alexey.zholtikov/upm
1
0
Fork 0
mirror of https://github.com/eclipse/upm.git synced 2025-03-18 14:37:29 +03:00
Code Issues Actions Packages Projects Releases Wiki Activity

bmx055: remove bmm150, use new bmm150 library

Browse Source 
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2017-03-29 14:09:35 -06:00
parent aeaf84ccc6
commit c014ffddcd
15 changed files with 398 additions and 1718 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
docs/apichanges.md
View File

@ -6,6 +6,24 @@ compatibility between releases:
# current master
* **bmx055, bmi055, bmc150, bma250e, bmg160, bmm150** This driver has
been split up. The *bma250e*, *bmg160*, *bmm150* drivers have been
rewritten in C (with C++ wrappers) and now reside in their own
libraries. The versions of these drivers that used to be present in
*bmx055* have been removed, and *bmx055* now uses the new libraries
for it's functionality. The other two composite devices, *bmi055*,
and *bmc150* are still contained within the *bmx055* library, and
also use the new libraries for their functionality.
In addition, for all of these drivers some private methods are no
longer exposed (such as the compensation routines).
The C++ driver methods that once returned pointers to a floating
point array now return *std::vectors* of the appropriate type. The
SWIG language examples for these drivers have been modified to use
these methods instead of the C pointer based SWIG methods previously
used.
* **sainsmartks** This driver has been renamed to *lcdks* (LCD Keypad
Shield) and moved into it's own library. It uses the *lcm1602*
library to do most of it's work. In addition, an additional argument
@ -33,8 +51,8 @@ compatibility between releases:
used previously. This should make it easier to use with the SWIG
language bindings (Python, Javascript, and especially Java).
* **bmp280/bme280** Some private methods are no longer exposed
(such as the calibration and compensation routines). In addition,
* **bmp280/bme280** Some private methods are no longer exposed (such
as the calibration and compensation routines). In addition,
the *getHumidity()* method no longer accepts an argument representing
pressure at sea level. A separate method is provided to set this now.

16
examples/java/BMC150_Example.java
View File

@ -40,18 +40,18 @@ public class BMC150_Example
// update our values from the sensor
sensor.update();
upm_bmx055.floatVector dataA = sensor.getAccelerometer();
upm_bmx055.floatVector data = sensor.getAccelerometer();
System.out.println("Accelerometer x: " + dataA.get(0)
+ " y: " + dataA.get(1)
+ " z: " + dataA.get(2)
System.out.println("Accelerometer x: " + data.get(0)
+ " y: " + data.get(1)
+ " z: " + data.get(2)
+ " g");
float data[] = sensor.getMagnetometer();
data = sensor.getMagnetometer();
System.out.println("Magnetometer x: " + data[0]
+ " y: " + data[1]
+ " z: " + data[2]
System.out.println("Magnetometer x: " + data.get(0)
+ " y: " + data.get(1)
+ " z: " + data.get(2)
+ " uT");
System.out.println();

8
examples/java/BMX055_Example.java
View File

@ -54,11 +54,11 @@ public class BMX055_Example
+ " z: " + data.get(2)
+ " degrees/s");
float dataM[] = sensor.getMagnetometer();
data = sensor.getMagnetometer();
System.out.println("Magnetometer x: " + dataM[0]
+ " y: " + dataM[1]
+ " z: " + dataM[2]
System.out.println("Magnetometer x: " + data.get(0)
+ " y: " + data.get(1)
+ " z: " + data.get(2)
+ " uT");
System.out.println();

6
src/bmx055/CMakeLists.txt
View File

@ -1,5 +1,5 @@
upm_mixed_module_init (NAME bmx055
DESCRIPTION "Bosch IMU Sensor Library"
CPP_HDR bmx055.hpp bmm150.hpp bmc150.cxx bmi055.hpp
CPP_SRC bmx055.cxx bmm150.cxx bmc150.cxx bmi055.cxx
REQUIRES mraa bmg160 bma250e)
CPP_HDR bmx055.hpp bmc150.cxx bmi055.hpp
CPP_SRC bmx055.cxx bmc150.cxx bmi055.cxx
REQUIRES mraa bmg160 bma250e bmm150)

9
src/bmx055/bmc150.cxx
View File

@ -72,7 +72,7 @@ void BMC150::initAccelerometer(BMA250E_POWER_MODE_T pwr,
m_accel->init(pwr, range, bw);
}
void BMC150::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
void BMC150::initMagnetometer(BMM150_USAGE_PRESETS_T usage)
{
if (m_mag)
m_mag->init(usage);
@ -107,13 +107,10 @@ void BMC150::getMagnetometer(float *x, float *y, float *z)
m_mag->getMagnetometer(x, y, z);
}
float *BMC150::getMagnetometer()
std::vector<float> BMC150::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};
}

25
src/bmx055/bmc150.hpp
View File

@ -123,9 +123,10 @@ namespace upm {
* @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);
void initAccelerometer(
BMA250E_POWER_MODE_T pwr=BMA250E_POWER_MODE_NORMAL,
BMA250E_RANGE_T range=BMA250E_RANGE_2G,
BMA250E_BW_T bw=BMA250E_BW_250);
/**
* Initialize the magnetometer and start operation. This function
@ -134,10 +135,11 @@ namespace upm {
* 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.
* @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);
void initMagnetometer(
BMM150_USAGE_PRESETS_T usage=BMM150_USAGE_HIGH_ACCURACY);
/**
* Return accelerometer data in gravities. update() must have
@ -176,15 +178,14 @@ namespace upm {
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 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 array containing x, y, and z in
* @return A floating point vector containing x, y, and z in
* that order.
*/
float *getMagnetometer();
std::vector<float> getMagnetometer();
protected:

72
src/bmx055/bmi055.cxx
View File

@ -36,83 +36,83 @@ using namespace std;
BMI055::BMI055(int accelBus, int accelAddr, int accelCS,
int gyroBus, int gyroAddr, int gyroCS) :
m_accel(0), m_gyro(0)
m_accel(0), m_gyro(0)
{
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
// now initialize them...
if (m_accel)
m_accel->init();
// now initialize them...
if (m_accel)
m_accel->init();
if (m_gyro)
m_gyro->init();
if (m_gyro)
m_gyro->init();
}
BMI055::~BMI055()
{
if (m_accel)
delete m_accel;
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
if (m_gyro)
delete m_gyro;
}
void BMI055::initAccelerometer(BMA250E_POWER_MODE_T pwr,
BMA250E_RANGE_T range,
BMA250E_BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMI055::initGyroscope(BMG160_POWER_MODE_T pwr,
BMG160_RANGE_T range,
BMG160_BW_T bw)
{
if (m_gyro)
m_gyro->init(pwr, range, bw);
if (m_gyro)
m_gyro->init(pwr, range, bw);
}
void BMI055::update()
{
if (m_accel)
m_accel->update();
if (m_accel)
m_accel->update();
if (m_gyro)
m_gyro->update();
if (m_gyro)
m_gyro->update();
}
void BMI055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
std::vector<float> BMI055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
return {0, 0, 0};
if (m_accel)
return m_accel->getAccelerometer();
else
return {0, 0, 0};
}
void BMI055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
}
std::vector<float> BMI055::getGyroscope()
{
if (m_gyro)
return m_gyro->getGyroscope();
else
return {0, 0, 0};
if (m_gyro)
return m_gyro->getGyroscope();
else
return {0, 0, 0};
}

291
src/bmx055/bmi055.hpp
View File

@ -33,162 +33,163 @@
namespace upm {
/**
* @library bmx055
* @sensor bmi055
* @comname 6DoF Sensor Module
* @type accelerometer compass
* @man bosch
* @con i2c gpio spi
* @web https://www.bosch-sensortec.com/bst/products/all_products/bmi055
*
* @brief API for the BMI055 6-axis Sensor Module
*
* The BMI055 is an inertial measurement unit (IMU) for the
* detection of movements and rotations in 6 degrees of freedom
* (6DoF). It reflects the full functionality of a triaxial, low-g
* acceleration sensor and at the same time it is capable to measure
* angular rates. Both - acceleration and angular rate - in three
* perpendicular room dimensions, the x-, y- and z-axis.
*
* The BMI055 is essentially 2 separate devices in one: the BMA250E
* Accelerometer and the BMG160 Gyroscope. They are completely
* independant of each other.
*
* This driver provides a very simple interface to these two devices.
* If finer control is desired, you should just use the separate
* BMA25E and BMG160 device classes directly. This driver
* simply initializes both devices, and provides a mechanism to
* read accelerometer and gyroscope data from them.
*
* @snippet bmi055.cxx Interesting
*/
class BMI055 {
public:
/**
* BMI055 constructor.
* @library bmx055
* @sensor bmi055
* @comname 6DoF Sensor Module
* @type accelerometer compass
* @man bosch
* @con i2c gpio spi
* @web https://www.bosch-sensortec.com/bst/products/all_products/bmi055
*
* 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.
* @brief API for the BMI055 6-axis Sensor Module
*
* @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);
/**
* BMI055 Destructor.
*/
~BMI055();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Initialize the accelerometer and start operation. This
* function is called from the constructor so will not typically
* need to be called by a user unless the device is reset or you
* want to change these values.
* The BMI055 is an inertial measurement unit (IMU) for the
* detection of movements and rotations in 6 degrees of freedom
* (6DoF). It reflects the full functionality of a triaxial, low-g
* acceleration sensor and at the same time it is capable to measure
* angular rates. Both - acceleration and angular rate - in three
* perpendicular room dimensions, the x-, y- and z-axis.
*
* @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.
* The BMI055 is essentially 2 separate devices in one: the BMA250E
* Accelerometer and the BMG160 Gyroscope. They are completely
* independant of each other.
*
* @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.
* This driver provides a very simple interface to these two devices.
* If finer control is desired, you should just use the separate
* BMA25E and BMG160 device classes directly. This driver
* simply initializes both devices, and provides a mechanism to
* read accelerometer and gyroscope data from them.
*
* @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.
* @snippet bmi055.cxx Interesting
*/
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();
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:
};
}

688
src/bmx055/bmm150.cxx
View File

@ -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;
}

613
src/bmx055/bmm150.hpp
View File

@ -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);
};
}

19
src/bmx055/bmx055.cxx
View File

@ -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};
}

318
src/bmx055/bmx055.hpp
View File

@ -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:
};
}

22
src/bmx055/javaupm_bmx055.i
View File

@ -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"
%{

6
src/bmx055/jsupm_bmx055.i
View File

@ -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"
%{

1
src/bmx055/pyupm_bmx055.i
View File

@ -17,6 +17,7 @@
%include "bmg160_defs.h"
%include "bma250e_defs.h"
%include "bmm150_defs.h"
%include "bmm150.hpp"
%{