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bmx055, bmi055, bmc160, bma250e, bmg150, bmm150: Initial implementation

Browse Source 
This module (bmx055) implements support for the following core Bosch
chipsets:

bma250e - accelerometer, 3 variants (chip id's 0x03, 0xf9, and 0xfa)
bmm150 - magnetometer
bmg160 - gyroscope

The other 3 devices are combinations of the above:

bmx055 - accel/gyro/mag
bmc160 - accel/mag
bmi055 - accel/gyro

...for 6 devices total.

For the combination devices, all of the sub-devices appear as
individual independent devices on the I2C/SPI bus.

The combination drivers provide basic configuration and data output.
For more detailed control as well as interrupt support, you should use
the core device drivers (accel/gyro/mag) directly.

These devices support both I2C and SPI communications.  They must be
powered at 3.3vdc.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2016-05-06 17:56:51 -06:00
parent 66bd4ee8c8
commit 8fb7907a4e
42 changed files with 8196 additions and 0 deletions
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6
examples/c++/CMakeLists.txt
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@ -269,6 +269,7 @@ add_example (ds18b20)
add_example (bmp280)
add_example (bno055)
add_example (l3gd20)
add_example (bmx055)
# These are special cases where you specify example binary, source file and module(s)
include_directories (${PROJECT_SOURCE_DIR}/src)
@ -295,3 +296,8 @@ add_custom_example (adc-example adc-sensor.cxx "ads1x15")
add_custom_example (light-sensor-example light-sensor.cxx "si1132;max44009")
add_custom_example (light-controller-example light-controller.cxx "lp8860;ds1808lc;hlg150h")
add_custom_example (bme280-example bme280.cxx bmp280)
add_custom_example (bma250e-example bma250e.cxx bmx055)
add_custom_example (bmg160-example bmg160.cxx bmx055)
add_custom_example (bmm150-example bmm150.cxx bmx055)
add_custom_example (bmc150-example bmc150.cxx bmx055)
add_custom_example (bmi055-example bmi055.cxx bmx055)

83
examples/c++/bma250e.cxx Normal file
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@ -0,0 +1,83 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bma250e.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMA250E using default I2C parameters
upm::BMA250E *sensor = new upm::BMA250E();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMA250E(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor->getTemperature()
<< " C / " << sensor->getTemperature(true) << " F"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

82
examples/c++/bmc150.cxx Normal file
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@ -0,0 +1,82 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bmc150.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMC150 using default I2C parameters
upm::BMC150 *sensor = new upm::BMC150();
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer x: " << x
<< " y: " << y
<< " z: " << z
<< " uT"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

83
examples/c++/bmg160.cxx Normal file
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@ -0,0 +1,83 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bmg160.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMG160 using default I2C parameters
upm::BMG160 *sensor = new upm::BMG160();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMG160(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getGyroscope(&x, &y, &z);
cout << "Gyroscope x: " << x
<< " y: " << y
<< " z: " << z
<< " degrees/s"
<< endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor->getTemperature()
<< " C / " << sensor->getTemperature(true) << " F"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

82
examples/c++/bmi055.cxx Normal file
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@ -0,0 +1,82 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bmi055.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMI055 using default I2C parameters
upm::BMI055 *sensor = new upm::BMI055();
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
sensor->getGyroscope(&x, &y, &z);
cout << "Gyroscope x: " << x
<< " y: " << y
<< " z: " << z
<< " degrees/s"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

78
examples/c++/bmm150.cxx Normal file
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@ -0,0 +1,78 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bmm150.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMM150 using default I2C parameters
upm::BMM150 *sensor = new upm::BMM150();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMM150(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer x: " << x
<< " y: " << y
<< " z: " << z
<< " uT"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

89
examples/c++/bmx055.cxx Normal file
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@ -0,0 +1,89 @@
/*
* 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 <iostream>
#include <signal.h>
#include "bmx055.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMX055 using default I2C parameters
upm::BMX055 *sensor = new upm::BMX055();
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
sensor->getGyroscope(&x, &y, &z);
cout << "Gyroscope x: " << x
<< " y: " << y
<< " z: " << z
<< " degrees/s"
<< endl;
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer x: " << x
<< " y: " << y
<< " z: " << z
<< " uT"
<< endl;
cout << endl;
usleep(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}

64
examples/java/BMA250E_Example.java Normal file
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@ -0,0 +1,64 @@
/*
* 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.
*/
import upm_bmx055.BMA250E;
public class BMA250E_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMA250E instance using default i2c bus and address
BMA250E sensor = new BMA250E();
// For SPI, bus 0, you would pass -1 as the address, and a
// valid pin for CS:
// BMA250E(0, -1, 10);
while (true)
{
// update our values from the sensor
sensor.update();
float dataA[] = sensor.getAccelerometer();
System.out.println("Accelerometer x: " + dataA[0]
+ " y: " + dataA[1]
+ " z: " + dataA[2]
+ " g");
System.out.println("Compensation Temperature: "
+ sensor.getTemperature()
+ " C / "
+ sensor.getTemperature(true)
+ " F");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

61
examples/java/BMC150_Example.java Normal file
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@ -0,0 +1,61 @@
/*
* 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.
*/
import upm_bmx055.BMC150;
public class BMC150_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMC150 instance using default i2c bus and address
BMC150 sensor = new BMC150();
while (true)
{
// update our values from the sensor
sensor.update();
float data[] = sensor.getAccelerometer();
System.out.println("Accelerometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " g");
data = sensor.getMagnetometer();
System.out.println("Magnetometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " uT");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

64
examples/java/BMG160_Example.java Normal file
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@ -0,0 +1,64 @@
/*
* 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.
*/
import upm_bmx055.BMG160;
public class BMG160_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMG160 instance using default i2c bus and address
BMG160 sensor = new BMG160();
// For SPI, bus 0, you would pass -1 as the address, and a
// valid pin for CS:
// BMG160(0, -1, 10);
while (true)
{
// update our values from the sensor
sensor.update();
float dataA[] = sensor.getGyroscope();
System.out.println("Gyroscope x: " + dataA[0]
+ " y: " + dataA[1]
+ " z: " + dataA[2]
+ " degrees/s");
System.out.println("Compensation Temperature: "
+ sensor.getTemperature()
+ " C / "
+ sensor.getTemperature(true)
+ " F");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

61
examples/java/BMI055_Example.java Normal file
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@ -0,0 +1,61 @@
/*
* 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.
*/
import upm_bmx055.BMI055;
public class BMI055_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMI055 instance using default i2c bus and address
BMI055 sensor = new BMI055();
while (true)
{
// update our values from the sensor
sensor.update();
float data[] = sensor.getAccelerometer();
System.out.println("Accelerometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " g");
data = sensor.getGyroscope();
System.out.println("Gyroscope x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " degrees/s");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

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examples/java/BMM150_Example.java Normal file
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/*
* 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.
*/
import upm_bmx055.BMM150;
public class BMM150_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMM150 instance using default i2c bus and address
BMM150 sensor = new BMM150();
// For SPI, bus 0, you would pass -1 as the address, and a
// valid pin for CS:
// BMM150(0, -1, 10);
while (true)
{
// update our values from the sensor
sensor.update();
float dataA[] = sensor.getMagnetometer();
System.out.println("Magnetometer x: " + dataA[0]
+ " y: " + dataA[1]
+ " z: " + dataA[2]
+ " uT");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

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examples/java/BMX055_Example.java Normal file
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/*
* 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.
*/
import upm_bmx055.BMX055;
public class BMX055_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
// Instantiate a BMX055 instance using default i2c bus and address
BMX055 sensor = new BMX055();
while (true)
{
// update our values from the sensor
sensor.update();
float data[] = sensor.getAccelerometer();
System.out.println("Accelerometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " g");
data = sensor.getGyroscope();
System.out.println("Gyroscope x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " degrees/s");
data = sensor.getMagnetometer();
System.out.println("Magnetometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
+ " uT");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}

6
examples/java/CMakeLists.txt
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@ -128,6 +128,7 @@ endif()
add_example(VCAP_Example vcap)
add_example(BMP280_Example bmp280)
add_example(BNO055_Example bno055)
add_example(BMX055_Example bmx055)
add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
add_example_with_path(Jhd1313m1Sample lcd i2clcd)
@ -136,4 +137,9 @@ add_example_with_path(Lcm1602_parallelSample lcd i2clcd)
add_example_with_path(SSD1308_oledSample lcd i2clcd)
add_example_with_path(SSD1327_oledSample lcd i2clcd)
add_example_with_path(BME280_Example bmp280 bmp280)
add_example_with_path(BMA250E_Example bmx055 bmx055)
add_example_with_path(BMG160_Example bmx055 bmx055)
add_example_with_path(BMM150_Example bmx055 bmx055)
add_example_with_path(BMC150_Example bmx055 bmx055)
add_example_with_path(BMI055_Example bmx055 bmx055)

72
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@ -0,0 +1,72 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMA250E instance using default i2c bus and address
var sensor = new sensorObj.BMA250E();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
// BMA250E(0, -1, 10);
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getAccelerometer(x, y, z);
console.log("Accelerometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " g");
// we show both C and F for temperature
console.log("Compensation Temperature: "
+ sensor.getTemperature()
+ " C / "
+ sensor.getTemperature(true)
+ " F");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

69
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@ -0,0 +1,69 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMC150 instance using default i2c bus and address
var sensor = new sensorObj.BMC150();
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getAccelerometer(x, y, z);
console.log("Accelerometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " g");
sensor.getMagnetometer(x, y, z);
console.log("Magnetometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " uT");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

72
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@ -0,0 +1,72 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMG160 instance using default i2c bus and address
var sensor = new sensorObj.BMG160();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
// BMG160(0, -1, 10);
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getGyroscope(x, y, z);
console.log("Gyroscope x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " degrees/s");
// we show both C and F for temperature
console.log("Compensation Temperature: "
+ sensor.getTemperature()
+ " C / "
+ sensor.getTemperature(true)
+ " F");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

69
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@ -0,0 +1,69 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMI055 instance using default i2c bus and address
var sensor = new sensorObj.BMI055();
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getAccelerometer(x, y, z);
console.log("Accelerometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " g");
sensor.getGyroscope(x, y, z);
console.log("Gyroscope x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " degrees/s");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

65
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@ -0,0 +1,65 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMM150 instance using default i2c bus and address
var sensor = new sensorObj.BMM150();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
// BMM150(0, -1, 10);
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getMagnetometer(x, y, z);
console.log("Magnetometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " uT");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

76
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@ -0,0 +1,76 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* 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.
*/
var sensorObj = require('jsupm_bmx055');
// Instantiate a BMX055 instance using default i2c bus and address
var sensor = new sensorObj.BMX055();
var x = new sensorObj.new_floatp();
var y = new sensorObj.new_floatp();
var z = new sensorObj.new_floatp();
// now output data every 250 milliseconds
setInterval(function()
{
// update our values from the sensor
sensor.update();
sensor.getAccelerometer(x, y, z);
console.log("Accelerometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " g");
sensor.getGyroscope(x, y, z);
console.log("Gyroscope x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " degrees/s");
sensor.getMagnetometer(x, y, z);
console.log("Magnetometer x: "
+ sensorObj.floatp_value(x)
+ " y: " + sensorObj.floatp_value(y)
+ " z: " + sensorObj.floatp_value(z)
+ " uT");
console.log();
}, 250);
// exit on ^C
process.on('SIGINT', function()
{
sensor = null;
sensorObj.cleanUp();
sensorObj = null;
console.log("Exiting.");
process.exit(0);
});

