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bmx055: remove bmm150, use new bmm150 library
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
parent
aeaf84ccc6
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@ -6,6 +6,24 @@ compatibility between releases:
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# current master
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* **bmx055, bmi055, bmc150, bma250e, bmg160, bmm150** This driver has
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been split up. The *bma250e*, *bmg160*, *bmm150* drivers have been
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rewritten in C (with C++ wrappers) and now reside in their own
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libraries. The versions of these drivers that used to be present in
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*bmx055* have been removed, and *bmx055* now uses the new libraries
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for it's functionality. The other two composite devices, *bmi055*,
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and *bmc150* are still contained within the *bmx055* library, and
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also use the new libraries for their functionality.
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In addition, for all of these drivers some private methods are no
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longer exposed (such as the compensation routines).
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The C++ driver methods that once returned pointers to a floating
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point array now return *std::vectors* of the appropriate type. The
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SWIG language examples for these drivers have been modified to use
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these methods instead of the C pointer based SWIG methods previously
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used.
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* **sainsmartks** This driver has been renamed to *lcdks* (LCD Keypad
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Shield) and moved into it's own library. It uses the *lcm1602*
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library to do most of it's work. In addition, an additional argument
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@ -33,8 +51,8 @@ compatibility between releases:
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used previously. This should make it easier to use with the SWIG
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language bindings (Python, Javascript, and especially Java).
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* **bmp280/bme280** Some private methods are no longer exposed
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(such as the calibration and compensation routines). In addition,
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* **bmp280/bme280** Some private methods are no longer exposed (such
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as the calibration and compensation routines). In addition,
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the *getHumidity()* method no longer accepts an argument representing
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pressure at sea level. A separate method is provided to set this now.
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@ -40,18 +40,18 @@ public class BMC150_Example
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// update our values from the sensor
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sensor.update();
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upm_bmx055.floatVector dataA = sensor.getAccelerometer();
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upm_bmx055.floatVector data = sensor.getAccelerometer();
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System.out.println("Accelerometer x: " + dataA.get(0)
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+ " y: " + dataA.get(1)
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+ " z: " + dataA.get(2)
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System.out.println("Accelerometer x: " + data.get(0)
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+ " y: " + data.get(1)
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+ " z: " + data.get(2)
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+ " g");
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float data[] = sensor.getMagnetometer();
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data = sensor.getMagnetometer();
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System.out.println("Magnetometer x: " + data[0]
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+ " y: " + data[1]
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+ " z: " + data[2]
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System.out.println("Magnetometer x: " + data.get(0)
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+ " y: " + data.get(1)
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+ " z: " + data.get(2)
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+ " uT");
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System.out.println();
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@ -54,11 +54,11 @@ public class BMX055_Example
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+ " z: " + data.get(2)
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+ " degrees/s");
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float dataM[] = sensor.getMagnetometer();
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data = sensor.getMagnetometer();
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System.out.println("Magnetometer x: " + dataM[0]
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+ " y: " + dataM[1]
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+ " z: " + dataM[2]
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System.out.println("Magnetometer x: " + data.get(0)
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+ " y: " + data.get(1)
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+ " z: " + data.get(2)
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+ " uT");
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System.out.println();
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@ -1,5 +1,5 @@
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upm_mixed_module_init (NAME bmx055
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DESCRIPTION "Bosch IMU Sensor Library"
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CPP_HDR bmx055.hpp bmm150.hpp bmc150.cxx bmi055.hpp
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CPP_SRC bmx055.cxx bmm150.cxx bmc150.cxx bmi055.cxx
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REQUIRES mraa bmg160 bma250e)
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CPP_HDR bmx055.hpp bmc150.cxx bmi055.hpp
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CPP_SRC bmx055.cxx bmc150.cxx bmi055.cxx
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REQUIRES mraa bmg160 bma250e bmm150)
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@ -72,7 +72,7 @@ void BMC150::initAccelerometer(BMA250E_POWER_MODE_T pwr,
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m_accel->init(pwr, range, bw);
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}
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void BMC150::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
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void BMC150::initMagnetometer(BMM150_USAGE_PRESETS_T usage)
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{
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if (m_mag)
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m_mag->init(usage);
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@ -107,13 +107,10 @@ void BMC150::getMagnetometer(float *x, float *y, float *z)
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m_mag->getMagnetometer(x, y, z);
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}
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float *BMC150::getMagnetometer()
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std::vector<float> BMC150::getMagnetometer()
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{
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if (m_mag)
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return m_mag->getMagnetometer();
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else
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{
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static float v[3] = {0.0f, 0.0f, 0.0f};
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return v;
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}
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return {0, 0, 0};
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}
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@ -123,9 +123,10 @@ namespace upm {
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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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void initAccelerometer(
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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 magnetometer and start operation. This function
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@ -134,10 +135,11 @@ namespace upm {
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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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* @param usage One of the BMM150_USAGE_PRESETS_T values.
