bmi160: add C driver and example. Add SPI support, other improvments.

This adds SPI support to the BMI160, as well as a C driver and a C
example.  In addition, some changes were made to more properly detect
and handle errors.

Functions supplied by the bosch_bmi160 driver source code is also
exported and made available to callers who want more than what the
basic driver support.  Bus access methods (I2C and SPI) are also now
exposed to both C and C++.

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -122,6 +122,7 @@ add_example (sht1x)
 add_example (water)
 add_example (yg1006)
 add_example (biss0001)
+add_example (bmi160)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/bmi160.c

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 <unistd.h>
+#include <signal.h>
+
+#include "bmi160.h"
+#include "upm_utilities.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+    //! [Interesting]
+
+    // Instantiate a BMI160 sensor on I2C bus 0, address 0x69, and
+    // disable the magnetometer (since it is an optional component
+    // that may not be present).  Since we are using I2C, pass a valid
+    // I2C address, and supply -1 as the cs_pin.
+    bmi160_context sensor = bmi160_init(0, 0x69, -1, false);
+
+    // For SPI, you would use something like this, using gpio 10 as
+    // the cs pin.  Passing -1 as the address indicates SPI operation.
+    //
+//    bmi160_context sensor = bmi160_init(0, -1, 10, false);
+
+    if (!sensor)
+    {
+        printf("bmi160_init() failed.\n");
+        return(1);
+    }
+
+    // Every half second, update and print values
+
+    while (shouldRun)
+    {
+        bmi160_update(sensor);
+
+        float x, y, z;
+
+        bmi160_get_accelerometer(sensor, &x, &y, &z);
+        printf("Acceleration x = %f y = %f z = %f\n",
+               x, y, z);
+
+        bmi160_get_gyroscope(sensor, &x, &y, &z);
+        printf("Gyroscope    x = %f y = %f z = %f\n",
+               x, y, z);
+
+        //bmi160_get_magnetometer(sensor, &x, &y, &z);
+        //printf("Magnetometer x = %f y = %f z = %f\n",
+        //       x, y, z);
+
+        printf("\n");
+
+        upm_delay_ms(500);
+    }
+
+    //! [Interesting]
+
+    printf("Exiting...\n");
+
+    bmi160_close(sensor);
+
+    return 0;
+}

src/bmi160/CMakeLists.txt

@@ -1,5 +1,9 @@
-set (libname "bmi160")
+upm_mixed_module_init (NAME bmi160
-set (libdescription "Bosch BMI160 Accelerometer, Gyroscope and BMM150 Magnetometer")
+    DESCRIPTION "UPM driver for the BMI160 accel/gyro/mag"
-set (module_src ${libname}.cxx bosch_bmi160.c)
+    C_HDR bmi160.h bosch_bmi160.h
-set (module_hpp ${libname}.hpp)
+    C_SRC bmi160.c bosch_bmi160.c
-upm_module_init()
+    CPP_HDR bmi160.hpp
+    CPP_SRC bmi160.cxx
+#    FTI_SRC bmi160_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/bmi160/bmi160.c

