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bmx055, bmi055, bmc160, bma250e, bmg150, bmm150: Initial implementation
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>
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Jon Trulson
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src/bmx055/bmx055.hpp
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src/bmx055/bmx055.hpp
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include "bma250e.hpp"
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#include "bmg160.hpp"
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#include "bmm150.hpp"
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namespace upm {
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/**
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* @brief BMX055 9-axis Sensor Module
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* @defgroup bmx055 libupm-bmx055
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* @ingroup i2c spi accelerometer compass
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*/
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/**
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* @library bmx055
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* @sensor bmx055
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* @comname BMX055 9-axis Sensor Module
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* @type accelerometer compass
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* @man mouser
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* @con i2c gpio spi
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* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0179/?qs=sGAEpiMZZMsrChSOYEGTCZo8d3KRE6KPUk8gVuWS2Ho%3d
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*
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* @brief API for the BMX055 9-axis Sensor Module
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*
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* The BMX055 is an integrated 9-axis sensor for the detection of
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* movements and rotations and magnetic heading. It comprises the
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* full functionality of a triaxial, low-g acceleration sensor, a
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* triaxial angular rate sensor and a triaxial geomagnetic sensor.
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*
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* The BMX055 senses orientation, tilt, motion, acceleration,
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* rotation, shock, vibration and heading in cell phones, handhelds,
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* computer peripherals, man-machine interfaces, virtual reality
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* features and game controllers.
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*
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* The BMX055 is essentially 3 separate devices in one: the BMA250E
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* Accelerometer, the BMG160 Gyroscope, and the BMM150 Magnetometer.
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* They are completely independant of each other.
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*
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* This driver provides a very simple interface to these 3 devices.
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* If finer control is desired, you should just use the separate
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* BMA25E, BMG160, and BMM150 device classes directly. This driver
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* simply initializes all three devices, and provides a mechanism to
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* read accelerometer, gyroscope and magnetometer data from them.
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*
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* @snippet bmx055.cxx Interesting
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*/
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class BMX055 {
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public:
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/**
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* BMX055 constructor.
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*
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* This device can support both I2C and SPI. For SPI, set the addr
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* to -1, and specify a positive integer representing the Chip
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* Select (CS) pin for the cs argument. If you are using a
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* hardware CS pin (like edison with arduino breakout), then you
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* can connect the proper pin to the hardware CS pin on your MCU
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* and supply -1 for cs. The default operating mode is I2C.
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*
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* @param accelBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param accelAddr The address for this device. -1 for SPI.
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* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param gyroBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param gyroAddr The address for this device. -1 for SPI.
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* @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param magBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param magAddr The address for this device. -1 for SPI.
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* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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*/
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BMX055(int accelBus=BMA250E_I2C_BUS,
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uint8_t accelAddr=BMA250E_DEFAULT_ADDR,
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int accelCS=-1,
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int gyroBus=BMG160_I2C_BUS,
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uint8_t gyroAddr=BMG160_DEFAULT_ADDR,
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int gyroCS=-1,
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int magBus=BMM150_I2C_BUS,
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uint8_t magAddr=BMM150_DEFAULT_ADDR,
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int magCS=-1);
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/**
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* BMX055 Destructor.
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*/
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~BMX055();
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/**
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* Update the internal stored values from sensor data.
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*/
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void update();
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/**
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* Initialize the accelerometer and start operation. This
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* function is called from the constructor so will not typically
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* need to be called by a user unless the device is reset or you
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* want to change these values.
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*
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* @param pwr One of the BMA250E::POWER_MODE_T values. The default is
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* BMA250E::POWER_MODE_NORMAL.
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* @param range One of the BMA250E::RANGE_T values. The default is
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* BMA250E::RANGE_2G.
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* @param bw One of the filtering BMA250E::BW_T values. The default is
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* BMA250E::BW_250.
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*/
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void initAccelerometer(BMA250E::POWER_MODE_T pwr=BMA250E::POWER_MODE_NORMAL,
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BMA250E::RANGE_T range=BMA250E::RANGE_2G,
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BMA250E::BW_T bw=BMA250E::BW_250);
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/**
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* Initialize the gyroscope and start operation. This function is
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* called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values.
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*
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* @param pwr One of the BMG160::POWER_MODE_T values. The default is
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* BMG160::POWER_MODE_NORMAL.
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* @param range One of the BMG160::RANGE_T values. The default is
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* BMG160::RANGE_250.
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* @param bw One of the filtering BMG160::BW_T values. The default is
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* BMG160::BW_400_47.
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*/
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void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL,
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BMG160::RANGE_T range=BMG160::RANGE_250,
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BMG160::BW_T bw=BMG160::BW_400_47);
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/**
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* Initialize the magnetometer and start operation. This function
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* is called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values. This method will call
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* BMM150::setPresetMode() with the passed parameter.
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*
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* @param usage One of the BMM150::USAGE_PRESETS_T values. The default is
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* BMM150::USAGE_HIGH_ACCURACY.
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*/
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void initMagnetometer(BMM150::USAGE_PRESETS_T usage=BMM150::USAGE_HIGH_ACCURACY);
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/**
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* Return accelerometer data in gravities. update() must have
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* been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getAccelerometer(float *x, float *y, float *z);
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/**
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* Return accelerometer data in gravities in the form of a
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* floating point array. The pointer returned by this function is
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* statically allocated and will be rewritten on each call.
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* update() must have been called prior to calling this method.
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*
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* @return A floating point array containing x, y, and z in
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* that order.
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*/
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float *getAccelerometer();
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/**
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* Return gyroscope data in degrees per second. update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getGyroscope(float *x, float *y, float *z);
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/**
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* Return gyroscope data in degrees per second in the form of a
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* floating point array. The pointer returned by this function is
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* statically allocated and will be rewritten on each call.
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* update() must have been called prior to calling this method.
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*
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* @return A floating point array containing x, y, and z in
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* that order.
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*/
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float *getGyroscope();
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/**
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* Return magnetometer data in micro-Teslas (uT). update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getMagnetometer(float *x, float *y, float *z);
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/**
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* Return magnetometer data in micro-Teslas (uT) in the form of a
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* floating point array. The pointer returned by this function is
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* statically allocated and will be rewritten on each call.
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* update() must have been called prior to calling this method.
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*
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* @return A floating point array containing x, y, and z in
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* that order.
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*/
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float *getMagnetometer();
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protected:
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BMA250E *m_accel;
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BMG160 *m_gyro;
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BMM150 *m_mag;
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private:
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};
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}
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