Added iMagnetometer interface

Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/java/BMI160_Example.java

@@ -62,15 +62,15 @@ public class BMI160_Example
                                    + " GZ: "
                                    + dataG.get(2));
 
-                float dataM[] = sensor.getMagnetometer();
+                AbstractList<Float> dataM = sensor.getMagnetometer();
 
                 System.out.println("Magnetometer:  "
                                    + "MX: "
-                                   + dataM[0]
+                                   + dataM.get(0)
                                    + " MY: "
-                                   + dataM[1]
+                                   + dataM.get(1)
                                    + " MZ: "
-                                   + dataM[2]);
+                                   + dataM.get(2));
 
                 System.out.println();
                 Thread.sleep(500);

examples/java/BMM150_Example.java

@@ -24,10 +24,12 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import upm_interfaces.*;
 import upm_bmm150.BMM150;
 import java.util.AbstractList;
 import java.lang.Float;
 
+
 public class BMM150_Example
 {
     public static void main(String[] args) throws InterruptedException

examples/java/CMakeLists.txt

@@ -82,7 +82,7 @@ add_example(BME280_Example "bmp280;interfaces")
 add_example(BMG160_Example "bmg160;interfaces")
 add_example(BMI055_Example "bmx055;interfaces")
 add_example(BMI160_Example "bmi160;interfaces")
-add_example(BMM150_Example bmm150)
+add_example(BMM150_Example "bmm150;interfaces")
 add_example(BMP280_Example "bmp280;interfaces")
 add_example(BMPX8X_Example "bmpx8x;interfaces")
 add_example(BMX055_Example "bmx055;interfaces")

include/interfaces/CMakeLists.txt

@@ -18,8 +18,10 @@ set (module_hpp iClock.hpp
                 iHallEffect.hpp
                 iHeartRate.hpp
                 iHumidity.hpp
+                iGyroscope.hpp
                 iLight.hpp
                 iLineFinder.hpp
+                iMagnetometer.hpp
                 iMoisture.hpp
                 iMotion.hpp
                 iPressure.hpp

include/interfaces/iMagnetometer.hpp

@@ -0,0 +1,48 @@
+/*
+ * Author: Serban Waltter <serban.waltter@rinftech.com>
+ * Copyright (c) 2018 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 <vector>
+
+namespace upm
+{
+    /**
+     * @brief Interface for acceleration sensors
+     */
+    class iMagnetometer
+    {
+        public:
+            virtual ~iMagnetometer() {}
+
+            /**
+             * Return gyroscope data in degrees per second in the form of
+             * a floating point vector in micro Tesla.
+             *
+             * @return A floating point vector containing x, y, and z in
+             * that order in micro Tesla.
+             */
+            virtual std::vector<float> getMagnetometer() = 0;
+    };
+} // upm

include/interfaces/interfaces.cxx

@@ -15,6 +15,7 @@
 #include "iHumidity.hpp"
 #include "iLight.hpp"
 #include "iLineFinder.hpp"
+#include "iMagnetometer.hpp"
 #include "iMoisture.hpp"
 #include "iMotion.hpp"
 #include "iOrp.hpp"

include/interfaces/interfaces.i

@@ -56,6 +56,7 @@ import java.lang.Float;
     %interface_impl (upm::iHumidity);
     %interface_impl (upm::iLight);
     %interface_impl (upm::iLineFinder);
+    %interface_impl (upm::iMagnetometer);
     %interface_impl (upm::iMoisture);
     %interface_impl (upm::iMotion);
     %interface_impl (upm::iOrp);
@@ -85,6 +86,7 @@ import java.lang.Float;
     #include "iHumidity.hpp"
     #include "iLight.hpp"
     #include "iLineFinder.hpp"
+    #include "iMagnetometer.hpp"
     #include "iMoisture.hpp"
     #include "iMotion.hpp"
     #include "iOrp.hpp"
@@ -113,6 +115,7 @@ import java.lang.Float;
 %include "iHumidity.hpp"
 %include "iLight.hpp"
 %include "iLineFinder.hpp"
+%include "iMagnetometer.hpp"
 %include "iMoisture.hpp"
 %include "iMotion.hpp"
 %include "iOrp.hpp"

