lsm303agr: Initial implementation, C, FTI, C++ wraps C
Signed-off-by: Jon Trulson <jtrulson@ics.com>
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Jon Trulson
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src/lsm303agr/lsm303agr.hpp
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379
src/lsm303agr/lsm303agr.hpp
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* The MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <vector>
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#include <mraa/gpio.hpp>
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#include "lsm303agr.h"
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namespace upm {
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/**
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* @brief ST Microelectronics Ultra-compact high-performance
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* eCompass module
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* @defgroup lsm303agr libupm-lsm303agr
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* @ingroup i2c gpio stmicro compass accelerometer
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*/
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/**
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* @library lsm303agr
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* @sensor lsm303agr
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* @comname Ultra-compact high-performance eCompass module
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* @type compass
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* @man stmicro
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* @con i2c gpio
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* @web http://www.st.com/en/mems-and-sensors/lsm303agr.html
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*
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* @brief API for the LSM303AGR 3-Axis Geomagnetic Sensor
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*
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* The LSM303AGR is an ultra-low-power high-performance
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* system-in-package featuring a 3D digital linear acceleration
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* sensor and a 3D digital magnetic sensor. The LSM303AGR has
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* linear acceleration full scales of 2g/4g/8g/16g and a
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* magnetic field dynamic range of 50 Gauss.
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*
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* Not all functionality of this chip has been implemented in this
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* driver, however all the pieces are present to add any desired
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* functionality. This driver supports only I2C operation.
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*
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* This device requires 3.3v operation.
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*
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* @snippet lsm303agr.cxx Interesting
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*/
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class LSM303AGR {
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public:
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/**
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* LSM303AGR constructor
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*
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* This driver can only support I2C. SPI requires support for
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* 3-wire SPI which we cannot currently handle. Only the
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* basic capabilities of the device are supported, however
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* there is a full register map defined (lsm303agr_defs.h),
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* and with access to the bus read/write functions, any
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* desired additional functionality can be implemented.
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*
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* @param bus I2C bus to use
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* @param acc_addr The I2C address of the accelerometer. Use -1
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* if you do not wish to use the accelerometer.
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* @param mag_addr The I2C address of the magnetometer. Use -1
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* if you do not wish to use the magnetometer.
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* @return The device context, or NULL if an error occurred
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* @throws std::runtime_error on failure.
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*/
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LSM303AGR(int bus=LSM303AGR_DEFAULT_I2C_BUS,
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int acc_addr=LSM303AGR_DEFAULT_ACC_ADDR,
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int mag_addr=LSM303AGR_DEFAULT_MAG_ADDR);
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/**
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* LSM303AGR Destructor
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*/
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~LSM303AGR();
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/**
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* Update the internal stored values from sensor data. This
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* method must be called before querying the acceleration,
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* magnetometer, or temperature.
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*
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* @throws std::runtime_error on failure
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*/
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void update();
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/**
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* Return magnetometer data in micro-Teslas (uT). update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it
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*/
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void getMagnetometer(float *x, float *y, float *z);
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/**
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* Return magnetometer data in micro-Teslas (uT) in the form
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* of a floating point vector. update() must have been called
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* prior to calling this method.
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*
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* @return A floating point vector containing x, y, and z in
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* that order
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*/
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std::vector<float> getMagnetometer();
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/**
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* Return acceleration data in gravities. update() must have
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* been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it
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*/
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void getAccelerometer(float *x, float *y, float *z);
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/**
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* Return acceleration data in gravities in the form of a
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* floating point vector. update() must have been called
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* prior to calling this method.
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*
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* @return A floating point vector containing x, y, and z in
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* that order
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*/
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std::vector<float> getAccelerometer();
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/**
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* Return temperature data in degrees Celsius. NOTE: This is
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* not the ambient room temperature. update() must have been
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* called prior to calling this method.
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*
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* @return Temperature in degrees Celsius
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*/
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float getTemperature();
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/**
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* Initialize the device and start operation. This function
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* is called from the constructor so it will not typically
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* need to be called by a user unless the device is reset. It
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* will initialize the accelerometer and magnetometer (if
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* enabled) to certain default running modes.
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*
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* For the accelerometer, the full scale will be set to 2G,
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* mode continuous, all axes enabled, BDU enabled, temperature
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* measurement enabled, and an output data rate (ODR) of 100Hz
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* with the power mode set at high resolution.
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*
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* For the magnetometer, temperature compensation will be
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* enabled, mode continuous, and an output data rate of 10Hz
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* with the power mode set at high resolution.
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*
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* @param usage One of the LSM303AGR_POWER_MODE_T values. The
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* default is LSM303AGR_POWER_HIGH_RESOLUTION.
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* @throws std::runtime_error on failure
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*/
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void init(LSM303AGR_POWER_MODE_T usage=LSM303AGR_POWER_HIGH_RESOLUTION);
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/**
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* Set the full scale (sensitivity) value for the accelerometer.
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* This device supports 2G, 4G, 8G, and 16G full scale modes.
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*
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* @param fs One of the LSM303AGR_A_FS_T values
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* @throws std::runtime_error on failure
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*/
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void setFullScale(LSM303AGR_A_FS_T fs);
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/**
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* Set an operating power mode. There are 3 modes available: low
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* power, normal, and high resolution.
