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lsm303agr: Initial implementation, C, FTI, C++ wraps C

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
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Jon Trulson
2017-04-14 16:24:57 -06:00
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* The MIT License
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <unistd.h>
#include <string.h>
#include <mraa/i2c.h>
#include <mraa/gpio.h>
#include "upm.h"
#include "lsm303agr_defs.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file lsm303agr.h
* @library lsm303agr
* @brief C API for the lsm303agr driver
*
* @include lsm303agr.c
*/
/**
* Device context
*/
typedef struct _lsm303agr_context {
mraa_i2c_context i2cACC; // accelerometer
mraa_i2c_context i2cMAG; // magnetometer
mraa_gpio_context gpioACC1; // acc intr
mraa_gpio_context gpioACC2; // acc intr
mraa_gpio_context gpioMAG; // mag intr
// currently set power mode
LSM303AGR_POWER_MODE_T powerMode;
// uncompensated temperature in C
float temperature;
// accelerometer scaling, depends on full scale sensitivity and
// power mode
float accScale;
float accDivisor;
// uncompensated acc data
float accX;
float accY;
float accZ;
// uncompensated mag data
float magX;
float magY;
float magZ;
} *lsm303agr_context;
/**
* LSM303AGR initialization
*
* This driver can only support I2C. SPI requires support for
* 3-wire SPI which we cannot currently handle. Only the basic
* capabilities of the device are supported, however there is a
* full register map defined (lsm303agr_defs.h), and with access
* to the bus read/write functions, any desired additional
* functionality can be implemented.
*
* @param bus I2C bus to use
* @param acc_addr The I2C address of the accelerometer. Use -1
* if you do not wish to use the accelerometer.
* @param mag_addr The I2C address of the magnetometer. Use -1
* if you do not wish to use the magnetometer.
* @return The device context, or NULL if an error occurred
*/
lsm303agr_context lsm303agr_init(int bus, int acc_addr, int mag_addr);
/**
* LSM303AGR Destructor
*
* @param dev The device context
*/
void lsm303agr_close(lsm303agr_context dev);
/**
* Update the internal stored values from sensor data
*
* @param dev The device context
* @return UPM result
*/
upm_result_t lsm303agr_update(const lsm303agr_context dev);
/**
* Return magnetometer data in micro-Teslas (uT). update() must
* have been called prior to calling this function.
*
* @param dev The device context
* @param x Pointer to a floating point value that will have the
* current x component placed into it
* @param y Pointer to a floating point value that will have the
* current y component placed into it
* @param z Pointer to a floating point value that will have the
* current z component placed into it
*/
void lsm303agr_get_magnetometer(const lsm303agr_context dev,
float *x, float *y, float *z);
/**
* Return accelerometer data in gravities. update() must have
* been called prior to calling this function.
*
* @param dev The device context
* @param x Pointer to a floating point value that will have the
* current x component placed into it
* @param y Pointer to a floating point value that will have the
* current y component placed into it
* @param z Pointer to a floating point value that will have the
* current z component placed into it
*/
void lsm303agr_get_accelerometer(const lsm303agr_context dev,
float *x, float *y, float *z);
/**
* Return temperature data in degrees Celsius.. update() must
* have been called prior to calling this function.
*
* @param dev The device context
* @return Temperature in degrees Celsius
*/
float lsm303agr_get_temperature(const lsm303agr_context dev);
/**
* Set the full scale (sensitivity) value for the accelerometer.
* This device supports 2G, 4G, 8G, and 16G full scale modes.
*
* @param dev The device context
* @param fs One of the LSM303AGR_A_FS_T values
* @return UPM result
*/
upm_result_t lsm303agr_set_full_scale(const lsm303agr_context dev,
LSM303AGR_A_FS_T fs);
/**
* Initialize the device and start operation. This function is
* called from the constructor so it will not typically need to be
* called by a user unless the device is reset. It will
* initialize the accelerometer and magnetometer (if enabled) to
* certain default running modes.
*
* For the accelerometer, the full scale will be set to 2G, mode
* continuous, all axes enabled, BDU enabled, temperature
* measurement enabled, and an output data rate (ODR) of 100Hz
* with the power mode set at high resolution.
*
* For the magnetometer, temperature compensation will be enabled,
* mode continuous, and an output data rate of 10Hz with the power
* mode set at high resolution.
*
* @param dev The device context
* @param usage One of the LSM303AGR_POWER_MODE_T values. This
* parameter is passed to a call to lsm303agr_set_power_mode() and
* will set the appropriate mode for both the accelerometer and
* magnetometer. The default set by the constructor is
* LSM303AGR_POWER_HIGH_RESOLUTION.
* @return UPM result
*/
upm_result_t lsm303agr_devinit(const lsm303agr_context dev,
LSM303AGR_POWER_MODE_T mode);
/**
* Set an operating power mode. There are 3 modes available: low
* power, normal, and high resolution.
*
* @param dev The device context
* @param usage One of the LSM303AGR_POWER_MODE_T values. The
* default set at initialization time is
* LSM303AGR_POWER_HIGH_RESOLUTION.