src/CMakeLists.txt

@@ -267,13 +267,20 @@ function (_get_current_dot_i_file filePrefix varDotIFile)
           list (FIND module_iface "iAcceleration.hpp" _index)
           if (${_index} GREATER -1)
             set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+          else()
             list (FIND module_iface "iGyroscope.hpp" _index)
-          elseif(${_index} GREATER -1)
+            if(${_index} GREATER -1)
               set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+            else()
+              list (FIND module_iface "iMagnetometer.hpp" _index)
+              if(${_index} GREATER -1)
+                set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+              endif()
+            endif()
           endif()
         else()
           cmake_policy(SET CMP0057 NEW)
-          if (("iAcceleration.hpp" IN_LIST module_iface) OR ("iGyroscope.hpp" IN_LIST module_iface))
+          if (("iAcceleration.hpp" IN_LIST module_iface) OR ("iGyroscope.hpp" IN_LIST module_iface) OR ("iMagnetometer.hpp" IN_LIST module_iface))
             set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
           endif()
         endif()

src/bmi160/CMakeLists.txt

@@ -4,7 +4,7 @@ upm_mixed_module_init (NAME bmi160
     C_SRC bmi160.c bosch_bmi160.c
     CPP_HDR bmi160.hpp
     CPP_SRC bmi160.cxx
-    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp iMagnetometer.hpp
 #    FTI_SRC bmi160_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bmi160/bmi160.cxx

@@ -101,13 +101,13 @@ std::vector<float> BMI160::getGyroscope()
   return std::vector<float>(values, values + 3);
 }
 
-float *BMI160::getMagnetometer()
+std::vector<float> BMI160::getMagnetometer()
 {
   static float values[3]; // x, y, and then z
 
   getMagnetometer(&values[0], &values[1], &values[2]);
 
-  return values;
+  return std::vector<float>(values, values + 3);
 }
 
 void BMI160::enableMagnetometer(bool enable)

src/bmi160/bmi160.hpp

@@ -27,6 +27,7 @@
 
 #include <interfaces/iAcceleration.hpp>
 #include <interfaces/iGyroscope.hpp>
+#include <interfaces/iMagnetometer.hpp>
 
 #define BMI160_I2C_BUS 0
 #define BMI160_DEFAULT_I2C_ADDR 0x69
@@ -75,7 +76,7 @@ namespace upm {
      *
      * @snippet bmi160.cxx Interesting
      */
-    class BMI160: virtual public iAcceleration, virtual public iGyroscope {
+    class BMI160: virtual public iAcceleration, virtual public iGyroscope, public virtual iMagnetometer {
     public:
 
         /**
@@ -189,7 +190,7 @@ namespace upm {
          * @return Pointer to 3 floating point values: X, Y, and Z in
          * micro Teslas.
          */
-        float *getMagnetometer();
+        std::vector<float> getMagnetometer();
 
         /**
          * Get the Magnetometer values.  The values returned are in micro

src/bmm150/CMakeLists.txt

@@ -4,6 +4,7 @@ upm_mixed_module_init (NAME bmm150
     C_SRC bmm150.c
     CPP_HDR bmm150.hpp
     CPP_SRC bmm150.cxx
+    IFACE_HDR iMagnetometer.hpp
     FTI_SRC bmm150_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bmm150/bmm150.cxx

@@ -96,9 +96,10 @@ void BMM150::getMagnetometer(float *x, float *y, float *z)
 
 std::vector<float> BMM150::getMagnetometer()
 {
+    update();
     float v[3];
 
