lsm6dsl: Initial implementation; C; C++ wraps C; FTI; examples

Signed-off-by: Jon Trulson <jtrulson@ics.com>

src/lsm6dsl/lsm6dsl_fti.c

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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.
+ */
+
+#include "lsm6dsl.h"
+#include "upm_fti.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_lsm6dsl_name[] = "LSM6DSL";
+const char upm_lsm6dsl_description[] =
+    "Triple Axis Digital Accelerometer and Gyroscope";
+const upm_protocol_t upm_lsm6dsl_protocol[] = {UPM_I2C, UPM_SPI, UPM_GPIO};
+const upm_sensor_t upm_lsm6dsl_category[] = {UPM_ACCELEROMETER,
+                                             UPM_GYROSCOPE};
+
+// forward declarations
+const void *upm_lsm6dsl_get_ft(upm_sensor_t sensor_type);
+void *upm_lsm6dsl_init_name();
+void upm_lsm6dsl_close(void *dev);
+upm_result_t upm_lsm6dsl_get_acc_value(void *dev, float *value,
+                                       upm_acceleration_u unit);
+upm_result_t upm_lsm6dsl_get_gyr_value(void *dev, float *value);
+
+const upm_sensor_descriptor_t upm_lsm6dsl_get_descriptor()
+{
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_lsm6dsl_name;
+    usd.description = upm_lsm6dsl_description;
+    usd.protocol_size = 3;
+    usd.protocol = upm_lsm6dsl_protocol;
+    usd.category_size = 2;
+    usd.category = upm_lsm6dsl_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = upm_lsm6dsl_init_name,
+    .upm_sensor_close = upm_lsm6dsl_close,
+};
+
+static const upm_acceleration_ft aft =
+{
+    .upm_acceleration_get_value = upm_lsm6dsl_get_acc_value
+};
+
+static const upm_gyroscope_ft gft =
+{
+    .upm_gyroscope_get_value = upm_lsm6dsl_get_gyr_value
+};
+
+const void *upm_lsm6dsl_get_ft(upm_sensor_t sensor_type)
+{
+    switch(sensor_type)
+    {
+    case UPM_SENSOR:
+        return &ft;
+
+    case UPM_ACCELEROMETER:
+        return &aft;
+
+    case UPM_GYROSCOPE:
+        return &gft;
+
+    default:
+        return NULL;
+    }
+}
+
+void *upm_lsm6dsl_init_name()
+{
+    return NULL;
+}
+
+void upm_lsm6dsl_close(void *dev)
+{
+    lsm6dsl_close((lsm6dsl_context)dev);
+}
+
+upm_result_t upm_lsm6dsl_get_acc_value(void *dev, float *value,
+                                       upm_acceleration_u unit)
+{
+    if (lsm6dsl_update((lsm6dsl_context)dev))
+        return UPM_ERROR_OPERATION_FAILED;
+
+    // no conversion facility in place yet, so we don't do anything
+    // with units
+
+    lsm6dsl_get_accelerometer(dev, &value[0], &value[1], &value[2]);
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t upm_lsm6dsl_get_gyr_value(void *dev, float *value)
+{
+    if (lsm6dsl_update((lsm6dsl_context)dev))
+        return UPM_ERROR_OPERATION_FAILED;
+
+    lsm6dsl_get_gyroscope(dev, &value[0], &value[1], &value[2]);
+
+    return UPM_SUCCESS;
+}