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bmx055: remove bmm150, use new bmm150 library
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
@ -76,176 +76,176 @@ namespace upm {
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* @snippet bmx055.cxx Interesting
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*/
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class BMX055 {
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public:
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/**
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* BMX055 constructor.
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*
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* This device can support both I2C and SPI. For SPI, set the addr
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* to -1, and specify a positive integer representing the Chip
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* Select (CS) pin for the cs argument. If you are using a
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* hardware CS pin (like edison with arduino breakout), then you
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* can connect the proper pin to the hardware CS pin on your MCU
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* and supply -1 for cs. The default operating mode is I2C.
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*
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* @param accelBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param accelAddr The address for this device. -1 for SPI.
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* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param gyroBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param gyroAddr The address for this device. -1 for SPI.
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* @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param magBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param magAddr The address for this device. -1 for SPI.
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* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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*/
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BMX055(int accelBus=BMA250E_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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int magBus=BMM150_I2C_BUS,
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int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR,
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int magCS=-1);
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class BMX055 {
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public:
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/**
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* BMX055 constructor.
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*
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* This device can support both I2C and SPI. For SPI, set the addr
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* to -1, and specify a positive integer representing the Chip
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* Select (CS) pin for the cs argument. If you are using a
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* hardware CS pin (like edison with arduino breakout), then you
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* can connect the proper pin to the hardware CS pin on your MCU
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* and supply -1 for cs. The default operating mode is I2C.
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*
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* @param accelBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param accelAddr The address for this device. -1 for SPI.
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* @param accelCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param gyroBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param gyroAddr The address for this device. -1 for SPI.
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* @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @param magBus I2C or SPI bus to use. -1 to skip initializing
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* this device.
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* @param magAddr The address for this device. -1 for SPI.
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* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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*/
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BMX055(int accelBus=BMA250E_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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int magBus=BMM150_DEFAULT_I2C_BUS,
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int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR,
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int magCS=-1);
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/**
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* BMX055 Destructor.
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*/
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~BMX055();
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/**
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* BMX055 Destructor.
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*/
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~BMX055();
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/**
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* Update the internal stored values from sensor data.
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*/
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void update();
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/**
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* Update the internal stored values from sensor data.
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*/
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void update();
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/**
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* Initialize the accelerometer and start operation. This
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* function is called from the constructor so will not typically
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* need to be called by a user unless the device is reset or you
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* want to change these values.
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*
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* @param pwr One of the BMA250E_POWER_MODE_T values. The default is
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* BMA250E_POWER_MODE_NORMAL.
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* @param range One of the BMA250E_RANGE_T values. The default is
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* BMA250E_RANGE_2G.
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* @param bw One of the filtering BMA250E_BW_T values. The default is
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* BMA250E_BW_250.
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*/
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void initAccelerometer(BMA250E_POWER_MODE_T pwr=BMA250E_POWER_MODE_NORMAL,
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BMA250E_RANGE_T range=BMA250E_RANGE_2G,
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BMA250E_BW_T bw=BMA250E_BW_250);
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/**
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* Initialize the accelerometer and start operation. This
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* function is called from the constructor so will not typically
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* need to be called by a user unless the device is reset or you
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* want to change these values.
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*
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* @param pwr One of the BMA250E_POWER_MODE_T values. The default is
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* BMA250E_POWER_MODE_NORMAL.
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* @param range One of the BMA250E_RANGE_T values. The default is
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* BMA250E_RANGE_2G.
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* @param bw One of the filtering BMA250E_BW_T values. The default is
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* BMA250E_BW_250.
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*/
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void initAccelerometer(
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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 gyroscope and start operation. This function is
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* called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values.
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*
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* @param pwr One of the BMG160_POWER_MODE_T values. The default is
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* BMG160_POWER_MODE_NORMAL.
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* @param range One of the BMG160_RANGE_T values. The default is
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* BMG160_RANGE_250.
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* @param bw One of the filtering BMG160_BW_T values. The default is
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* BMG160_BW_400_47.
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*/
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void initGyroscope(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
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BMG160_RANGE_T range=BMG160_RANGE_250,
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BMG160_BW_T bw=BMG160_BW_400_47);
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/**
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* Initialize the gyroscope and start operation. This function is
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* called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values.
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*
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* @param pwr One of the BMG160_POWER_MODE_T values. The default is
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* BMG160_POWER_MODE_NORMAL.
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* @param range One of the BMG160_RANGE_T values. The default is
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* BMG160_RANGE_250.
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* @param bw One of the filtering BMG160_BW_T values. The default is
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* BMG160_BW_400_47.
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*/
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void initGyroscope(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
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BMG160_RANGE_T range=BMG160_RANGE_250,
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BMG160_BW_T bw=BMG160_BW_400_47);
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/**
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* Initialize the magnetometer and start operation. This function
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* is called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values. This method will call
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* BMM150::setPresetMode() with the passed parameter.
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*
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* @param usage One of the BMM150::USAGE_PRESETS_T values. The default is
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* BMM150::USAGE_HIGH_ACCURACY.
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*/
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void initMagnetometer(BMM150::USAGE_PRESETS_T usage=BMM150::USAGE_HIGH_ACCURACY);
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/**
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* Initialize the magnetometer and start operation. This function
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* is called from the constructor so will not typically need to be
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* called by a user unless the device is reset or you want to
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* change these values. This method will call
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* BMM150::setPresetMode() with the passed parameter.
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*
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* @param usage One of the BMM150_USAGE_PRESETS_T values.
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* The default is BMM150_USAGE_HIGH_ACCURACY.
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*/
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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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* been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getAccelerometer(float *x, float *y, float *z);
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/**
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* Return accelerometer data in gravities. update() must have
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* been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getAccelerometer(float *x, float *y, float *z);
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/**
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* Return accelerometer data in gravities in the form of a
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* floating point vector. update() must have been called prior to
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* calling this method.
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*
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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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std::vector<float> getAccelerometer();
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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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*
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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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std::vector<float> getAccelerometer();
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/**
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* Return gyroscope data in degrees per second. update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getGyroscope(float *x, float *y, float *z);
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/**
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* Return gyroscope data in degrees per second. update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getGyroscope(float *x, float *y, float *z);
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/**
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* Return gyroscope data in degrees per second in the form of a
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* floating point array. The pointer returned by this function is
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* statically allocated and will be rewritten on each call.
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* update() must have been called prior to calling this method.
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*
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* @return A floating point array containing x, y, and z in
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* that order.
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*/
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std::vector<float> getGyroscope();
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/**
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* Return gyroscope data in degrees per second in the form of a
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* floating point vector. update() must have been called prior to
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* calling this method.
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*
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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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std::vector<float> getGyroscope();
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/**
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* Return magnetometer data in micro-Teslas (uT). update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getMagnetometer(float *x, float *y, float *z);
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/**
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* Return magnetometer data in micro-Teslas (uT). update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getMagnetometer(float *x, float *y, float *z);
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/**
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* Return magnetometer data in micro-Teslas (uT) in the form of a
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* floating point vector. update() must have been called prior to
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* calling this method.
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*
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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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/**
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* Return magnetometer data in micro-Teslas (uT) 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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*
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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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std::vector<float> getMagnetometer();
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protected:
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BMA250E *m_accel;
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BMG160 *m_gyro;
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BMM150 *m_mag;
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protected:
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BMA250E *m_accel;
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BMG160 *m_gyro;
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BMM150 *m_mag;
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private:
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};
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private:
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};
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}
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