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BMA220: Add string based cons for Accelerometer

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Signed-off-by: Adelin Dobre <adelin.dobre@rinftech.com>
This commit is contained in:
Adelin Dobre 2018-07-13 17:56:03 +03:00 committed by Stefan Andritoiu
parent 881ab412a3
commit 384f4a45ea
2 changed files with 52 additions and 5 deletions
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46
src/bma220/bma220.cxx
View File

@ -29,13 +29,14 @@
#include <string.h> #include <string.h>
#include "bma220.hpp" #include "bma220.hpp"
#include "upm_string_parser.hpp"
using namespace upm; using namespace upm;
using namespace std; using namespace std;
BMA220::BMA220(int bus, uint8_t addr) : BMA220::BMA220(int bus, uint8_t addr) :
m_i2c(bus), m_gpioIntr(0) m_i2c(new mraa::I2c(bus)), m_gpioIntr(0)
{ {
m_addr = addr; m_addr = addr;
@ -46,7 +47,7 @@ BMA220::BMA220(int bus, uint8_t addr) :
m_accelScale = 0.0; m_accelScale = 0.0;
mraa::Result rv; mraa::Result rv;
if ( (rv = m_i2c.address(m_addr)) != mraa::SUCCESS) if ( (rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
{ {
throw std::runtime_error(string(__FUNCTION__) + throw std::runtime_error(string(__FUNCTION__) +
": I2c.address() failed"); ": I2c.address() failed");
@ -65,9 +66,46 @@ BMA220::BMA220(int bus, uint8_t addr) :
} }
} }
BMA220::BMA220(std::string initStr) : mraaIo(new mraa::MraaIo(initStr))
{
m_accelX = 0.0;
m_accelY = 0.0;
m_accelZ = 0.0;
m_accelScale = 0.0;
if(mraaIo == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": Failed to allocate memory for internal member");
}
if(!mraaIo->i2cs.empty()) {
m_i2c = &mraaIo->i2cs[0];
}
else {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_init() failed");
}
// Init the accelerometer
enableAxes(true, true, true);
// set scaling rate
if (!setAccelerometerScale(FSL_RANGE_2G))
{
throw std::runtime_error(string(__FUNCTION__) +
": Unable to set accel scale");
return;
}
}
BMA220::~BMA220() BMA220::~BMA220()
{ {
uninstallISR(); uninstallISR();
if(mraaIo != NULL)
delete mraaIo;
else
delete m_i2c;
} }
void BMA220::update() void BMA220::update()
@ -96,13 +134,13 @@ void BMA220::updateAccelerometer()
uint8_t BMA220::readReg(uint8_t reg) uint8_t BMA220::readReg(uint8_t reg)
{ {
return m_i2c.readReg(reg); return m_i2c->readReg(reg);
} }
bool BMA220::writeReg(uint8_t reg, uint8_t val) bool BMA220::writeReg(uint8_t reg, uint8_t val)
{ {
mraa::Result rv; mraa::Result rv;
if ((rv = m_i2c.writeReg(reg, val)) != mraa::SUCCESS) if ((rv = m_i2c->writeReg(reg, val)) != mraa::SUCCESS)
{ {
throw std::runtime_error(std::string(__FUNCTION__) + throw std::runtime_error(std::string(__FUNCTION__) +
": I2c.writeReg() failed"); ": I2c.writeReg() failed");

11
src/bma220/bma220.hpp
View File

@ -28,6 +28,7 @@
#include <mraa/common.hpp> #include <mraa/common.hpp>
#include <mraa/i2c.hpp> #include <mraa/i2c.hpp>
#include <mraa/gpio.hpp> #include <mraa/gpio.hpp>
#include <mraa/initio.hpp>
#define BMA220_I2C_BUS 0 #define BMA220_I2C_BUS 0
#define BMA220_DEFAULT_ADDR 0x0a #define BMA220_DEFAULT_ADDR 0x0a
@ -482,6 +483,13 @@ namespace upm {
*/ */
BMA220(int bus=BMA220_I2C_BUS, uint8_t addr=BMA220_DEFAULT_ADDR); BMA220(int bus=BMA220_I2C_BUS, uint8_t addr=BMA220_DEFAULT_ADDR);
/**
* Instantiates BMA220 Accelerometer object based on a given string.
*
* @param initStr string containing specific information for BMA220 initialization.
*/
BMA220(std::string initStr);
/** /**
* BMA220 Destructor * BMA220 Destructor
*/ */
@ -798,8 +806,9 @@ namespace upm {
mraa::Gpio* get_gpioIntr(); mraa::Gpio* get_gpioIntr();
protected: protected:
mraa::I2c m_i2c; mraa::I2c *m_i2c;
mraa::Gpio *m_gpioIntr; mraa::Gpio *m_gpioIntr;
mraa::MraaIo *mraaIo;
uint8_t m_addr; uint8_t m_addr;
// uncompensated accelerometer values // uncompensated accelerometer values