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BMA250E: Add string based constructor
Signed-off-by: Adelin Dobre <adelin.dobre@rinftech.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Adelin Dobre
Mihai Tudor Panu
parent
71cb3606ee
commit
40f6bd9c6c
@ -30,6 +30,7 @@
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#include <string>
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#include "bma250e.hpp"
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#include "upm_string_parser.hpp"
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using namespace upm;
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using namespace std;
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@ -49,6 +50,198 @@ BMA250E::BMA250E(int bus, int addr, int cs) :
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+ ": bma250e_init() failed");
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}
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BMA250E::BMA250E(std::string initStr) : mraaIo(initStr)
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{
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mraa_io_descriptor* descs = mraaIo.getMraaDescriptors();
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std::vector<std::string> upmTokens;
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if(!mraaIo.getLeftoverStr().empty()) {
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upmTokens = UpmStringParser::parse(mraaIo.getLeftoverStr());
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}
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m_bma250e = (bma250e_context)malloc(sizeof(struct _bma250e_context));
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if(!m_bma250e) {
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": bma250e_init() failed");
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}
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// zero out context
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memset((void *)m_bma250e, 0, sizeof(struct _bma250e_context));
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_init() failed");
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}
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if(descs->spis) {
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m_bma250e->isSPI = true;
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if( !(m_bma250e->spi = descs->spis[0]) ) {
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_spi_init() failed");
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}
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if(descs->gpios) {
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if( !(m_bma250e->gpioCS = descs->gpios[0]) ) {
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_gpio_init() failed");
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}
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mraa_gpio_dir(m_bma250e->gpioCS, MRAA_GPIO_OUT);
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} else {
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_gpio_init() failed");
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}
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mraa_spi_mode(m_bma250e->spi, MRAA_SPI_MODE0);
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if (mraa_spi_frequency(m_bma250e->spi, 5000000)) {
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_spi_frequency() failed");
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}
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} else {
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// init the i2c context
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if(!descs->i2cs) {
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_i2c_init() failed");
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} else {
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if( !(m_bma250e->i2c = descs->i2cs[0]) )
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{
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": mraa_i2c_init() failed");
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}
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}
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}
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// check the chip id
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uint8_t chipID = bma250e_get_chip_id(m_bma250e);
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// check the various chips id's and set appropriate capabilities.
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// Bail if the chip id is unknown.
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switch (chipID)
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{
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case 0xf9: // standalone bma250e
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m_bma250e->resolution = BMA250E_RESOLUTION_10BITS;
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m_bma250e->fifoAvailable = true;
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break;
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case 0xfa: // bmx055, bmi055 variants, 12b resolution
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m_bma250e->resolution = BMA250E_RESOLUTION_12BITS;
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m_bma250e->fifoAvailable = true;
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break;
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case 0x03: // bmc050 variant, no FIFO, 12b resolution
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m_bma250e->resolution = BMA250E_RESOLUTION_12BITS;
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m_bma250e->fifoAvailable = false;
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break;
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default:
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printf("%s: invalid chip id: %02x. Expected f9, fa, or 03\n",
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__FUNCTION__, chipID);
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": bma250e_init() failed");
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}
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// call devinit with default options
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if (bma250e_devinit(m_bma250e, BMA250E_POWER_MODE_NORMAL, BMA250E_RANGE_2G,
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BMA250E_BW_250))
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{
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printf("%s: bma250e_devinit() failed.\n", __FUNCTION__);
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bma250e_close(m_bma250e);
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throw std::runtime_error(std::string(__FUNCTION__)
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+ ": bma250e_init() failed");
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}
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std::string::size_type sz;
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for(std::string tok:upmTokens) {
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if(tok.substr(0,11) == "enableFIFO:") {
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bool useFIFO = std::stoi(tok.substr(11),&sz,0);
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enableFIFO(useFIFO);
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}
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if(tok.substr(0,9) == "writeReg:") {
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uint8_t reg = std::stoi(tok.substr(9),&sz,0);
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tok = tok.substr(9);
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uint8_t val = std::stoi(tok.substr(sz+1),nullptr,0);
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writeReg(reg, val);
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}
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if(tok.substr(0,9) == "setRange:") {