@@ -0,0 +1,595 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 <unistd.h>
+#include <string.h>
+#include <assert.h>
+#include <mraa/i2c.h>
+#include <mraa/spi.h>
+#include <mraa/gpio.h>
+
+#include "bmi160.h"
+
+#include <upm_utilities.h>
+
+// we have to do it the old skool way.  Note, this also means that
+// only one instance of the bmi160 driver can be active at a time.
+static mraa_i2c_context i2cContext = NULL;
+static mraa_spi_context spiContext = NULL;
+/* this is used for chip-select when using SPI */
+static mraa_gpio_context gpioContext = NULL;
+
+// whether we are doing I2C or SPI
+static bool isSPI = false;
+
+// Our bmi160 info structure
+struct bmi160_t s_bmi160;
+
+// For SPI, these are our CS on/off functions, if needed
+static void bmi160_cs_on()
+{
+    if (gpioContext)
+        mraa_gpio_write(gpioContext, 0);
+}
+
+static void bmi160_cs_off()
+{
+    if (gpioContext)
+        mraa_gpio_write(gpioContext, 1);
+}
+
+// i2c bus read and write functions for use with the bmi driver code
+s8 bmi160_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+    printf("%s: ENTER reg %02x cnt %02x.\n", __FUNCTION__,
+           reg_addr, cnt);
+
+    if (isSPI)
+    {
+        if (!spiContext)
+        {
+            printf("%s: spiContext is NULL.\n", __FUNCTION__);
+            return 1;
+        }
+
+        reg_addr |= 0x80; // needed for read
+
+        uint8_t sbuf[cnt + 1];
+        memset((char *)sbuf, 0, cnt + 1);
+        sbuf[0] = reg_addr;
+
+        bmi160_cs_on();
+
+        if (mraa_spi_transfer_buf(spiContext, sbuf, sbuf, cnt + 1))
+        {
+            bmi160_cs_off();
+            printf("%s: mraa_spi_transfer_buf() failed.\n", __FUNCTION__);
+            return 1;
+        }
+        bmi160_cs_off();
+
+      // now copy it into user buffer
+        int i;
+        for (i=0; i<cnt; i++)
+            reg_data[i] = sbuf[i + 1];
+
+        return 0;
+    }
+
+    // doing I2C
+
+    if (!i2cContext)
+    {
+        printf("%s: i2cContext is NULL.\n", __FUNCTION__);
+        return 1;
+    }
+
+    if (mraa_i2c_read_bytes_data(i2cContext, reg_addr, reg_data, cnt) < 0)
+    {
+        printf("%s: mraa_i2c_read_bytes() failed.\n", __FUNCTION__);
+        return 1;
+    }
+
+    return 0;
+}
+
+s8 bmi160_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
+{
+    printf("%s: ENTER reg %02x cnt %02x.\n", __FUNCTION__,
+           reg_addr, cnt);
+
+    if (isSPI)
+    {
+        if (!spiContext)
+        {
+            printf("%s: spiContext is NULL.\n", __FUNCTION__);
+            return 1;
+        }
+
+        reg_addr &= 0x7f; // mask off 0x80 for writing
+
+        uint8_t sbuf[cnt + 1];
+        memset((char *)sbuf, 0, cnt + 1);
+        sbuf[0] = reg_addr;
+
+        // copy in the data to write...
+        int i;
+        for (i=0; i<cnt; i++)
+            sbuf[i + 1] = reg_data[i];
+
+        bmi160_cs_on();
+
+        if (mraa_spi_transfer_buf(spiContext, sbuf, sbuf, cnt + 1))
+        {
+            bmi160_cs_off();
+            printf("%s: mraa_spi_transfer_buf() failed.\n", __FUNCTION__);
+            return 1;
+        }
+        bmi160_cs_off();
+
+        return 0;
+    }
+
+    // I2C...
+    if (!i2cContext)
+    {
+        printf("%s: i2cContext is NULL.\n", __FUNCTION__);
+        return 1;
+    }
+
+    uint8_t buffer[cnt + 1];
+
+    buffer[0] = reg_addr;
+    int i;
+    for (i=0; i<cnt; i++)
+        buffer[i+1] = reg_data[i];
+
+    mraa_result_t rv = mraa_i2c_write(i2cContext, buffer, cnt+1);
+
+    if (rv != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
+        return 1;
+    }
+
+    return 0;
+}
+
+// delay for some milliseconds
+void bmi160_delay_ms(u32 msek)
+{
+  upm_delay_ms(msek);
+}
+
+
+bmi160_context bmi160_init(unsigned int bus, int address, int cs_pin,
+                           bool enable_mag)
+{
+    bmi160_context dev =
+        (bmi160_context)malloc(sizeof(struct _bmi160_context));
+
+    if (!dev)
+        return NULL;
+
+    // zero out context
+    memset((void *)dev, 0, sizeof(struct _bmi160_context));
+
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        bmi160_close(dev);
+        return NULL;
+    }
+
+    if (address > 0)
+    {
+        // we are doing I2C
+        isSPI = false;
+
+        if (!(i2cContext = mraa_i2c_init(bus)))
+        {
+            printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
+            bmi160_close(dev);
+            return NULL;
+        }
+
+        if (mraa_i2c_address(i2cContext, address) != MRAA_SUCCESS)
+        {
+            printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
+            bmi160_close(dev);
+            return NULL;
+        }
+    }
+    else
+    {
+        // we are doing SPI
+        isSPI = true;
+        printf("DOING SPI!\n");//FIXME
+        if (!(spiContext = mraa_spi_init(bus)))
+        {
+            printf("%s: mraa_spi_init() failed.\n", __FUNCTION__);
+            bmi160_close(dev);
+            return NULL;
+        }
+
+        // Only create cs context if we are actually using a valid pin.
+        // A hardware controlled pin should specify cs as -1.
+        if (cs_pin >= 0)
+        {
+            if (!(gpioContext = mraa_gpio_init(cs_pin)))
+            {
+                printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
+                bmi160_close(dev);
+                return NULL;
+            }
+
+            mraa_gpio_dir(gpioContext, MRAA_GPIO_OUT);
+            bmi160_cs_off();
+        }
+
+        if (mraa_spi_mode(spiContext, MRAA_SPI_MODE0))
+        {
+            printf("%s: mraa_spi_mode() failed.\n", __FUNCTION__);
+            bmi160_close(dev);
+            return NULL;
+        }
+
+        if (mraa_spi_frequency(spiContext, 5000000))
+        {
+            printf("%s: mraa_spi_frequency() failed.\n", __FUNCTION__);
+            bmi160_close(dev);
+            return NULL;
+        }
+    }
+
+    // init the driver interface functions
+    s_bmi160.bus_write = bmi160_bus_write;
+    s_bmi160.bus_read = bmi160_bus_read;
+    s_bmi160.delay_msec = bmi160_delay_ms;
+    if (isSPI)
+        s_bmi160.dev_addr = 0;
+    else
+        s_bmi160.dev_addr = address & 0xff;
+
+    // Init our driver interface pointers
+    if (bmi160_init_bus(&s_bmi160))
+    {
+        printf("%s: bmi160_bus_init() failed.\n", __FUNCTION__);
+        bmi160_close(dev);
+        return NULL;
+    }
+
+    // bmi160_init_bus will read the chip Id and deposit into our
+    // interface struct.  So, check it out and make sure it's correct.
+    printf("%s: CHIP_ID = %02x\n", __FUNCTION__, s_bmi160.chip_id);
+    if (s_bmi160.chip_id != BMI160_CHIP_ID)
+    {
+        printf("%s: Error: expected chip id %02x, but got %02x.\n",
+               __FUNCTION__, BMI160_CHIP_ID, s_bmi160.chip_id);
+        bmi160_close(dev);
+        return NULL;
+    }
+
+    dev->accelScale = 1.0;
+    dev->gyroScale = 1.0;
+    dev->magEnabled = false;
+
+    // This should be interesting...
+    const u32 C_BMI160_THIRTY_U8X = 30;
+
+    bmi160_enable_magnetometer(dev, enable_mag);
+
+    /* Set the accel mode as Normal write in the register 0x7E */
+    bmi160_set_command_register(ACCEL_MODE_NORMAL);