66
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@ -0,0 +1,66 @@
#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMP250E instance using default i2c bus and address
sensor = sensorObj.BMA250E()
# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
# BMA250E(0, -1, 10);
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " g"
# we show both C and F for temperature
print "Compensation Temperature:", sensor.getTemperature(), "C /",
print sensor.getTemperature(True), "F"
print
time.sleep(.250)

65
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@ -0,0 +1,65 @@
#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMC150 instance using default i2c bus and address
sensor = sensorObj.BMC150()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " g"
sensor.getMagnetometer(x, y, z)
print "Magnetometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " uT"
print
time.sleep(.250)

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@ -0,0 +1,66 @@
#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMP250E instance using default i2c bus and address
sensor = sensorObj.BMG160()
# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
# BMG160(0, -1, 10);
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getGyroscope(x, y, z)
print "Gyroscope x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " degrees/s"
# we show both C and F for temperature
print "Compensation Temperature:", sensor.getTemperature(), "C /",
print sensor.getTemperature(True), "F"
print
time.sleep(.250)

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#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMI055 instance using default i2c bus and address
sensor = sensorObj.BMI055()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " g"
sensor.getGyroscope(x, y, z)
print "Gyroscope x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " degrees/s"
print
time.sleep(.250)

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#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMP250E instance using default i2c bus and address
sensor = sensorObj.BMM150()
# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
# BMM150(0, -1, 10);
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getMagnetometer(x, y, z)
print "Magnetometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " uT"
print
time.sleep(.250)

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#!/usr/bin/python
# 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.
import time, sys, signal, atexit
import pyupm_bmx055 as sensorObj
# Instantiate a BMX055 instance using default i2c bus and address
sensor = sensorObj.BMX055()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# now output data every 250 milliseconds
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " g"
sensor.getGyroscope(x, y, z)
print "Gyroscope x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " degrees/s"
sensor.getMagnetometer(x, y, z)
print "Magnetometer x:", sensorObj.floatp_value(x),
print " y:", sensorObj.floatp_value(y),
print " z:", sensorObj.floatp_value(z),
print " uT"
print
time.sleep(.250)

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set (libname "bmx055")
set (libdescription "Bosch bmx055, bmi055, bma250e, bmc150, bmg160, bmm150")
set (module_src ${libname}.cxx bma250e.cxx bmg160.cxx bmm150.cxx bmc150.cxx bmi055.cxx)
set (module_hpp ${libname}.hpp bma250e.hpp bmg160.hpp bmm150.hpp bmc150.cxx bmi055.hpp)
upm_module_init()

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/*
* 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 <iostream>
#include <stdexcept>
#include <string>
#include <string.h>
#include "bma250e.hpp"
using namespace upm;
using namespace std;
// conversion from celcius to fahrenheit
static float c2f(float c)
{
return (c * (9.0 / 5.0) + 32.0);
}
BMA250E::BMA250E(int bus, uint8_t addr, int cs) :
m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
{
m_addr = addr;
m_isSPI = false;
m_accX = 0;
m_accY = 0;
m_accZ = 0;
m_accScale = 0;
m_temperature = 0.0;
if (addr < 0)
m_isSPI = true;
if (m_isSPI)
{
m_spi = new mraa::Spi(bus);
// Only create cs context if we are actually using a valid pin.
// A hardware controlled pin should specify cs as -1.
if (cs >= 0)
{
m_gpioCS = new mraa::Gpio(cs);
m_gpioCS->dir(mraa::DIR_OUT);
}
m_spi->mode(mraa::SPI_MODE0);
m_spi->frequency(5000000);
}
else
{
// I2C
m_i2c = new mraa::I2c(bus);
mraa::Result rv;
if ((rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
{
throw std::runtime_error(string(__FUNCTION__) +
": I2c.address() failed");
}
}
// check the chip id
uint8_t chipID = getChipID();
m_useFIFO = false;
// check the various chips id's and set appropriate capabilities.
// Bail if the chip id is unknown.
switch (chipID)
{
case 0xf9: // standalone bma250e
m_resolution = RESOLUTION_10BITS;
m_fifoAvailable = true;
break;
case 0xfa: // bmx055, bmi055 variants, 12b resolution
m_resolution = RESOLUTION_12BITS;
m_fifoAvailable = true;
break;
case 0x03: // bmc050 variant, no FIFO, 12b resolution
m_resolution = RESOLUTION_12BITS;
m_fifoAvailable = false;
break;
default:
throw std::runtime_error(string(__FUNCTION__)
+ ": invalid chip ID. Expected "
+ "3, 249, or 250 "
+ ", got "
+ std::to_string(int(chipID)));
}
// call init with default options
init();
}
BMA250E::~BMA250E()
{
uninstallISR(INTERRUPT_INT1);
uninstallISR(INTERRUPT_INT2);
}
void BMA250E::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
{
setPowerMode(pwr);
usleep(50000); // 50ms, in case we are waking up
// set our range and bandwidth
setRange(range);
setBandwidth(bw);
// make sure register shadowing is enabled
enableRegisterShadowing(true);
// enable output filtering
enableOutputFiltering(true);
// use the FIFO by default, if we have one
fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
enableFIFO(true);
// make sure low power mode LPM2 is enabled in case we go to low
// power or suspend mode. LPM1 mode (the default) requires register
// writes to be drastically slowed down when enabled, which we
// cannot handle.
setLowPowerMode2();
// settle
usleep(50000);
}
void BMA250E::update()
{
int bufLen = 0;
uint8_t startReg = 0;
if (m_useFIFO)
{
bufLen = 6;
startReg = REG_FIFO_DATA;
}
else
{
// non FIFO, read acc regs directly (including temp)
bufLen = 7;
startReg = REG_ACCD_X_LSB;
}
uint8_t buf[bufLen];
if (readRegs(startReg, buf, bufLen) != bufLen)
{
throw std::runtime_error(string(__FUNCTION__)
+ ": readRegs() failed to read "
+ std::to_string(bufLen)
+ " bytes");
}
uint8_t mask, shift;
float divisor;
switch (m_resolution)
{
case RESOLUTION_10BITS:
mask = _ACCD10_LSB_MASK;
shift = _ACCD10_LSB_SHIFT;
divisor = 64.0;
break;
case RESOLUTION_12BITS:
mask = _ACCD12_LSB_MASK;
shift = _ACCD12_LSB_SHIFT;
divisor = 16.0;
break;
default:
throw std::logic_error(string(__FUNCTION__)
+ ": internal error: invalid resolution "
+ std::to_string(int(m_resolution)));
}
int16_t val;
// x
val = int16_t(buf[1] << 8 | (buf[0] & (mask << shift)));
m_accX = float(val / divisor);
// y
val = int16_t(buf[3] << 8 | (buf[2] & (mask << shift)));
m_accY = float(val / divisor);
// z
val = int16_t(buf[5] << 8 | (buf[4] & (mask << shift)));
m_accZ = float(val / divisor);
// get the temperature...
uint8_t temp = 0;
if (m_useFIFO)
{
// we have to read temperature separately...
temp = readReg(REG_TEMP);
}
else
{
// we've already got it
temp = buf[6];
}
// .5K/LSB, 23C center point
m_temperature = (float(temp) / 2.0) + 23.0;
}
void BMA250E::enableFIFO(bool useFIFO)
{
if (m_fifoAvailable)
m_useFIFO = useFIFO;
}
uint8_t BMA250E::readReg(uint8_t reg)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t pkt[2] = {reg, 0};
csOn();
if (m_spi->transfer(pkt, pkt, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
return pkt[1];
}
else
return m_i2c->readReg(reg);
}
int BMA250E::readRegs(uint8_t reg, uint8_t *buffer, int len)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t sbuf[len + 1];
memset((char *)sbuf, 0, len + 1);
sbuf[0] = reg;
// We need to do it this way for edison - ie: use a single
// transfer rather than breaking it up into two like we used to.
// This means a buffer copy is now required, but that's the way
// it goes.
csOn();
if (m_spi->transfer(sbuf, sbuf, len + 1))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer(buf) failed");
}
csOff();
// now copy it into user buffer
for (int i=0; i<len; i++)
buffer[i] = sbuf[i + 1];
return len;
}
else
return m_i2c->readBytesReg(reg, buffer, len);
}
void BMA250E::writeReg(uint8_t reg, uint8_t val)
{
if (m_isSPI)
{
reg &= 0x7f; // mask off 0x80 for writing
uint8_t pkt[2] = {reg, val};
csOn();
if (m_spi->transfer(pkt, NULL, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
}
else
{
if (m_i2c->writeReg(reg, val) != mraa::SUCCESS)
{
throw std::runtime_error(std::string(__FUNCTION__)
+ ": I2c.writeReg() failed");
}
}
}
void BMA250E::csOn()
{
if (m_gpioCS)
m_gpioCS->write(0);
}
void BMA250E::csOff()
{
if (m_gpioCS)
m_gpioCS->write(1);
}
uint8_t BMA250E::getChipID()
{
return readReg(REG_CHIP_ID);
}
void BMA250E::getAccelerometer(float *x, float *y, float *z)
{
if (x)
*x = (m_accX * m_accScale) / 1000.0;
if (y)
*y = (m_accY * m_accScale) / 1000.0;
if (z)
*z = (m_accZ * m_accScale) / 1000.0;
}
float *BMA250E::getAccelerometer()
{
static float v[3];
getAccelerometer(&v[0], &v[1], &v[2]);
return v;
}
float BMA250E::getTemperature(bool fahrenheit)
{
if (fahrenheit)
return c2f(m_temperature);
else
return m_temperature;
}
void BMA250E::reset()
{
writeReg(REG_SOFTRESET, BMA250E_RESET_BYTE);
sleep(1);
}
void BMA250E::setRange(RANGE_T range)
{
switch (m_resolution)
{
case RESOLUTION_10BITS:
switch(range)
{
case RANGE_2G:
m_accScale = 3.91; // milli-gravities
break;
case RANGE_4G:
m_accScale = 7.81;
break;
case RANGE_8G:
m_accScale = 15.63;
break;
case RANGE_16G:
m_accScale = 31.25;
break;
}
break;
case RESOLUTION_12BITS:
switch(range)
{
case RANGE_2G:
m_accScale = 0.98; // milli-gravities
break;
case RANGE_4G:
m_accScale = 1.95;
break;
case RANGE_8G:
m_accScale = 3.91;
break;
case RANGE_16G:
m_accScale = 7.81;
break;
}
break;
}
writeReg(REG_PMU_RANGE, range);
}
void BMA250E::setBandwidth(BW_T bw)
{
writeReg(REG_PMU_BW, bw);
}
void BMA250E::setPowerMode(POWER_MODE_T power)
{
// mask off reserved bits
uint8_t reg = readReg(REG_PMU_LPW) & ~_PMU_LPW_RESERVED_MASK;
reg &= ~(_PMU_LPW_POWER_MODE_MASK << _PMU_LPW_POWER_MODE_SHIFT);
reg |= (power << _PMU_LPW_POWER_MODE_SHIFT);
writeReg(REG_PMU_LPW, power);
}
void BMA250E::fifoSetWatermark(int wm)
{
// do nothing if we don't have a FIFO
if (!m_fifoAvailable)
return;
// mask off illegal values
uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
writeReg(REG_FIFO_CONFIG_0, reg);
}
void BMA250E::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
{
// do nothing if we don't have a FIFO
if (!m_fifoAvailable)
return;
uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
(axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
writeReg(REG_FIFO_CONFIG_1, reg);
}
void BMA250E::setSelfTest(bool sign, bool amp, SELFTTEST_AXIS_T axis)
{
uint8_t reg = (axis << _PMU_SELFTTEST_AXIS_SHIFT);
if (amp)
reg |= PMU_SELFTTEST_AMP;
if (sign)
reg |= PMU_SELFTTEST_SIGN;
writeReg(REG_PMU_SELFTEST, reg);
}
uint8_t BMA250E::getInterruptEnable0()
{
return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
}
void BMA250E::setInterruptEnable0(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
writeReg(REG_INT_EN_0, reg);
}
uint8_t BMA250E::getInterruptEnable1()
{
return readReg(REG_INT_EN_1) & ~_INT_EN_1_RESERVED_BITS;
}
void BMA250E::setInterruptEnable1(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_1_RESERVED_BITS;
writeReg(REG_INT_EN_1, reg);
}
uint8_t BMA250E::getInterruptEnable2()
{
return readReg(REG_INT_EN_2) & ~_INT_EN_2_RESERVED_BITS;
}
void BMA250E::setInterruptEnable2(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_2_RESERVED_BITS;
writeReg(REG_INT_EN_2, reg);
}
uint8_t BMA250E::getInterruptMap0()
{
return readReg(REG_INT_MAP_0);
}
void BMA250E::setInterruptMap0(uint8_t bits)
{
writeReg(REG_INT_MAP_0, bits);
}
uint8_t BMA250E::getInterruptMap1()
{
return readReg(REG_INT_MAP_1) & ~_INT_MAP_1_INT1_RESERVED_BITS;
}
void BMA250E::setInterruptMap1(uint8_t bits)
{
uint8_t reg = bits & ~_INT_MAP_1_INT1_RESERVED_BITS;
writeReg(REG_INT_MAP_1, reg);
}
uint8_t BMA250E::getInterruptMap2()
{
return readReg(REG_INT_MAP_2);
}
void BMA250E::setInterruptMap2(uint8_t bits)
{
writeReg(REG_INT_MAP_2, bits);
}
uint8_t BMA250E::getInterruptSrc()
{
return readReg(REG_INT_SRC) & ~_INT_SRC_RESERVED_BITS;
}
void BMA250E::setInterruptSrc(uint8_t bits)
{
uint8_t reg = bits & ~_INT_SRC_RESERVED_BITS;
writeReg(REG_INT_SRC, reg);
}
uint8_t BMA250E::getInterruptOutputControl()
{
return readReg(REG_INT_OUT_CTRL) & ~_INT_OUT_CTRL_INT1_RESERVED_BITS;
}
void BMA250E::setInterruptOutputControl(uint8_t bits)
{
uint8_t reg = bits & ~_INT_OUT_CTRL_INT1_RESERVED_BITS;
writeReg(REG_INT_OUT_CTRL, reg);
}
void BMA250E::clearInterruptLatches()
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg |= INT_RST_LATCH_RESET_INT;
writeReg(REG_INT_RST_LATCH, reg);
}
BMA250E::RST_LATCH_T BMA250E::getInterruptLatchBehavior()
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
return static_cast<RST_LATCH_T>(reg);
}
void BMA250E::setInterruptLatchBehavior(RST_LATCH_T latch)
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
reg |= (latch << _INT_RST_LATCH_SHIFT);
writeReg(REG_INT_RST_LATCH, reg);
}
void BMA250E::enableRegisterShadowing(bool shadow)
{
uint8_t reg = readReg(REG_ACC_HBW) & ~_ACC_HBW_RESERVED_BITS;
if (shadow)
reg &= ~ACC_HBW_SHADOW_DIS;
else
reg |= ACC_HBW_SHADOW_DIS;
writeReg(REG_ACC_HBW, reg);
}
void BMA250E::enableOutputFiltering(bool filter)
{
uint8_t reg = readReg(REG_ACC_HBW) & ~_ACC_HBW_RESERVED_BITS;
if (filter)
reg &= ~ACC_HBW_DATA_HIGH_BW;
else
reg |= ACC_HBW_DATA_HIGH_BW;
writeReg(REG_ACC_HBW, reg);
}
uint8_t BMA250E::getInterruptStatus0()
{
return readReg(REG_INT_STATUS_0);
}
uint8_t BMA250E::getInterruptStatus1()
{
return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
}
uint8_t BMA250E::getInterruptStatus2()
{
return readReg(REG_INT_STATUS_2);
}
uint8_t BMA250E::getInterruptStatus3Bits()
{
// filter out the orientation bitfield..
return readReg(REG_INT_STATUS_3) &
~(_INT_STATUS_3_ORIENT_MASK << _INT_STATUS_3_ORIENT_SHIFT);
}
BMA250E::ORIENT_T BMA250E::getInterruptStatus3Orientation()
{
// grab just the orientation bitfield
uint8_t reg = readReg(REG_INT_STATUS_3) &
(_INT_STATUS_3_ORIENT_MASK << _INT_STATUS_3_ORIENT_SHIFT);
reg >>= _INT_STATUS_3_ORIENT_SHIFT;
return static_cast<ORIENT_T>(reg);
}
void BMA250E::setLowPowerMode2()
{
uint8_t reg = readReg(REG_PMU_LOW_POWER) & ~_LOW_POWER_RESERVED_BITS;
// we simply set the low power mode to 2. Low power mode 1 slows
// down register write accesses, and we can't handle that. In the
// words of the late Admiral Akbar: "We cannot handle firepower of
// that magnitude!" :(
reg |= LOW_POWER_LOWPOWER_MODE;
writeReg(REG_PMU_LOW_POWER, reg);
}
#if defined(SWIGJAVA) || (JAVACALLBACK)
void BMA250E::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
jobject runnable)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, runnable);
}
#else
void BMA250E::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, isr, arg);
}
#endif
void BMA250E::uninstallISR(INTERRUPT_PINS_T intr)
{
if (getPin(intr))
{
getPin(intr)->isrExit();
delete getPin(intr);
getPin(intr) = 0;
}
}
mraa::Gpio*& BMA250E::getPin(INTERRUPT_PINS_T intr)
{
switch(intr)
{
case INTERRUPT_INT1:
return m_gpioIntr1;
break;
case INTERRUPT_INT2:
return m_gpioIntr2;
break;
default:
throw std::out_of_range(string(__FUNCTION__) +
": Invalid interrupt enum passed");
}
}

