lsm6dsl.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/spi.h>
#include <mraa/gpio.h>

#include "upm.h"

#include "lsm6dsl_defs.h"

#ifdef __cplusplus
extern "C" {
#endif

    typedef struct _lsm6dsl_context {
        mraa_i2c_context i2c;
        mraa_spi_context spi;

        mraa_gpio_context gpioCS; // SPI CS pin
        mraa_gpio_context gpioINT1; // intr 1
        mraa_gpio_context gpioINT2; // intr 2

        // uncompensated temperature
        float temperature;

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

        // uncompensated gyr data
        float gyrX;
        float gyrY;
        float gyrZ;

        // acc scaling
        float accScale;
    } *lsm6dsl_context;

    lsm6dsl_context lsm6dsl_init(int bus, int addr, int cs);

    void lsm6dsl_close(lsm6dsl_context dev);

    upm_result_t lsm6dsl_update(const lsm6dsl_context dev);

    uint8_t lsm6dsl_get_chip_id(const lsm6dsl_context dev);

    upm_result_t lsm6dsl_devinit(const lsm6dsl_context dev,
                                 LSM6DSL_XL_ODR_T acc_odr,
                                 LSM6DSL_XL_FS_T acc_fs,
                                 LSM6DSL_G_ODR_T gyr_odr,
                                 LSM6DSL_G_FS_T gyr_fs);

    upm_result_t lsm6dsl_set_acc_odr(const lsm6dsl_context dev,
                                     LSM6DSL_XL_ODR_T odr);

    upm_result_t lsm6dsl_set_gyr_odr(const lsm6dsl_context dev,
                                     LSM6DSL_G_ODR_T odr);

    upm_result_t lsm6dsl_set_acc_full_scale(const lsm6dsl_context dev,
                                            LSM6DSL_XL_FS_T fs);

    upm_result_t lsm6dsl_set_gyr_full_scale(const lsm6dsl_context dev,
                                            LSM6DSL_G_FS_T fs);

    void lsm6dsl_get_accelerometer(const lsm6dsl_context dev,
                                   float *x, float *y, float *z);

    void lsm6dsl_get_gyroscope(const lsm6dsl_context dev,
                               float *x, float *y, float *z);

    float lsm6dsl_get_temperature(const lsm6dsl_context dev);

    upm_result_t lsm6dsl_high_performance(const lsm6dsl_context dev,
                                          bool enable);

    upm_result_t lsm6dsl_reset(const lsm6dsl_context dev);

    upm_result_t lsm6dsl_set_interrupt_active_high(const lsm6dsl_context dev,
                                                   bool high);

    upm_result_t lsm6dsl_set_interrupt_push_pull(const lsm6dsl_context dev,
                                                 bool pp);

    uint8_t lsm6dsl_get_status(const lsm6dsl_context dev);

    upm_result_t lsm6dsl_set_acc_offsets(const lsm6dsl_context dev,
                                         int x, int y, int z, bool weight);


    upm_result_t lsm6dsl_install_isr(const lsm6dsl_context dev,
                                     LSM6DSL_INTERRUPT_PINS_T intr, int gpio,
                                     mraa_gpio_edge_t level,
                                     void (*isr)(void *), void *arg);

    void lsm6dsl_uninstall_isr(const lsm6dsl_context dev,
                               LSM6DSL_INTERRUPT_PINS_T intr);

    uint8_t lsm6dsl_read_reg(const lsm6dsl_context dev, uint8_t reg);

    int lsm6dsl_read_regs(const lsm6dsl_context dev, uint8_t reg,
                          uint8_t *buffer, int len);

    upm_result_t lsm6dsl_write_reg(const lsm6dsl_context dev,
                                   uint8_t reg, uint8_t val);


#ifdef __cplusplus
}
#endif