//*  Public Domain
//*

// Motion.h

#ifndef _MSP432_MOTION_
#define _MSP432_MOTION_

#define MPU_ADDRESS      	0x68      // I2C address of the MPU-6050

#define PWR_MGMT_1       	0x6B      // PWR_MGMT_1 register
#define PWR_MGMT_2       	0x6C      // PWR_MGMT_2 register
#define INT_ENABLE       	0x38      // MPU6050 interrupt enable 
#define INT_STATUS       	0x3A      // MPU6050 interrupt status
#define MOT_DETECT_STATUS       0x61      // MPU6050 "Zero-motion" interrupt status
#define CONFIG           	0x1A	  // MPU6050 LPF settings
#define ACCEL_CONFIG     	0x1C      // configures MPU6050 accelerometer
#define MOT_EN           	0x40      // enables MPU6050 "Motion Detection" to generate an interrupt
#define MOT_DUR          	0x20	  // sets duration for MPU6050 "Motion Detection"
#define MOT_THR          	0x1F      // sets threshold for MPU6050 "Motion Detection"
#define ZRMOT_EN         	0x20
#define ZRMOT_DUR        	0x22 
#define ZRMOT_THR        	0x21 

#define ACCEL_XOUT_H     	0x3B      // x-direction register -- bits [15:8]
#define ACCEL_XOUT_L     	0x3C      // x-direction register -- bits [7:0] 
#define ACCEL_YOUT_H     	0x3D      // y-direction register -- bits [15:8]
#define ACCEL_YOUT_L     	0x3E      // y-direction register -- bits [7:0]
#define ACCEL_ZOUT_H     	0x3F      // z-direction register -- bits [15:8]
#define ACCEL_ZOUT_L     	0x40      // z-direction register -- bits [7:0]
#define TEMP_OUT_H       	0x41      // temperature register -- bits [15:8]
#define TEMP_OUT_L       	0x42      // temperature register -- bits [7:0]
#define GYRO_XOUT_H      	0x43      // x-direction register -- bits [15:8]
#define GYRO_XOUT_L      	0x44      // x-direction register -- bits [7:0]
#define GYRO_YOUT_H      	0x45      // y-direction register -- bits [15:8]
#define GYRO_YOUT_L      	0x46      // y-direction register -- bits [7:0]
#define GYRO_ZOUT_H      	0x47      // z-direction register -- bits [15:8]
#define GYRO_ZOUT_L      	0x48      // z-direction register -- bits [7:0]

#define STDBY_ACCEL      	0xC7      // used to set bits [5:3] in the PWR_MGMT_2 register
#define ACCEL_HPF        	0xF8      // used to set bits [2:0] in the ACCEL_CONFIG register (high-pass filter)
#define ACCEL_HPF_HIGH   	7         // used to set bits [2:0] in the ACCEL_CONFIG register (high-pass filter)
#define DLPF_CFG         	0xF8	  // used to set bits [2:0] in the CONFIG register (high-pass filter bandwidth)
#define WKUP_FREQ        	0x3F      // used to set wakeup frequency of 5Hz (PWR_MGMT_2 register)
#define SET_CYCLE        	0x9F      // isolates PWR_MGMT_1 bits [6:5]
#define CYCLE_ENABLE     	0x10      // enables cycling of MPU6050 (disables sleep)

#define DEFAULT_DURATION 	1
#define THEFT_THRESHOLD  	20        // threshold for MPU6050 "Motion Detection" during theft
#define ZRMOTION_THRESHOLD 	60        // threshold for MPU6050 "Zero-motion Detection" during a crash
#define THEFT_DETECTED  	0x41      // if the INT_STATUS register returns 0x41 theft has occured
#define MOTION_DETECTED         0x20
#define STOP_DETECTED           0
#define WKUP_GYR_OFF     	0x47      // sets PWR_MGMT_2 resgister to desired refresh rate (gyro DISABLED)
#define WKUP_GYR_ON      	0x40      // sets PWR_MGMT_2 resgister to desired refresh rate (gyro ENABLED)

#define SAMPLES          	10        // defines the number of samples for averaging within getMotionData()
#define DEBUG_BAUD       	9600      // baud-rate for debugging (9600 works best)
#define READING_DELAY    	100       // delay-rate for MPU6050 readings (in ms)
#define STOP_QUALIFICATION  2000
#define ON               	true      // used for brake light functionality
#define OFF              	false     // used for brake light functionality

class motion
{
    public:
	    motion();
		void setupMPU6050(void);    	      // begins Wire communication and serial debugging
		void runDefaultSetup(void); 	      // initializes the MPU6050 for normal readings (always on)
		void runTheftSetup(void);   	      // initializes the MPU6050 "Motion Detection" (cycles as defined in THEFT_CYCLE_RATE)
		void runSafetySetup(void);  	      // initializes the MPU6050 "Motion Detection" and gyrometer readings (non-cycle mode)
		void resetMPU6050(void);
		void getAllMotionData(void);
		void getAccData(void);
		void getRotData(void);
		void brakeLight(bool signal);	      // signals MSP430 to activate brake light 			
		void emergencyFlash(void); 	          // used in event of a crash, tells MSP430 to flash all 3 channels constantly
		void checkForStop(void);
                bool theftDetected(void);
		bool motionDetected(void);
		bool stopDetected(void);
		bool crashDetected(void);             // returns TRUE if a crash has been detected
		int accX,accY,accZ,tmp,rotX,rotY,rotZ;
	private:
		int _button_pin;
		int _MPU6050_power;			
}; 

#endif