* @return UPM result
*/
upm_result_t lsm303agr_set_power_mode(const lsm303agr_context dev,
LSM303AGR_POWER_MODE_T mode);
/**
* Set the accelerometer (acc) output data rate (odr)
*
* @param dev The device context
* @param usage One of the LSM303AGR_A_ODR_T values. The default
* set at initialization time is LSM303AGR_A_ODR_100HZ.
* @return UPM result
*/
upm_result_t lsm303agr_set_acc_odr(const lsm303agr_context dev,
LSM303AGR_A_ODR_T odr);
/**
* Set the magnetometer (mag) output data rate (odr)
*
* @param dev The device context
* @param usage One of the LSM303AGR_CFG_A_M_ODR_T values. The default
* set at initialization time is LSM303AGR_CFG_A_M_ODR_10HZ.
* @return UPM result
*/
upm_result_t lsm303agr_set_mag_odr(const lsm303agr_context dev,
LSM303AGR_CFG_A_M_ODR_T odr);
/**
* Return the accelerometer (acc) interrupt 1 config register.
* This register allows you to enable various interrupt
* conditions. See the datasheet for details.
*
* @param dev The device context
* @return A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
*/
uint8_t lsm303agr_get_acc_int1_config(const lsm303agr_context dev);
/**
* Return the accelerometer (acc) interrupt 2 config register.
* This register allows you to enable various interrupt
* conditions. See the datasheet for details.
*
* @param dev The device context
* @return A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
*/
uint8_t lsm303agr_get_acc_int2_config(const lsm303agr_context dev);
/**
* Set the accelerometer (acc) interrupt 1 config register. See
* the datasheet for details.
*
* @param dev The device context
* @param bits A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
* @return UPM result
*/
upm_result_t lsm303agr_set_acc_int1_config(const lsm303agr_context dev,
uint8_t bits);
/**
* Set the accelerometer (acc) interrupt 2 config register. See
* the datasheet for details.
*
* @param dev The device context
* @param bits A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
* @return UPM result
*/
upm_result_t lsm303agr_set_acc_int2_config(const lsm303agr_context dev,
uint8_t bits);
/**
* Return the magnetometer (mag) interrupt config register. See
* the datasheet for details.
*
* @param dev The device context
* @return A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits
*/
uint8_t lsm303agr_get_mag_int_config(const lsm303agr_context dev);
/**
* Set the magnetometer (mag) interrupt config register. See
* the datasheet for details.
*
* @param dev The device context
* @param bits A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits
*/
upm_result_t lsm303agr_set_mag_int_config(const lsm303agr_context dev,
uint8_t bits);
/**
* Return the accelerometer (acc) interrupt 1 source register.
* This register indicates which interrupts have been triggered.
* See the datasheet for details.
*
* @param dev The device context
* @return a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits
*/
uint8_t lsm303agr_get_acc_int1_src(const lsm303agr_context dev);
/**
* Return the accelerometer (acc) interrupt 2 source register.
* This register indicates which interrupts have been triggered.
* See the datasheet for details.
*
* @param dev The device context
* @return a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits
*/
uint8_t lsm303agr_get_acc_int2_src(const lsm303agr_context dev);
/**
* Return the magnetometer (mag) interrupt source register.
* This register indicates which interrupts have been triggered.
* See the datasheet for details.
*
* @param dev The device context
* @return a bitmask of LSM303AGR_INT_SRC_REG_M_BITS_T bits
*/
uint8_t lsm303agr_get_mag_int_src(const lsm303agr_context dev);
/**
* Install an interrupt handler
*
* @param dev The device context
* @param intr One of the LSM303AGR_INTERRUPT_PINS_T values
* specifying which interrupt pin you are installing
* @param gpio GPIO pin to use as interrupt pin
* @param level The interrupt trigger level (one of the
* mraa_gpio_edge_t values). Make sure that you have configured
* the interrupt pin properly for whatever level you choose.
* @param isr The interrupt handler, accepting a void * argument
* @param arg The argument to pass the the interrupt handler
* @return UPM result
*/
upm_result_t lsm303agr_install_isr(const lsm303agr_context dev,
LSM303AGR_INTERRUPT_PINS_T intr,
int gpio, mraa_gpio_edge_t level,
void (*isr)(void *), void *arg);
/**
* Uninstall a previously installed interrupt handler
*
* @param dev The device context
* @param intr One of the LSM303AGR_INTERRUPT_PINS_T values
* specifying which interrupt pin you are removing
*/
void lsm303agr_uninstall_isr(const lsm303agr_context dev,
LSM303AGR_INTERRUPT_PINS_T intr);
/**
* Read a register.
*
* @param dev The device context
* @param reg The register to read
* @return The value of the register
*/
uint8_t lsm303agr_read_reg(const lsm303agr_context dev, uint8_t reg);
/**
* Read contiguous registers into a buffer
*
* @param dev The device context
* @param buffer The buffer to store the results
* @param len The number of registers to read
* @return The number of bytes read, or -1 on error
*/
int lsm303agr_read_regs(const lsm303agr_context dev, uint8_t reg,
uint8_t *buffer, int len);
/**
* Write to a register
*
* @param dev The device context
* @param reg The register to write to
* @param val The value to write
* @return UPM result
*/
upm_result_t lsm303agr_write_reg(const lsm303agr_context dev,
uint8_t reg, uint8_t val);
#ifdef __cplusplus
}
#endif