bno055: C port; C++ wraps C

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>

examples/c/CMakeLists.txt

@@ -149,6 +149,7 @@ add_example (hmc5883l)
 add_example (wfs)
 add_example (enc03r)
 add_example (nunchuck)
+add_example (bno055)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/bno055.c

@@ -0,0 +1,119 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2017 Intel Corporation.
+ *
+ * The MIT License
+ *
+ * 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.
+ */
+
+#include <unistd.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <upm_utilities.h>
+
+#include <signal.h>
+#include "bno055.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Initialize a BNO055 using default parameters (bus 0, addr
+  // 0x28).  The default running mode is NDOF absolute orientation
+  // mode.
+  bno055_context sensor = bno055_init(0, BNO055_DEFAULT_ADDR);
+
+  if (!sensor)
+  {
+      printf("bno055_init() failed.\n");
+      return 1;
+  }
+
+  // First we need to calibrate....
+  printf("First we need to calibrate.  4 numbers will be output every \n"
+         "second for each sensor.  0 means uncalibrated, and 3 means \n"
+         "fully calibrated.\n"
+         "See the UPM documentation on this sensor for instructions on \n"
+         "what actions are required to calibrate.\n");
+
+  // do the calibration...
+  while (shouldRun && !bno055_is_fully_calibrated(sensor))
+    {
+      int mag, acc, gyr, sys;
+      bno055_get_calibration_status(sensor, &mag, &acc, &gyr, &sys);
+
+      printf("Magnetometer: %d Accelerometer: %d Gyroscope: %d System: %d\n",
+             mag, acc, gyr, sys);
+
+      upm_delay(1);
+    }
+
+  printf("\nCalibration complete.\n\n");
+
+  // now output various fusion data every 250 milliseconds
+  while (shouldRun)
+    {
+      float w, x, y, z;
+
+      if (bno055_update(sensor))
+      {
+          printf("bno055_update() failed.\n");
+          return 1;
+      }
+
+      bno055_get_euler_angles(sensor, &x, &y, &z);
+      printf("Euler: Heading: %f Roll: %f Pitch: %f degrees\n",
+             x, y, z);
+
+      bno055_get_quaternions(sensor, &w, &x, &y, &z);
+      printf("Quaternion: W: %f X: %f Y: %f Z: %f\n",
+             w, x, y, z);
+
+      bno055_get_linear_acceleration(sensor, &x, &y, &z);
+      printf("Linear Acceleration: X: %f Y: %f Z: %f m/s^2\n",
+             x, y, z);
+
+      bno055_get_gravity_vectors(sensor, &x, &y, &z);
+      printf("Gravity Vector: X: %f Y: %f Z: %f m/s^2\n",
+             x, y, z);
+
+      printf("\n");
+      upm_delay_ms(250);
+    }
+
+//! [Interesting]
+
+  printf("Exiting...\n");
+
+  bno055_close(sensor);
+
+  return 0;
+}

examples/java/BNO055_Example.java

@@ -1,6 +1,8 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
+ * Copyright (c) 2016-2017 Intel Corporation.
+ *
+ * The MIT License
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -45,12 +47,12 @@ public class BNO055_Example
 
         while (!sensor.isFullyCalibrated())
             {
-                int calData[] = sensor.getCalibrationStatus();
+                upm_bno055.intVector calData = sensor.getCalibrationStatus();
 
-                System.out.println("Magnetometer: " + calData[0]
-                                   + " Accelerometer: " + calData[1]
-                                   + " Gyroscope: " + calData[2]
-                                   + " System: " + calData[3]);
+                System.out.println("Magnetometer: " + calData.get(0)
+                                   + " Accelerometer: " + calData.get(1)
+                                   + " Gyroscope: " + calData.get(2)
+                                   + " System: " + calData.get(3));
 
                 Thread.sleep(1000);
 
@@ -65,30 +67,30 @@ public class BNO055_Example
                 // update our values from the sensor
                 sensor.update();
 
-                float dataE[] = sensor.getEulerAngles();
-                System.out.println("Euler: Heading: " + dataE[0] +
-                                   " Roll: " + dataE[1] +
-                                   " Pitch: " + dataE[2] +
-                                   " degrees");
+                upm_bno055.floatVector data = sensor.getEulerAngles();
 
-                float dataQ[] = sensor.getQuaternions();
-                System.out.println("Quaternion: W: " + dataQ[0] +
-                                   " X:" + dataQ[1] +
-                                   " Y: " + dataQ[2] +
-                                   " Z: " + dataQ[3]);
+                System.out.println("Euler: Heading: " + data.get(0)
+                                   + " Roll: " + data.get(1)
+                                   + " Pitch: " + data.get(2)
+                                   + " degrees");
 
