Skeleton of mgos_imu_{mag,acc,gyro}.c; restructure header files

src/mgos_imu.c

@@ -32,6 +32,7 @@ struct mgos_imu *mgos_imu_create(struct mgos_i2c *i2c, uint8_t i2caddr) {
   if (!sensor) {
     return NULL;
   }
+  memset(sensor, 0, sizeof(struct mgos_imu));
   return sensor;
 }
 
@@ -39,6 +40,10 @@ void mgos_imu_destroy(struct mgos_imu **sensor) {
   if (!*sensor) {
     return;
   }
+  if ((*sensor)->gyro) mgos_imu_gyro_destroy(&((*sensor)->gyro));
+  if ((*sensor)->acc) mgos_imu_acc_destroy(&((*sensor)->acc));
+  if ((*sensor)->mag) mgos_imu_mag_destroy(&((*sensor)->mag));
+
   free(*sensor);
   *sensor = NULL;
   return;

src/mgos_imu_acc.c

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mgos.h"
+#include "mgos_imu_internal.h"
+
+struct mgos_imu_acc *mgos_imu_acc_create(void) {
+  struct mgos_imu_acc *acc;
+  acc = calloc(1, sizeof(struct mgos_imu_acc));
+  if (!acc) return NULL;
+  memset(acc, 0, sizeof(struct mgos_imu_acc));
+
+  acc->type=ACC_NONE;
+  return acc;
+}
+
+bool mgos_imu_acc_destroy(struct mgos_imu_acc **acc) {
+  if (!*acc) return false;
+  free(*acc);
+  *acc=NULL;
+  return true;
+}

src/mgos_imu_gyro.c

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mgos.h"
+#include "mgos_imu_internal.h"
+
+struct mgos_imu_gyro *mgos_imu_gyro_create(void) {
+  struct mgos_imu_gyro *gyro;
+  gyro = calloc(1, sizeof(struct mgos_imu_gyro));
+  if (!gyro) return NULL;
+  memset(gyro, 0, sizeof(struct mgos_imu_gyro));
+
+  gyro->type=GYRO_NONE;
+  return gyro;
+}
+
+bool mgos_imu_gyro_destroy(struct mgos_imu_gyro **gyro) {
+  if (!*gyro) return false;
+  free(*gyro);
+  *gyro=NULL;
+  return true;
+}

src/mgos_imu_internal.h

@@ -27,21 +27,17 @@ struct mgos_imu_mag;
 struct mgos_imu_acc;
 struct mgos_imu_gyro;
 
-typedef bool (*mgos_imu_mag_detect_fn)(struct mgos_imu_mag *dev);
-typedef bool (*mgos_imu_mag_start_fn)(struct mgos_imu_mag *dev);
-typedef bool (*mgos_imu_mag_read_fn)(struct mgos_imu_mag *dev);
-typedef bool (*mgos_imu_acc_detect_fn)(struct mgos_imu_acc *dev);
-typedef bool (*mgos_imu_acc_start_fn)(struct mgos_imu_acc *dev);
-typedef bool (*mgos_imu_acc_read_fn)(struct mgos_imu_acc *dev);
-typedef bool (*mgos_imu_gyro_detect_fn)(struct mgos_imu_gyro *dev);
-typedef bool (*mgos_imu_gyro_start_fn)(struct mgos_imu_gyro *dev);
-typedef bool (*mgos_imu_gyro_read_fn)(struct mgos_imu_gyro *dev);
 struct mgos_imu {
   struct mgos_imu_mag * mag;
   struct mgos_imu_acc * acc;
   struct mgos_imu_gyro *gyro;
 };
 
+// Magnetometer
+typedef bool (*mgos_imu_mag_detect_fn)(struct mgos_imu_mag *dev);
+typedef bool (*mgos_imu_mag_start_fn)(struct mgos_imu_mag *dev);
+typedef bool (*mgos_imu_mag_read_fn)(struct mgos_imu_mag *dev);
+
 struct mgos_imu_mag {
   mgos_imu_mag_detect_fn detect;
   mgos_imu_mag_start_fn  start;
@@ -55,6 +51,14 @@ struct mgos_imu_mag {
   int16_t                data[3];
 };
 
+struct mgos_imu_mag *mgos_imu_mag_create(void);
+bool mgos_imu_mag_destroy(struct mgos_imu_mag **mag);
+
+// Accelerometer
+typedef bool (*mgos_imu_acc_detect_fn)(struct mgos_imu_acc *dev);
+typedef bool (*mgos_imu_acc_start_fn)(struct mgos_imu_acc *dev);
+typedef bool (*mgos_imu_acc_read_fn)(struct mgos_imu_acc *dev);
+
 struct mgos_imu_acc {
   mgos_imu_acc_detect_fn detect;
   mgos_imu_acc_start_fn  start;
@@ -68,6 +72,14 @@ struct mgos_imu_acc {
   int16_t                data[3];
 };
 
+struct mgos_imu_acc *mgos_imu_acc_create(void);
+bool mgos_imu_acc_destroy(struct mgos_imu_acc **acc);
+
+// Gyroscope
+typedef bool (*mgos_imu_gyro_detect_fn)(struct mgos_imu_gyro *dev);
+typedef bool (*mgos_imu_gyro_start_fn)(struct mgos_imu_gyro *dev);
+typedef bool (*mgos_imu_gyro_read_fn)(struct mgos_imu_gyro *dev);
+
 struct mgos_imu_gyro {
   mgos_imu_gyro_detect_fn detect;
   mgos_imu_gyro_start_fn  start;
@@ -83,6 +95,9 @@ struct mgos_imu_gyro {
   int16_t                 temperature;
 };
 
+struct mgos_imu_gyro *mgos_imu_gyro_create(void);
+bool mgos_imu_gyro_destroy(struct mgos_imu_gyro **gyro);
+
 #ifdef __cplusplus
 }
 #endif

src/mgos_imu_mag.c

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mgos.h"
+#include "mgos_imu_internal.h"
+
+struct mgos_imu_mag *mgos_imu_mag_create(void) {
+  struct mgos_imu_mag *mag;
+  mag = calloc(1, sizeof(struct mgos_imu_mag));
+  if (!mag) return NULL;
+  memset(mag, 0, sizeof(struct mgos_imu_mag));
+
+  mag->type=MAG_NONE;
+  return mag;
+}
+
+bool mgos_imu_mag_destroy(struct mgos_imu_mag **mag) {
+  if (!*mag) return false;
+  free(*mag);
+  *mag=NULL;
+  return true;
+}