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/*
* 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 <iostream>
#include <stdexcept>
#include <string>
#include "bmc150.hpp"
using namespace upm;
using namespace std;
BMC150::BMC150(int accelBus, uint8_t accelAddr, int accelCS,
int magBus, uint8_t magAddr, int magCS) :
m_accel(0), m_mag(0)
{
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (magBus >= 0)
m_mag = new BMM150(magBus, magAddr, magCS);
// now initialize them...
if (m_accel)
m_accel->init();
if (m_mag)
m_mag->init();
}
BMC150::~BMC150()
{
if (m_accel)
delete m_accel;
if (m_mag)
delete m_mag;
}
void BMC150::initAccelerometer(BMA250E::POWER_MODE_T pwr,
BMA250E::RANGE_T range,
BMA250E::BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMC150::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
{
if (m_mag)
m_mag->init(usage);
}
void BMC150::update()
{
if (m_accel)
m_accel->update();
if (m_mag)
m_mag->update();
}
void BMC150::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
float *BMC150::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
void BMC150::getMagnetometer(float *x, float *y, float *z)
{
if (m_mag)
m_mag->getMagnetometer(x, y, z);
}
float *BMC150::getMagnetometer()
{
if (m_mag)
return m_mag->getMagnetometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}

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/*
* 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 <string>
#include "bma250e.hpp"
#include "bmm150.hpp"
#define BMC150_DEFAULT_BUS 0
#define BMC150_DEFAULT_ACC_ADDR 0x10
#define BMC150_DEFAULT_MAG_ADDR 0x12
namespace upm {
/**
* @library bmx055
* @sensor bmc150
* @comname BMC150 6-axis eCompass
* @type accelerometer compass
* @man mouser
* @con i2c gpio spi
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0156/?qs=sGAEpiMZZMsrChSOYEGTCd8nwjostN1SWavW0HYOOXw%3d
*
* @brief API for the BMC150 6-axis eCompass
*
*
* The BMC150 is an integrated electronic compass solution for
* consumer market applications. It comprises a 12bit leading edge
* triaxial, low-g acceleration sensor and an ultra-low power, high
* precision triaxial magnetic field sensor. It allows measurements
* of acceleration and magnetic field in three perpendicular
* axes. Performance and features of both sensing technologies are
* carefully tuned and perfectly match the demanding requirements of
* all 6-axis mobile applications such as electronic compass,
* navigation or augmented reality.
* The BMC150 is essentially 2 separate devices in one: the BMA250E
* Accelerometer and the BMM150 Magnetometer. They are completely
* independant of each other.
*
* This driver provides a very simple interface to these 2 devices.
* If finer control is desired, you should just use the separate
* BMA25E and BMM150 device classes directly. This driver simply
* initializes both devices, and provides a mechanism to read
* accelerometer and magnetometer data from them.
*
* @snippet bmc150.cxx Interesting
*/
class BMC150 {
public:
/**
* BMC150 constructor.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like edison with arduino breakout), then you
* can connect the proper pin to the hardware CS pin on your MCU
* and supply -1 for cs. The default operating mode is I2C.
*
* @param accelBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param accelAddr The address for this device. -1 for SPI.
* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param magBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param magAddr The address for this device. -1 for SPI.
* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
*/
BMC150(int accelBus=BMC150_DEFAULT_BUS,
uint8_t accelAddr=BMC150_DEFAULT_ACC_ADDR,
int accelCS=-1,
int magBus=BMC150_DEFAULT_BUS,
uint8_t magAddr=BMC150_DEFAULT_MAG_ADDR,
int magCS=-1);
/**
* BMC150 Destructor.
*/
~BMC150();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Initialize the accelerometer and start operation. This
* function is called from the constructor so will not typically
* need to be called by a user unless the device is reset or you
* want to change these values.
*
* @param pwr One of the BMA250E::POWER_MODE_T values. The default is
* BMA250E::POWER_MODE_NORMAL.
* @param range One of the BMA250E::RANGE_T values. The default is
* BMA250E::RANGE_2G.
* @param bw One of the filtering BMA250E::BW_T values. The default is
* BMA250E::BW_250.
*/
void initAccelerometer(BMA250E::POWER_MODE_T pwr=BMA250E::POWER_MODE_NORMAL,
BMA250E::RANGE_T range=BMA250E::RANGE_2G,
BMA250E::BW_T bw=BMA250E::BW_250);
/**
* Initialize the magnetometer and start operation. This function
* is called from the constructor so will not typically need to be
* called by a user unless the device is reset or you want to
* change these values. This method will call
* BMM150::setPresetMode() with the passed parameter.
*
* @param usage One of the BMM150::USAGE_PRESETS_T values. The default is
* BMM150::USAGE_HIGH_ACCURACY.
*/
void initMagnetometer(BMM150::USAGE_PRESETS_T usage=BMM150::USAGE_HIGH_ACCURACY);
/**
* Return accelerometer data in gravities. update() must have
* been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Return accelerometer data in gravities in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getAccelerometer();
/**
* Return magnetometer data in micro-Teslas (uT). update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Return magnetometer data in micro-Teslas (uT) in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getMagnetometer();
protected:
BMA250E *m_accel;
BMM150 *m_mag;
private:
};
}