-                float dataL[] = sensor.getLinearAcceleration();
-                System.out.println("Linear Acceleration: X: " + dataL[0] +
-                                   " Y: " + dataL[1] +
-                                   " Z: " + dataL[2] +
-                                   " m/s^2");
+                data = sensor.getQuaternions();
+                System.out.println("Quaternion: W: " + data.get(0)
+                                   + " X: " + data.get(1)
+                                   + " Y: " + data.get(2)
+                                   + " Z: " + data.get(3));
 
-                float dataG[] = sensor.getGravityVectors();
-                System.out.println("Gravity Vector: X: " + dataG[0] +
-                                   " Y: " + dataG[1] +
-                                   " Z: " + dataG[2] +
-                                   " m/s^2");
+                data = sensor.getLinearAcceleration();
+                System.out.println("Linear Acceleration: X: " + data.get(0)
+                                   + " Y: " + data.get(1)
+                                   + " Z: " + data.get(2)
+                                   + " m/s^2");
 
+                data = sensor.getGravityVectors();
+                System.out.println("Gravity Vector: X: " + data.get(0)
+                                   + " Y: " + data.get(1)
+                                   + " Z: " + data.get(2)
+                                   + " m/s^2");
 
                 System.out.println();
                 Thread.sleep(250);

examples/javascript/bno055.js

@@ -1,6 +1,8 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
+ * Copyright (c) 2016-2017 Intel Corporation.
+ *
+ * The MIT License
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -30,16 +32,6 @@ var sensorObj = require('jsupm_bno055');
 // mode.
 var sensor = new sensorObj.BNO055();
 
-var mag = new sensorObj.new_intp();
-var acc = new sensorObj.new_intp();
-var gyr = new sensorObj.new_intp();
-var syst = new sensorObj.new_intp();
-
-var w = new sensorObj.new_floatp();
-var x = new sensorObj.new_floatp();
-var y = new sensorObj.new_floatp();
-var z = new sensorObj.new_floatp();
-
 console.log("First we need to calibrate.  4 numbers will be output every");
 console.log("second for each sensor.  0 means uncalibrated, and 3 means");
 console.log("fully calibrated.");
@@ -61,11 +53,11 @@ var calInterval = setInterval(function()
     }
     else
     {
-        sensor.getCalibrationStatus(mag, acc, gyr, syst);
-        console.log("Magnetometer: " + sensorObj.intp_value(mag) +
-                    " Accelerometer: " + sensorObj.intp_value(acc) +
-                    " Gyroscope: " + sensorObj.intp_value(gyr) +
-                    " System: " + sensorObj.intp_value(syst));
+        var intData = sensor.getCalibrationStatus();
+        console.log("Magnetometer: " + intData.get(0) +
+                    " Accelerometer: " + intData.get(1) +
+                    " Gyroscope: " + intData.get(2) +
+                    " System: " + intData.get(3));
     }
 
 }, 1000);
@@ -76,29 +68,29 @@ function outputData()
 {
     sensor.update();
 
-    sensor.getEulerAngles(x, y, z);
-    console.log("Euler: Heading: " + sensorObj.floatp_value(x) +
-                " Roll: " + sensorObj.floatp_value(y) +
-                " Pitch: " + sensorObj.floatp_value(z) +
-                " degrees");
+    var floatData = sensor.getEulerAngles();
+    console.log("Euler: Heading: " + floatData.get(0)
+                + " Roll: " + floatData.get(1)
+                + " Pitch: " + floatData.get(2)
+                + " degrees");
 
-    sensor.getQuaternions(w, x, y, z);
-    console.log("Quaternion: W: " + sensorObj.floatp_value(w) +
-                " X:" + sensorObj.floatp_value(x) +
-                " Y: " + sensorObj.floatp_value(y) +
-                " Z: " + sensorObj.floatp_value(z));
+    floatData = sensor.getQuaternions();
+    console.log("Quaternion: W: " + floatData.get(0)
+                + " X:" + floatData.get(1)
+                + " Y: " + floatData.get(2)
+                + " Z: " + floatData.get(3));
 
-    sensor.getLinearAcceleration(x, y, z);
-    console.log("Linear Acceleration: X: " + sensorObj.floatp_value(x) +
-                " Y: " + sensorObj.floatp_value(y) +
-                " Z: " + sensorObj.floatp_value(z) +
-                " m/s^2");
+    floatData = sensor.getLinearAcceleration();
+    console.log("Linear Acceleration: X: " + floatData.get(0)
+                + " Y: " + floatData.get(1)
+                + " Z: " + floatData.get(2)
+                + " m/s^2");
 