-    getMagnetometer(&v[0], &v[1], &v[2]);
+    bmm150_get_magnetometer(m_bmm150, &v[0], &v[1], &v[2]);
     return std::vector<float>(v, v+3);
 }
 

src/bmm150/bmm150.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "bmm150.h"
 
+#include <interfaces/iMagnetometer.hpp>
+
 namespace upm {
 
     /**
@@ -73,7 +75,7 @@ namespace upm {
      * @snippet bmm150.cxx Interesting
      */
 
-    class BMM150 {
+    class BMM150: virtual public iMagnetometer {
     public:
         /**
          * BMM150 constructor.

src/bmm150/bmm150.i

@@ -1,25 +1,25 @@
+#ifdef SWIGPYTHON
+%module (package="upm") bmi160
+#endif
+
+%import "interfaces/interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_javastdvector.i"
-
-%ignore getMagnetometer(float *, float *, float *);
-
 %typemap(javaimports) SWIGTYPE %{
+import upm_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
 
+%ignore getMagnetometer(float *, float *, float *);
+
 %typemap(javaout) SWIGTYPE {
     return new $&javaclassname($jnicall, true);
 }
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
 
 %ignore installISR (BMM150_INTERRUPT_PINS_T , int ,  mraa::Edge ,  void *, void *);
 

src/bmx055/CMakeLists.txt

@@ -2,5 +2,5 @@ upm_mixed_module_init (NAME bmx055
     DESCRIPTION "Bosch IMU Sensor Library"
     CPP_HDR bmx055.hpp bmc150.hpp bmi055.hpp
     CPP_SRC bmx055.cxx bmc150.cxx bmi055.cxx
-    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp iMagnetometer.hpp
     REQUIRES mraa bmg160 bma250e bmm150)

src/bmx055/bmc150.cxx

@@ -117,6 +117,7 @@ void BMC150::getMagnetometer(float *x, float *y, float *z)
 
 std::vector<float> BMC150::getMagnetometer()
 {
+    update();
     if (m_mag)
         return m_mag->getMagnetometer();
     else

src/bmx055/bmc150.hpp

@@ -30,6 +30,7 @@
 #include "bmm150.hpp"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iMagnetometer.hpp>
 
 #define BMC150_DEFAULT_BUS 0
 #define BMC150_DEFAULT_ACC_ADDR 0x10
@@ -72,7 +73,7 @@ namespace upm {
      * @snippet bmx055-bmc150.cxx Interesting
      */
 
-    class BMC150: virtual public iAcceleration {
+    class BMC150: virtual public iAcceleration, virtual public iMagnetometer {
     public:
         /**
          * BMC150 constructor.

src/bmx055/bmx055.cxx

@@ -169,6 +169,7 @@ void BMX055::getMagnetometer(float *x, float *y, float *z)
 
 std::vector<float> BMX055::getMagnetometer()
 {
+    update();
     if (m_mag)
         return m_mag->getMagnetometer();
     else

src/bmx055/bmx055.hpp

@@ -79,7 +79,7 @@ namespace upm {
    * @snippet bmx055.cxx Interesting
    */
 
-    class BMX055: virtual public iAcceleration, virtual public iGyroscope {
+    class BMX055: virtual public iAcceleration, virtual public iGyroscope, public virtual iMagnetometer {
     public:
         /**
          * BMX055 constructor.

src/bno055/bno055.hpp

@@ -30,6 +30,7 @@
 
 #include <interfaces/iAcceleration.hpp>
 #include <interfaces/iGyroscope.hpp>
+#include <interfaces/iMagnetometer.hpp>
 
 namespace upm {
 

src/lsm303agr/CMakeLists.txt

@@ -5,6 +5,6 @@ upm_mixed_module_init (NAME lsm303agr
     CPP_HDR lsm303agr.hpp
     CPP_SRC lsm303agr.cxx
     FTI_SRC lsm303agr_fti.c
-    IFACE_HDR iAcceleration.hpp
+    IFACE_HDR iAcceleration.hpp iMagnetometer.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm303agr/lsm303agr.cxx