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/*
* 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 <iostream>
#include <stdexcept>
#include <string>
#include <string.h>
#include "bmg160.hpp"
using namespace upm;
using namespace std;
#define BMG160_DEFAULT_CHIPID 0x0f
// conversion from celcius to fahrenheit
static float c2f(float c)
{
return (c * (9.0 / 5.0) + 32.0);
}
BMG160::BMG160(int bus, uint8_t addr, int cs) :
m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
{
m_addr = addr;
m_isSPI = false;
m_gyrX = 0;
m_gyrY = 0;
m_gyrZ = 0;
m_gyrScale = 0;
m_temperature = 0.0;
if (addr < 0)
m_isSPI = true;
if (m_isSPI)
{
m_spi = new mraa::Spi(bus);
// Only create cs context if we are actually using a valid pin.
// A hardware controlled pin should specify cs as -1.
if (cs >= 0)
{
m_gpioCS = new mraa::Gpio(cs);
m_gpioCS->dir(mraa::DIR_OUT);
}
m_spi->mode(mraa::SPI_MODE0);
m_spi->frequency(5000000);
}
else
{
// I2C
m_i2c = new mraa::I2c(bus);
mraa::Result rv;
if ((rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
{
throw std::runtime_error(string(__FUNCTION__) +
": I2c.address() failed");
}
}
// check the chip id
uint8_t chipID = getChipID();
if (chipID != BMG160_DEFAULT_CHIPID)
{
throw std::runtime_error(string(__FUNCTION__)
+ ": invalid chip ID. Expected "
+ std::to_string(int(BMG160_DEFAULT_CHIPID))
+ ", got "
+ std::to_string(int(chipID)));
}
// call init with default options
init();
}
BMG160::~BMG160()
{
uninstallISR(INTERRUPT_INT1);
uninstallISR(INTERRUPT_INT2);
}
void BMG160::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
{
setPowerMode(pwr);
usleep(50000); // 50ms, in case we are waking up
// set our range and bandwidth
setRange(range);
setBandwidth(bw);
// make sure register shadowing is enabled
enableRegisterShadowing(true);
// enable output filtering
enableOutputFiltering(true);
// use the FIFO by default
fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
enableFIFO(true);
// settle
usleep(50000);
}
void BMG160::update()
{
int bufLen = 0;
uint8_t startReg = 0;
if (m_useFIFO)
{
bufLen = 6;
startReg = REG_FIFO_DATA;
}
else
{
// non FIFO, read acc regs directly (including temp)
bufLen = 7;
startReg = REG_RATE_X_LSB;
}
uint8_t buf[bufLen];
if (readRegs(startReg, buf, bufLen) != bufLen)
{
throw std::runtime_error(string(__FUNCTION__)
+ ": readRegs() failed to read "
+ std::to_string(bufLen)
+ " bytes");
}
int16_t val;
// x
val = int16_t(buf[1] << 8 | buf[0]);
m_gyrX = float(val);
// y
val = int16_t(buf[3] << 8 | buf[2]);
m_gyrY = float(val);
// z
val = int16_t(buf[5] << 8 | buf[4]);
m_gyrZ = float(val);
// get the temperature...
uint8_t temp = 0;
if (m_useFIFO)
{
// we have to read temperature separately...
temp = readReg(REG_TEMP);
}
else
{
// we already got it
temp = buf[6];
}
// .5K/LSB, 23C center point
m_temperature = (float(temp) / 2.0) + 23.0;
}
void BMG160::enableFIFO(bool useFIFO)
{
m_useFIFO = useFIFO;
}
uint8_t BMG160::readReg(uint8_t reg)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t pkt[2] = {reg, 0};
csOn();
if (m_spi->transfer(pkt, pkt, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
return pkt[1];
}
else
return m_i2c->readReg(reg);
}
int BMG160::readRegs(uint8_t reg, uint8_t *buffer, int len)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t sbuf[len + 1];
memset((char *)sbuf, 0, len + 1);
sbuf[0] = reg;
// We need to do it this way for edison - ie: use a single
// transfer rather than breaking it up into two like we used to.
// This means a buffer copy is now required, but that's the way
// it goes.
csOn();
if (m_spi->transfer(sbuf, sbuf, len + 1))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer(buf) failed");
}
csOff();
// now copy it into user buffer
for (int i=0; i<len; i++)
buffer[i] = sbuf[i + 1];
return len;
}
else
return m_i2c->readBytesReg(reg, buffer, len);
}
void BMG160::writeReg(uint8_t reg, uint8_t val)
{
if (m_isSPI)
{
reg &= 0x7f; // mask off 0x80 for writing
uint8_t pkt[2] = {reg, val};
csOn();
if (m_spi->transfer(pkt, NULL, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
}
else
{
mraa::Result rv;
if ((rv = m_i2c->writeReg(reg, val)) != mraa::SUCCESS)
{
throw std::runtime_error(std::string(__FUNCTION__)
+ ": I2c.writeReg() failed");
}
}
}
void BMG160::csOn()
{
if (m_gpioCS)
m_gpioCS->write(0);
}
void BMG160::csOff()
{
if (m_gpioCS)
m_gpioCS->write(1);
}
uint8_t BMG160::getChipID()
{
return readReg(REG_CHIP_ID);
}
void BMG160::getGyroscope(float *x, float *y, float *z)
{
if (x)
*x = (m_gyrX * m_gyrScale) / 1000.0;
if (y)
*y = (m_gyrY * m_gyrScale) / 1000.0;
if (z)
*z = (m_gyrZ * m_gyrScale) / 1000.0;
}
float *BMG160::getGyroscope()
{
static float v[3];
getGyroscope(&v[0], &v[1], &v[2]);
return v;
}
float BMG160::getTemperature(bool fahrenheit)
{
if (fahrenheit)
return c2f(m_temperature);
else
return m_temperature;
}
void BMG160::reset()
{
writeReg(REG_SOFTRESET, BMG160_RESET_BYTE);
sleep(1);
}
void BMG160::setRange(RANGE_T range)
{
switch(range)
{
case RANGE_125:
m_gyrScale = 3.8; // milli-degrees
break;
case RANGE_250:
m_gyrScale = 7.6;
break;
case RANGE_500:
m_gyrScale = 15.3;
break;
case RANGE_1000:
m_gyrScale = 30.5;
break;
case RANGE_2000:
m_gyrScale = 61.0;
break;
}
// we also have to write a fixed '0x10' to the high-order bits for
// some reason (according to datasheet)
uint8_t reg = range | (_GYR_RANGE_FIXED_VALUE << _GYR_RANGE_FIXED_SHIFT);
writeReg(REG_GYR_RANGE, reg);
}
void BMG160::setBandwidth(BW_T bw)
{
writeReg(REG_GYR_BW, bw);
}
void BMG160::setPowerMode(POWER_MODE_T power)
{
// mask off reserved bits
uint8_t reg = readReg(REG_LPM1) & ~_LPM1_RESERVED_MASK;
reg &= ~(_LPM1_POWER_MODE_MASK << _LPM1_POWER_MODE_SHIFT);
reg |= (power << _LPM1_POWER_MODE_SHIFT);
writeReg(REG_LPM1, power);
}
void BMG160::fifoSetWatermark(int wm)
{
// mask off illegal values
uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
writeReg(REG_FIFO_CONFIG_0, reg);
}
void BMG160::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
{
uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
(axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
writeReg(REG_FIFO_CONFIG_1, reg);
}
uint8_t BMG160::getInterruptEnable0()
{
return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
}
void BMG160::setInterruptEnable0(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
writeReg(REG_INT_EN_0, reg);
}
uint8_t BMG160::getInterruptMap0()
{
return readReg(REG_INT_MAP_0) & ~_INT_MAP_0_RESERVED_BITS;
}
void BMG160::setInterruptMap0(uint8_t bits)
{
uint8_t reg = bits & ~_INT_MAP_0_RESERVED_BITS;
writeReg(REG_INT_MAP_0, reg);
}
uint8_t BMG160::getInterruptMap1()
{
return readReg(REG_INT_MAP_1);
}
void BMG160::setInterruptMap1(uint8_t bits)
{
writeReg(REG_INT_MAP_1, bits);
}
// REG_INT_EN1, for some strange reason
uint8_t BMG160::getInterruptSrc()
{
return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
}
void BMG160::setInterruptSrc(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
writeReg(REG_INT_EN_1, reg);
}
uint8_t BMG160::getInterruptOutputControl()
{
return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
}
void BMG160::setInterruptOutputControl(uint8_t bits)
{
uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
writeReg(REG_INT_EN_1, reg);
}
void BMG160::clearInterruptLatches()
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg |= INT_RST_LATCH_RESET_INT;
writeReg(REG_INT_RST_LATCH, reg);
}
BMG160::RST_LATCH_T BMG160::getInterruptLatchBehavior()
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
return static_cast<RST_LATCH_T>(reg);
}
void BMG160::setInterruptLatchBehavior(RST_LATCH_T latch)
{
uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
reg |= (latch << _INT_RST_LATCH_SHIFT);
writeReg(REG_INT_RST_LATCH, reg);
}
void BMG160::enableRegisterShadowing(bool shadow)
{
uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
if (shadow)
reg &= ~RATE_HBW_SHADOW_DIS;
else
reg |= RATE_HBW_SHADOW_DIS;
writeReg(REG_RATE_HBW, reg);
}
void BMG160::enableOutputFiltering(bool filter)
{
uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
if (filter)
reg &= ~RATE_HBW_DATA_HIGH_BW;
else
reg |= RATE_HBW_DATA_HIGH_BW;
writeReg(REG_RATE_HBW, reg);
}
uint8_t BMG160::getInterruptStatus0()
{
return readReg(REG_INT_STATUS_0) & ~_INT_STATUS_0_RESERVED_BITS;
}
uint8_t BMG160::getInterruptStatus1()
{
return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
}
uint8_t BMG160::getInterruptStatus2()
{
return readReg(REG_INT_STATUS_2) & ~_INT_STATUS_2_RESERVED_BITS;
}
uint8_t BMG160::getInterruptStatus3()
{
return readReg(REG_INT_STATUS_3) & ~_INT_STATUS_3_RESERVED_BITS;
}
#if defined(SWIGJAVA) || (JAVACALLBACK)
void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
jobject runnable)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, runnable);
}
#else
void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, isr, arg);
}
#endif
void BMG160::uninstallISR(INTERRUPT_PINS_T intr)
{
if (getPin(intr))
{
getPin(intr)->isrExit();
delete getPin(intr);
getPin(intr) = 0;
}
}
mraa::Gpio*& BMG160::getPin(INTERRUPT_PINS_T intr)
{
switch(intr)
{
case INTERRUPT_INT1:
return m_gpioIntr1;
break;
case INTERRUPT_INT2:
return m_gpioIntr2;
break;
default:
throw std::out_of_range(string(__FUNCTION__) +
": Invalid interrupt enum passed");
}
}

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/*
* 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 <iostream>
#include <stdexcept>
#include <string>
#include "bmi055.hpp"
using namespace upm;
using namespace std;
BMI055::BMI055(int accelBus, uint8_t accelAddr, int accelCS,
int gyroBus, uint8_t gyroAddr, int gyroCS) :
m_accel(0), m_gyro(0)
{
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
// now initialize them...
if (m_accel)
m_accel->init();
if (m_gyro)
m_gyro->init();
}
BMI055::~BMI055()
{
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
}
void BMI055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
BMA250E::RANGE_T range,
BMA250E::BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMI055::initGyroscope(BMG160::POWER_MODE_T pwr,
BMG160::RANGE_T range,
BMG160::BW_T bw)
{
if (m_gyro)
m_gyro->init(pwr, range, bw);
}
void BMI055::update()
{
if (m_accel)
m_accel->update();
if (m_gyro)
m_gyro->update();
}
void BMI055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
float *BMI055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
void BMI055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
}
float *BMI055::getGyroscope()
{
if (m_gyro)
return m_gyro->getGyroscope();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}

