lsm303d.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 "lsm303d.h"

namespace upm {

    class LSM303D {
    public:
        LSM303D(int bus=LSM303D_DEFAULT_I2C_BUS,
                int addr=LSM303D_DEFAULT_I2C_ADDR);

        ~LSM303D();

        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(LSM303D_M_RES_T res);

        void setAccelerometerFullScale(LSM303D_AFS_T fs);

        void setMagnetometerFullScale(LSM303D_MFS_T fs);

        void setAccelerometerODR(LSM303D_AODR_T odr);

        void setMagnetometerODR(LSM303D_MODR_T odr);

    protected:
        // our underlying device context
        lsm303d_context m_lsm303d;

        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 */
        LSM303D(const LSM303D&) = delete;
        LSM303D &operator=(const LSM303D&) = delete;
    };
}