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bmg160: C port, FTI, C++ wraps C

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
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Jon Trulson
2017-03-21 17:01:14 -06:00
parent 33f3c882b8
commit 8dcd22794b
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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/spi.h>
#include <mraa/gpio.h>
#include "upm.h"
#include "bmg160_defs.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file bmg160.h
* @library bmg160
* @brief C API for the bmg160 driver
*
* @include bmg160.c
*/
/**
* Device context
*/
typedef struct _bmg160_context {
mraa_i2c_context i2c;
mraa_spi_context spi;
mraa_gpio_context gpioCS; // SPI CS pin
mraa_gpio_context gpio1; // intr 1
mraa_gpio_context gpio2; // intr 2
// using SPI?
bool isSPI;
// use the FIFO?
bool useFIFO;
// always stored in C
float temperature;
// gyr data
float gyrX;
float gyrY;
float gyrZ;
// gyr scaling
float gyrScale;
} *bmg160_context;
/**
* BMG160 initialization.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like Intel Edison with Arduino breakout), then
* you can connect the proper pin to the hardware CS pin on your
* MCU and supply -1 for cs.
*
* @param bus I2C or SPI bus to use.
* @param addr The address for this device, or -1 for SPI.
* @param cs The gpio pin to use for the SPI Chip Select. -Use 1 for
* I2C or for SPI with a hardware controlled pin.
* @return The device context, or NULL on error.
*/
bmg160_context bmg160_init(int bus, int addr, int cs);
/**
* BMG160 Destructor.
*
* @param dev The device context.
*/
void bmg160_close(bmg160_context dev);
/**
* Update the internal stored values from sensor data.
*
* @param dev The device context.
* @return UPM result.
*/
upm_result_t bmg160_update(const bmg160_context dev);
/**
* Return the chip ID.
*
* @param dev The device context.
* @return The chip ID (BMG160_CHIPID).
*/
uint8_t bmg160_get_chip_id(const bmg160_context dev);
/**
* Return gyroscope data in degrees per second. bmg160_update() must
* have been called prior to calling this method.
*
* @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 bmg160_get_gyroscope(const bmg160_context dev,
float *x, float *y, float *z);
/**
* Return the current measured temperature. Note, this is not
* ambient temperature. bmg160_update() must have been called prior to
* calling this method.
*
* @param dev The device context.
* @return The temperature in degrees Celsius.
*/
float bmg160_get_temperature(const bmg160_context dev);
/**
* Initialize the device and start operation. This function is
* called from bmg160_init(), so it will not need to be called by
* a user unless the device is reset.
*
* In addition, it will enable register shadowing and enable the
* FIFO in bypass mode.
*
* @param dev The device context.
* @param pwr One of the BMG160_POWER_MODE_T values.
* @param range One of the BMG160_RANGE_T values.
* @param bw One of the filtering BMG160_BW_T values.
* @return UPM result.
*/
upm_result_t bmg160_devinit(const bmg160_context dev,
BMG160_POWER_MODE_T pwr,
BMG160_RANGE_T range,
BMG160_BW_T bw);
/**
* Reset the device as if during a power on reset. All configured
* values are lost when this happens. You should call
* bmg160_devinit() afterwards, or at least perform the same
* initialization bmg160_devinit() does before continuing.
*
* @param dev The device context.
* @return UPM result.
*/
upm_result_t bmg160_reset(const bmg160_context dev);
/**
* Set the gyroscope detection scaling range. This device
* supports 125, 250, 500, 1000, and 2000 degree/s ranges.
*
* @param dev The device context.
* @param range One of the BMG160_RANGE_T values.
* @return UPM result.
*/
upm_result_t bmg160_set_range(const bmg160_context dev,
BMG160_RANGE_T range);
/**
* Set the output filtering bandwidth of the device.
*
* @param dev The device context.
* @param bw One of the BMG160_BW_T values.
* @return UPM result.
*/
upm_result_t bmg160_set_bandwidth(const bmg160_context dev,
BMG160_BW_T bw);
/**
* Set the power mode of the device. Care must be taken when
* setting a low power or suspend mode. See the datasheet for
* details. In certain power modes, register write must be
* drastically slowed down. which we cannot support.
