lsm303agr.hpp

/*
 * 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 <string>
#include <vector>

#include <mraa/gpio.hpp>
#include "lsm303agr.h"

namespace upm {

    class LSM303AGR {
    public:
        LSM303AGR(int bus=LSM303AGR_DEFAULT_I2C_BUS,
                  int acc_addr=LSM303AGR_DEFAULT_ACC_ADDR,
                  int mag_addr=LSM303AGR_DEFAULT_MAG_ADDR);

        ~LSM303AGR();

        void update();

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

        std::vector<float> getMagnetometer();

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

        std::vector<float> getAccelerometer();

        float getTemperature();

        void init(LSM303AGR_POWER_MODE_T usage=LSM303AGR_POWER_HIGH_RESOLUTION);

        void setFullScale(LSM303AGR_A_FS_T fs);

        void setPowerMode(LSM303AGR_POWER_MODE_T mode);

        void setAccelerometerODR(LSM303AGR_A_ODR_T odr);

        void setMagnetometerODR(LSM303AGR_CFG_A_M_ODR_T odr);

        uint8_t getAccelerometerInt1Config();

        uint8_t getAccelerometerInt2Config();

        void setAccelerometerInt1Config(uint8_t bits);

        void setAccelerometerInt2Config(uint8_t bits);

        uint8_t getMagnetometerIntConfig();

        void setMagnetometerIntConfig(uint8_t bits);

        uint8_t getAccelerometerInt1Src();

        uint8_t getAccelerometerInt2Src();

        uint8_t getMagnetometerIntSrc();

#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        jobject runnable)
        {
            installISR(intr, gpio, level, mraa_java_isr_callback, runnable);
        }
#else

        void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);
#endif

        void uninstallISR(LSM303AGR_INTERRUPT_PINS_T intr);

    protected:
        // our underlying device context
        lsm303agr_context m_lsm303agr;

        uint8_t readReg(uint8_t reg);

        int readRegs(uint8_t reg, uint8_t *buffer, int len);

        void writeReg(uint8_t reg, uint8_t val);

    private:
        /* Disable implicit copy and assignment operators */
        LSM303AGR(const LSM303AGR&) = delete;
        LSM303AGR &operator=(const LSM303AGR&) = delete;

        // Adding a private function definition for java bindings
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
                        mraa::Edge level,
                        void (*isr)(void *), void *arg);
#endif
    };
}