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* The default is 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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void initMagnetometer(
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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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@ -176,15 +178,14 @@ namespace upm {
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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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* Return magnetometer data in micro-Teslas (uT) in the form
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* of a floating point vector. update() must have been called
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* 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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* @return A floating point vector 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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std::vector<float> getMagnetometer();
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protected:
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@ -36,83 +36,83 @@ using namespace std;
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BMI055::BMI055(int accelBus, int accelAddr, int accelCS,
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int gyroBus, int gyroAddr, int gyroCS) :
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m_accel(0), m_gyro(0)
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m_accel(0), m_gyro(0)
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{
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// if -1 is supplied as a bus for any of these, we will not
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// instantiate them
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// if -1 is supplied as a bus for any of these, we will not
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// instantiate them
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if (accelBus >= 0)
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m_accel = new BMA250E(accelBus, accelAddr, accelCS);
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if (accelBus >= 0)
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m_accel = new BMA250E(accelBus, accelAddr, accelCS);
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if (gyroBus >= 0)
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m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
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if (gyroBus >= 0)
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m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
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// now initialize them...
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if (m_accel)
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m_accel->init();
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// now initialize them...
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if (m_accel)
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m_accel->init();
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if (m_gyro)
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m_gyro->init();
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if (m_gyro)
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m_gyro->init();
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}
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BMI055::~BMI055()
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{
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if (m_accel)
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delete m_accel;
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if (m_accel)
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delete m_accel;
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if (m_gyro)
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delete m_gyro;
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if (m_gyro)
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delete m_gyro;
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}
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void BMI055::initAccelerometer(BMA250E_POWER_MODE_T pwr,
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BMA250E_RANGE_T range,
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BMA250E_BW_T bw)
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{
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if (m_accel)
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m_accel->init(pwr, range, bw);
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if (m_accel)
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m_accel->init(pwr, range, bw);
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}
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void BMI055::initGyroscope(BMG160_POWER_MODE_T pwr,
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BMG160_RANGE_T range,
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BMG160_BW_T bw)
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{
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if (m_gyro)
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m_gyro->init(pwr, range, bw);
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if (m_gyro)
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m_gyro->init(pwr, range, bw);
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}
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void BMI055::update()
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{
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if (m_accel)
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m_accel->update();
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if (m_accel)
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m_accel->update();
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if (m_gyro)
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m_gyro->update();
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if (m_gyro)
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m_gyro->update();
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}
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void BMI055::getAccelerometer(float *x, float *y, float *z)
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{
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if (m_accel)
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m_accel->getAccelerometer(x, y, z);
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if (m_accel)
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m_accel->getAccelerometer(x, y, z);
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}
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std::vector<float> BMI055::getAccelerometer()
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{
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if (m_accel)
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return m_accel->getAccelerometer();
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else
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return {0, 0, 0};
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if (m_accel)
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return m_accel->getAccelerometer();
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else
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return {0, 0, 0};
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}
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void BMI055::getGyroscope(float *x, float *y, float *z)
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{
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if (m_gyro)
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m_gyro->getGyroscope(x, y, z);
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if (m_gyro)
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m_gyro->getGyroscope(x, y, z);
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}