*
* @param dev The device context.
* @param power One of the BMG160_POWER_MODE_T values.
* @return UPM result.
*/
upm_result_t bmg160_set_power_mode(const bmg160_context dev,
BMG160_POWER_MODE_T power);
/**
* Enable bmg160_update() to read from the FIFO rather than the gyroscope
* axis registers directly. bmg160_devinit() enables this mode by default.
* An advantage to this mode that all axis data is sampled from
* the same timeslice. When reading directly from the gyroscope
* output registers, it's possible for one axis to be updated
* while another is being read, causing a temporal
* inconsistency.
*
* Using the FIFO removes this problem.
*
* @param dev The device context.
* @param useFIFO true to enable bmg160_update() to read from the FIFO.
* When false, update will read from the gyroscope output
* registers directly.
*/
void bmg160_enable_fifo(const bmg160_context dev, bool useFIFO);
/**
* Set the FIFO watermark. When the watermark is reached an
* interrupt (if enabled) will be generated.
*
* @param dev The device context.
* @param wm The FIFO watermark to use. The maximum value is 63.
* @return UPM result.
*/
upm_result_t bmg160_fifo_set_watermark(const bmg160_context dev, int wm);
/**
* Set the FIFO configuration. bmg160_devinit() uses the
* BMG160_FIFO_MODE_BYPASS mode with axes set to
* BMG160_FIFO_DATA_SEL_XYZ by default.
*
* @param dev The device context.
* @param mode One of the BMG160_FIFO_MODE_T values.
* @param axes One of the BMG160_FIFO_DATA_SEL_T values.
* @return UPM result.
*/
upm_result_t bmg160_fifo_config(const bmg160_context dev,
BMG160_FIFO_MODE_T mode,
BMG160_FIFO_DATA_SEL_T axes);
/**
* Return the Interrupt Enables 0 register. These registers
* allow you to enable various interrupt conditions. See the
* datasheet for details.
*
* @param dev The device context.
* @return A bitmask of BMG160_INT_EN_0_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_enable0(const bmg160_context dev);
/**
* Set the Interrupt Enables 0 register. See the datasheet for
* details.
*
* @param dev The device context.
* @param bits A bitmask of BMG160_INT_EN_0_BITS_T bits.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_enable0(const bmg160_context dev,
uint8_t bits);
/**
* Return the Interrupt Map 0 register. These registers allow you
* to map specific interrupts to the interrupt 1 or interrupt 2
* pin. See the datasheet for details.
*
* @param dev The device context.
* @return A bitmask of BMG160_INT_MAP_0_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_map0(const bmg160_context dev);
/**
* Set the Interrupt Map 0 register. These registers allow you
* to map specific interrupts to the interrupt 1 or interrupt 2
* pin. See the datasheet for details.
*
* @param dev The device context.
* @param A bitmask of BMG160_INT_MAP_0_BITS_T bits.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_map0(const bmg160_context dev,
uint8_t bits);
/**
* Return the Interrupt Map 1 register. See the datasheet for
* details.
*
* @param dev The device context.
* @return A bitmask of BMG160_INT_MAP_1_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_map1(const bmg160_context dev);
/**
* Set the Interrupt Map 1 register. See the datasheet for
* details.
*
* @param dev The device context.
* @param A bitmask of BMG160_INT_MAP_1_BITS_T bits.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_map1(const bmg160_context dev,
uint8_t bits);
/**
* Return the Interrupt source register. This register allows
* determining where data comes from (filtered/unfiltered) for
* those interrupt sources where this is selectable. See the
* datasheet for details.
*
* @param dev The device context.
* @return A bitmask of BMG160_INT_1A_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_src(const bmg160_context dev);
/**
* Set the Interrupt source register. This register allows
* determining where data comes from (filtered/unfiltered) for
* those interrupt sources where this is selectable. See the
* datasheet for details.
*
* @param dev The device context.
