imu_functions.h

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#ifndef IMU_FUNCTIONS_H_INCLUDED
#define IMU_FUNCTIONS_H_INCLUDED

#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>

#include "imu_regs.h"

#define ASCII_0 0x30

#define SUCCESS 1
#define FAILURE -1

#define ADD_ADXL345 0x53
#define ADD_ITG3200 0x68
#define ADD_HMC5883 0x1E

//     FUNCTIONS FOR   // 
//     ACCELEROMETER   //
//     ADXL345         //

int acc_write_reg(int i2c_dev, uint8_t reg, uint8_t data);

uint8_t* acc_read_reg(int i2c_dev, uint8_t reg, uint8_t count);

int acc_init(int i2c_dev, uint8_t full_res, uint16_t rate, uint8_t range);

int acc_read_all_data(int i2c_dev, short int *data);

short int acc_read_data(int i2c_dev, int axis);

char* conv_byte_hex_bin(uint8_t* hvalue);

int acc_read_all_reg(int i2c_dev);

//      FUNCTIONS FOR   //
//      GYROMETER       //
//      ITG3200         //

int gyr_write_reg(int i2c_dev, uint8_t reg, uint8_t data);

uint8_t* gyr_read_reg(int i2c_dev, uint8_t reg, uint8_t count);

int gyr_init(int i2c_dev, float rate, short int lpf_bw, char clk_source, char *act);

int gyr_read_all_data(int i2c_dev, short int *data);

short int gyr_read_data(int i2c_dev, int type);

//      FUNCTIONS FOR   //
//      MAGNETOMETER    //
//      HMC5883         //

int mag_write_reg(int i2c_dev, uint8_t reg, uint8_t data);

uint8_t* mag_read_reg(int i2c_dev, uint8_t reg, uint8_t count);

int mag_init(int i2c_dev, uint8_t rate, uint8_t range, uint8_t samples_avg, uint8_t meas_mode, uint8_t op_mode);
/* Parameters
- rate (data output rate in Hz) = 3, 15, 30, 75
0:      0.75Hz
1:      1.5Hz
7:      7.5Hz
- samples_avg (number of sampled averaged per measurement output) = 1, 2, 4, 8
- meas_mode (measurement mode):
0:      Normal measurement configuration. The device follows normal measurement flow.
        The positive and negative pins of the resistive load are left floating and high impedance
1:      Positive bias configuration for X, Y, and Z axes. In this configuration, a positive current
        is forced across the resistive load for all three axes
2:      Negative bias configuration for X, Y, and Z axes. In this configuration, a negative current
        is forced across the resistive load for all three axes
- range:
        Range (Ga)      Resolution (mG/LSb)
0:      +- 0.88         0.73
1:      +- 1.3          0.92
2:      +- 1.9          1.22
3:      +- 2.5          1.52
4:      +- 4.0          2.27
5:      +- 4.7          2.56
6:      +- 5.6          3.03
7:      +- 8.1          4.35
*/

int mag_read_all_data(int i2c_dev, short int *data);

short int mag_read_data(int i2c_dev, int axis);

#endif