bma250e.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016-2017 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 <string>
#include <vector>

#include <mraa/gpio.hpp>
#include "bma250e.h"

namespace upm {

    class BMA250E {
    public:

        BMA250E(int bus=BMA250E_DEFAULT_I2C_BUS,
                int addr=BMA250E_DEFAULT_ADDR,
                int cs=-1);

        ~BMA250E();

        void update();

        uint8_t getChipID();

        void getAccelerometer(float *x, float *y, float *z);

        std::vector<float> getAccelerometer();

        float getTemperature(bool fahrenheit=false);

        void init(BMA250E_POWER_MODE_T pwr=BMA250E_POWER_MODE_NORMAL,
                  BMA250E_RANGE_T range=BMA250E_RANGE_2G,
                  BMA250E_BW_T bw=BMA250E_BW_250);

        void reset();

        void setRange(BMA250E_RANGE_T range);

        void setBandwidth(BMA250E_BW_T bw);

        void setPowerMode(BMA250E_POWER_MODE_T power);

        void enableFIFO(bool useFIFO);

        void fifoSetWatermark(int wm);

        void fifoConfig(BMA250E_FIFO_MODE_T mode,
                        BMA250E_FIFO_DATA_SEL_T axes);

        void setSelfTest(bool sign, bool amp, BMA250E_SELFTTEST_AXIS_T axis);

        uint8_t getInterruptEnable0();

        void setInterruptEnable0(uint8_t bits);

        uint8_t getInterruptEnable1();

        void setInterruptEnable1(uint8_t bits);

        uint8_t getInterruptEnable2();

        void setInterruptEnable2(uint8_t bits);

        uint8_t getInterruptMap0();

        void setInterruptMap0(uint8_t bits);

        uint8_t getInterruptMap1();

        void setInterruptMap1(uint8_t bits);

        uint8_t getInterruptMap2();

        void setInterruptMap2(uint8_t bits);

        uint8_t getInterruptSrc();

        void setInterruptSrc(uint8_t bits);

        uint8_t getInterruptOutputControl();

        void setInterruptOutputControl(uint8_t bits);

        void clearInterruptLatches();

        BMA250E_RST_LATCH_T getInterruptLatchBehavior();

        void setInterruptLatchBehavior(BMA250E_RST_LATCH_T latch);

        uint8_t getInterruptStatus0();

        uint8_t getInterruptStatus1();

        uint8_t getInterruptStatus2();

        uint8_t getInterruptStatus3Bits();

        BMA250E_ORIENT_T getInterruptStatus3Orientation();

        void enableRegisterShadowing(bool shadow);

        void enableOutputFiltering(bool filter);

        void setLowPowerMode2();


        void installISR(BMA250E_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);

        void uninstallISR(BMA250E_INTERRUPT_PINS_T intr);

        uint8_t readReg(uint8_t reg);

        int readRegs(uint8_t reg, uint8_t *buffer, int len);

        void writeReg(uint8_t reg, uint8_t val);

    protected:
        bma250e_context m_bma250e;

    private:
        /* Disable implicit copy and assignment operators */
        BMA250E(const BMA250E&) = delete;
        BMA250E &operator=(const BMA250E&) = delete;
        
    };
}