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/*
* 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 <string>
#include "bma250e.hpp"
#include "bmg160.hpp"
namespace upm {
/**
* @library bmx055
* @sensor bmi055
* @comname BMI055 6-axis Sensor Module
* @type accelerometer compass
* @man mouser
* @con i2c gpio spi
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0134/?qs=sGAEpiMZZMsrChSOYEGTCVIRbo47L7ys6GxSnxRPEhU%3d
*
* @brief API for the BMI055 6-axis Sensor Module
*
* The BMI055 is an inertial measurement unit (IMU) for the
* detection of movements and rotations in 6 degrees of freedom
* (6DoF). It reflects the full functionality of a triaxial, low-g
* acceleration sensor and at the same time it is capable to measure
* angular rates. Both – acceleration and angular rate – in three
* perpendicular room dimensions, the x-, y- and z-axis.
*
* The BMI055 is essentially 2 separate devices in one: the BMA250E
* Accelerometer and the BMG160 Gyroscope. They are completely
* independant of each other.
*
* This driver provides a very simple interface to these two devices.
* If finer control is desired, you should just use the separate
* BMA25E and BMG160 device classes directly. This driver
* simply initializes both devices, and provides a mechanism to
* read accelerometer and gyroscope data from them.
*
* @snippet bmi055.cxx Interesting
*/
class BMI055 {
public:
/**
* BMI055 constructor.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like edison with arduino breakout), then you
* can connect the proper pin to the hardware CS pin on your MCU
* and supply -1 for cs. The default operating mode is I2C.
*
* @param accelBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param accelAddr The address for this device. -1 for SPI.
* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param gyroBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param gyroAddr The address for this device. -1 for SPI.
* @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
*/
BMI055(int accelBus=BMA250E_I2C_BUS,
uint8_t accelAddr=BMA250E_DEFAULT_ADDR,
int accelCS=-1,
int gyroBus=BMG160_I2C_BUS,
uint8_t gyroAddr=BMG160_DEFAULT_ADDR,
int gyroCS=-1);
/**
* BMI055 Destructor.
*/
~BMI055();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Initialize the accelerometer and start operation. This
* function is called from the constructor so will not typically
* need to be called by a user unless the device is reset or you
* want to change these values.
*
* @param pwr One of the BMA250E::POWER_MODE_T values. The default is
* BMA250E::POWER_MODE_NORMAL.
* @param range One of the BMA250E::RANGE_T values. The default is
* BMA250E::RANGE_2G.
* @param bw One of the filtering BMA250E::BW_T values. The default is
* BMA250E::BW_250.
*/
void initAccelerometer(BMA250E::POWER_MODE_T pwr=BMA250E::POWER_MODE_NORMAL,
BMA250E::RANGE_T range=BMA250E::RANGE_2G,
BMA250E::BW_T bw=BMA250E::BW_250);
/**
* Initialize the gyroscope and start operation. This function is
* called from the constructor so will not typically need to be
* called by a user unless the device is reset or you want to
* change these values.
*
* @param pwr One of the BMG160::POWER_MODE_T values. The default is
* BMG160::POWER_MODE_NORMAL.
* @param range One of the BMG160::RANGE_T values. The default is
* BMG160::RANGE_250.
* @param bw One of the filtering BMG160::BW_T values. The default is
* BMG160::BW_400_47.
*/
void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL,
BMG160::RANGE_T range=BMG160::RANGE_250,
BMG160::BW_T bw=BMG160::BW_400_47);
/**
* Return accelerometer data in gravities. update() must have
* been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Return accelerometer data in gravities in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getAccelerometer();
/**
* Return gyroscope data in degrees per second. update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getGyroscope(float *x, float *y, float *z);
/**
* Return gyroscope data in degrees per second in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getGyroscope();
protected:
BMA250E *m_accel;
BMG160 *m_gyro;
private:
};
}

