/home/travis/build/lis-epfl/MAVRIC_Library/drivers/px4flow_i2c.hpp

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/*******************************************************************************
 * \file px4flow_i2c.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Driver for PX4Flow optical flow smart camera using I2C
 *
 ******************************************************************************/

#ifndef PX4FLOW_I2C_HPP_
#define PX4FLOW_I2C_HPP_

#include <cstdint>
#include "drivers/px4flow.hpp"
#include "hal/common/i2c.hpp"

class  PX4Flow_i2c: public PX4Flow
{
public:
    struct conf_t
    {
        uint8_t       i2c_address;
        orientation_t orientation;
    };

    static const uint8_t GET_FRAME_COMMAND           = 0x0;      
    static const uint8_t GET_INTEGRAL_FRAME_COMMAND  = 0x16;     

    PX4Flow_i2c(I2c& i2c, conf_t config = default_config() );

    bool update(void);


    static inline conf_t default_config(void);

protected:
    I2c&                i2c_;                       
    conf_t              config_;                    
};


PX4Flow_i2c::conf_t PX4Flow_i2c::default_config(void)
{
    conf_t conf = {};

    conf.i2c_address = 0x42;
    conf.orientation = ORIENT_0_DEG;

    return conf;
}

#endif /* PX4FLOW_I2C_HPP_ */