+
+    /* bmi160_delay_ms in ms */
+    bmi160_delay_ms(C_BMI160_THIRTY_U8X);
+
+    /* Set the gyro mode as Normal write in the register 0x7E */
+    bmi160_set_command_register(GYRO_MODE_NORMAL);
+
+    /* bmi160_delay_ms in ms */
+    bmi160_delay_ms(C_BMI160_THIRTY_U8X);
+
+    /* Set the accel bandwidth as OSRS4 */
+    bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
+    bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+    /* Set the gryo bandwidth as Normal */
+    bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
+    bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+    /* set gyro data rate as 200Hz */
+    bmi160_set_gyro_output_data_rate(BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
+    bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+    /* set accel data rate as 200Hz */
+    bmi160_set_accel_output_data_rate(BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ,
+                                      BMI160_ACCEL_OSR4_AVG1);
+    bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+    bmi160_set_accelerometer_scale(dev, BMI160_ACC_RANGE_2G);
+    bmi160_set_gyroscope_scale(dev, BMI160_GYRO_RANGE_125);
+
+    return dev;
+}
+
+void bmi160_close(bmi160_context dev)
+{
+    assert(dev != NULL);
+
+    if (i2cContext)
+        mraa_i2c_stop(i2cContext);
+    i2cContext = NULL;
+
+    if (spiContext)
+        mraa_spi_stop(spiContext);
+    spiContext = NULL;
+
+    if (gpioContext)
+        mraa_gpio_close(gpioContext);
+    gpioContext = NULL;
+
+    free(dev);
+}
+
+void bmi160_update(const bmi160_context dev)
+{
+    assert(dev != NULL);
+
+    struct bmi160_gyro_t gyroxyz;
+    struct bmi160_accel_t accelxyz;
+    struct bmi160_mag_xyz_s32_t magxyz;
+
+    // read gyro data
+    bmi160_read_gyro_xyz(&gyroxyz);
+
+    // read accel data
+    bmi160_read_accel_xyz(&accelxyz);
+
+    // read mag data
+    if (dev->magEnabled)
+        bmi160_bmm150_mag_compensate_xyz(&magxyz);
+
+    // read the sensor time
+    u32 v_sensor_time;
+    bmi160_get_sensor_time(&v_sensor_time);
+    dev->sensorTime = (unsigned int)v_sensor_time;
+
+    dev->accelX = (float)accelxyz.x;
+    dev->accelY = (float)accelxyz.y;
+    dev->accelZ = (float)accelxyz.z;
+
+    dev->gyroX = (float)gyroxyz.x;
+    dev->gyroY = (float)gyroxyz.y;
+    dev->gyroZ = (float)gyroxyz.z;
+
+    if (dev->magEnabled)
+    {
+        dev->magX = (float)magxyz.x;
+        dev->magY = (float)magxyz.y;
+        dev->magZ = (float)magxyz.z;
+    }
+}
+
+void bmi160_set_accelerometer_scale(const bmi160_context dev,
+                                    BMI160_ACC_RANGE_T scale)
+{
+    assert(dev != NULL);
+
+    s8 v_range = BMI160_ACCEL_RANGE_2G;
+    // store scaling factor
+
+    switch (scale)
+    {
+    case BMI160_ACC_RANGE_2G:
+        v_range = BMI160_ACCEL_RANGE_2G;
+        dev->accelScale = 16384.0;
+        break;
+
+    case BMI160_ACC_RANGE_4G:
+        v_range = BMI160_ACCEL_RANGE_4G;
+        dev->accelScale = 8192.0;
+        break;
+
+    case BMI160_ACC_RANGE_8G:
+        v_range = BMI160_ACCEL_RANGE_8G;
+        dev->accelScale = 4096.0;
+        break;
+
+    case BMI160_ACC_RANGE_16G:
+        v_range = BMI160_ACCEL_RANGE_16G;
+        dev->accelScale = 2048.0;
+        break;
+
+    default: // should never occur, but...
+        dev->accelScale = 1.0;        // set a safe, though incorrect value
+        printf("%s: internal error, unsupported scale.\n", __FUNCTION__);
+        break;
+    }
+
+    bmi160_set_accel_range(v_range);
+
+    return;
+}
+
+void bmi160_set_gyroscope_scale(const bmi160_context dev,
+                                BMI160_GYRO_RANGE_T scale)
+{
+    assert(dev != NULL);
+
+    u8 v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
+
+    // store scaling factor
+
+    switch (scale)
+    {
+    case BMI160_GYRO_RANGE_125:
+        v_range = BMI160_GYRO_RANGE_125_DEG_SEC;
+        dev->gyroScale = 262.4;
+        break;
+
+    case BMI160_GYRO_RANGE_250:
+        v_range = BMI160_GYRO_RANGE_250_DEG_SEC;
+        dev->gyroScale = 131.2;
+        break;
+
+    case BMI160_GYRO_RANGE_500:
+        v_range = BMI160_GYRO_RANGE_500_DEG_SEC;
+        dev->gyroScale = 65.6;
+        break;
+
+    case BMI160_GYRO_RANGE_1000:
+        v_range = BMI160_GYRO_RANGE_1000_DEG_SEC;
+        dev->gyroScale = 32.8;
+        break;
+
+    case BMI160_GYRO_RANGE_2000:
+        v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
+        dev->gyroScale = 16.4;
+        break;
+
+    default: // should never occur, but...
+        dev->gyroScale = 1.0;        // set a safe, though incorrect value
+        printf("%s: internal error, unsupported scale.\n", __FUNCTION__);
+        break;
+    }
+
+    bmi160_set_gyro_range(v_range);
+
+    return;
+}
+
+void bmi160_get_accelerometer(const bmi160_context dev, float *x, float *y,
+                              float *z)
+{
+    assert(dev != NULL);
+
+    if (x)
+        *x = dev->accelX / dev->accelScale;
+
+    if (y)
+        *y = dev->accelY / dev->accelScale;
+
+    if (z)
+        *z = dev->accelZ / dev->accelScale;
+}
+
+void bmi160_get_gyroscope(const bmi160_context dev, float *x, float *y,
+                          float *z)
+{
+    assert(dev != NULL);
+
+    if (x)
+        *x = dev->gyroX / dev->gyroScale;
+
+    if (y)
+        *y = dev->gyroY / dev->gyroScale;
+
+    if (z)
+        *z = dev->gyroZ / dev->gyroScale;
+}
+
+void bmi160_get_magnetometer(const bmi160_context dev, float *x, float *y,
+                             float *z)
+{
+    assert(dev != NULL);
+
+    if (x)
+        *x = dev->magX;
+
+    if (y)
+        *y = dev->magY;
+
+    if (z)
+        *z = dev->magZ;
+}
+
+#if 0
+float *bmi160_get_ccelerometer()
+{
+    float *values = new float[3]; // x, y, and then z
+
+    getAccelerometer(&values[0], &values[1], &values[2]);
+
+    return values;
+}
+
+float *bmi160_getGyroscope()
+{
+    float *values = new float[3]; // x, y, and then z
+
+    getGyroscope(&values[0], &values[1], &values[2]);
+
+    return values;
+}
+
+float *bmi160_getMagnetometer()
+{
+    float *values = new float[3]; // x, y, and then z
+
+    getMagnetometer(&values[0], &values[1], &values[2]);
+
+    return values;
+}
+#endif
+
+void bmi160_enable_magnetometer(const bmi160_context dev, bool enable)
+{
+    assert(dev != NULL);
+
+    // butchered from support example
+    if (!enable)
+    {
+        bmi160_set_bmm150_mag_and_secondary_if_power_mode(MAG_SUSPEND_MODE);
+        bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+        bmi160_set_if_mode(0x00);
+        bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+        dev->magEnabled = false;
+        dev->magX = 0;
+        dev->magY = 0;
+        dev->magZ = 0;
+    }
+    else
+    {
+        u8 v_bmm_chip_id_u8 = BMI160_INIT_VALUE;
+        /* Init the magnetometer */
+        bmi160_bmm150_mag_interface_init(&v_bmm_chip_id_u8);
+
+        /* bmi160_delay_ms in ms*/
+        bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
+
+        dev->magEnabled = true;
+    }
+}
+
+unsigned int bmi160_get_time(const bmi160_context dev)
+{
+    assert(dev != NULL);
+
+    return dev->sensorTime;
+}

