spacehauc-i2c-dev.h

/*!
 * @file
 */

// Copyright 2016 UMass Lowell Command and Data Handling Team

#ifndef INCLUDE_SPACEHAUC_I2C_DEV_H_
#define INCLUDE_SPACEHAUC_I2C_DEV_H_

#include <sys/ioctl.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include <fcntl.h>
//#include <cmath>
#include <string>
#include <vector>

using std::vector;
using std::string;

/*!
 * This is a structure of integer variables x y, and z that can be easily passed
 * around by methods that measure in 3 dimensions.
 */
struct Triplet {
  int16_t x;
  int16_t y;
  int16_t z;
};

/*!
 * This is a structure of floating point variables x y, and z that can be easily passed
 * around by methods that measure in 3 dimensions.
 */
struct fTriplet {
  float x;
  float y;
  float z;
};

/*!
 * Enumerated data type for scaling the magnetometer. One of these is entered
 * into the magnetometer's constructor to set the scale.
 */
enum MagScale { MAG_SCALE_2GS, MAG_SCALE_4GS, MAG_SCALE_8GS, MAG_SCALE_12GS };

bool initBus(int bus, int *file);

/*!
 * This is a class for any i2c device to inherit from. All i2c devices need
 * these methods.
 */
class I2C_Device {
 protected:
  /*! This is an integer that represents the opened I2C file (device) */
  int mFile;
  /*! A vector of each address that the device may contain. */
  vector<uint8_t> mAddress;
  /*! A vector of each of the ID registers that the device may contain. */
  vector<uint8_t> mID_Regsiters;
  int readBytes(uint8_t reg, uint8_t *buffer, uint8_t count);
  int writeBytes(uint8_t reg, uint8_t *buffer, uint8_t count);
 public:
  I2C_Device();
  virtual ~I2C_Device();
  bool initDevice();
};

/*!
 * This is a class for a temperature sensor, specifically the 9DoF board's
 * sensor.
 */
class TemperatureSensor : public I2C_Device {
 private:
  /*! A vector of each of the data registers the temperature sensor uses. */
  vector<uint8_t> mDataRegisters;
  /*! A vector of each of the control registers the temperature sensor uses. */
  vector<uint8_t> mControlRegisters;
  /*! This is a variable to hold the measured temperature value. */
  uint8_t mTemperature;
 public:
  explicit TemperatureSensor(int file, uint8_t address, uint8_t ID_register,
    uint8_t controlRegister, uint8_t dataRegister);
  ~TemperatureSensor();
  bool initTempSensor();
  uint8_t readTemp();
};

/*!
 * This is a class for a magnetometer, specifically the 9DoF board's sensor.
 */
class Magnetometer : public I2C_Device {
 private:
  /*! An array that holds each possible scaling for the magnetometer. */
  const float mMagScaleValue[5] = { 2 / 32768.0, 4 / 32768.0, 6 / 32768.0,
    8 / 32768.0, 12 / 32768.0 };
  /*! A variable of the enumerated type MagScale; is set to a scale's name.*/
  MagScale mScale;
  /*! A vector that holds the data register(s) for the magnetometer. */
  vector<uint8_t> mDataRegisters;
  /*! A vector that holds the control registers for the magnetometer. */
  vector<uint8_t> mControlRegisters;
 public:
  explicit Magnetometer(int file, uint8_t address, uint8_t ID_register,
    uint8_t controlRegister1, uint8_t controlRegister2, uint8_t dataRegister,
    MagScale scale);
  ~Magnetometer();
  bool initMagnetometer();
  fTriplet readMagnetometer();
};

/*!
 * This is a class for a luminosity sensor.
 */
class LuminositySensor : public I2C_Device {
 private:
  /*! A vector that holds the data register(s) for the sensor. */
  vector<uint8_t> mDataRegisters;
  /*! A vector that holds the control registers for the sensor. */
  vector<uint8_t> mControlRegisters;
  double mLuminosity;
 public:
  LuminositySensor(int file, uint8_t address, uint8_t ID_register,
    uint8_t controlRegister1, uint8_t controlRegister2, uint8_t dataRegister);
  ~LuminositySensor();
  bool initLuminositySensor();
  double readLuminositySensor();
};

class PWMcontroller : public I2C_Device {
 private:
   /*! A vector that holds the control registers for the sensor. */
   vector<uint8_t> mControlRegisters;
 public:
   PWMcontroller(int file, uint8_t address, uint8_t ID_register,
     uint8_t controlRegister1, uint8_t controlRegister2);
   ~PWMcontroller();
   bool initRGB_PWMcontroller();
   bool setFreq(float freq);
   bool channelWrite(uint8_t channel, uint16_t on, uint16_t off);
   bool setChlLEDPercent(uint8_t channel, uint8_t percent);
   bool setChlDuty(uint8_t channel, float duty);
   const int RED = 2;
   const int GREEN = 3;
   const int BLUE = 4;
};

#endif  // INCLUDE_SPACEHAUC_I2C_DEV_H_