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/*
* 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.
*/
// The trimming algorithms are taken from the Bosch BMM050 driver code
/****************************************************************************
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File : bmm050.h
*
* Date : 2016/03/17
*
* Revision : 2.0.5 $
*
* Usage: Sensor Driver for BMM050 and BMM150 sensor
*
****************************************************************************
*
* section License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Neither the name of the copyright holder nor the names of the
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
* OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
**************************************************************************/
#include <unistd.h>
#include <iostream>
#include <stdexcept>
#include <string>
#include <string.h>
#include "bmm150.hpp"
#define BMM150_DEFAULT_CHIPID 0x32
using namespace upm;
using namespace std;
BMM150::BMM150(int bus, uint8_t addr, int cs) :
m_i2c(0), m_spi(0), m_gpioIntr(0), m_gpioDR(0), m_gpioCS(0)
{
m_addr = addr;
m_isSPI = false;
m_magX = 0;
m_magY = 0;
m_magZ = 0;
m_hall = 0;
m_dig_x1 = 0;
m_dig_y1 = 0;
m_dig_z4 = 0;
m_dig_x2 = 0;
m_dig_y2 = 0;
m_dig_z2 = 0;
m_dig_z1 = 0;
m_dig_xyz1 = 0;
m_dig_z3 = 0;
m_dig_xy2 = 0;
m_dig_xy1 = 0;
if (addr < 0)
m_isSPI = true;
if (m_isSPI)
{
m_spi = new mraa::Spi(bus);
// Only create cs context if we are actually using a valid pin.
// A hardware controlled pin should specify cs as -1.
if (cs >= 0)
{
m_gpioCS = new mraa::Gpio(cs);
m_gpioCS->dir(mraa::DIR_OUT);
}
m_spi->mode(mraa::SPI_MODE0);
m_spi->frequency(5000000);
}
else
{
// I2C
m_i2c = new mraa::I2c(bus);
mraa::Result rv;
if ((rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
{
throw std::runtime_error(string(__FUNCTION__) +
": I2c.address() failed");
}
}
// power bit must be on for chip ID to be accessable
setPowerBit(true);
m_opmode = OPERATION_MODE_SLEEP;
usleep(50000);
// check the chip id
uint8_t chipID = getChipID();
if (chipID != BMM150_DEFAULT_CHIPID)
{
throw std::runtime_error(string(__FUNCTION__)
+ ": invalid chip ID. Expected "
+ std::to_string(int(BMM150_DEFAULT_CHIPID))
+ ", got "
+ std::to_string(int(chipID)));
}
// get trim data
readTrimData();
// call init with default options
init();
}
BMM150::~BMM150()
{
uninstallISR(INTERRUPT_INT);
uninstallISR(INTERRUPT_DR);
}
void BMM150::init(USAGE_PRESETS_T usage)
{
setPowerBit(true);
setOpmode(OPERATION_MODE_NORMAL);
usleep(50000); // 50ms, in case we are waking up
setPresetMode(usage);
// settle
usleep(50000);
}
void BMM150::update()
{
// special care when in a forced mode - need to trigger a
// measurement, and wait for the opmode to return to OPMODE_SLEEP,
// then we can read the values.
if (m_opmode == OPERATION_MODE_FORCED)
{
// trigger measurement
setOpmode(OPERATION_MODE_FORCED);
// opmode will return to sleep after measurement is complete
do {
usleep(5000);
} while (getOpmode() == OPERATION_MODE_FORCED);
}
const int bufLen = 8;
uint8_t buf[bufLen];
if (readRegs(REG_MAG_X_LSB, buf, bufLen) != bufLen)
{
throw std::runtime_error(string(__FUNCTION__)
+ ": readRegs() failed to read "
+ std::to_string(bufLen)
+ " bytes");
}
// we need to get the hall data first, since it's needed for the
// bosch compensation functions for each of the xyz axes
m_hall = uint16_t(buf[7] << 8 | (buf[6] &
(_MAG_RHALL_LSB_LSB_MASK <<
_MAG_RHALL_LSB_LSB_SHIFT)));
m_hall /= 4;
int16_t val;
// x
val = int16_t(buf[1] << 8 | (buf[0] & (_MAG_XY_LSB_LSB_MASK <<
_MAG_XY_LSB_LSB_SHIFT)));
val /= 8;
m_magX = bmm050_compensate_X_float(val, m_hall);
// y
val = int16_t(buf[3] << 8 | (buf[2] & (_MAG_XY_LSB_LSB_MASK <<
_MAG_XY_LSB_LSB_SHIFT)));
val /= 8;
m_magY = bmm050_compensate_Y_float(val, m_hall);
// z
val = int16_t(buf[5] << 8 | (buf[4] & (_MAG_Z_LSB_LSB_MASK <<
_MAG_Z_LSB_LSB_SHIFT)));
val /= 2;
m_magZ = bmm050_compensate_Z_float(val, m_hall);
}
uint8_t BMM150::readReg(uint8_t reg)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t pkt[2] = {reg, 0};
csOn();
if (m_spi->transfer(pkt, pkt, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
return pkt[1];
}
else
return m_i2c->readReg(reg);
}
int BMM150::readRegs(uint8_t reg, uint8_t *buffer, int len)
{
if (m_isSPI)
{
reg |= 0x80; // needed for read
uint8_t sbuf[len + 1];
memset((char *)sbuf, 0, len + 1);
sbuf[0] = reg;
// We need to do it this way for edison - ie: use a single
// transfer rather than breaking it up into two like we used to.
// This means a buffer copy is now required, but that's the way
// it goes.
csOn();
if (m_spi->transfer(sbuf, sbuf, len + 1))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer(buf) failed");
}
csOff();
// now copy it into user buffer
for (int i=0; i<len; i++)
buffer[i] = sbuf[i + 1];
return len;
}
else
return m_i2c->readBytesReg(reg, buffer, len);
}
void BMM150::writeReg(uint8_t reg, uint8_t val)
{
if (m_isSPI)
{
reg &= 0x7f; // mask off 0x80 for writing
uint8_t pkt[2] = {reg, val};
csOn();
if (m_spi->transfer(pkt, NULL, 2))
{
csOff();
throw std::runtime_error(string(__FUNCTION__)
+ ": Spi.transfer() failed");
}
csOff();
}
else
{
mraa::Result rv;
if ((rv = m_i2c->writeReg(reg, val)) != mraa::SUCCESS)
{
throw std::runtime_error(std::string(__FUNCTION__)
+ ": I2c.writeReg() failed");
}
}
}
void BMM150::csOn()
{
if (m_gpioCS)
m_gpioCS->write(0);
}
void BMM150::csOff()
{
if (m_gpioCS)
m_gpioCS->write(1);
}
uint8_t BMM150::getChipID()
{
return readReg(REG_CHIP_ID);
}
void BMM150::getMagnetometer(float *x, float *y, float *z)
{
if (x)
*x = m_magX;
if (y)
*y = m_magY;
if (z)
*z = m_magZ;
}
float *BMM150::getMagnetometer()
{
static float v[3];
getMagnetometer(&v[0], &v[1], &v[2]);
return v;
}
void BMM150::reset()
{
// mask off reserved bits
uint8_t reg = readReg(REG_POWER_CTRL) & ~_POWER_CTRL_RESERVED_BITS;
reg |= POWER_CTRL_SOFT_RESET0 | POWER_CTRL_SOFT_RESET1;
writeReg(REG_POWER_CTRL, reg);
sleep(1);
// device will return to SLEEP mode...
}
void BMM150::setOutputDataRate(DATA_RATE_T odr)
{
uint8_t reg = readReg(REG_OPMODE);
reg &= ~(_OPMODE_DATA_RATE_MASK << _OPMODE_DATA_RATE_SHIFT);
reg |= (odr << _OPMODE_DATA_RATE_SHIFT);
writeReg(REG_OPMODE, reg);
}
void BMM150::setPowerBit(bool power)
{
// mask off reserved bits
uint8_t reg = readReg(REG_POWER_CTRL) & ~_POWER_CTRL_RESERVED_BITS;
if (power)
reg |= POWER_CTRL_POWER_CTRL_BIT;
else
reg &= ~POWER_CTRL_POWER_CTRL_BIT;
writeReg(REG_POWER_CTRL, reg);
}
void BMM150::setOpmode(OPERATION_MODE_T opmode)
{
uint8_t reg = readReg(REG_OPMODE);
reg &= ~(_OPMODE_OPERATION_MODE_MASK << _OPMODE_OPERATION_MODE_SHIFT);
reg |= (opmode << _OPMODE_OPERATION_MODE_SHIFT);
writeReg(REG_OPMODE, reg);
m_opmode = opmode;
}
BMM150::OPERATION_MODE_T BMM150::getOpmode()
{
uint8_t reg = readReg(REG_OPMODE);
reg &= (_OPMODE_OPERATION_MODE_MASK << _OPMODE_OPERATION_MODE_SHIFT);
reg >>= _OPMODE_OPERATION_MODE_SHIFT;
return static_cast<OPERATION_MODE_T>(reg);
}
uint8_t BMM150::getInterruptEnable()
{
return readReg(REG_INT_EN);
}
void BMM150::setInterruptEnable(uint8_t bits)
{
writeReg(REG_INT_EN, bits);
}
uint8_t BMM150::getInterruptConfig()
{
return readReg(REG_INT_CONFIG);
}
void BMM150::setInterruptConfig(uint8_t bits)
{
writeReg(REG_INT_CONFIG, bits);
}
uint8_t BMM150::getInterruptStatus()
{
return readReg(REG_INT_STATUS);
}
void BMM150::readTrimData()
{
int bufLen = 10;
uint8_t calibData[bufLen];
// 2 bytes first
readRegs(REG_TRIM_DIG_X1, calibData, 2);
m_dig_x1 = int8_t(calibData[0]);
m_dig_y1 = int8_t(calibData[1]);
// next block of 4 bytes
readRegs(REG_TRIM_DIG_Z4_LSB, calibData, 4);
m_dig_z4 = int16_t((calibData[1] << 8) | calibData[0]);
m_dig_x2 = int8_t(calibData[2]);
m_dig_y2 = int8_t(calibData[3]);
// final block of 10 bytes
readRegs(REG_TRIM_DIG_Z2_LSB, calibData, 10);
m_dig_z2 = int16_t((calibData[1] << 8) | calibData[0]);
m_dig_z1 = uint16_t((calibData[3] << 8) | calibData[2]);
m_dig_xyz1 = uint16_t((calibData[5] << 8) | calibData[4]);
m_dig_z3 = int16_t((calibData[7] << 8) | calibData[6]);
m_dig_xy2 = int8_t(calibData[8]);
m_dig_xy1 = calibData[9];
}
void BMM150::setRepetitionsXY(uint8_t reps)
{
writeReg(REG_REP_XY, reps);
}
void BMM150::setRepetitionsZ(uint8_t reps)
{
writeReg(REG_REP_Z, reps);
}
void BMM150::setPresetMode(USAGE_PRESETS_T usage)
{
// these recommended presets come from the datasheet, Table 3,
// Section 4.2
switch (usage)
{
case USAGE_LOW_POWER:
setRepetitionsXY(3);
setRepetitionsZ(3);
setOutputDataRate(DATA_RATE_10HZ);
break;
case USAGE_REGULAR:
setRepetitionsXY(9);
setRepetitionsZ(15);
setOutputDataRate(DATA_RATE_10HZ);
break;
case USAGE_ENHANCED_REGULAR:
setRepetitionsXY(15);
setRepetitionsZ(27);
setOutputDataRate(DATA_RATE_10HZ);
break;
case USAGE_HIGH_ACCURACY:
setRepetitionsXY(47);
setRepetitionsZ(83);
setOutputDataRate(DATA_RATE_20HZ);
break;
default:
throw std::out_of_range(string(__FUNCTION__) +
": Invalid usage enum passed");
}
}
#if defined(SWIGJAVA) || (JAVACALLBACK)
void BMM150::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
jobject runnable)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, runnable);
}
#else
void BMM150::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg)
{
// delete any existing ISR and GPIO context
uninstallISR(intr);
// create gpio context
getPin(intr) = new mraa::Gpio(gpio);
getPin(intr)->dir(mraa::DIR_IN);
getPin(intr)->isr(level, isr, arg);
}
#endif
void BMM150::uninstallISR(INTERRUPT_PINS_T intr)
{
if (getPin(intr))
{
getPin(intr)->isrExit();
delete getPin(intr);
getPin(intr) = 0;
}
}
mraa::Gpio*& BMM150::getPin(INTERRUPT_PINS_T intr)
{
switch(intr)
{
case INTERRUPT_INT:
return m_gpioIntr;
break;
case INTERRUPT_DR:
return m_gpioDR;
break;
default:
throw std::out_of_range(string(__FUNCTION__) +
": Invalid interrupt enum passed");
}
}
// Bosch compensation functions
float BMM150::bmm050_compensate_X_float(int16_t mag_data_x, uint16_t data_r)
{
float inter_retval = 0;
if (mag_data_x != -4096 /* no overflow */
) {
if ((data_r != 0)
&& (m_dig_xyz1 != 0)) {
inter_retval = ((((float)m_dig_xyz1)
* 16384.0 / data_r) - 16384.0);
} else {
inter_retval = 0.0f;
return inter_retval;
}
inter_retval = (((mag_data_x * ((((((float)m_dig_xy2) *
(inter_retval*inter_retval /
268435456.0) +
inter_retval * ((float)m_dig_xy1)
/ 16384.0)) + 256.0) *
(((float)m_dig_x2) + 160.0)))
/ 8192.0)
+ (((float)m_dig_x1) *
8.0)) / 16.0;
} else {
inter_retval = 0.0f;
}
return inter_retval;
}
float BMM150::bmm050_compensate_Y_float(int16_t mag_data_y, uint16_t data_r)
{
float inter_retval = 0;
if (mag_data_y != -4096 /* no overflow */
) {
if ((data_r != 0)
&& (m_dig_xyz1 != 0)) {
inter_retval = ((((float)m_dig_xyz1)
* 16384.0
/data_r) - 16384.0);
} else {
inter_retval = 0.0f;
return inter_retval;
}
inter_retval = (((mag_data_y * ((((((float)m_dig_xy2) *
(inter_retval*inter_retval
/ 268435456.0) +
inter_retval * ((float)m_dig_xy1)
/ 16384.0)) +
256.0) *
(((float)m_dig_y2) + 160.0)))
/ 8192.0) +
(((float)m_dig_y1) * 8.0))
/ 16.0;
} else {
/* overflow, set output to 0.0f */
inter_retval = 0.0f;
}
return inter_retval;
}
float BMM150::bmm050_compensate_Z_float(int16_t mag_data_z, uint16_t data_r)
{
float inter_retval = 0;
/* no overflow */
if (mag_data_z != -16384) {
if ((m_dig_z2 != 0)
&& (m_dig_z1 != 0)
&& (m_dig_xyz1 != 0)
&& (data_r != 0)) {
inter_retval = ((((((float)mag_data_z)-
((float)m_dig_z4)) * 131072.0)-
(((float)m_dig_z3)*(((float)data_r)
-((float)m_dig_xyz1))))
/((((float)m_dig_z2)+
((float)m_dig_z1)*((float)data_r) /
32768.0) * 4.0)) / 16.0;
}
} else {
/* overflow, set output to 0.0f */
inter_retval = 0.0f;
}
return inter_retval;
}