src/bmi160/bmi160.cxx

@@ -27,354 +27,57 @@
 #include <stdexcept>
 #include <string>
 
-// we have to do it the old skool way
-#include <mraa/i2c.h>
-
 #include "bmi160.hpp"
 
-extern "C" {
-#include "bosch_bmi160.h"
-}
-
-// We do not need this define anyway.  It conflicts with mraa::SUCCESS.
-#undef SUCCESS
-
 using namespace upm;
 using namespace std;
 
-static mraa_i2c_context i2cContext = NULL;
+BMI160::BMI160(int bus, int address, int csPin, bool enableMag) :
-
+    m_bmi160(bmi160_init(bus, address, csPin, enableMag))
-// Our bmi160 info structure
-struct bmi160_t s_bmi160;
-
-// bus read and write functions for use with the bmi driver code
-s8 bmi160_i2c_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
 {
-  if (!i2cContext)
+    if (!m_bmi160)
-    {
+        throw std::runtime_error(string(__FUNCTION__)
-      throw std::runtime_error(std::string(__FUNCTION__) +
+                                 + ": bmi160_init() failed");
-                               ": i2c context is NULL");
-    }
-
-  int retries = 10;
-
-  // There seems to be some occasional flakyness with reads when
-  // moving the sensor around
-  while (retries >= 0)
-    {
-      int rv = mraa_i2c_read_bytes_data(i2cContext, reg_addr, reg_data, cnt);
-
-      if (rv < 0)
-        {
-          usleep(100000);
-          retries--;
-        }
-      else
-        return 0;
-    }
-
-  throw std::runtime_error(std::string(__FUNCTION__) +
-                           ": mraa_i2c_read_bytes_data() failed");
-
-  return 0;
-}
-
-s8 bmi160_i2c_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
-{
-  if (!i2cContext)
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": i2c context is NULL");
-    }
-
-  // FIXME  fprintf(stderr, "%s: %02x: cnt %d\n", __FUNCTION__, reg_addr, cnt);
-  uint8_t buffer[cnt + 1];
-
-  buffer[0] = reg_addr;
-  for (int i=0; i<cnt; i++)
-    buffer[i+1] = reg_data[i];
-
-  mraa_result_t rv = mraa_i2c_write(i2cContext, buffer, cnt+1);
-
-  if (rv != MRAA_SUCCESS)
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": mraa_i2c_write() failed");
-    }
-
-  return 0;
-}
-
-// delay for some milliseconds
-void bmi160_delay_ms(u32 msek)
-{
-  usleep(msek * 1000);
-}
-
-
-BMI160::BMI160(int bus, uint8_t address)
-{
-  m_addr = address;
-
-  // We need to use the C MRAA interface to avoid issue with C++ <-> C
-  // calling convention issues, also we need a global
-  // mraa_i2c_context
-
-  if (!(i2cContext = mraa_i2c_init(bus)))
-    {
-      throw std::invalid_argument(std::string(__FUNCTION__) +
-                                  ": mraa_i2c_init() failed");
-    }
-
-  if (mraa_i2c_address(i2cContext, m_addr) != MRAA_SUCCESS)
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": mraa_i2c_address() failed");
-      return;
-    }
-
-  // init the driver interface functions
-  s_bmi160.bus_write = bmi160_i2c_bus_write;
-  s_bmi160.bus_read = bmi160_i2c_bus_read;
-  s_bmi160.delay_msec = bmi160_delay_ms;
-  s_bmi160.dev_addr = m_addr;
-
-  // Init our driver interface pointers
-  bmi160_init(&s_bmi160);
-
-  m_accelX = 0.0;
-  m_accelY = 0.0;
-  m_accelZ = 0.0;
-
-  m_gyroX = 0.0;
-  m_gyroY = 0.0;
-  m_gyroZ = 0.0;
-
-  m_magX = 0.0;
-  m_magY = 0.0;
-  m_magZ = 0.0;
-
-  m_accelScale = 1.0;
-  m_gyroScale = 1.0;
-
-  m_magEnabled = false;
-
-  if (!init())
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": init() failed");
-    }
 }
 
 BMI160::~BMI160()
 {
-  mraa_i2c_stop(i2cContext);
+    bmi160_close(m_bmi160);
-  i2cContext = NULL;
 }
 
-bool BMI160::init()
-{
-  // This should be interesting...
-  const u32 C_BMI160_THIRTY_U8X = 30;
-
-  enableMagnetometer(true);
-
-  /*Set the accel mode as Normal write in the register 0x7E*/
-  bmi160_set_command_register(ACCEL_MODE_NORMAL);
-
-  /* bmi160_delay_ms in ms*/
-  bmi160_delay_ms(C_BMI160_THIRTY_U8X);
-
-  /*Set the gyro mode as Normal write in the register 0x7E*/
-  bmi160_set_command_register(GYRO_MODE_NORMAL);
-
-  /* bmi160_delay_ms in ms*/
-  bmi160_delay_ms(C_BMI160_THIRTY_U8X);
-
-  /* Set the accel bandwidth as OSRS4 */
-  bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
-  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-  /* Set the gryo bandwidth as Normal */
-  bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
-  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-  /* set gyro data rate as 200Hz*/
-  bmi160_set_gyro_output_data_rate(BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
-  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-  /* set accel data rate as 200Hz*/
-  bmi160_set_accel_output_data_rate(BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ,
-                                    BMI160_ACCEL_OSR4_AVG1);
-  bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-  setAccelerometerScale(ACCEL_RANGE_2G);
-  setGyroscopeScale(GYRO_RANGE_125);
-
-  return true;
-}
-
-
 void BMI160::update()
 {
-  struct bmi160_gyro_t gyroxyz;
+    bmi160_update(m_bmi160);
-  struct bmi160_accel_t accelxyz;
-  struct bmi160_mag_xyz_s32_t magxyz;
-
-  // read gyro data
-  bmi160_read_gyro_xyz(&gyroxyz);
-
-  // read accel data
-  bmi160_read_accel_xyz(&accelxyz);
-
-  // read mag data
-  if (m_magEnabled)
-    bmi160_bmm150_mag_compensate_xyz(&magxyz);
-
-  // read the sensor time
-  u32 v_sensor_time;
-  bmi160_get_sensor_time(&v_sensor_time);
-  m_sensorTime = (unsigned int)v_sensor_time;
-
-  m_accelX = float(accelxyz.x);
-  m_accelY = float(accelxyz.y);
-  m_accelZ = float(accelxyz.z);
-
-  m_gyroX = float(gyroxyz.x);
-  m_gyroY = float(gyroxyz.y);
-  m_gyroZ = float(gyroxyz.z);
-
-  if (m_magEnabled)
-    {
-      m_magX = float(magxyz.x);
-      m_magY = float(magxyz.y);
-      m_magZ = float(magxyz.z);
-    }
 }
 
-void BMI160::setAccelerometerScale(ACCEL_RANGE_T scale)
+void BMI160::setAccelerometerScale(BMI160_ACC_RANGE_T scale)
 {
-  s8 v_range = BMI160_ACCEL_RANGE_2G;
+    bmi160_set_accelerometer_scale(m_bmi160, scale);
-  // store scaling factor
-
-  switch (scale)
-    {
-    case ACCEL_RANGE_2G:
-      v_range = BMI160_ACCEL_RANGE_2G;
-      m_accelScale = 16384.0;
-      break;
-
-    case ACCEL_RANGE_4G:
-      v_range = BMI160_ACCEL_RANGE_4G;
-      m_accelScale = 8192.0;
-      break;
-
-    case ACCEL_RANGE_8G:
-      v_range = BMI160_ACCEL_RANGE_8G;
-      m_accelScale = 4096.0;
-      break;
-
-    case ACCEL_RANGE_16G:
-      v_range = BMI160_ACCEL_RANGE_16G;
-      m_accelScale = 2048.0;
-      break;
-
-    default: // should never occur, but...
-      m_accelScale = 1.0;        // set a safe, though incorrect value
-      throw std::logic_error(string(__FUNCTION__) +
-                             ": internal error, unsupported scale");
-      break;
-    }
-
-  bmi160_set_accel_range(v_range);
-
-  return;
 }
 
