drivers_lsm303.h

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#pragma once
#include <runtime-hw/hw.h>
#include <stdbool.h>
#include <stdint.h>

// TYPES

typedef enum {
  DRIVER_LSM303_ACCEL_SCALE_2G = 0, 
  DRIVER_LSM303_ACCEL_SCALE_4G,     
  DRIVER_LSM303_ACCEL_SCALE_6G,     
  DRIVER_LSM303_ACCEL_SCALE_8G,     
  DRIVER_LSM303_ACCEL_SCALE_16G     
} driver_lsm303_accel_scale_t;

typedef enum {
  DRIVER_LSM303_MAG_SCALE_2GAUSS = 0, 
  DRIVER_LSM303_MAG_SCALE_4GAUSS,     
  DRIVER_LSM303_MAG_SCALE_8GAUSS,     
  DRIVER_LSM303_MAG_SCALE_12GAUSS     
} driver_lsm303_mag_scale_t;

typedef struct {
  float x; 
  float y; 
  float z; 
} driver_lsm303_vec3_t;

typedef struct {
  hw_i2c_t i2c;                            
  driver_lsm303_accel_scale_t accel_scale; 
  driver_lsm303_mag_scale_t mag_scale;     
} driver_lsm303_t;

// LIFECYCLE

bool driver_lsm303_init(driver_lsm303_t *driver, hw_i2c_t *i2c);

bool driver_lsm303_init_with_config(driver_lsm303_t *driver, hw_i2c_t *i2c,
                                    driver_lsm303_accel_scale_t accel_scale,
                                    driver_lsm303_mag_scale_t mag_scale);

void driver_lsm303_finalize(driver_lsm303_t *driver);

// DATA ACQUISITION

bool driver_lsm303_read_accel(driver_lsm303_t *driver,
                              driver_lsm303_vec3_t *data);

bool driver_lsm303_read_mag(driver_lsm303_t *driver,
                            driver_lsm303_vec3_t *data);

bool driver_lsm303_read_temp(driver_lsm303_t *driver, float *temp);

// UTILITY FUNCTIONS

float driver_lsm303_get_heading(const driver_lsm303_vec3_t *mag);