1 /*
2  * Copyright (C) 2015 Intel Corporation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef LSM303d_ACCELEROMETER_HPP
18 #define LSM303d_ACCELEROMETER_HPP
19 
20 #include <hardware/sensors.h>
21 #include "Sensor.hpp"
22 #include "lsm303d.h"
23 
24 struct sensors_event_t;
25 
26 /**
27  * LSM303dAccelerometer exposes the LSM303d accelerometer sensor
28  *
29  * Overrides the pollEvents & activate Sensor methods.
30  */
31 class LSM303dAccelerometer : public Sensor, public upm::LSM303d {
32   public:
33     /**
34      * LSM303dAccelerometer constructor
35      * @param pollFd poll file descriptor
36      * @param bus number of the bus
37      * @param address device address
38      * @param magAddress magnetometer address
39      * @param scale Sensor sensitivity scaling
40      */
41     LSM303dAccelerometer(int pollFd,
42         int bus=0,
43         int address = LSM303d_ADDR,
44         int scale = LM303D_SCALE_2G);
45 
46     /**
47      * LSM303dAccelerometer destructor
48      */
49     ~LSM303dAccelerometer() override;
50 
51     /**
52      * Poll for events
53      * @param data where to store the events
54      * @param count the number of events returned must be <= to the count
55      * @return number of events returned in data on success and a negative error number otherwise
56      */
57     int pollEvents(sensors_event_t* data, int count) override;
58 
59     /**
60      * Activate the sensor
61      * @param handle sensor identifier
62      * @param enabled 1 for enabling and 0 for disabling
63      * @return 0 on success and a negative error number otherwise
64      */
65     int activate(int handle, int enabled);
66 
67   private:
68     static Sensor * createSensor(int pollFd);
69     static void initModule() __attribute__((constructor));
70 
71     int pollFd;
72     int scale;
73     static struct sensor_t sensorDescription;
74 };
75 
76 #endif  // LSM303d_ACCELEROMETER_HPP
77