-void BMI160::setGyroscopeScale(GYRO_RANGE_T scale)
+void BMI160::setGyroscopeScale(BMI160_GYRO_RANGE_T scale)
 {
-  u8 v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
+    bmi160_set_gyroscope_scale(m_bmi160, scale);
-
-  // store scaling factor
-
-  switch (scale)
-    {
-    case GYRO_RANGE_125:
-      v_range = BMI160_GYRO_RANGE_125_DEG_SEC;
-      m_gyroScale = 262.4;
-      break;
-
-    case GYRO_RANGE_250:
-      v_range = BMI160_GYRO_RANGE_250_DEG_SEC;
-      m_gyroScale = 131.2;
-      break;
-
-    case GYRO_RANGE_500:
-      v_range = BMI160_GYRO_RANGE_500_DEG_SEC;
-      m_gyroScale = 65.6;
-      break;
-
-    case GYRO_RANGE_1000:
-      v_range = BMI160_GYRO_RANGE_1000_DEG_SEC;
-      m_gyroScale = 32.8;
-      break;
-
-    case GYRO_RANGE_2000:
-      v_range = BMI160_GYRO_RANGE_2000_DEG_SEC;
-      m_gyroScale = 16.4;
-      break;
-
-    default: // should never occur, but...
-      m_gyroScale = 1.0;        // set a safe, though incorrect value
-      throw std::logic_error(string(__FUNCTION__) +
-                             ": internal error, unsupported scale");
-      break;
-    }
-
-  bmi160_set_gyro_range(v_range);
-
-  return;
 }
 
 void BMI160::getAccelerometer(float *x, float *y, float *z)
 {
-  if (x)
+    bmi160_get_accelerometer(m_bmi160, x, y, z);
-    *x = m_accelX / m_accelScale;
-
-  if (y)
-    *y = m_accelY / m_accelScale;
-
-  if (z)
-    *z = m_accelZ / m_accelScale;
 }
 
 void BMI160::getGyroscope(float *x, float *y, float *z)
 {
-  if (x)
+    bmi160_get_gyroscope(m_bmi160, x, y, z);
-    *x = m_gyroX / m_gyroScale;
-
-  if (y)
-    *y = m_gyroY / m_gyroScale;
-
-  if (z)
-    *z = m_gyroZ / m_gyroScale;
 }
 
 void BMI160::getMagnetometer(float *x, float *y, float *z)
 {
-  if (x)
+    bmi160_get_magnetometer(m_bmi160, x, y, z);
-    *x = m_magX;
-
-  if (y)
-    *y = m_magY;
-
-  if (z)
-    *z = m_magZ;
 }
 
 float *BMI160::getAccelerometer()
 {
-  float *values = new float[3]; // x, y, and then z
+  static float values[3]; // x, y, and then z
 
   getAccelerometer(&values[0], &values[1], &values[2]);
 
@@ -383,7 +86,7 @@ float *BMI160::getAccelerometer()
 
 float *BMI160::getGyroscope()
 {
-  float *values = new float[3]; // x, y, and then z
+  static float values[3]; // x, y, and then z
 
   getGyroscope(&values[0], &values[1], &values[2]);
 
@@ -392,7 +95,7 @@ float *BMI160::getGyroscope()
 
 float *BMI160::getMagnetometer()
 {
-  float *values = new float[3]; // x, y, and then z
+  static float values[3]; // x, y, and then z
 
   getMagnetometer(&values[0], &values[1], &values[2]);
 
@@ -401,33 +104,41 @@ float *BMI160::getMagnetometer()
 
 void BMI160::enableMagnetometer(bool enable)
 {
-  // butchered from support example
+    bmi160_enable_magnetometer(m_bmi160, enable);
-  if (!enable)
-    {
-      bmi160_set_bmm150_mag_and_secondary_if_power_mode(MAG_SUSPEND_MODE);
-      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-      bmi160_set_if_mode(0x00);
-      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-      m_magEnabled = false;
-      m_magX = 0;
-      m_magY = 0;
-      m_magZ = 0;
-    }
-  else
-    {
-      u8 v_bmm_chip_id_u8 = BMI160_INIT_VALUE;
-      /* Init the magnetometer */
-      bmi160_bmm150_mag_interface_init(&v_bmm_chip_id_u8);
-
-      /* bmi160_delay_ms in ms*/
-      bmi160_delay_ms(BMI160_GEN_READ_WRITE_DELAY);
-
-      m_magEnabled = true;
-    }
 }
 
 unsigned int BMI160::getSensorTime()
 {
-  return m_sensorTime;
+    return bmi160_get_time(m_bmi160);
+}
+
+string BMI160::busRead(int addr, int reg, int len)
+{
+    u8 dev_addr = (u8)(addr & 0xff);
+    u8 reg_addr = (u8)(reg & 0xff);
+    u8 cnt = (u8)(len & 0xff);
+
+    u8 *data = new u8[cnt];
+
+    if (bmi160_bus_read(dev_addr, reg_addr, data, cnt))
+    {
+        delete [] data;
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": bmi160_bus_read() failed");
+    }
+
+    string dataStr((char *)data, cnt);
+    delete [] data;
+
+    return dataStr;
+}
+
+void BMI160::busWrite(int addr, int reg, string data)
+{
+    u8 dev_addr = (u8)(addr & 0xff);
+    u8 reg_addr = (u8)(reg & 0xff);
+
+    if (bmi160_bus_write(dev_addr, reg_addr, (u8 *)data.data(), data.size()))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": bmi160_bus_write() failed");
 }