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std::vector<float> BMI055::getGyroscope()
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{
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if (m_gyro)
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return m_gyro->getGyroscope();
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else
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return {0, 0, 0};
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if (m_gyro)
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return m_gyro->getGyroscope();
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else
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return {0, 0, 0};
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}
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@ -33,162 +33,163 @@
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namespace upm {
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/**
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* @library bmx055
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* @sensor bmi055
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* @comname 6DoF Sensor Module
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* @type accelerometer compass
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* @man bosch
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* @con i2c gpio spi
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* @web https://www.bosch-sensortec.com/bst/products/all_products/bmi055
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*
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* @brief API for the BMI055 6-axis Sensor Module
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*
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* The BMI055 is an inertial measurement unit (IMU) for the
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* detection of movements and rotations in 6 degrees of freedom
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* (6DoF). It reflects the full functionality of a triaxial, low-g
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* acceleration sensor and at the same time it is capable to measure
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* angular rates. Both - acceleration and angular rate - in three
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* perpendicular room dimensions, the x-, y- and z-axis.
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*
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* The BMI055 is essentially 2 separate devices in one: the BMA250E
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* Accelerometer and the BMG160 Gyroscope. They are completely
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* independant of each other.
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*
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* This driver provides a very simple interface to these two devices.
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* If finer control is desired, you should just use the separate
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* BMA25E and BMG160 device classes directly. This driver
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* simply initializes both devices, and provides a mechanism to
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* read accelerometer and gyroscope data from them.
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*
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* @snippet bmi055.cxx Interesting
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*/
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class BMI055 {
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public:
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/**
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* BMI055 constructor.
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* @library bmx055
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* @sensor bmi055
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* @comname 6DoF Sensor Module
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* @type accelerometer compass
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* @man bosch
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* @con i2c gpio spi
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* @web https://www.bosch-sensortec.com/bst/products/all_products/bmi055
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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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* @brief API for the BMI055 6-axis Sensor Module
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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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*/
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BMI055(int accelBus=BMA250E_DEFAULT_I2C_BUS,
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int accelAddr=BMA250E_DEFAULT_ADDR,
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int accelCS=-1,
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int gyroBus=BMG160_DEFAULT_I2C_BUS,
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int gyroAddr=BMG160_DEFAULT_ADDR,
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int gyroCS=-1);
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/**
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* BMI055 Destructor.
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*/
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~BMI055();
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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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* The BMI055 is an inertial measurement unit (IMU) for the
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* detection of movements and rotations in 6 degrees of freedom
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* (6DoF). It reflects the full functionality of a triaxial, low-g
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* acceleration sensor and at the same time it is capable to measure
|
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* angular rates. Both - acceleration and angular rate - in three
|
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* perpendicular room dimensions, the x-, y- and z-axis.
|
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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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* The BMI055 is essentially 2 separate devices in one: the BMA250E
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* Accelerometer and the BMG160 Gyroscope. They are completely
|
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* independant of each other.
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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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* Return accelerometer data in gravities. update() must have
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* been called prior to calling this method.
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* This driver provides a very simple interface to these two devices.
|
||||
* If finer control is desired, you should just use the separate
|
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* BMA25E and BMG160 device classes directly. This driver
|
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* simply initializes both devices, and provides a mechanism to
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* read accelerometer and gyroscope data from them.
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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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* @snippet bmi055.cxx Interesting
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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 vector. update() must have been called prior to
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* calling this method.
