lsm303d: Initial implementation, C, C++ wraps C

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

src/lsm303d/lsm303d.cxx

@@ -0,0 +1,142 @@
+/*
+ * 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 <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string.h>
+
+#include "lsm303d.hpp"
+
+using namespace upm;
+using namespace std;
+
+LSM303D::LSM303D(int bus, int addr) :
+    m_lsm303d(lsm303d_init(bus, addr))
+{
+    if (!m_lsm303d)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_init() failed");
+}
+
+LSM303D::~LSM303D()
+{
+    lsm303d_close(m_lsm303d);
+}
+
+void LSM303D::init(LSM303D_M_RES_T res)
+{
+    if (lsm303d_devinit(m_lsm303d, res))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_devinit() failed");
+}
+
+void LSM303D::update()
+{
+    if (lsm303d_update(m_lsm303d))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_update() failed");
+}
+
+uint8_t LSM303D::readReg(uint8_t reg)
+{
+    return lsm303d_read_reg(m_lsm303d, reg);
+}
+
+int LSM303D::readRegs(uint8_t reg, uint8_t *buffer, int len)
+{
+    int rv = lsm303d_read_regs(m_lsm303d, reg, buffer, len);
+    if (rv < 0)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_read_regs() failed");
+
+    return rv;
+}
+
+void LSM303D::writeReg(uint8_t reg, uint8_t val)
+{
+    if (lsm303d_write_reg(m_lsm303d, reg, val))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_write_reg() failed");
+}
+
+void LSM303D::getMagnetometer(float *x, float *y, float *z)
+{
+    lsm303d_get_magnetometer(m_lsm303d, x, y, z);
+}
+
+std::vector<float> LSM303D::getMagnetometer()
+{
+    float v[3];
+
+    getMagnetometer(&v[0], &v[1], &v[2]);
+    return std::vector<float>(v, v+3);
+}
+
+void LSM303D::getAccelerometer(float *x, float *y, float *z)
+{
+    lsm303d_get_accelerometer(m_lsm303d, x, y, z);
+}
+
+std::vector<float> LSM303D::getAccelerometer()
+{
+    float v[3];
+
+    getAccelerometer(&v[0], &v[1], &v[2]);
+    return std::vector<float>(v, v+3);
+}
+
+float LSM303D::getTemperature()
+{
+    return lsm303d_get_temperature(m_lsm303d);
+}
+
+void LSM303D::setAccelerometerFullScale(LSM303D_AFS_T fs)
+{
+    if (lsm303d_set_acc_full_scale(m_lsm303d, fs))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_set_acc_full_scale() failed");
+}
+
+void LSM303D::setMagnetometerFullScale(LSM303D_MFS_T fs)
+{
+    if (lsm303d_set_mag_full_scale(m_lsm303d, fs))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_set_mag_full_scale() failed");
+}
+void LSM303D::setAccelerometerODR(LSM303D_AODR_T odr)
+{
+    if (lsm303d_set_acc_odr(m_lsm303d, odr))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_set_acc_odr() failed");
+}
+
+void LSM303D::setMagnetometerODR(LSM303D_MODR_T odr)
+{
+    if (lsm303d_set_mag_odr(m_lsm303d, odr))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303d_set_mag_odr() failed");
+}