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BMA250E_RANGE_T scale = (BMA250E_RANGE_T)std::stoi(tok.substr(22),nullptr,0);
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setRange(scale);
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}
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if(tok.substr(0,13) == "setBandwidth:") {
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BMA250E_BW_T bw = (BMA250E_BW_T)std::stoi(tok.substr(13),nullptr,0);
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setBandwidth(bw);
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}
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if(tok.substr(0,13) == "setPowerMode:") {
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BMA250E_POWER_MODE_T power = (BMA250E_POWER_MODE_T)std::stoi(tok.substr(13),nullptr,0);
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setPowerMode(power);
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}
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if(tok.substr(0,17) == "fifoSetWatermark:") {
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BMA250E_RANGE_T wm = (BMA250E_RANGE_T)std::stoi(tok.substr(17),nullptr,0);
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fifoSetWatermark(wm);
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}
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if(tok.substr(0,11) == "fifoConfig:") {
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BMA250E_FIFO_MODE_T mode = (BMA250E_FIFO_MODE_T)std::stoi(tok.substr(11),&sz,0);
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tok = tok.substr(11);
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BMA250E_FIFO_DATA_SEL_T axes = (BMA250E_FIFO_DATA_SEL_T)std::stoi(tok.substr(sz+1),nullptr,0);
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fifoConfig(mode, axes);
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}
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if(tok.substr(0,20) == "setInterruptEnable0:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(20),nullptr,0);
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setInterruptEnable0(bits);
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}
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if(tok.substr(0,20) == "setInterruptEnable1:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(20),nullptr,0);
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setInterruptEnable1(bits);
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}
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if(tok.substr(0,20) == "setInterruptEnable2:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(20),nullptr,0);
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setInterruptEnable2(bits);
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}
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if(tok.substr(0,17) == "setInterruptMap0:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(17),nullptr,0);
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setInterruptMap0(bits);
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}
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if(tok.substr(0,17) == "setInterruptMap1:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(17),nullptr,0);
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setInterruptMap1(bits);
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}
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if(tok.substr(0,17) == "setInterruptMap2:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(17),nullptr,0);
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setInterruptMap2(bits);
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}
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if(tok.substr(0,16) == "setInterruptSrc:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(16),nullptr,0);
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setInterruptSrc(bits);
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}
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if(tok.substr(0,26) == "setInterruptOutputControl:") {
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u_int8_t bits = (u_int8_t)std::stoi(tok.substr(26),nullptr,0);
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setInterruptOutputControl(bits);
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}
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if(tok.substr(0,26) == "setInterruptLatchBehavior:") {
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BMA250E_RST_LATCH_T latch = (BMA250E_RST_LATCH_T)std::stoi(tok.substr(26),nullptr,0);
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setInterruptLatchBehavior(latch);
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}
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if(tok.substr(0,24) == "enableRegisterShadowing:") {
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bool shadow = std::stoi(tok.substr(24),nullptr,0);
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enableRegisterShadowing(shadow);
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}
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if(tok.substr(0,22) == "enableOutputFiltering:") {
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bool filter = std::stoi(tok.substr(22),nullptr,0);
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enableOutputFiltering(filter);
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}
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}
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}
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BMA250E::~BMA250E()
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{
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bma250e_close(m_bma250e);
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@ -28,6 +28,7 @@
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#include <string>
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#include <vector>
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#include <mraa/initio.hpp>
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#include <mraa/gpio.hpp>
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#include "bma250e.h"
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@ -98,6 +99,13 @@ namespace upm {
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int addr=BMA250E_DEFAULT_ADDR,
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int cs=-1);
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/**
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* Instantiates BMA250E 3-axis Accelerometer based on a given string.
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*
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* @param initStr string containing specific information for BMA250E initialization.
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*/
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BMA250E(std::string initStr);
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/**
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* BMA250E Destructor.
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*/
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@ -581,11 +589,11 @@ namespace upm {
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protected:
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bma250e_context m_bma250e;
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mraa::MraaIo mraaIo;
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private:
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/* Disable implicit copy and assignment operators */
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BMA250E(const BMA250E&) = delete;
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BMA250E &operator=(const BMA250E&) = delete;
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};
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}
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