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||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<float> getAccelerometer();
|
||||
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_DEFAULT_I2C_BUS,
|
||||
int accelAddr=BMA250E_DEFAULT_ADDR,
|
||||
int accelCS=-1,
|
||||
int gyroBus=BMG160_DEFAULT_I2C_BUS,
|
||||
int gyroAddr=BMG160_DEFAULT_ADDR,
|
||||
int gyroCS=-1);
|
||||
|
||||
/**
|
||||
* 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);
|
||||
/**
|
||||
* BMI055 Destructor.
|
||||
*/
|
||||
~BMI055();
|
||||
|
||||
/**
|
||||
* Return gyroscope data in degrees per second in the form of a
|
||||
* floating point vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<float> getGyroscope();
|
||||
/**
|
||||
* 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 vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<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 vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<float> getGyroscope();
|
||||
|
||||
|
||||
protected:
|
||||
BMA250E *m_accel;
|
||||
BMG160 *m_gyro;
|
||||
protected:
|
||||
BMA250E *m_accel;
|
||||
BMG160 *m_gyro;
|
||||
|
||||
private:
|
||||
};
|
||||
private:
|
||||
};
|
||||
}
|
||||
|
@ -1,688 +0,0 @@
|
||||
/*
|
||||
* 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, int addr, int cs) :
|
||||
m_i2c(0), m_spi(0), m_gpioIntr(0), m_gpioDR(0), m_gpioCS(0)
|
||||
{
|
||||
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_addr = 0;
|
||||
m_isSPI = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_addr = uint8_t(addr);
|
||||
m_isSPI = false;
|
||||
}
|
||||
|
||||
|
||||
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);
|
||||
|
||||
if (m_i2c)
|
||||
delete m_i2c;
|
||||
if (m_spi)
|
||||
delete m_spi;
|
||||
if(m_gpioCS)
|
||||
delete m_gpioCS;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
@ -1,613 +0,0 @@
|
||||
/*
|
||||
* 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 3-axis Geomagnetic Sensor
|
||||
* @altname bmm050
|
||||
* @type compass
|
||||
* @man bosch
|
||||
* @con i2c spi gpio
|
||||
* @web https://www.bosch-sensortec.com/bst/products/all_products/bmm150
|
||||
*
|
||||
* @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, int 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 register
|
||||
* 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 repetition 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 repetition 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;
|
||||
|
||||
mraa::Gpio *m_gpioIntr;
|
||||
mraa::Gpio *m_gpioDR;
|
||||
|
||||
// spi chip select
|
||||
mraa::Gpio *m_gpioCS;
|
||||
|
||||
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;
|
||||
|
||||
// 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);
|
||||
};
|
||||
}
|
@ -50,16 +50,6 @@ BMX055::BMX055(int accelBus, int accelAddr, int accelCS,
|
||||
|
||||
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()
|
||||
@ -90,7 +80,7 @@ void BMX055::initGyroscope(BMG160_POWER_MODE_T pwr,
|
||||
m_gyro->init(pwr, range, bw);
|
||||
}
|
||||
|
||||
void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
|
||||
void BMX055::initMagnetometer(BMM150_USAGE_PRESETS_T usage)
|
||||
{
|
||||
if (m_mag)
|
||||
m_mag->init(usage);
|
||||
@ -169,13 +159,10 @@ void BMX055::getMagnetometer(float *x, float *y, float *z)
|
||||
}
|
||||
}
|
||||
|
||||
float *BMX055::getMagnetometer()
|
||||
std::vector<float> BMX055::getMagnetometer()
|
||||
{
|
||||
if (m_mag)
|
||||
return m_mag->getMagnetometer();
|
||||
else
|
||||
{
|
||||
static float v[3] = {0.0f, 0.0f, 0.0f};
|
||||
return v;
|
||||
}
|
||||
return {0, 0, 0};
|
||||
}
|
||||
|
@ -76,176 +76,176 @@ namespace upm {
|
||||
* @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_DEFAULT_I2C_BUS,
|
||||
int accelAddr=BMA250E_DEFAULT_ADDR,
|
||||
int accelCS=-1,
|
||||
int gyroBus=BMG160_DEFAULT_I2C_BUS,
|
||||
int gyroAddr=BMG160_DEFAULT_ADDR,
|
||||
int gyroCS=-1,
|
||||
int magBus=BMM150_I2C_BUS,
|
||||
int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR,
|
||||
int magCS=-1);
|
||||
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_DEFAULT_I2C_BUS,
|
||||
int accelAddr=BMA250E_DEFAULT_ADDR,
|
||||
int accelCS=-1,
|
||||
int gyroBus=BMG160_DEFAULT_I2C_BUS,
|
||||
int gyroAddr=BMG160_DEFAULT_ADDR,
|
||||
int gyroCS=-1,
|
||||
int magBus=BMM150_DEFAULT_I2C_BUS,
|
||||
int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR,
|
||||
int magCS=-1);
|
||||
|
||||
/**
|
||||
* BMX055 Destructor.
