lsm303d.h

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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/gpio.h>

#include "upm.h"

#include "lsm303d_defs.h"

#ifdef __cplusplus
extern "C" {
#endif

    typedef struct _lsm303d_context {
        mraa_i2c_context i2c;

        // uncompensated temperature in C
        float temperature;

        // accelerometer scaling
        float accScale;

        // magnetometer scaling
        float magScale;

        // uncompensated acc data
        float accX;
        float accY;
        float accZ;

        // uncompensated mag data
        float magX;
        float magY;
        float magZ;
    } *lsm303d_context;


    lsm303d_context lsm303d_init(int bus, int addr);

    void lsm303d_close(lsm303d_context dev);

    upm_result_t lsm303d_update(const lsm303d_context dev);

    void lsm303d_get_magnetometer(const lsm303d_context dev,
                                  float *x, float *y, float *z);

    void lsm303d_get_accelerometer(const lsm303d_context dev,
                                   float *x, float *y, float *z);

    float lsm303d_get_temperature(const lsm303d_context dev);

    upm_result_t lsm303d_set_acc_full_scale(const lsm303d_context dev,
                                            LSM303D_AFS_T fs);

    upm_result_t lsm303d_set_mag_full_scale(const lsm303d_context dev,
                                            LSM303D_MFS_T fs);

    upm_result_t lsm303d_devinit(const lsm303d_context dev,
                                 LSM303D_M_RES_T res);

    upm_result_t lsm303d_set_acc_odr(const lsm303d_context dev,
                                     LSM303D_AODR_T odr);

    upm_result_t lsm303d_set_mag_odr(const lsm303d_context dev,
                                     LSM303D_MODR_T odr);

    uint8_t lsm303d_read_reg(const lsm303d_context dev, uint8_t reg);

    int lsm303d_read_regs(const lsm303d_context dev, uint8_t reg,
                          uint8_t *buffer, int len);

    upm_result_t lsm303d_write_reg(const lsm303d_context dev,
                                   uint8_t reg, uint8_t val);

#ifdef __cplusplus
}
#endif