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/*
* 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 <string>
#include <mraa/i2c.hpp>
#include <mraa/spi.hpp>
#include <mraa/gpio.hpp>
#define BMM150_I2C_BUS 0
#define BMM150_SPI_BUS 0
#define BMM150_DEFAULT_ADDR 0x10
namespace upm {
/**
* @library bmx050
* @sensor bmm150
* @comname BMM150 3-Axis Geomagnetic Sensor
* @altname bmm050
* @type compass
* @man bosch
* @con i2c spi gpio
*
* @brief API for the BMM150 3-Axis Geomagnetic Sensor
*
* The BMM150 is a standalone geomagnetic sensor for consumer market
* applications. It allows measurements of the magnetic field in
* three perpendicular axes. Based on Bosch’s proprietary FlipCore
* technology, performance and features of BMM150 are carefully
* tuned and perfectly match the demanding requirements of all
* 3-axis mobile applications such as electronic compass, navigation
* or augmented reality.
*
* An evaluation circuitry (ASIC) converts the output of the
* geomagnetic sensor to digital results which can be read out over
* the industry standard digital interfaces (SPI and I2C).
*
* Not all functionality of this chip has been implemented in this
* driver, however all the pieces are present to add any desired
* functionality. This driver supports both I2C (default) and SPI
* operation.
*
* This device requires 3.3v operation.
*
* @snippet bmm150.cxx Interesting
*/
class BMM150 {
public:
// NOTE: Reserved registers must not be written into. Reading
// from them may return indeterminate values. Registers
// containing reserved bitfields must be written as 0. Reading
// reserved bitfields may return indeterminate values.
/**
* BMM150 registers
*/
typedef enum : uint8_t {
REG_CHIP_ID = 0x40,
// 0x41 reserved
REG_MAG_X_LSB = 0x42,
REG_MAG_X_MSB = 0x43,
REG_MAG_Y_LSB = 0x44,
REG_MAG_Y_MSB = 0x45,
REG_MAG_Z_LSB = 0x46,
REG_MAG_Z_MSB = 0x47,
REG_RHALL_LSB = 0x48,
REG_RHALL_MSB = 0x49,
REG_INT_STATUS = 0x4a,
REG_POWER_CTRL = 0x4b,
REG_OPMODE = 0x4c,
REG_INT_EN = 0x4d,
REG_INT_CONFIG = 0x4e,
REG_LOW_THRES = 0x4f,
REG_HIGH_THRES = 0x50,
REG_REP_XY = 0x51,
REG_REP_Z = 0x52,
// 0x53-0x71 reserved (mostly)
// TRIM registers from Bosch BMM050 driver
REG_TRIM_DIG_X1 = 0x5d,
REG_TRIM_DIG_Y1 = 0x5e,
REG_TRIM_DIG_Z4_LSB = 0x62,
REG_TRIM_DIG_Z4_MSB = 0x63,
REG_TRIM_DIG_X2 = 0x64,
REG_TRIM_DIG_Y2 = 0x65,
REG_TRIM_DIG_Z2_LSB = 0x68,
REG_TRIM_DIG_Z2_MSB = 0x69,
REG_TRIM_DIG_Z1_LSB = 0x6a,
REG_TRIM_DIG_Z1_MSB = 0x6b,
REG_TRIM_DIG_XYZ1_LSB = 0x6c,
REG_TRIM_DIG_XYZ1_MSB = 0x6d,
REG_TRIM_DIG_Z3_LSB = 0x6e,
REG_TRIM_DIG_Z3_MSB = 0x6f,
REG_TRIM_DIG_XY2 = 0x70,
REG_TRIM_DIG_XY1 = 0x71
} BMM150_REGS_T;
/**
* REG_MAG_XY_LSB bits (for X and Y mag data LSB's only)
*/
typedef enum {
_MAG_XY_LSB_RESERVED_BITS = 0x02 | 0x04,
MAG_XY_LSB_SELFTEST_XY = 0x01,
MAG_XY_LSB_LSB0 = 0x08,
MAG_XY_LSB_LSB1 = 0x10,
MAG_XY_LSB_LSB2 = 0x20,
MAG_XY_LSB_LSB3 = 0x40,
MAG_XY_LSB_LSB4 = 0x80,
_MAG_XY_LSB_LSB_MASK = 31,
_MAG_XY_LSB_LSB_SHIFT = 3
} MAG_XY_LSB_BITS_T;
/**
* REG_MAG_Z_LSB bits (for Z LSB only)
*/
typedef enum {
MAG_Z_LSB_SELFTEST_Z = 0x01,
MAG_Z_LSB_LSB0 = 0x02,
MAG_Z_LSB_LSB1 = 0x04,
MAG_Z_LSB_LSB2 = 0x08,
MAG_Z_LSB_LSB3 = 0x10,
MAG_Z_LSB_LSB4 = 0x20,
MAG_Z_LSB_LSB5 = 0x40,
MAG_Z_LSB_LSB6 = 0x80,
_MAG_Z_LSB_LSB_MASK = 127,
_MAG_Z_LSB_LSB_SHIFT = 1
} MAG_Z_LSB_BITS_T;
/**
* REG_MAG_RHALL_LSB bits (for RHALL LSB only)
*/
typedef enum {
_MAG_RHALL_LSB_RESERVED_BITS = 0x02,
MAG_RHALL_LSB_DATA_READY_STATUS = 0x01,
MAG_RHALL_LSB_LSB0 = 0x04,
MAG_RHALL_LSB_LSB1 = 0x08,
MAG_RHALL_LSB_LSB2 = 0x10,
MAG_RHALL_LSB_LSB3 = 0x20,
MAG_RHALL_LSB_LSB4 = 0x40,
MAG_RHALL_LSB_LSB5 = 0x80,
_MAG_RHALL_LSB_LSB_MASK = 63,
_MAG_RHALL_LSB_LSB_SHIFT = 2
} MAG_RHALL_LSB_BITS_T;
/**
* REG_INT_STATUS bits
*/
typedef enum {
INT_STATUS_LOW_INT_X = 0x01,
INT_STATUS_LOW_INT_Y = 0x02,
INT_STATUS_LOW_INT_Z = 0x04,
INT_STATUS_HIGH_INT_X = 0x08,
INT_STATUS_HIGH_INT_Y = 0x10,
INT_STATUS_HIGH_INT_Z = 0x20,
INT_STATUS_OVERFLOW = 0x40,
INT_STATUS_DATA_OVERRUN = 0x80
} INT_STATUS_BITS_T;
/**
* REG_POWER_CTRL bits
*/
typedef enum {
_POWER_CTRL_RESERVED_BITS = 0x40 | 0x20 | 0x10 | 0x08,
POWER_CTRL_POWER_CTRL_BIT = 0x01,
POWER_CTRL_SOFT_RESET0 = 0x02,
POWER_CTRL_SPI3EN = 0x04, // not supported
POWER_CTRL_SOFT_RESET1 = 0x80
} POWER_CTRL_BITS_T;
/**
* REG_OPMODE bits
*/
typedef enum {
OPMODE_SELFTTEST = 0x01,
OPMODE_OPERATION_MODE0 = 0x02,
OPMODE_OPERATION_MODE1 = 0x04,
_OPMODE_OPERATION_MODE_MASK = 3,
_OPMODE_OPERATION_MODE_SHIFT = 1,
OPMODE_DATA_RATE0 = 0x08,
OPMODE_DATA_RATE1 = 0x10,
OPMODE_DATA_RATE2 = 0x20,
_OPMODE_DATA_RATE_MASK = 7,
_OPMODE_DATA_RATE_SHIFT = 3,
OPMODE_ADV_SELFTEST0 = 0x40,
OPMODE_ADV_SELFTEST1 = 0x80,
_OPMODE_ADV_SELFTEST_MASK = 3,
_OPMODE_ADV_SELFTEST_SHIFT = 6
} OPMODE_BITS_T;
/**
* OPMODE_OPERATION_MODE values
*/
typedef enum {
OPERATION_MODE_NORMAL = 0,
OPERATION_MODE_FORCED = 1,
OPERATION_MODE_SLEEP = 3
} OPERATION_MODE_T;
/**
* OPMODE_DATA_RATE values
*/
typedef enum {
DATA_RATE_10HZ = 0,
DATA_RATE_2HZ = 1,
DATA_RATE_6HZ = 2,
DATA_RATE_8HZ = 3,
DATA_RATE_15HZ = 4,
DATA_RATE_20HZ = 5,
DATA_RATE_25HZ = 6,
DATA_RATE_30HZ = 7
} DATA_RATE_T;
/**
* REG_INT_EN bits
*/
typedef enum {
INT_EN_LOW_INT_X_EN = 0x01,
INT_EN_LOW_INT_Y_EN = 0x02,
INT_EN_LOW_INT_Z_EN = 0x04,
INT_EN_HIGH_INT_X_EN = 0x08,
INT_EN_HIGH_INT_Y_EN = 0x10,
INT_EN_HIGH_INT_Z_EN = 0x20,
INT_EN_OVERFLOW_INT_EN = 0x40,
INT_EN_DATA_OVERRUN_INT_EN = 0x80
} INT_EN_T;
/**
* REG_INT_CONFIG bits
*/
typedef enum {
INT_CONFIG_INT_POLARITY = 0x01,
INT_CONFIG_INT_LATCH = 0x02,
INT_CONFIG_DR_POLARITY = 0x04,
INT_CONFIG_CHANNEL_X = 0x08,
INT_CONFIG_CHANNEL_Y = 0x10,
INT_CONFIG_CHANNEL_Z = 0x20,
INT_CONFIG_INT_PIN_EN = 0x40,
INT_CONFIG_DR_PIN_EN = 0x80
} INT_CONFIG_T;
/**
* Interrupt selection for installISR() and uninstallISR()
*/
typedef enum {
INTERRUPT_INT,
INTERRUPT_DR
} INTERRUPT_PINS_T;
/**
* Bosch recommended usage preset modes
*/
typedef enum {
USAGE_LOW_POWER,
USAGE_REGULAR,
USAGE_ENHANCED_REGULAR,
USAGE_HIGH_ACCURACY
} USAGE_PRESETS_T;
/**
* BMM150 constructor.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like edison with arduino breakout), then you
* can connect the proper pin to the hardware CS pin on your MCU
* and supply -1 for cs. The default operating mode is I2C.
*
* @param bus I2C or SPI bus to use.
* @param addr The address for this device. -1 for SPI.
* @param cs The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param theChipID The chip ID to use for validation
*/
BMM150(int bus=BMM150_I2C_BUS, uint8_t addr=BMM150_DEFAULT_ADDR,
int cs=-1);
/**
* BMM150 Destructor.
*/
~BMM150();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Return the chip ID.
*
* @return The chip ID (BMM150_CHIPID).
*/
uint8_t getChipID();
/**
* Return magnetometer data in micro-Teslas (uT). update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Return magnetometer data in micro-Teslas (uT) in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getMagnetometer();
/**
* Initialize the device and start operation. This function is
* called from the constructor so will not typically need to be
* called by a user unless the device is reset. This method will
* call setPresetMode() with the passed parameter.
*
* @param usage One of the USAGE_PRESETS_T values. The default is
* USAGE_HIGH_ACCURACY.
*/
void init(USAGE_PRESETS_T usage=USAGE_HIGH_ACCURACY);
/**
* Set one of the Bosch recommended preset modes. These modes
* configure the sensor for varying use cases.
*
* @param usage One of the USAGE_PRESETS_T values. The default is
* USAGE_HIGH_ACCURACY.
*/
void setPresetMode(USAGE_PRESETS_T usage);
/**
* Perform a device soft-reset. The device will be placed in
* SUSPEND mode afterward with all configured setting lost, so
* some re-initialization will be required to get data from the
* sensor. Calling init() will get everything running again.
*/
void reset();
/**
* Set the magnetometer Output Data Rate. See the datasheet for
* details.
*
* @param odr One of the DATA_RATE_T values.
*/
void setOutputDataRate(DATA_RATE_T odr);
/**
* Set or clear the Power bit. When the power bit is cleared, the
* device enters a deep suspend mode where only the REG_POWER_CTRL
* register can be accessed. This bit needs to be enabled for the
* device to operate. See the datasheet for details. The
* constructor enables this by default. After a deep suspend mode
* has been entered, all configured data is lost and the device
* must be reconfigured (as via init()).
*
* @param power true to enable the bit, false otherwise.
*/
void setPowerBit(bool power);
/**
* Set the operating mode of the device. See the datasheet for
* details.
*
* @param power One of the POWER_MODE_T values.
*/
void setOpmode(OPERATION_MODE_T opmode);
/**
* Get the current operating mode of the device. See the datasheet for
* details. The power bit must be one for this method to succeed.
*
* @return One of the OPERATION_MODE_T values.
*/
OPERATION_MODE_T getOpmode();
/**
* Return the Interrupt Enables register. This resgister
* allows you to enable various interrupt conditions. See the
* datasheet for details.
*
* @return A bitmask of INT_EN_BITS_T bits.
*/
uint8_t getInterruptEnable();
/**
* Set the Interrupt Enables register. See the datasheet for
* details.
*
* @param bits A bitmask of INT_EN_BITS_T bits.
*/
void setInterruptEnable(uint8_t bits);
/**
* Return the Interrupt Config register. This register allows
* determining the electrical characteristics of the 2 interrupt
* pins (open-drain/push-pull and level/edge triggering) as well
* as other options. See the datasheet for details.
*
* @return A bitmask of INT_CONFIG_BITS_T bits.
*/
uint8_t getInterruptConfig();
/**
* Set the Interrupt Config register. This register
* allows determining the electrical characteristics of the 2
* interrupt pins (open-drain/push-pull and level/edge
* triggering). See the datasheet for details.
*
* @param bits A bitmask of INT_CONFIG_BITS_T bits.
*/
void setInterruptConfig(uint8_t bits);
/**
* Return the interrupt status register. This register
* indicates which interrupts have been triggered. See the
* datasheet for details.
*
* @return a bitmask of INT_STATUS_BITS_T bits.
*/
uint8_t getInterruptStatus();
/**
* Set the repetion counter for the X and Y axes. This allows the
* device to average a number of measurements for a more stable
* output. See the datasheet for details.
*
* @param reps A coefficient for specifying the number of
* repititions to perform. (1 + 2(reps))
*/
void setRepetitionsXY(uint8_t reps);
/**
* Set the repetion counter for the Z axis. This allows the
* device to average a number of measurements for a more stable
* output. See the datasheet for details.
*
* @param reps A coefficient for specifying the number of
* repititions to perform. (1 + (reps))
*/
void setRepetitionsZ(uint8_t reps);
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
jobject runnable);
#else
/**
* install an interrupt handler.
*
* @param intr one of the INTERRUPT_PINS_T values specifying which
* interrupt pin you are installing.
* @param gpio gpio pin to use as interrupt pin
* @param level the interrupt trigger level (one of mraa::Edge
* values). Make sure that you have configured the interrupt pin
* properly for whatever level you choose.
* @param isr the interrupt handler, accepting a void * argument
* @param arg the argument to pass the the interrupt handler
*/
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
/**
* uninstall a previously installed interrupt handler
*
* @param intr one of the INTERRUPT_PINS_T values specifying which
* interrupt pin you are removing.
*/
void uninstallISR(INTERRUPT_PINS_T intr);
/**
* Read a register.
*
* @param reg The register to read.
* @return The value of the register.
*/
uint8_t readReg(uint8_t reg);
/**
* Read contiguous registers into a buffer.
*
* @param buffer The buffer to store the results.
* @param len The number of registers to read.
* @return The number of bytes read.
*/
int readRegs(uint8_t reg, uint8_t *buffer, int len);
/**
* Write to a register
*
* @param reg The register to write to.
* @param val The value to write.
*/
void writeReg(uint8_t reg, uint8_t val);
protected:
mraa::I2c *m_i2c;
mraa::Spi *m_spi;
// spi chip select
mraa::Gpio *m_gpioCS;
mraa::Gpio *m_gpioIntr;
mraa::Gpio *m_gpioDR;
uint8_t m_addr;
OPERATION_MODE_T m_opmode;
// SPI chip select
void csOn();
void csOff();
// acc data
float m_magX;
float m_magY;
float m_magZ;
// hall resistance
uint16_t m_hall;
// trimming data
int8_t m_dig_x1;
int8_t m_dig_y1;
int16_t m_dig_z4;
int8_t m_dig_x2;
int8_t m_dig_y2;
int16_t m_dig_z2;
uint16_t m_dig_z1;
uint16_t m_dig_xyz1;
int16_t m_dig_z3;
int8_t m_dig_xy2;
uint8_t m_dig_xy1;
// read trim data for compensation
void readTrimData();
private:
bool m_isSPI;
// use the FIFO by default?
bool m_useFIFO;
// return a reference to a gpio pin pointer depending on intr
mraa::Gpio*& getPin(INTERRUPT_PINS_T intr);
// Adding a private function definition for java bindings
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
// bosch compensation algorithms
float bmm050_compensate_X_float(int16_t mag_data_x, uint16_t data_r);
float bmm050_compensate_Y_float(int16_t mag_data_y, uint16_t data_r);
float bmm050_compensate_Z_float(int16_t mag_data_z, uint16_t data_r);
};
}