|
||||
*/
|
||||
~BMX055();
|
||||
/**
|
||||
* BMX055 Destructor.
|
||||
*/
|
||||
~BMX055();
|
||||
|
||||
/**
|
||||
* Update the internal stored values from sensor data.
|
||||
*/
|
||||
void update();
|
||||
/**
|
||||
* 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 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 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);
|
||||
/**
|
||||
* 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. 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 vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<float> getAccelerometer();
|
||||
/**
|
||||
* Return accelerometer data in gravities in the form of a
|
||||
* floating point vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<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. 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.
|
||||
*/
|
||||
std::vector<float> getGyroscope();
|
||||
/**
|
||||
* Return gyroscope data in degrees per second in the form of a
|
||||
* floating point vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<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). 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 vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
float *getMagnetometer();
|
||||
/**
|
||||
* Return magnetometer data in micro-Teslas (uT) in the form of a
|
||||
* floating point vector. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @return A floating point vector containing x, y, and z in
|
||||
* that order.
|
||||
*/
|
||||
std::vector<float> getMagnetometer();
|
||||
|
||||
protected:
|
||||
BMA250E *m_accel;
|
||||
BMG160 *m_gyro;
|
||||
BMM150 *m_mag;
|
||||
|
||||
protected:
|
||||
BMA250E *m_accel;
|
||||
BMG160 *m_gyro;
|
||||
BMM150 *m_mag;
|
||||
|
||||
private:
|
||||
};
|
||||
private:
|
||||
};
|
||||
}
|
||||
|
@ -2,25 +2,9 @@
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
%include "typemaps.i"
|
||||
%include "arrays_java.i";
|
||||
%include "../java_buffer.i"
|
||||
%include "../upm_vectortypes.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 *getMagnetometer {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%ignore getAccelerometer(float *, float *, float *);
|
||||
%ignore getMagnetometer(float *, float *, float *);
|
||||
@ -28,11 +12,7 @@
|
||||
|
||||
%include "bmg160_defs.h"
|
||||
%include "bma250e_defs.h"
|
||||
|
||||
%include "bmm150.hpp"
|
||||
%{
|
||||
#include "bmm150.hpp"
|
||||
%}
|
||||
%include "bmm150_defs.h"
|
||||
|
||||
%include "bmx055.hpp"
|
||||
%{
|
||||
|
@ -9,11 +9,7 @@
|
||||
|
||||
%include "bmg160_defs.h"
|
||||
%include "bma250e_defs.h"
|
||||
|
||||
%include "bmm150.hpp"
|
||||
%{
|
||||
#include "bmm150.hpp"
|
||||
%}
|
||||
%include "bmm150_defs.h"
|
||||
|
||||
%include "bmx055.hpp"
|
||||
%{
|
||||
|
@ -17,6 +17,7 @@
|
||||
|
||||
%include "bmg160_defs.h"
|
||||
%include "bma250e_defs.h"
|
||||
%include "bmm150_defs.h"
|
||||
|
||||
%include "bmm150.hpp"
|
||||
%{
|
||||
|
Loading…
x
Reference in New Issue
Block a user