src/bmi160/bmi160.h

@@ -0,0 +1,250 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <upm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bosch_bmi160.h"
+
+#define BMI160_CHIP_ID 0xd1
+
+  /**
+   * @brief BMI160 3-axis Accelerometer, Gyroscope and (optionally) a
+   * Magnetometer
+   *
+   * The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
+   * Additionally it supports an external Magnetometer, accessed
+   * through the BMI160's register interface.  This driver was
+   * developed with a BMI160 "Shuttle" board, which included a BMM150
+   * Magnetometer.
+   *
+   * The device is driven by either 1.8v or 3.3vdc.  This driver
+   * incorporates the Bosch BMI160 driver code at
+   * https://github.com/BoschSensortec/BMI160_driver
+   *
+   * The Bosch driver code does not provide a mechanism for passing
+   * user data around (like the device context).  For this reason,
+   * only one instance of this driver can be used in a given process,
+   * due to the use of static data in the driver.
+   *
+   * While not all of the functionality of this device is supported
+   * initially, the inclusion of the Bosch driver in the source code
+   * makes it possible to support whatever features are required that
+   * the driver can support.
+   *
+   * @snippet bmi160.c Interesting
+   */
+
+    typedef struct _bmi160_context {
+        // uncompensated accelerometer and gyroscope values
+        float accelX;
+        float accelY;
+        float accelZ;
+
+        float gyroX;
+        float gyroY;
+        float gyroZ;
+
+        float magX;
+        float magY;
+        float magZ;
+
+        unsigned int sensorTime;
+
+        // accelerometer and gyro scaling factors, depending on their Full
+        // Scale (Range) settings.
+        float accelScale;
+        float gyroScale;
+
+        // is the magnetometer enabled?
+        bool magEnabled;
+
+    } *bmi160_context;
+
+    typedef enum {
+      BMI160_ACC_RANGE_2G                        = 0, // 2 Gravities
+      BMI160_ACC_RANGE_4G,
+      BMI160_ACC_RANGE_8G,
+      BMI160_ACC_RANGE_16G
+    } BMI160_ACC_RANGE_T;
+
+    typedef enum {
+      BMI160_GYRO_RANGE_125                      = 0, // 125 degrees/sec
+      BMI160_GYRO_RANGE_250,
+      BMI160_GYRO_RANGE_500,
+      BMI160_GYRO_RANGE_1000,
+      BMI160_GYRO_RANGE_2000
+    } BMI160_GYRO_RANGE_T;
+
+    /**
+     * bmi160 constructor
+     *
+     * @param bus i2c/spi bus to use
+     * @param address The address for this device if using I2C.  If
+     * using SPI, supply -1 for this parameter.
+     * @param cs_pin The GPIO to use for Chip Select (CS).  This is
+     * only needed for SPI, and only if your SPI implementation
+     * requires it.  Otherwise, just pass -1 if not using SPI, or your
+     * CS is handled automatically by your SPI implementation.
+     * @param enable_mag True, if you want to enable the magnetometer
+     * @return an initialized device context on success, NULL on error.
+     */
+    bmi160_context bmi160_init(unsigned int bus, int address, int cs_pin,
+                               bool enable_mag);
+
+    /**
+     * BMI160 Destructor
+     *
+     * @param dev Device context.
+     */
+    void bmi160_close(bmi160_context dev);
+
+    /**
+     * Take a measurement and store the current sensor values
+     * internally.  This function must be called prior to retrieving
+     * any sensor values, for example getAccelerometer().
+     *
+     * @param dev Device context.
+     * @param dev sensor context
+     */
+    void bmi160_update(const bmi160_context dev);
+
+    /**
+     * set the scaling mode of the accelerometer
+     *
+     * @param dev Device context.
+     * @param scale one of the ACCEL_RANGE_T values
+     */
+    void bmi160_set_accelerometer_scale(const bmi160_context dev,
+                                        BMI160_ACC_RANGE_T scale);
+
+    /**
+     * set the scaling mode of the gyroscope
+     *
+     * @param dev Device context.
+     * @param scale one of the GYRO_RANGE_T values
+     */
+    void bmi160_set_gyroscope_scale(const bmi160_context dev,
+                                    BMI160_GYRO_RANGE_T scale);
+
+    /**
+     * Get the Accelerometer values.  The values returned are in
+     * gravities.  update() must have been called prior to calling
+     * this method.
+     *
+     * @param dev Device context.
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void bmi160_get_accelerometer(const bmi160_context dev,
+                                  float *x, float *y, float *z);
+
+    /**
+     * Get the Gyroscope values.  The values returned are in degrees
+     * per second.  update() must have been called prior to calling
+     * this method.
+     *
+     * @param dev Device context.
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void bmi160_get_gyroscope(const bmi160_context dev,
+                              float *x, float *y, float *z);
+
+    /**
+     * Get the Magnetometer values.  The values returned are in micro
+     * Teslas.  update() must have been called prior to calling this
+     * method.
+     *
+     * @param dev Device context.
+     * @param x A pointer into which the X value will be returned
+     * @param y A pointer into which the Y value will be returned
+     * @param z A pointer into which the Z value will be returned
+     */
+    void bmi160_get_magnetometer(const bmi160_context dev,
+                                 float *x, float *y, float *z);
+
+    /**
+     * Enable or disable the Magnetometer.  By default, the
+     * magnetometer is enabled.
+     *
+     * @param dev Device context.
+     * @param enable true to enable the magnetometer, false to disable.
+     */
+    void bmi160_enable_magnetometer(const bmi160_context dev, bool enable);
+
+    /**
+     * Return the sensor time.  This is a 24bit value that increments
+     * every 39us.  It will wrap around once the 24b resolution is
+     * exceeded.
+     *
+     * @param dev Device context.
+     * @return The current sensor time.
+     */
+    unsigned int bmi160_get_time(const bmi160_context dev);
+
+    /**
+     * Perform a bus read.  This function is bus agnostic, and is used
+     * by the bosch code to perform bus reads.  It is exposed here for
+     * those users wishing to perform their own low level accesses.
+     * This is a low level function, and should not be used unless you
+     * know what you are doing.
+     *
+     * @param dev_addr For I2C operation, this is the I2C address.
+     * For SPI, this argument is ignored.
+     * @param reg_addr The register address to access.
+     * @param reg_data A pointer to a buffer in which data will be read into.
+     * @param cnt The number of bytes to read.
+     * @return A return of 0 indicates no errors, non-zero indicates an error.
+     */
+    s8 bmi160_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+
+    /**
+     * Perform a bus write.  This function is bus agnostic, and is used
+     * by the bosch code to perform bus writes.  It is exposed here for
+     * those users wishing to perform their own low level accesses.
+     * This is a low level function, and should not be used unless you
+     * know what you are doing.
+     *
+     * @param dev_addr For I2C operation, this is the I2C address.
+     * For SPI, this argument is ignored.
+     * @param reg_addr The register address to access.
+     * @param reg_data A pointer to a buffer containing data to write.
+     * @param cnt The number of bytes to write.
+     * @return A return of 0 indicates no errors, non-zero indicates an error.
+     */
+    s8 bmi160_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
+
+#ifdef __cplusplus
+}
+#endif

src/bmi160/bmi160.hpp

@@ -22,230 +22,225 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 #pragma once
-
+#include <string>
-#include <stdint.h>
+#include "bmi160.h"
 
 #define BMI160_I2C_BUS 0
 #define BMI160_DEFAULT_I2C_ADDR 0x69
 
 namespace upm {
 
-  /**
+    /**
-   * @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
+     * @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
-   * @defgroup bmi160 libupm-bmi160
+     * @defgroup bmi160 libupm-bmi160
-   * @ingroup i2c accelerometer compass
+     * @ingroup i2c accelerometer compass
-   */
+     */
 
 
-  /**
-   * @library bmi160
-   * @sensor bmi160
-   * @comname BMI160 3-axis Accelerometer, Gyroscope
-   * and Magnetometer
-   * @type accelerometer compass
-   * @man mouser
-   * @con i2c
-   * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
-   *
-   * @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
-   * Magnetometer
-   *
-   * The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
-   * Additionally it supports an external Magnetometer, accessed
-   * through the BMI160's register interface.  This driver was
-   * developed with a BMI160 "Shuttle" board, which included a BMM150
-   * Magnetometer.
-   *
-   * The device is driven by either 1.8v or 3.3vdc.  This driver
-   * incorporates the Bosch BMI160 driver code at
-   * https://github.com/BoschSensortec/BMI160_driver .
-   *
-   * While not all of the functionality of this device is supported
-   * initially, the inclusion of the Bosch driver in the source code
-   * makes it possible to support whatever features are required that
-   * the driver can support.
-   *
-   * @snippet bmi160.cxx Interesting
-   */
-  class BMI160 {
-  public:
-
-    typedef enum {
-      ACCEL_RANGE_2G                      = 0, // 2 Gravities
-      ACCEL_RANGE_4G,
-      ACCEL_RANGE_8G,
-      ACCEL_RANGE_16G
-    } ACCEL_RANGE_T;
-
-    typedef enum {
-      GYRO_RANGE_125                      = 0, // 125 degrees/sec
-      GYRO_RANGE_250,
-      GYRO_RANGE_500,
-      GYRO_RANGE_1000,
-      GYRO_RANGE_2000
-    } GYRO_RANGE_T;
-
     /**
-     * bmi160 constructor
+     * @library bmi160
+     * @sensor bmi160
+     * @comname BMI160 3-axis Accelerometer, Gyroscope
+     * and Magnetometer
+     * @type accelerometer compass
+     * @man mouser
+     * @con i2c
+     * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
      *
-     * @param bus i2c bus to use
+     * @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
-     * @param address the address for this device
+     * Magnetometer
+     *
+     * The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
+     * Additionally it supports an external Magnetometer, accessed
+     * through the BMI160's register interface.  This driver was
+     * developed with a BMI160 "Shuttle" board, which included a BMM150
+     * Magnetometer.
+     *
+     * The device is driven by either 1.8v or 3.3vdc.  This driver
+     * incorporates the Bosch BMI160 driver code at
+     * https://github.com/BoschSensortec/BMI160_driver
+     *
+     * The Bosch driver code does not provide a mechanism for passing
+     * user data around (like the device context).  For this reason,
+     * only one instance of this driver can be used in a given process,
+     * due to the use of static data in the driver.
+     *
+     * While not all of the functionality of this device is supported
+     * initially, the inclusion of the Bosch driver in the source code
+     * makes it possible to support whatever features are required that
+     * the driver can support.
+     *
+     * @snippet bmi160.cxx Interesting
      */
-    BMI160(int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR);
+    class BMI160 {
+    public:
 
