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bno055: C port; C++ wraps C

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The API has been changed in some cases - see the apichanges.md
document.

In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.

This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.

The Python, JS, and Java examples have been changed to use these
methods.  Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.

As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:

       ...
       x = sensorObj.new_floatp()
       y = sensorObj.new_floatp()
       z = sensorObj.new_floatp()
       ...
       sensor.getEulerAngles(x, y, z)
       ...
       print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
       print(" Roll:", sensorObj.floatp_value(y), end=' ')
       ...

Now the equivalent code is simply:

       floatData = sensor.getEulerAngles()
       print("Euler: Heading:", floatData[0], ...
       print(" Roll:", floatData[1], end=' ')
       ...

Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2017-03-07 12:43:44 -07:00
parent 2bdde21a2f
commit d4b536b593
16 changed files with 3382 additions and 2155 deletions
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doxy/samples.mapping.txt
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@@ -5,6 +5,7 @@ adc121c021.cxx ADC121C021Sample.java adc121c021.js adc121c021.py
adxl345.cxx Adxl345Sample.java adxl345.js adxl345.py
biss0001.cxx BISS0001Sample.java biss0001.js biss0001.py
bmpx8x.cxx BMPX8XSample.java bmpx8x.js bmpx8x.py
bno055.cxx BNO055_Example.java bno055.js bno055.py
button.cxx ButtonSample.java button.js button.py
buzzer.cxx BuzzerSample.java buzzer.js buzzer.py
cjq4435.cxx CJQ4435Sample.java cjq4435.js cjq4435.py