@@ -90,9 +90,10 @@ void LSM303AGR::getMagnetometer(float *x, float *y, float *z)
 
 std::vector<float> LSM303AGR::getMagnetometer()
 {
+    update();
     float v[3];
 
-    getMagnetometer(&v[0], &v[1], &v[2]);
+    lsm303agr_get_magnetometer(m_lsm303agr, &v[0], &v[1], &v[2]);
     return std::vector<float>(v, v+3);
 }
 

src/lsm303agr/lsm303agr.hpp

@@ -32,6 +32,7 @@
 #include "lsm303agr.h"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iMagnetometer.hpp>
 
 namespace upm {
 
@@ -67,7 +68,7 @@ namespace upm {
      * @snippet lsm303agr.cxx Interesting
      */
 
-    class LSM303AGR: virtual public iAcceleration {
+    class LSM303AGR: virtual public iAcceleration, virtual public iMagnetometer {
     public:
         /**
          * LSM303AGR constructor

src/lsm9ds0/CMakeLists.txt

@@ -2,5 +2,5 @@ set (libname "lsm9ds0")
 set (libdescription "Triaxial Gyroscope/accelerometer/magnetometer Sensor")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
-set (module_iface iAcceleration.hpp iGyroscope.hpp)
+set (module_iface iAcceleration.hpp iGyroscope.hpp iMagnetometer.hpp)
 upm_module_init(mraa)

src/lsm9ds0/lsm9ds0.cxx

@@ -645,8 +645,11 @@ std::vector<float> LSM9DS0::getGyroscope()
 
 std::vector<float> LSM9DS0::getMagnetometer()
 {
+  update();
   std::vector<float> v(3);
-  getMagnetometer(&v[0], &v[1], &v[2]);
+  v[0] = (m_magX * m_magScale) / 1000.0;
+  v[1] = (m_magY * m_magScale) / 1000.0;
+  v[2] = (m_magZ * m_magScale) / 1000.0;
   return v;
 }
 

src/lsm9ds0/lsm9ds0.hpp

@@ -32,6 +32,7 @@
 
 #include <interfaces/iAcceleration.hpp>
 #include <interfaces/iGyroscope.hpp>
+#include <interfaces/iMagnetometer.hpp>
 
 #define LSM9DS0_I2C_BUS 1
 #define LSM9DS0_DEFAULT_XM_ADDR 0x1d
@@ -80,7 +81,7 @@ namespace upm {
    * @snippet lsm9ds0.cxx Interesting
    */
 
-  class LSM9DS0: virtual public iAcceleration, virtual public iGyroscope {
+  class LSM9DS0: virtual public iAcceleration, virtual public iGyroscope, virtual public iMagnetometer {
   public:
 
     // NOTE: reserved registers must not be written into or permanent

src/mag3110/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "mag3110")
 set (libdescription "Three-Axis Digital Magnetometer")
 set (module_src ${libname}.cpp)
 set (module_hpp ${libname}.hpp)
+set (module_iface iMagnetometer.hpp)
 upm_module_init(mraa)

src/mag3110/mag3110.cpp

@@ -198,6 +198,28 @@ MAG3110::sampleData(void)
     return 0;
 }
 
+std::vector<float> MAG3110::getMagnetometer()
+{
+    uint8_t buf[7];
+    int re = 0;
+
+    re = m_i2ControlCtx.readBytesReg(MAG3110_DR_STATUS, buf, 7);
+    if (re != 7) {
+        /* did not read enough bytes */
+        return {-1, -1, -1};
+    }
+
+    s_data->status = buf[0];
+    s_data->x = ((int16_t)buf[1] << 8) | buf[2];
+    s_data->y = ((int16_t)buf[3] << 8) | buf[4];
+    s_data->z = ((int16_t)buf[5] << 8) | buf[6];
+
+    s_data->dtemp = m_i2ControlCtx.readReg(MAG3110_DIE_TEMP);
+
+    return {(float)s_data->x, (float)s_data->y, (float)s_data->z};
+
+}
+
 int16_t
 MAG3110::getX(int bSampleData)
 {