* @param bits A bitmask of BMG160_INT_1A_BITS_T bits.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_src(const bmg160_context dev,
uint8_t bits);
/**
* Return the Interrupt output control register. This register
* allows determining the electrical characteristics of the 2
* interrupt pins (open-drain/push-pull and level/edge
* triggering). See the datasheet for details.
*
* @param dev The device context.
* @return A bitmask of BMG160_INT_EN_1_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_output_control(const bmg160_context dev);
/**
* Set the Interrupt output control register. This register
* allows determining the electrical characteristics of the 2
* interrupt pins (open-drain/push-pull and level/edge
* triggering). See the datasheet for details.
*
* @param dev The device context.
* @param bits A bitmask of BMG160_INT_EN_1_BITS_T bits.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_output_control(const bmg160_context dev,
uint8_t bits);
/**
* Clear all latched interrupts. See the datasheet for details.
*
* @param dev The device context.
* @return UPM result.
*/
upm_result_t bmg160_clear_interrupt_latches(const bmg160_context dev);
/**
* Return the current interrupt latching behavior. See the
* datasheet for details.
*
* @param dev The device context.
* @return One of the BMG160_RST_LATCH_T values.
*/
BMG160_RST_LATCH_T bmg160_get_interrupt_latch_behavior(
const bmg160_context dev);
/**
* Set the current interrupt latching behavior. See the datasheet
* for details.
*
* @param dev The device context.
* @param latch One of the BMG160_RST_LATCH_T values.
* @return UPM result.
*/
upm_result_t bmg160_set_interrupt_latch_behavior(const bmg160_context dev,
BMG160_RST_LATCH_T latch);
/**
* Return the interrupt status 0 register. These registers
* indicate which interrupts have been triggered. See the
* datasheet for details.
*
* @param dev The device context.
* @return a bitmask of BMG160_INT_STATUS_0_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_status0(const bmg160_context dev);
/**
* Return the interrupt status 1 register. See the datasheet for
* details.
*
* @param dev The device context.
* @return a bitmask of BMG160_INT_STATUS_1_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_status1(const bmg160_context dev);
/**
* Return the interrupt status 2 register. See the datasheet for
* details.
*
* @param dev The device context.
* @return a bitmask of BMG160_INT_STATUS_2_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_status2(const bmg160_context dev);
/**
* Return the interrupt status 3 register. See the datasheet for
* details.
*
* @param dev The device context.
* @return a bitmask of BMG160_INT_STATUS_3_BITS_T bits.
*/
uint8_t bmg160_get_interrupt_status3(const bmg160_context dev);
/**
* Enable shadowing of the gyroscope output registers. When
* enabled, a read of an axis LSB register automatically locks the
* MSB register of that axis until it has been read. This is
* usually a good thing to have enabled. bmg160_devinit() enables this by
* default. If disabled, then it becomes possible for part of an
* axis value to change while another part is being read, causing
* inconsistent data.
*
* @param dev The device context.
* @param shadow true to enable axis register shadowing, false otherwise.
* @return UPM result.
*/
upm_result_t bmg160_enable_register_shadowing(const bmg160_context dev,
bool shadow);
/**
* Enable filtering of the gyroscope axis data. bmg160_devinit()
* enables this by default. If disabled, then gyroscope data
* that is read will be raw and unfiltered (rated R). See the
* datasheet for details.
*
* @param dev The device context.
* @param filter true to enable filtering, false to disable.
* @return UPM result.
*/
upm_result_t bmg160_enable_output_filtering(const bmg160_context dev,
bool filter);
/**
* install an interrupt handler.
*
* @param dev The device context.
* @param intr one of the 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 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 bmg160_install_isr(const bmg160_context dev,
BMG160_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 INTERRUPT_PINS_T values specifying which
* interrupt pin you are removing.
*/
void bmg160_uninstall_isr(const bmg160_context dev,
BMG160_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 bmg160_read_reg(const bmg160_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 bmg160_read_regs(const bmg160_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 bmg160_write_reg(const bmg160_context dev,
uint8_t reg, uint8_t val);
#ifdef __cplusplus
}
#endif