lsm303agr: Initial implementation, C, FTI, C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

src/lsm303agr/lsm303agr.cxx

@@ -0,0 +1,210 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string.h>
+
+#include "lsm303agr.hpp"
+
+using namespace upm;
+using namespace std;
+
+LSM303AGR::LSM303AGR(int bus, int acc_addr, int mag_addr) :
+    m_lsm303agr(lsm303agr_init(bus, acc_addr, mag_addr))
+{
+    if (!m_lsm303agr)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_init() failed");
+}
+
+LSM303AGR::~LSM303AGR()
+{
+    lsm303agr_close(m_lsm303agr);
+}
+
+void LSM303AGR::init(LSM303AGR_POWER_MODE_T usage)
+{
+    if (lsm303agr_devinit(m_lsm303agr, usage))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_devinit() failed");
+}
+
+void LSM303AGR::update()
+{
+    if (lsm303agr_update(m_lsm303agr))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_update() failed");
+}
+
+uint8_t LSM303AGR::readReg(uint8_t reg)
+{
+    return lsm303agr_read_reg(m_lsm303agr, reg);
+}
+
+int LSM303AGR::readRegs(uint8_t reg, uint8_t *buffer, int len)
+{
+    int rv = lsm303agr_read_regs(m_lsm303agr, reg, buffer, len);
+    if (rv < 0)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_read_regs() failed");
+
+    return rv;
+}
+
+void LSM303AGR::writeReg(uint8_t reg, uint8_t val)
+{
+    if (lsm303agr_write_reg(m_lsm303agr, reg, val))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_write_reg() failed");
+}
+
+void LSM303AGR::getMagnetometer(float *x, float *y, float *z)
+{
+    lsm303agr_get_magnetometer(m_lsm303agr, x, y, z);
+}
+
+std::vector<float> LSM303AGR::getMagnetometer()
+{
+    float v[3];
+
+    getMagnetometer(&v[0], &v[1], &v[2]);
+    return std::vector<float>(v, v+3);
+}
+
+void LSM303AGR::getAccelerometer(float *x, float *y, float *z)
+{
+    lsm303agr_get_accelerometer(m_lsm303agr, x, y, z);
+}
+
+std::vector<float> LSM303AGR::getAccelerometer()
+{
+    float v[3];
+
+    getAccelerometer(&v[0], &v[1], &v[2]);
+    return std::vector<float>(v, v+3);
+}
+
+float LSM303AGR::getTemperature()
+{
+    return lsm303agr_get_temperature(m_lsm303agr);
+}
+
+void LSM303AGR::setFullScale(LSM303AGR_A_FS_T fs)
+{
+    if (lsm303agr_set_full_scale(m_lsm303agr, fs))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_full_scale() failed");
+}
+
+void LSM303AGR::setPowerMode(LSM303AGR_POWER_MODE_T mode)
+{
+    if (lsm303agr_set_power_mode(m_lsm303agr, mode))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_power_mode() failed");
+}
+
+void LSM303AGR::setAccelerometerODR(LSM303AGR_A_ODR_T odr)
+{
+    if (lsm303agr_set_acc_odr(m_lsm303agr, odr))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_acc_odr() failed");
+}
+
+void LSM303AGR::setMagnetometerODR(LSM303AGR_CFG_A_M_ODR_T odr)
+{
+    if (lsm303agr_set_mag_odr(m_lsm303agr, odr))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_mag_odr() failed");
+}
+
+uint8_t LSM303AGR::getAccelerometerInt1Config()
+{
+    return lsm303agr_get_acc_int1_config(m_lsm303agr);
+}
+
+uint8_t LSM303AGR::getAccelerometerInt2Config()
+{
+    return lsm303agr_get_acc_int2_config(m_lsm303agr);
+}
+
+void LSM303AGR::setAccelerometerInt1Config(uint8_t bits)
+{
+    if (lsm303agr_set_acc_int1_config(m_lsm303agr, bits))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_acc_int1_config() failed");
+}
+
+void LSM303AGR::setAccelerometerInt2Config(uint8_t bits)
+{
+    if (lsm303agr_set_acc_int2_config(m_lsm303agr, bits))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_acc_int2_config() failed");
+}
+
+uint8_t LSM303AGR::getMagnetometerIntConfig()
+{
+    return lsm303agr_get_mag_int_config(m_lsm303agr);
+}
+
+void LSM303AGR::setMagnetometerIntConfig(uint8_t bits)
+{
+    if (lsm303agr_set_mag_int_config(m_lsm303agr, bits))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_set_mag_int_config() failed");
+}
+
+uint8_t LSM303AGR::getAccelerometerInt1Src()
+{
+    return lsm303agr_get_acc_int1_src(m_lsm303agr);
+}
+
+uint8_t LSM303AGR::getAccelerometerInt2Src()
+{
+    return lsm303agr_get_acc_int2_src(m_lsm303agr);
+}
+
+uint8_t LSM303AGR::getMagnetometerIntSrc()
+{
+    return lsm303agr_get_mag_int_src(m_lsm303agr);
+}
+
+
+void LSM303AGR::installISR(LSM303AGR_INTERRUPT_PINS_T intr, int gpio,
+                           mraa::Edge level,
+                           void (*isr)(void *), void *arg)
+{
+    if (lsm303agr_install_isr(m_lsm303agr, intr, gpio, (mraa_gpio_edge_t)level,
+                              isr, arg))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": lsm303agr_install_isr() failed");
+}
+
+void LSM303AGR::uninstallISR(LSM303AGR_INTERRUPT_PINS_T intr)
+{
+    lsm303agr_uninstall_isr(m_lsm303agr, intr);
+}