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mraa: change all existing code to use libmraa.

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* Made CMake depend on 0.4 libmraa

Signed-off-by: Thomas Ingleby <thomas.c.ingleby@intel.com>
This commit is contained in:
Thomas Ingleby
2014-06-25 10:05:27 +01:00
parent 8d25ecacdd
commit 36be22cb90
53 changed files with 640 additions and 640 deletions
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42
src/mpu9150/mpu9150.cxx
View File

@ -39,10 +39,10 @@ MPU9150::MPU9150 (int bus, int devAddr) {
m_i2cAddr = devAddr;
m_bus = bus;
m_i2Ctx = maa_i2c_init(m_bus);
m_i2Ctx = mraa_i2c_init(m_bus);
maa_result_t ret = maa_i2c_address(m_i2Ctx, m_i2cAddr);
if (ret != MAA_SUCCESS) {
mraa_result_t ret = mraa_i2c_address(m_i2Ctx, m_i2cAddr);
if (ret != MRAA_SUCCESS) {
fprintf(stderr, "Messed up i2c bus\n");
}
@ -50,10 +50,10 @@ MPU9150::MPU9150 (int bus, int devAddr) {
}
MPU9150::~MPU9150() {
maa_i2c_stop(m_i2Ctx);
mraa_i2c_stop(m_i2Ctx);
}
maa_result_t
mraa_result_t
MPU9150::initSensor () {
uint8_t regData = 0x0;
@ -71,7 +71,7 @@ MPU9150::initSensor () {
regData &= ~(1 << MPU6050_PWR1_SLEEP_BIT);
i2cWriteReg (MPU6050_RA_PWR_MGMT_1, regData);
return MAA_SUCCESS;
return MRAA_SUCCESS;
}
uint8_t
@ -81,7 +81,7 @@ MPU9150::getDeviceID () {
return regData;
}
maa_result_t
mraa_result_t
MPU9150::getData () {
uint8_t buffer[14];
@ -130,31 +130,31 @@ MPU9150::getData () {
axisMagnetomer.data.axisZ = axisMagnetomer.sumData.axisZ / SMOOTH_TIMES;
}
maa_result_t
mraa_result_t
MPU9150::getAcceleromter (Vector3D * data) {
data->axisX = axisAcceleromter.data.axisX;
data->axisY = axisAcceleromter.data.axisY;
data->axisZ = axisAcceleromter.data.axisZ;
return MAA_SUCCESS;
return MRAA_SUCCESS;
}
maa_result_t
mraa_result_t
MPU9150::getGyro (Vector3D * data) {
data->axisX = axisGyroscope.data.axisX;
data->axisY = axisGyroscope.data.axisY;
data->axisZ = axisGyroscope.data.axisZ;
return MAA_SUCCESS;
return MRAA_SUCCESS;
}
maa_result_t
mraa_result_t
MPU9150::getMagnometer (Vector3D * data) {
data->axisX = axisMagnetomer.data.axisX;
data->axisY = axisMagnetomer.data.axisY;
data->axisZ = axisMagnetomer.data.axisZ;
return MAA_SUCCESS;
return MRAA_SUCCESS;
}
float
@ -177,21 +177,21 @@ MPU9150::getTemperature () {
uint16_t
MPU9150::i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer) {
int readByte = 0;
maa_i2c_address(m_i2Ctx, m_i2cAddr);
maa_i2c_write_byte(m_i2Ctx, reg);
mraa_i2c_address(m_i2Ctx, m_i2cAddr);
mraa_i2c_write_byte(m_i2Ctx, reg);
maa_i2c_address(m_i2Ctx, m_i2cAddr);
readByte = maa_i2c_read(m_i2Ctx, buffer, len);
mraa_i2c_address(m_i2Ctx, m_i2cAddr);
readByte = mraa_i2c_read(m_i2Ctx, buffer, len);
return readByte;
}
maa_result_t
mraa_result_t
MPU9150::i2cWriteReg (uint8_t reg, uint8_t value) {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
uint8_t data[2] = { reg, value };
error = maa_i2c_address (m_i2Ctx, m_i2cAddr);
error = maa_i2c_write (m_i2Ctx, data, 2);
error = mraa_i2c_address (m_i2Ctx, m_i2cAddr);
error = mraa_i2c_write (m_i2Ctx, data, 2);
return error;
}

16
src/mpu9150/mpu9150.h
View File

@ -27,7 +27,7 @@
#pragma once
#include <string>
#include <maa/i2c.h>
#include <mraa/i2c.h>
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
@ -133,7 +133,7 @@ class MPU9150 {
/**
* Initiate MPU9150 chips
*/
maa_result_t initSensor ();
mraa_result_t initSensor ();
/**
* Get identity of the device
@ -144,22 +144,22 @@ class MPU9150 {
* Get the Accelerometer, Gyro and Compass data from the chip and
* save it in private section.
*/
maa_result_t getData ();
mraa_result_t getData ();
/**
* @param data structure with 3 axis (x,y,z)
*/
maa_result_t getAcceleromter (Vector3D * data);
mraa_result_t getAcceleromter (Vector3D * data);
/**
* @param data structure with 3 axis (x,y,z)
*/
maa_result_t getGyro (Vector3D * data);
mraa_result_t getGyro (Vector3D * data);
/**
* @param data structure with 3 axis (x,y,z)
*/
maa_result_t getMagnometer (Vector3D * data);
mraa_result_t getMagnometer (Vector3D * data);
/**
* Read on die temperature from the chip
@ -179,14 +179,14 @@ class MPU9150 {
int m_i2cAddr;
int m_bus;
maa_i2c_context m_i2Ctx;
mraa_i2c_context m_i2Ctx;
AxisData axisMagnetomer;
AxisData axisAcceleromter;
AxisData axisGyroscope;
uint16_t i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer);
maa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
mraa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
int updateRegBits (uint8_t reg, uint8_t bitStart,
uint8_t length, uint16_t data);
uint8_t getRegBits (uint8_t reg, uint8_t bitStart,