bmg160.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 "bmg160.h"

namespace upm {

    class BMG160 {
    public:
        BMG160(int bus=BMG160_DEFAULT_I2C_BUS, int addr=BMG160_DEFAULT_ADDR,
               int cs=-1);

        ~BMG160();

        void update();

        uint8_t getChipID();

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

        std::vector<float> getGyroscope();

        float getTemperature(bool fahrenheit=false);

        void init(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
                  BMG160_RANGE_T range=BMG160_RANGE_250,
                  BMG160_BW_T bw=BMG160_BW_400_47);

        void reset();

        void setRange(BMG160_RANGE_T range);

        void setBandwidth(BMG160_BW_T bw);

        void setPowerMode(BMG160_POWER_MODE_T power);

        void enableFIFO(bool useFIFO);

        void fifoSetWatermark(int wm);

        void fifoConfig(BMG160_FIFO_MODE_T mode, BMG160_FIFO_DATA_SEL_T axes);

        uint8_t getInterruptEnable0();

        void setInterruptEnable0(uint8_t bits);

        uint8_t getInterruptMap0();

        void setInterruptMap0(uint8_t bits);

        uint8_t getInterruptMap1();

        void setInterruptMap1(uint8_t bits);

        uint8_t getInterruptSrc();

        void setInterruptSrc(uint8_t bits);

        uint8_t getInterruptOutputControl();

        void setInterruptOutputControl(uint8_t bits);

        void clearInterruptLatches();

        BMG160_RST_LATCH_T getInterruptLatchBehavior();

        void setInterruptLatchBehavior(BMG160_RST_LATCH_T latch);

        uint8_t getInterruptStatus0();

        uint8_t getInterruptStatus1();

        uint8_t getInterruptStatus2();

        uint8_t getInterruptStatus3();

        void enableRegisterShadowing(bool shadow);

        void enableOutputFiltering(bool filter);

#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(BMG160_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level, jobject runnable)
        {
            installISR(intr, gpio, level, mraa_java_isr_callback, runnable);
        }
#else

        void installISR(BMG160_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);
#endif

        void uninstallISR(BMG160_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:
        bmg160_context m_bmg160;

    private:
        // needs to be private for SWIG Java builds
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(BMG160_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);
#endif
    };
}