lsm303agr.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 "lsm303agr_defs.h"

#ifdef __cplusplus
extern "C" {
#endif

    typedef struct _lsm303agr_context {
        mraa_i2c_context i2cACC; // accelerometer
        mraa_i2c_context i2cMAG; // magnetometer
        mraa_gpio_context gpioACC1; // acc intr
        mraa_gpio_context gpioACC2; // acc intr
        mraa_gpio_context gpioMAG;  // mag intr

        // currently set power mode
        LSM303AGR_POWER_MODE_T powerMode;

        // uncompensated temperature in C
        float temperature;

        // accelerometer scaling, depends on full scale sensitivity and
        // power mode
        float accScale;
        float accDivisor;

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

        // uncompensated mag data
        float magX;
        float magY;
        float magZ;
    } *lsm303agr_context;


    lsm303agr_context lsm303agr_init(int bus, int acc_addr, int mag_addr);

    void lsm303agr_close(lsm303agr_context dev);

    upm_result_t lsm303agr_update(const lsm303agr_context dev);

    void lsm303agr_get_magnetometer(const lsm303agr_context dev,
                                    float *x, float *y, float *z);

    void lsm303agr_get_accelerometer(const lsm303agr_context dev,
                                     float *x, float *y, float *z);

    float lsm303agr_get_temperature(const lsm303agr_context dev);

    upm_result_t lsm303agr_set_full_scale(const lsm303agr_context dev,
                                          LSM303AGR_A_FS_T fs);

    upm_result_t lsm303agr_devinit(const lsm303agr_context dev,
                                   LSM303AGR_POWER_MODE_T mode);

    upm_result_t lsm303agr_set_power_mode(const lsm303agr_context dev,
                                          LSM303AGR_POWER_MODE_T mode);

    upm_result_t lsm303agr_set_acc_odr(const lsm303agr_context dev,
                                       LSM303AGR_A_ODR_T odr);

    upm_result_t lsm303agr_set_mag_odr(const lsm303agr_context dev,
                                       LSM303AGR_CFG_A_M_ODR_T odr);

    uint8_t lsm303agr_get_acc_int1_config(const lsm303agr_context dev);

    uint8_t lsm303agr_get_acc_int2_config(const lsm303agr_context dev);

    upm_result_t lsm303agr_set_acc_int1_config(const lsm303agr_context dev,
                                               uint8_t bits);

    upm_result_t lsm303agr_set_acc_int2_config(const lsm303agr_context dev,
                                               uint8_t bits);

    uint8_t lsm303agr_get_mag_int_config(const lsm303agr_context dev);

    upm_result_t lsm303agr_set_mag_int_config(const lsm303agr_context dev,
                                              uint8_t bits);

    uint8_t lsm303agr_get_acc_int1_src(const lsm303agr_context dev);

    uint8_t lsm303agr_get_acc_int2_src(const lsm303agr_context dev);

    uint8_t lsm303agr_get_mag_int_src(const lsm303agr_context dev);

    upm_result_t lsm303agr_install_isr(const lsm303agr_context dev,
                                       LSM303AGR_INTERRUPT_PINS_T intr,
                                       int gpio, mraa_gpio_edge_t level,
                                       void (*isr)(void *), void *arg);

    void lsm303agr_uninstall_isr(const lsm303agr_context dev,
                                 LSM303AGR_INTERRUPT_PINS_T intr);

    uint8_t lsm303agr_read_reg(const lsm303agr_context dev, uint8_t reg);

    int lsm303agr_read_regs(const lsm303agr_context dev, uint8_t reg,
                            uint8_t *buffer, int len);

    upm_result_t lsm303agr_write_reg(const lsm303agr_context dev,
                                     uint8_t reg, uint8_t val);

#ifdef __cplusplus
}
#endif