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java: changed some C types to C++ types

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Signed-off-by: Andrei Vasiliu <andrei.vasiliu@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

Conflicts:
	src/mma7455/mma7455.cxx
	src/mma7455/mma7455.h
	src/sm130/sm130.cxx
	src/sm130/sm130.h
This commit is contained in:
Andrei Vasiliu
2015-09-02 14:56:13 +03:00
committed by Mihai Tudor Panu
parent b8835958e2
commit ab730038fd
46 changed files with 731 additions and 996 deletions
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52
src/lsm303/lsm303.cxx
View File

@ -33,15 +33,13 @@
using namespace upm;
LSM303::LSM303(int bus, int addrMag, int addrAcc, int accScale)
LSM303::LSM303(int bus, int addrMag, int addrAcc, int accScale) : m_i2c(bus)
{
mraa_result_t ret = MRAA_SUCCESS;
mraa::Result ret = mraa::SUCCESS;
m_addrMag = addrMag;
m_addrAcc = addrAcc;
m_i2c = mraa_i2c_init(bus);
// 0x27 is the 'normal' mode with X/Y/Z enable
setRegisterSafe(m_addrAcc, CTRL_REG1_A, 0x27);
@ -66,14 +64,10 @@ LSM303::LSM303(int bus, int addrMag, int addrAcc, int accScale)
setRegisterSafe(m_addrMag, MR_REG_M, 0x00);
}
LSM303::~LSM303() {
mraa_i2c_stop(m_i2c);
}
float
LSM303::getHeading()
{
if (getCoordinates() != MRAA_SUCCESS) {
if (getCoordinates() != mraa::SUCCESS) {
return -1;
}
@ -115,16 +109,16 @@ LSM303::getAccelZ()
return accel[Z];
}
mraa_result_t
mraa::Result
LSM303::getCoordinates()
{
mraa_result_t ret = MRAA_SUCCESS;
mraa::Result ret = mraa::SUCCESS;
memset(&buf[0], 0, sizeof(uint8_t)*6);
ret = mraa_i2c_address(m_i2c, m_addrMag);
ret = mraa_i2c_write_byte(m_i2c, OUT_X_H_M);
ret = mraa_i2c_address(m_i2c, m_addrMag);
int num = mraa_i2c_read(m_i2c, buf, 6);
ret = m_i2c.address(m_addrMag);
ret = m_i2c.writeByte(OUT_X_H_M);
ret = m_i2c.address(m_addrMag);
int num = m_i2c.read(buf, 6);
if (num != 6) {
return ret;
}
@ -162,16 +156,16 @@ LSM303::getCoorZ() {
int
LSM303::readThenWrite(uint8_t reg)
{
mraa_i2c_address(m_i2c, m_addrAcc);
mraa_i2c_write_byte(m_i2c, reg);
mraa_i2c_address(m_i2c, m_addrAcc);
return (int) mraa_i2c_read_byte(m_i2c);
m_i2c.address(m_addrAcc);
m_i2c.writeByte(reg);
m_i2c.address(m_addrAcc);
return (int) m_i2c.readByte();
}
mraa_result_t
mraa::Result
LSM303::getAcceleration()
{
mraa_result_t ret = MRAA_SUCCESS;
mraa::Result ret = mraa::SUCCESS;
accel[X] = (int16_t(readThenWrite(OUT_X_H_A)) << 8)
| int16_t(readThenWrite(OUT_X_L_A));
@ -185,23 +179,23 @@ LSM303::getAcceleration()
}
// helper function that sets a register and then checks the set was succesful
mraa_result_t
mraa::Result
LSM303::setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data)
{
buf[0] = sregister;
buf[1] = data;
if (mraa_i2c_address(m_i2c, slave) != MRAA_SUCCESS) {
if (m_i2c.address(slave) != mraa::SUCCESS) {
fprintf(stderr, "lsm303: Failed to connect to slave\n");
return MRAA_ERROR_INVALID_HANDLE;
return mraa::ERROR_INVALID_HANDLE;
}
if (mraa_i2c_write(m_i2c, buf, 2) != MRAA_SUCCESS) {
if (m_i2c.write(buf, 2) != mraa::SUCCESS) {
fprintf(stderr, "lsm303: Failed to write to register\n");
return MRAA_ERROR_INVALID_HANDLE;
return mraa::ERROR_INVALID_HANDLE;
}
uint8_t val = mraa_i2c_read_byte_data(m_i2c, sregister);
uint8_t val = m_i2c.readReg(sregister);
if (val != data) {
fprintf(stderr, "lsm303: Failed to set register correctly\n");
return MRAA_ERROR_UNSPECIFIED;
return mraa::ERROR_UNSPECIFIED;
}
return MRAA_SUCCESS;
return mraa::SUCCESS;
}

16
src/lsm303/lsm303.h
View File

@ -27,7 +27,7 @@
#pragma once
#include <string.h>
#include <mraa/i2c.h>
#include <mraa/i2c.hpp>
#include <math.h>
namespace upm {
@ -102,8 +102,10 @@ class LSM303 {
/**
* LSM303 object destructor
*/
~LSM303 ();
* where is no more need for this here - I2c connection will be stopped
* automatically when m_i2c variable will go out of scope
* ~LSM303 ();
**/
/**
* Gets the current heading; headings <0 indicate an error has occurred
@ -115,13 +117,13 @@ class LSM303 {
/**
* Gets the coordinates in the XYZ order
*/
mraa_result_t getCoordinates();
mraa::Result getCoordinates();
/**
* Gets accelerometer values
* Should be called before other "get" functions for acceleration
*/
mraa_result_t getAcceleration();
mraa::Result getAcceleration();
/**
* Gets raw coordinate data; it is updated when getCoordinates() is called
@ -165,9 +167,9 @@ class LSM303 {
private:
int readThenWrite(uint8_t reg);
mraa_result_t setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data);
mraa::Result setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data);
mraa_i2c_context m_i2c;
mraa::I2c m_i2c;
int m_addrMag;
int m_addrAcc;
uint8_t buf[6];