src/mag3110/mag3110.hpp

@@ -26,6 +26,8 @@
 
 #pragma once
 
+#include <interfaces/iMagnetometer.hpp>
+
 #include <string>
 #include <mraa/i2c.hpp>
 #include <stdint.h>
@@ -162,7 +164,7 @@ typedef struct {
  *
  * @snippet mag3110.cxx Interesting
  */
-class MAG3110 {
+class MAG3110: virtual public iMagnetometer {
     public:
         /**
          *
@@ -183,6 +185,16 @@ class MAG3110 {
          */
         int checkID(void);
 
+        /**
+         * 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();
+
         /**
          * Set user offset correction
          * Offset correction register will be erased after accelerometer reset

src/mpu9150/CMakeLists.txt

@@ -2,5 +2,5 @@ set (libname "mpu9150")
 set (libdescription "IMU Sensor Library Based On the Mpu9150")
 set (module_src ${libname}.cxx ak8975.cxx mpu60x0.cxx mpu9250.cxx)
 set (module_hpp ${libname}.hpp ak8975.hpp mpu60x0.hpp mpu9250.hpp)
-set (module_iface iAcceleration.hpp iGyroscope.hpp)
+set (module_iface iAcceleration.hpp iGyroscope.hpp iMagnetometer.hpp iTemperature.hpp)
 upm_module_init(mraa)

src/mpu9150/ak8975.cxx

@@ -237,3 +237,11 @@ void AK8975::getMagnetometer(float *x, float *y, float *z)
     *z = adjustValue(m_zData, m_zCoeff);
 }
 
+std::vector<float> AK8975::getMagnetometer()
+{
+  std::vector<float> v(3);
+  v[0] = adjustValue(m_xData, m_xCoeff);
+  v[0] = adjustValue(m_yData, m_yCoeff);
+  v[0] = adjustValue(m_zData, m_zCoeff);
+  return v;
+}

src/mpu9150/ak8975.hpp

@@ -27,6 +27,8 @@
 #include <mraa/common.hpp>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iMagnetometer.hpp>
+
 #define AK8975_I2C_BUS 0
 #define AK8975_DEFAULT_I2C_ADDR 0x0c
 
@@ -50,7 +52,7 @@ namespace upm {
    *
    * @snippet mpu9150-ak8975.cxx Interesting
    */
-  class AK8975 {
+  class AK8975: virtual public iMagnetometer {
   public:
 
     /**
@@ -202,6 +204,16 @@ namespace upm {
      */
     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.
+     */
+    std::vector<float> getMagnetometer();
+
 
   protected:
     /**

src/mpu9150/mpu60x0.hpp

@@ -32,6 +32,7 @@
 
 #include <interfaces/iAcceleration.hpp>
 #include <interfaces/iGyroscope.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define MPU60X0_I2C_BUS 0
 #define MPU60X0_DEFAULT_I2C_ADDR 0x68

src/mpu9150/mpu9150.cxx

@@ -112,6 +112,6 @@ void MPU9150::getMagnetometer(float *x, float *y, float *z)
 std::vector<float> MPU9150::getMagnetometer()
 {
     std::vector<float> v(3);
-    getMagnetometer(&v[0], &v[1], &v[2]);
+    m_mag->getMagnetometer(&v[0], &v[1], &v[2]);
     return v;
 }

src/mpu9150/mpu9150.hpp

@@ -58,7 +58,7 @@ namespace upm {
    * @snippet mpu9150.cxx Interesting
    */
 
-  class MPU9150: public MPU60X0
+  class MPU9150: public MPU60X0, virtual public iMagnetometer
   {
   public:
     /**