1 files changed, 0 insertions, 205 deletions
diff --git a/peripheral/libupm/src/lsm303/lsm303.cxx b/peripheral/libupm/src/lsm303/lsm303.cxx
deleted file mode 100644
index 87d4afe..0000000
--- a/peripheral/libupm/src/lsm303/lsm303.cxx
+++ /dev/null
@@ -1,205 +0,0 @@
-/*
- * Author: Brendan Le Foll <brendan.le.foll@intel.com>
- * Copyright (c) 2014 Intel Corporation.
- *
- * Code based on LSM303DLH sample by Jim Lindblom SparkFun Electronics
- * and the CompensatedCompass.ino by Frankie Chu from SeedStudio
- *
- * 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 <iostream>
-#include <string>
-#include <stdexcept>
-#include <unistd.h>
-#include <stdlib.h>
-
-#include "lsm303.h"
-
-using namespace upm;
-
-LSM303::LSM303(int bus, int addrMag, int addrAcc, int accScale) : m_i2c(bus)
-{
-    m_addrMag = addrMag;
-    m_addrAcc = addrAcc;
-
-    // 0x27 is the 'normal' mode with X/Y/Z enable
-    setRegisterSafe(m_addrAcc, CTRL_REG1_A, 0x27);
-
-    // scale can be 2, 4 or 8
-    if (2 == accScale) {
-      setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x00);
-    } else if (4 == accScale) {
-      setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x10);
-    } else { // default; equivalent to 8g
-      setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x30);
-    }
-
-    // 0x10 = minimum datarate ~15Hz output rate
-    setRegisterSafe(m_addrMag, CRA_REG_M, 0x10);
-
-    // magnetic scale = +/-1.3
-    // Gaussmagnetic scale = +/-1.3Gauss (0x20)
-    // +-8.1Gauss (0xe0)
-    setRegisterSafe(m_addrMag, CRB_REG_M, 0xe0);
-
-    // 0x00 = continouous conversion mode
-    setRegisterSafe(m_addrMag, MR_REG_M, 0x00);
-}
-
-float
-LSM303::getHeading()
-{
-    if (getCoordinates() != mraa::SUCCESS) {
-        return -1;
-    }
-
-    float heading = 180.0 * atan2(double(coor[Y]), double(coor[X]))/M_PI;
-
-    if (heading < 0.0)
-        heading += 360.0;
-
-    return heading;
-}
-
-int16_t*
-LSM303::getRawAccelData()
-{
-    return &accel[0];
-}
-
-int16_t*
-LSM303::getRawCoorData()
-{
-    return &coor[0];
-}
-
-int16_t
-LSM303::getAccelX()
-{
-  return accel[X];
-}
-
-int16_t
-LSM303::getAccelY()
-{
-  return accel[Y];
-}
-
-int16_t
-LSM303::getAccelZ()
-{
-  return accel[Z];
-}
-
-mraa::Result
-LSM303::getCoordinates()
-{
-    mraa::Result ret = mraa::SUCCESS;
-
-    memset(&buf[0], 0, sizeof(uint8_t)*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;
-    }
-    // convert to coordinates
-    for (int i=0; i<3; i++) {
-        coor[i] = (int16_t(buf[2*i] << 8))
-                |  int16_t(buf[(2*i)+1]);
-    }
-    // swap elements 1 and 2 to get things in natural XYZ order
-    int16_t t = coor[2];
-    coor[2] = coor[1];
-    coor[1] = t;
-    //printf("X=%x, Y=%x, Z=%x\n", coor[X], coor[Y], coor[Z]);
-
-    return ret;
-}
-
-int16_t
-LSM303::getCoorX() {
-  return coor[X];
-}
-
-int16_t
-LSM303::getCoorY() {
-  return coor[Y];
-}
-
-int16_t
-LSM303::getCoorZ() {
-  return coor[Z];
-}
-
-// helper function that writes a value to the acc and then reads
-// FIX: shouldn't this be write-then-read?
-int
-LSM303::readThenWrite(uint8_t reg)
-{
-    m_i2c.address(m_addrAcc);
-    m_i2c.writeByte(reg);
-    m_i2c.address(m_addrAcc);
-    return (int) m_i2c.readByte();
-}
-
-mraa::Result
-LSM303::getAcceleration()
-{
-    mraa::Result ret = mraa::SUCCESS;
-
-    accel[X] = (int16_t(readThenWrite(OUT_X_H_A)) << 8)
-             |  int16_t(readThenWrite(OUT_X_L_A));
-    accel[Y] = (int16_t(readThenWrite(OUT_Y_H_A)) << 8)
-             |  int16_t(readThenWrite(OUT_Y_L_A));
-    accel[Z] = (int16_t(readThenWrite(OUT_Z_H_A)) << 8)
-             |  int16_t(readThenWrite(OUT_Z_L_A));
-    //printf("X=%x, Y=%x, Z=%x\n", accel[X], accel[Y], accel[Z]);
-
-    return ret;
-}
-
-// helper function that sets a register and then checks the set was succesful
-mraa::Result
-LSM303::setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data)
-{
-    buf[0] = sregister;
-    buf[1] = data;
-
-    if (m_i2c.address(slave) != mraa::SUCCESS) {
-        throw std::invalid_argument(std::string(__FUNCTION__) +
-                                    ": mraa_i2c_address() failed");
-        return mraa::ERROR_INVALID_HANDLE;
-    }
-    if (m_i2c.write(buf, 2) != mraa::SUCCESS) {
-        throw std::invalid_argument(std::string(__FUNCTION__) +
-                                    ": mraa_i2c_write() failed");
-        return mraa::ERROR_INVALID_HANDLE;
-    }
-    uint8_t val = m_i2c.readReg(sregister);
-    if (val != data) {
-        throw std::invalid_argument(std::string(__FUNCTION__) +
-                                    ": failed to set register correctly");
-        return mraa::ERROR_UNSPECIFIED;
-    }
-    return mraa::SUCCESS;
-}