-    /**
+        /**
-     * BMI160 Destructor
+         * BMI160 constructor.  The default arguments inititialize I2C
-     */
+         * operation and the default I2C address.
-    ~BMI160();
+         *
+         * @param bus i2c bus to use
+         * @param address The address for this device if using I2C.  If
+         * using SPI, supply -1 for this parameter.
+         * @param cs_pin The GPIO to use for Chip Select (CS).  This is
+         * only needed for SPI, and only if your SPI implementation
+         * requires it.  Otherwise, just pass -1 if not using SPI, or your
+         * CS is handled automatically by your SPI implementation.
+         * @param enableMag true to enable the magnetometer, false otherwise
+         */
+        BMI160(int bus=BMI160_I2C_BUS, int address=BMI160_DEFAULT_I2C_ADDR,
+               int csPin=-1, bool enableMag=true);
 
-    /**
+        /**
-     * Take a measurement and store the current sensor values
+         * BMI160 Destructor
-     * internally.  This function must be called prior to retrieving
+         */
-     * any sensor values, for example getAccelerometer().
+        ~BMI160();
-     *
-     */
-    void update();
 
-    /**
+        /**
-     * set the scaling mode of the accelerometer
+         * Take a measurement and store the current sensor values
-     *
+         * internally.  This function must be called prior to retrieving
-     * @param scale one of the ACCEL_RANGE_T values
+         * any sensor values, for example getAccelerometer().
-     */
+         *
-    void setAccelerometerScale(ACCEL_RANGE_T scale);
+         */
+        void update();
 
-    /**
+        /**
-     * set the scaling mode of the gyroscope
+         * set the scaling mode of the accelerometer
-     *
+         *
-     * @param scale one of the GYRO_RANGE_T values
+         * @param scale one of the ACCEL_RANGE_T values
-     */
+         */
-    void setGyroscopeScale(GYRO_RANGE_T scale);
+        void setAccelerometerScale(BMI160_ACC_RANGE_T scale);
 
-    /**
+        /**
-     * Get the Accelerometer values.  This function returns a pointer
+         * set the scaling mode of the gyroscope
-     * to 3 floating point values: X, Y, and Z, in that order.  The
+         *
-     * values returned are in gravities.  update() must have been
+         * @param scale one of the GYRO_RANGE_T values
-     * called prior to calling this method.
+         */
-     *
+        void setGyroscopeScale(BMI160_GYRO_RANGE_T scale);
-     * The caller is reponsible for freeing the returned pointer.
-     *
-     * @return Pointer to 3 floating point values: X, Y, and Z in
-     * gravities.
-     */
-    float *getAccelerometer();
 
-    /**
+        /**
-     * Get the Accelerometer values.  The values returned are in
+         * Get the Accelerometer values.  This function returns a pointer
-     * gravities.  update() must have been called prior to calling
+         * to 3 floating point values: X, Y, and Z, in that order.  The
-     * this method.
+         * values returned are in gravities.  update() must have been
-     *
+         * called prior to calling this method.
-     * @param x A pointer into which the X value will be returned
+         *
-     * @param y A pointer into which the Y value will be returned
+         * The caller is reponsible for freeing the returned pointer.
-     * @param z A pointer into which the Z value will be returned
+         *
-     */
+         * @return Pointer to 3 floating point values: X, Y, and Z in
-    void getAccelerometer(float *x, float *y, float *z);
+         * gravities.
+         */
+        float *getAccelerometer();
 
-    /**
+        /**
-     * Get the Gyroscope values.  This function returns a pointer to 3
+         * Get the Accelerometer values.  The values returned are in
-     * floating point values: X, Y, and Z, in that order.  The values
+         * gravities.  update() must have been called prior to calling
-     * values returned are in degrees per second.  update() must have
+         * this method.
-     * been called prior to calling this method.
+         *
-     *
+         * @param x A pointer into which the X value will be returned
-     * The caller is reponsible for freeing the returned pointer.
+         * @param y A pointer into which the Y value will be returned
-     *
+         * @param z A pointer into which the Z value will be returned
-     * @return Pointer to 3 floating point values: X, Y, and Z in
+         */
-     * degrees per second.
+        void getAccelerometer(float *x, float *y, float *z);
-     */
-    float *getGyroscope();
 
-    /**
+        /**
-     * Get the Gyroscope values.  The values returned are in degrees
+         * Get the Gyroscope values.  This function returns a pointer to 3
-     * per second.  update() must have been called prior to calling
+         * floating point values: X, Y, and Z, in that order.  The values
-     * this method.
+         * values returned are in degrees per second.  update() must have
-     *
+         * been called prior to calling this method.
-     * @param x A pointer into which the X value will be returned
+         *
-     * @param y A pointer into which the Y value will be returned
+         * The caller is reponsible for freeing the returned pointer.
-     * @param z A pointer into which the Z value will be returned
+         *
-     */
+         * @return Pointer to 3 floating point values: X, Y, and Z in
-    void getGyroscope(float *x, float *y, float *z);
+         * degrees per second.
+         */
+        float *getGyroscope();
 
-    /**
+        /**
-     * Get the Magnetometer values.  This function returns a pointer
+         * Get the Gyroscope values.  The values returned are in degrees
-     * to 3 floating point values: X, Y, and Z, in that order.  The
+         * per second.  update() must have been called prior to calling
-     * values values returned are in micro Teslas.  update() must have
+         * this method.
-     * been called prior to calling this method.  If the Magnetometer
+         *
-     * has been disabled, the return values will always be 0, 0, and
+         * @param x A pointer into which the X value will be returned
-     * 0.
+         * @param y A pointer into which the Y value will be returned
-     *
+         * @param z A pointer into which the Z value will be returned
-     * The caller is reponsible for freeing the returned pointer.
+         */
-     *
+        void getGyroscope(float *x, float *y, float *z);
-     * @return Pointer to 3 floating point values: X, Y, and Z in
-     * micro Teslas.
-     */
-    float *getMagnetometer();
 
