Add status register read

Author: sfe-SparkFro

src/sfeQwiicOtos.cpp

@@ -254,6 +254,11 @@ sfeTkError_t sfeQwiicOtos::getOffset(otos_pose2d_t &pose)
     return readPoseRegs(kOtosRegOffXL, pose, kInt16ToMeter, kInt16ToRad);
 }
 
+sfeTkError_t sfeQwiicOtos::getStatus(sfe_otos_status_t &status)
+{
+    return _commBus->readRegisterByte(kOtosRegStatus, status.value);
+}
+
 sfeTkError_t sfeQwiicOtos::setOffset(otos_pose2d_t &pose)
 {
     return writePoseRegs(kOtosRegOffXL, pose, kMeterToInt16, kRadToInt16);

src/sfeQwiicOtos.h

@@ -159,6 +159,19 @@ typedef union {
     uint8_t value;
 } sfe_otos_config_self_test_t;
 
+// Status register bit fields
+typedef union {
+    struct
+    {
+        uint8_t warnTiltAngle : 1;
+        uint8_t warnOpticalTracking : 1;
+        uint8_t reserved : 4;
+        uint8_t errorPaa : 1;
+        uint8_t errorLsm : 1;
+    };
+    uint8_t value;
+} sfe_otos_status_t;
+
 class sfeQwiicOtos
 {
   public:
@@ -202,6 +215,8 @@ class sfeQwiicOtos
 
     sfeTkError_t setSignalProcess(sfe_otos_config_signal_process_t &config);
 
+    sfeTkError_t getStatus(sfe_otos_status_t &status);
+
     sfeTkError_t getOffset(otos_pose2d_t &pose);
 
     sfeTkError_t setOffset(otos_pose2d_t &pose);