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/*
* 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 <iostream>
#include <stdexcept>
#include <string>
#include "bmx055.hpp"
using namespace upm;
using namespace std;
BMX055::BMX055(int accelBus, uint8_t accelAddr, int accelCS,
int gyroBus, uint8_t gyroAddr, int gyroCS,
int magBus, uint8_t magAddr, int magCS) :
m_accel(0), m_gyro(0), m_mag(0)
{
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
if (magBus >= 0)
m_mag = new BMM150(magBus, magAddr, magCS);
// now initialize them...
if (m_accel)
m_accel->init();
if (m_gyro)
m_gyro->init();
if (m_mag)
m_mag->init();
}
BMX055::~BMX055()
{
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
if (m_mag)
delete m_mag;
}
void BMX055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
BMA250E::RANGE_T range,
BMA250E::BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMX055::initGyroscope(BMG160::POWER_MODE_T pwr,
BMG160::RANGE_T range,
BMG160::BW_T bw)
{
if (m_gyro)
m_gyro->init(pwr, range, bw);
}
void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
{
if (m_mag)
m_mag->init(usage);
}
void BMX055::update()
{
if (m_accel)
m_accel->update();
if (m_gyro)
m_gyro->update();
if (m_mag)
m_mag->update();
}
void BMX055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
float *BMX055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
void BMX055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
}
float *BMX055::getGyroscope()
{
if (m_gyro)
return m_gyro->getGyroscope();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
void BMX055::getMagnetometer(float *x, float *y, float *z)
{
if (m_mag)
m_mag->getMagnetometer(x, y, z);
}
float *BMX055::getMagnetometer()
{
if (m_mag)
return m_mag->getMagnetometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}

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/*
* 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 <string>
#include "bma250e.hpp"
#include "bmg160.hpp"
#include "bmm150.hpp"
namespace upm {
/**
* @brief BMX055 9-axis Sensor Module
* @defgroup bmx055 libupm-bmx055
* @ingroup i2c spi accelerometer compass
*/
/**
* @library bmx055
* @sensor bmx055
* @comname BMX055 9-axis Sensor Module
* @type accelerometer compass
* @man mouser
* @con i2c gpio spi
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0179/?qs=sGAEpiMZZMsrChSOYEGTCZo8d3KRE6KPUk8gVuWS2Ho%3d
*
* @brief API for the BMX055 9-axis Sensor Module
*
* The BMX055 is an integrated 9-axis sensor for the detection of
* movements and rotations and magnetic heading. It comprises the
* full functionality of a triaxial, low-g acceleration sensor, a
* triaxial angular rate sensor and a triaxial geomagnetic sensor.
*
* The BMX055 senses orientation, tilt, motion, acceleration,
* rotation, shock, vibration and heading in cell phones, handhelds,
* computer peripherals, man-machine interfaces, virtual reality
* features and game controllers.
*
* The BMX055 is essentially 3 separate devices in one: the BMA250E
* Accelerometer, the BMG160 Gyroscope, and the BMM150 Magnetometer.
* They are completely independant of each other.
*
* This driver provides a very simple interface to these 3 devices.
* If finer control is desired, you should just use the separate
* BMA25E, BMG160, and BMM150 device classes directly. This driver
* simply initializes all three devices, and provides a mechanism to
* read accelerometer, gyroscope and magnetometer data from them.
*
* @snippet bmx055.cxx Interesting
*/
class BMX055 {
public:
/**
* BMX055 constructor.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like edison with arduino breakout), then you
* can connect the proper pin to the hardware CS pin on your MCU
* and supply -1 for cs. The default operating mode is I2C.
*
* @param accelBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param accelAddr The address for this device. -1 for SPI.
* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param gyroBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param gyroAddr The address for this device. -1 for SPI.
* @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param magBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param magAddr The address for this device. -1 for SPI.
* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
*/
BMX055(int accelBus=BMA250E_I2C_BUS,
uint8_t accelAddr=BMA250E_DEFAULT_ADDR,
int accelCS=-1,
int gyroBus=BMG160_I2C_BUS,
uint8_t gyroAddr=BMG160_DEFAULT_ADDR,
int gyroCS=-1,
int magBus=BMM150_I2C_BUS,
uint8_t magAddr=BMM150_DEFAULT_ADDR,
int magCS=-1);
/**
* BMX055 Destructor.
*/
~BMX055();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Initialize the accelerometer and start operation. This
* function is called from the constructor so will not typically
* need to be called by a user unless the device is reset or you
* want to change these values.
*
* @param pwr One of the BMA250E::POWER_MODE_T values. The default is
* BMA250E::POWER_MODE_NORMAL.
* @param range One of the BMA250E::RANGE_T values. The default is
* BMA250E::RANGE_2G.
* @param bw One of the filtering BMA250E::BW_T values. The default is
* BMA250E::BW_250.
*/
void initAccelerometer(BMA250E::POWER_MODE_T pwr=BMA250E::POWER_MODE_NORMAL,
BMA250E::RANGE_T range=BMA250E::RANGE_2G,
BMA250E::BW_T bw=BMA250E::BW_250);
/**
* Initialize the gyroscope and start operation. This function is
* called from the constructor so will not typically need to be
* called by a user unless the device is reset or you want to
* change these values.
*
* @param pwr One of the BMG160::POWER_MODE_T values. The default is
* BMG160::POWER_MODE_NORMAL.
* @param range One of the BMG160::RANGE_T values. The default is
* BMG160::RANGE_250.
* @param bw One of the filtering BMG160::BW_T values. The default is
* BMG160::BW_400_47.
*/
void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL,
BMG160::RANGE_T range=BMG160::RANGE_250,
BMG160::BW_T bw=BMG160::BW_400_47);
/**
* Initialize the magnetometer and start operation. This function
* is called from the constructor so will not typically need to be
* called by a user unless the device is reset or you want to
* change these values. This method will call
* BMM150::setPresetMode() with the passed parameter.
*
* @param usage One of the BMM150::USAGE_PRESETS_T values. The default is
* BMM150::USAGE_HIGH_ACCURACY.
*/
void initMagnetometer(BMM150::USAGE_PRESETS_T usage=BMM150::USAGE_HIGH_ACCURACY);
/**
* Return accelerometer data in gravities. update() must have
* been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Return accelerometer data in gravities in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getAccelerometer();
/**
* Return gyroscope data in degrees per second. update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getGyroscope(float *x, float *y, float *z);
/**
* Return gyroscope data in degrees per second in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getGyroscope();
/**
* Return magnetometer data in micro-Teslas (uT). update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Return magnetometer data in micro-Teslas (uT) in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getMagnetometer();
protected:
BMA250E *m_accel;
BMG160 *m_gyro;
BMM150 *m_mag;
private:
};
}

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%module javaupm_bmx055
%include "../upm.i"
%include "cpointer.i"
%include "typemaps.i"
%include "arrays_java.i";
%include "../java_buffer.i"
%apply int {mraa::Edge};
%apply float *INOUT { float *x, float *y, float *z };
%typemap(jni) float* "jfloatArray"
%typemap(jstype) float* "float[]"
%typemap(jtype) float* "float[]"
%typemap(javaout) float* {
return $jnicall;
}
%typemap(out) float *getAccelerometer {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getGyroscope {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getMagnetometer {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%ignore getAccelerometer(float *, float *, float *);
%ignore getGyroscope(float *, float *, float *);
%ignore getMagnetometer(float *, float *, float *);
%include "bma250e.hpp"
%{
#include "bma250e.hpp"
%}
%include "bmg160.hpp"
%{
#include "bmg160.hpp"
%}
%include "bmm150.hpp"
%{
#include "bmm150.hpp"
%}
%include "bmx055.hpp"
%{
#include "bmx055.hpp"
%}
%include "bmc150.hpp"
%{
#include "bmc150.hpp"
%}
%include "bmi055.hpp"
%{
#include "bmi055.hpp"
%}
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_bmx055");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}

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%module jsupm_bmx055
%include "../upm.i"
%include "cpointer.i"
/* Send "int *" and "float *" to JavaScript as intp and floatp */
%pointer_functions(int, intp);
%pointer_functions(float, floatp);
%include "bma250e.hpp"
%{
#include "bma250e.hpp"
%}
%include "bmg160.hpp"
%{
#include "bmg160.hpp"
%}
%include "bmm150.hpp"
%{
#include "bmm150.hpp"
%}
%include "bmx055.hpp"
%{
#include "bmx055.hpp"
%}
%include "bmc150.hpp"
%{
#include "bmc150.hpp"
%}
%include "bmi055.hpp"
%{
#include "bmi055.hpp"
%}

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// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_bmx055
%include "../upm.i"
%include "cpointer.i"
%include "stdint.i"
/* Send "int *" and "float *" to python as intp and floatp */
%pointer_functions(int, intp);
%pointer_functions(float, floatp);
%feature("autodoc", "3");
#ifdef DOXYGEN
%include "bmx055_doc.i"
#endif
%include "bma250e.hpp"
%{
#include "bma250e.hpp"
%}
%include "bmg160.hpp"
%{
#include "bmg160.hpp"
%}
%include "bmm150.hpp"
%{
#include "bmm150.hpp"
%}
%include "bmx055.hpp"
%{
#include "bmx055.hpp"
%}
%include "bmc150.hpp"
%{
#include "bmc150.hpp"
%}
%include "bmi055.hpp"
%{
#include "bmi055.hpp"
%}