-    sensor.getGravityVectors(x, y, z);
-    console.log("Gravity Vector: X: " + sensorObj.floatp_value(x) +
-                " Y: " + sensorObj.floatp_value(y) +
-                " Z: " + sensorObj.floatp_value(z) +
-                " m/s^2");
+    floatData = sensor.getGravityVectors();
+    console.log("Gravity Vector: X: " + floatData.get(0)
+                + " Y: " + floatData.get(1)
+                + " Z: " + floatData.get(2)
+                + " m/s^2");
 
     console.log("");
 };

examples/python/bno055.py

@@ -1,6 +1,8 @@
 #!/usr/bin/python
 # Author: Jon Trulson <jtrulson@ics.com>
-# Copyright (c) 2016 Intel Corporation.
+# Copyright (c) 2016-2017 Intel Corporation.
+#
+# The MIT License
 #
 # Permission is hereby granted, free of charge, to any person obtaining
 # a copy of this software and associated documentation files (the
@@ -32,7 +34,8 @@ def main():
     sensor = sensorObj.BNO055()
 
     ## Exit handlers ##
-    # This function stops python from printing a stacktrace when you hit control-C
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
     def SIGINTHandler(signum, frame):
         raise SystemExit
 
@@ -45,16 +48,6 @@ def main():
     atexit.register(exitHandler)
     signal.signal(signal.SIGINT, SIGINTHandler)
 
-    mag = sensorObj.new_intp()
-    acc = sensorObj.new_intp()
-    gyr = sensorObj.new_intp()
-    syst = sensorObj.new_intp()
-
-    w = sensorObj.new_floatp()
-    x = sensorObj.new_floatp()
-    y = sensorObj.new_floatp()
-    z = sensorObj.new_floatp()
-
     print("First we need to calibrate.  4 numbers will be output every")
     print("second for each sensor.  0 means uncalibrated, and 3 means")
     print("fully calibrated.")
@@ -63,44 +56,54 @@ def main():
     print()
 
     while (not sensor.isFullyCalibrated()):
-        sensor.getCalibrationStatus(mag, acc, gyr, syst)
-        print("Magnetometer:", sensorObj.intp_value(mag), end=' ')
-        print(" Accelerometer:", sensorObj.intp_value(acc), end=' ')
-        print(" Gyroscope:", sensorObj.intp_value(gyr), end=' ')
-        print(" System:", sensorObj.intp_value(syst), end=' ')
+        intData = sensor.getCalibrationStatus()
+        print("Magnetometer:", intData[0], end=' ')
+        print(" Accelerometer:", intData[1], end=' ')
+        print(" Gyroscope:", intData[2], end=' ')
+        print(" System:", intData[3])
         time.sleep(1)
 
     print()
     print("Calibration complete.")
     print()
 
+# example - read calibration data, sleep and then write it
+#    print("Reading calibration data....")
+#    byteData = sensor.readCalibrationData()
+#    print("Read data successfully.")
+#    print("Writing calibration data...")
+#    time.sleep(1)
+#    sensor.writeCalibrationData(byteData)
+#    print("Success!")
+#    time.sleep(3)
+
     # now output various fusion data every 250 milliseconds
 
     while (True):
         sensor.update()
 
-        sensor.getEulerAngles(x, y, z)
-        print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
-        print(" Roll:", sensorObj.floatp_value(y), end=' ')
-        print(" Pitch:", sensorObj.floatp_value(z), end=' ')
+        floatData = sensor.getEulerAngles()
+        print("Euler: Heading:", floatData[0], end=' ')
+        print(" Roll:", floatData[1], end=' ')
+        print(" Pitch:", floatData[2], end=' ')
         print(" degrees")
 
-        sensor.getQuaternions(w, x, y, z)
-        print("Quaternion: W:", sensorObj.floatp_value(w), end=' ')
-        print(" X:", sensorObj.floatp_value(x), end=' ')
-        print(" Y:", sensorObj.floatp_value(y), end=' ')
-        print(" Z:", sensorObj.floatp_value(z))
+        floatData = sensor.getQuaternions()
+        print("Quaternion: W:", floatData[0], end=' ')
+        print(" X:", floatData[1], end=' ')
+        print(" Y:", floatData[2], end=' ')
+        print(" Z:", floatData[3])
 
-        sensor.getLinearAcceleration(x, y, z)
-        print("Linear Acceleration: X:", sensorObj.floatp_value(x), end=' ')
-        print(" Y:", sensorObj.floatp_value(y), end=' ')
-        print(" Z:", sensorObj.floatp_value(z), end=' ')
+        floatData = sensor.getLinearAcceleration()
+        print("Linear Acceleration: X:", floatData[0], end=' ')
+        print(" Y:", floatData[1], end=' ')
+        print(" Z:", floatData[2], end=' ')
         print(" m/s^2")
 
-        sensor.getGravityVectors(x, y, z)
-        print("Gravity Vector: X:", sensorObj.floatp_value(x), end=' ')
-        print(" Y:", sensorObj.floatp_value(y), end=' ')
-        print(" Z:", sensorObj.floatp_value(z), end=' ')
+        floatData = sensor.getGravityVectors()
+        print("Gravity Vector: X:", floatData[0], end=' ')
+        print(" Y:", floatData[1], end=' ')
+        print(" Z:", floatData[2], end=' ')
         print(" m/s^2")
 
         print()