lsm6dsl.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 "lsm6dsl.h"

namespace upm {

    class LSM6DSL {
    public:

        LSM6DSL(int bus=LSM6DSL_DEFAULT_I2C_BUS,
                int addr=LSM6DSL_DEFAULT_I2C_ADDR,
                int cs=-1);

        virtual ~LSM6DSL();

        void update();

        uint8_t getChipID();

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

        std::vector<float> getAccelerometer();

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

        std::vector<float> getGyroscope();

        float getTemperature(bool fahrenheit=false);

        void init(LSM6DSL_XL_ODR_T acc_odr=LSM6DSL_XL_ODR_104HZ,
                  LSM6DSL_XL_FS_T acc_fs=LSM6DSL_XL_FS_2G,
                  LSM6DSL_G_ODR_T gyr_odr=LSM6DSL_G_ODR_104HZ,
                  LSM6DSL_G_FS_T gyr_fs=LSM6DSL_G_FS_245DPS);

        void reset();

        void setAccelerometerODR(LSM6DSL_XL_ODR_T odr);

        void setAccelerometerFullScale(LSM6DSL_XL_FS_T fs);

        void setGyroscopeODR(LSM6DSL_G_ODR_T odr);

        void setGyroscopeFullScale(LSM6DSL_G_FS_T fs);

        void setHighPerformance(bool enable);

        void setInterruptActiveHigh(bool high);

        void setInterruptPushPull(bool pp);

        uint8_t getStatus();

        void setAccelerometerOffsets(int x, int y, int z, bool weight);

        void installISR(LSM6DSL_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);

        void uninstallISR(LSM6DSL_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:
        lsm6dsl_context m_lsm6dsl;

    private:
        /* Disable implicit copy and assignment operators */
        LSM6DSL(const LSM6DSL&) = delete;
        LSM6DSL &operator=(const LSM6DSL&) = delete;

    };
}