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*
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* @param usage One of the LSM303AGR_POWER_MODE_T values. The
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* default set at initialization time is
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* LSM303AGR_POWER_HIGH_RESOLUTION.
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* @throws std::runtime_error on failure
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*/
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void setPowerMode(LSM303AGR_POWER_MODE_T mode);
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/**
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* Set the accelerometer output data rate (ODR)
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*
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* @param usage One of the LSM303AGR_A_ODR_T values. The default
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* set at initialization time is LSM303AGR_A_ODR_100HZ.
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* @throws std::runtime_error on failure
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*/
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void setAccelerometerODR(LSM303AGR_A_ODR_T odr);
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/**
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* Set the magnetometer output data rate (ODR)
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*
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* @param usage One of the LSM303AGR_CFG_A_M_ODR_T values.
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* The default set at initialization time is
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* LSM303AGR_CFG_A_M_ODR_10HZ.
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* @throws std::runtime_error on failure
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*/
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void setMagnetometerODR(LSM303AGR_CFG_A_M_ODR_T odr);
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/**
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* Return the accelerometer interrupt 1 config register.
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* This register allows you to enable various interrupt
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* conditions. See the datasheet for details.
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*
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* @return A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
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*/
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uint8_t getAccelerometerInt1Config();
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/**
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* Return the accelerometer interrupt 2 config register.
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* This register allows you to enable various interrupt
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* conditions. See the datasheet for details.
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*
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* @return A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
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*/
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uint8_t getAccelerometerInt2Config();
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/**
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* Set the accelerometer interrupt 1 config register. See the
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* datasheet for details.
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*
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* @param dev The device context
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* @param bits A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
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* @throws std::runtime_error on failure
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*/
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void setAccelerometerInt1Config(uint8_t bits);
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/**
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* Set the accelerometer interrupt 2 config register. See the
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* datasheet for details.
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*
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* @param dev The device context
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* @param bits A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits
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* @throws std::runtime_error on failure
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*/
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void setAccelerometerInt2Config(uint8_t bits);
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/**
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* Return the magnetometer interrupt config register. See the
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* datasheet for details.
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*
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* @return A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits
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*/
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uint8_t getMagnetometerIntConfig();
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/**
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* Set the magnetometer (mag) interrupt config register. See
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* the datasheet for details.
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*
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* @param bits A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits
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* @throws std::runtime_error on failure
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*/
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void setMagnetometerIntConfig(uint8_t bits);
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/**
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* Return the accelerometer interrupt 1 source register. This
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* register indicates which interrupts have been triggered.
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* See the datasheet for details.
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*
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* @return a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits
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*/
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uint8_t getAccelerometerInt1Src();
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/**
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* Return the accelerometer interrupt 2 source register. This
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* register indicates which interrupts have been triggered.
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* See the datasheet for details.
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*
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* @return a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits
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*/
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uint8_t getAccelerometerInt2Src();
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/**
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* Return the magnetometer (mag) interrupt source register.
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* This register indicates which interrupts have been triggered.
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* See the datasheet for details.
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*
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* @param dev The device context
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* @return a bitmask of LSM303AGR_INT_SRC_REG_M_BITS_T bits
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*/
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uint8_t getMagnetometerIntSrc();
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#if defined(SWIGJAVA) || defined(JAVACALLBACK)
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void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
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mraa::Edge level,
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jobject runnable)
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{
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installISR(intr, gpio, level, mraa_java_isr_callback, runnable);
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}
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#else
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/**
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* Install an interrupt handler
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*
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* @param intr One of the LSM303AGR_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are installing
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* @param gpio GPIO pin to use as interrupt pin
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* @param level The interrupt trigger level (one of mraa::Edge
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* values). Make sure that you have configured the interrupt pin
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* properly for whatever level you choose.
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* @param isr The interrupt handler, accepting a void * argument
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* @param arg The argument to pass the the interrupt handler
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* @throws std::runtime_error on failure
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*/
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void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
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mraa::Edge level,
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void (*isr)(void *), void *arg);
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#endif
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/**
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* Uninstall a previously installed interrupt handler
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*
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* @param intr One of the LSM303AGR_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are removing
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*/
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void uninstallISR(LSM303AGR_INTERRUPT_PINS_T intr);
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protected:
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// our underlying device context
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lsm303agr_context m_lsm303agr;
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/**
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* Read a register
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*
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* @param reg The register to read
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* @return The value of the register
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*/
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uint8_t readReg(uint8_t reg);
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/**
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* Read contiguous registers into a buffer
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*
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* @param buffer The buffer to store the results
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* @param len The number of registers to read
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* @return The number of bytes read
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* @throws std::runtime_error on failure
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*/
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int readRegs(uint8_t reg, uint8_t *buffer, int len);
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/**
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* Write to a register
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*
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* @param reg The register to write to
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* @param val The value to write
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* @throws std::runtime_error on failure
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*/
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void writeReg(uint8_t reg, uint8_t val);
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private:
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// Adding a private function definition for java bindings
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#if defined(SWIGJAVA) || defined(JAVACALLBACK)
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void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
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mraa::Edge level,
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void (*isr)(void *), void *arg);
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#endif
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};
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}
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