Implement signal process register

Mostly useful for creating new lookup table. In that use case, want to ignore current LUT, accelerometer data, and not rotate by heading

Author: sfe-SparkFro

src/sfeQwiicOtos.cpp

@@ -237,6 +237,18 @@ sfeTkError_t sfeQwiicOtos::resetTracking()
     return _commBus->writeRegisterByte(kOtosRegReset, 0x01);
 }
 
+sfeTkError_t sfeQwiicOtos::getSignalProcess(sfe_otos_config_signal_process_t &config)
+{
+    // Read the signal process register
+    return _commBus->readRegisterByte(kOtosRegSignalProcess, config.value);
+}
+
+sfeTkError_t sfeQwiicOtos::setSignalProcess(sfe_otos_config_signal_process_t &config)
+{
+    // Write the signal process register
+    return _commBus->writeRegisterByte(kOtosRegSignalProcess, config.value);
+}
+
 sfeTkError_t sfeQwiicOtos::getOffset(otos_pose2d_t &pose)
 {
     return readPoseRegs(kOtosRegOffXL, pose, kInt16ToMeter, kInt16ToRad);

src/sfeQwiicOtos.h

@@ -21,6 +21,8 @@ const uint8_t kOtosRegScalarXY = 0x04;
 const uint8_t kOtosRegScalarH = 0x05;
 const uint8_t kOtosRegImuCalib = 0x06;
 const uint8_t kOtosRegReset = 0x07;
+
+const uint8_t kOtosRegSignalProcess = 0x0E;
 const uint8_t kOtosRegSelfTest = 0x0F;
 
 const uint8_t kOtosRegOffXL = 0x10;
@@ -132,6 +134,18 @@ typedef union {
     uint8_t value;
 } otos_version_t;
 
+// Signal process register bit fields
+typedef union {
+    struct
+    {
+        uint8_t enLut : 1;
+        uint8_t enAcc : 1;
+        uint8_t enRot : 1;
+        uint8_t reserved : 5;
+    };
+    uint8_t value;
+} sfe_otos_config_signal_process_t;
+
 // Self test register bit fields
 typedef union {
     struct
@@ -184,6 +198,10 @@ class sfeQwiicOtos
 
     sfeTkError_t resetTracking();
 
+    sfeTkError_t getSignalProcess(sfe_otos_config_signal_process_t &config);
+
+    sfeTkError_t setSignalProcess(sfe_otos_config_signal_process_t &config);
+
     sfeTkError_t getOffset(otos_pose2d_t &pose);
 
     sfeTkError_t setOffset(otos_pose2d_t &pose);