-    /**
+        /**
-     * Get the Magnetometer values.  The values returned are in micro
+         * Get the Magnetometer values.  This function returns a pointer
-     * Teslas.  update() must have been called prior to calling this
+         * to 3 floating point values: X, Y, and Z, in that order.  The
-     * method.
+         * values values returned are in micro Teslas.  update() must have
-     *
+         * been called prior to calling this method.  If the Magnetometer
-     * @param x A pointer into which the X value will be returned
+         * has been disabled, the return values will always be 0, 0, and
-     * @param y A pointer into which the Y value will be returned
+         * 0.
-     * @param z A pointer into which the Z value will be returned
+         *
-     */
+         * The caller is reponsible for freeing the returned pointer.
-    void getMagnetometer(float *x, float *y, float *z);
+         *
+         * @return Pointer to 3 floating point values: X, Y, and Z in
+         * micro Teslas.
+         */
+        float *getMagnetometer();
 
-    /**
+        /**
-     * Enable or disable the Magnetometer.  By default, the
+         * Get the Magnetometer values.  The values returned are in micro
-     * magnetometer is enabled.
+         * Teslas.  update() must have been called prior to calling this
-     *
+         * method.
-     * @param enable true to enable the magnetometer, false to disable.
+         *
-     */
+         * @param x A pointer into which the X value will be returned
-    void enableMagnetometer(bool enable);
+         * @param y A pointer into which the Y value will be returned
+         * @param z A pointer into which the Z value will be returned
+         */
+        void getMagnetometer(float *x, float *y, float *z);
 
-    /**
+        /**
-     * Return the sensor time.  This is a 24bit value that increments
+         * Enable or disable the Magnetometer.  By default, the
-     * every 39us.  It will wrap around once the 24b resolution is
+         * magnetometer is enabled.
-     * exceeded.
+         *
-     *
+         * @param enable true to enable the magnetometer, false to disable.
-     * @return The current sensor time.
+         */
-     */
+        void enableMagnetometer(bool enable);
-    unsigned int getSensorTime();
 
-  protected:
+        /**
-    // uncompensated accelerometer and gyroscope values
+         * Return the sensor time.  This is a 24bit value that increments
-    float m_accelX;
+         * every 39us.  It will wrap around once the 24b resolution is
-    float m_accelY;
+         * exceeded.
-    float m_accelZ;
+         *
+         * @return The current sensor time.
+         */
+        unsigned int getSensorTime();
 
-    float m_gyroX;
+    protected:
-    float m_gyroY;
+        bmi160_context m_bmi160;
-    float m_gyroZ;
 
-    float m_magX;
+        /**
-    float m_magY;
+         * Perform a bus read.  This function is bus agnostic, and is used
-    float m_magZ;
+         * by the bosch code to perform bus reads.  It is exposed here for
+         * those users wishing to perform their own low level accesses.
+         * This is a low level function, and should not be used unless you
+         * know what you are doing.
+         *
+         * @param addr For I2C operation, this is the I2C address.
+         * For SPI, this argument is ignored.
+         * @param reg The register address to access.
+         * @param cnt The number of bytes to read.
+         * @return The data read
+         */
+        std::string busRead(int addr, int reg, int len);
 
-    unsigned int m_sensorTime;
+        /**
+         * Perform a bus write.  This function is bus agnostic, and is used
+         * by the bosch code to perform bus writes.  It is exposed here for
+         * those users wishing to perform their own low level accesses.
+         * This is a low level function, and should not be used unless you
+         * know what you are doing.
+         *
+         * @param addr For I2C operation, this is the I2C address.
+         * For SPI, this argument is ignored.
+         * @param addr The register address to access.
+         * @param data The string containing the data to write
+         */
+        void busWrite(int addr, int reg, std::string data);
 
-    // accelerometer and gyro scaling factors, depending on their Full
+    private:
-    // Scale (Range) settings.
+    };
-    float m_accelScale;
-    float m_gyroScale;
-
-    // is the magnetometer enabled?
-    bool m_magEnabled;
-
-    /**
-     * set up initial values and start operation
-     *
-     * @return true if successful
-     */
-    virtual bool init();
-
-  private:
-    // due to the way we need to 'hook' into the bmi driver, the i2c
-    // context is a static variable defined in the .cxx implmentation.
-
-    uint8_t m_addr;
-  };
 }

src/bmi160/bosch_bmi160.c

@@ -101,7 +101,8 @@ struct yas_vector fifo_vector_xyz;
  *	(Better case don't change the reference value of the parameter)
  *
 */
-BMI160_RETURN_FUNCTION_TYPE bmi160_init(struct bmi160_t *bmi160)
+/* JET - renamed from bmi160_init to avoid conflict with UPM code */
+BMI160_RETURN_FUNCTION_TYPE bmi160_init_bus(struct bmi160_t *bmi160)
 {
 	/* variable used for return the status of communication result*/
 	BMI160_RETURN_FUNCTION_TYPE com_rslt = E_BMI160_COMM_RES;

src/bmi160/bosch_bmi160.h

@@ -3724,7 +3724,8 @@ u8 mag_r_y2_msb;
  *	(Better case don't change the reference value of the parameter)
  *
 */
-BMI160_RETURN_FUNCTION_TYPE bmi160_init(struct bmi160_t *bmi160);
+/* renamed from bmi160_init to avoid conflict with UPM code */
+BMI160_RETURN_FUNCTION_TYPE bmi160_init_bus(struct bmi160_t *bmi160);
 /**************************************************/
 /**\name	 FUNCTION FOR READ AND WRITE REGISTERS  */
 /*************************************************/
@@ -11788,7 +11789,8 @@ u8 v_command_reg_data_u8);
  *
  *
  */
-static void xy1y2_to_xyz(u16 *xy1y2, s32 *xyz);
+/*JET
+static void xy1y2_to_xyz(u16 *xy1y2, s32 *xyz);*/
 /*!
  *	@brief This function used for read the
  *	YAMAHA YAS537 xy1y2 data
@@ -11837,8 +11839,9 @@ u8 *v_ouflow_u8, struct yas_vector *vector_xyz);
  *
  *
  */
+/* JET
 static BMI160_RETURN_FUNCTION_TYPE invalid_magnetic_field(
-u16 *v_cur_u16, u16 *v_last_u16);
+  u16 *v_cur_u16, u16 *v_last_u16);*/
 /***************************************************/
 /**\name	FUNCTIONS FOR FIFO DATA READ */
 /***************************************************/

src/bmi160/javaupm_bmi160.i

@@ -3,6 +3,7 @@
 %include "typemaps.i"
 %include "arrays_java.i"
 %include "../java_buffer.i"
+%include "std_string.i"
 
 %{
     #include "bmi160.hpp"
@@ -20,7 +21,6 @@
 %typemap(out) float * {
     $result = JCALL1(NewFloatArray, jenv, 3);
     JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
-    delete [] $1;
 }
 
 %ignore getAccelerometer(float *, float *, float *);

src/bmi160/jsupm_bmi160.i

@@ -1,6 +1,7 @@
 %module jsupm_bmi160
 %include "../upm.i"
 %include "cpointer.i"
+%include "std_string.i"
 
 %pointer_functions(float, floatp);
 

src/bmi160/pyupm_bmi160.i

@@ -3,6 +3,7 @@
 %module pyupm_bmi160
 %include "../upm.i"
 %include "cpointer.i"
+%include "std_string.i"
 
 %include "stdint.i"