upm: v0.7.2

Signed-off-by: Noel Eck <noel.eck@intel.com>

CMakeLists.txt

@@ -10,7 +10,7 @@ find_package (PkgConfig REQUIRED)
 
 # Force a libmraa search and minimum required version every time a config is generated
 unset(MRAA_FOUND CACHE)
-pkg_check_modules (MRAA REQUIRED mraa>=1.0.0)
+pkg_check_modules (MRAA REQUIRED mraa>=1.1.1)
 message (INFO " found mraa version: ${MRAA_VERSION}")
 
 # Appends the cmake/modules path to MAKE_MODULE_PATH variable.
@@ -25,7 +25,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 if ("x_${VERSION}" STREQUAL "x_GIT-NOTFOUND" OR "x_${VERSION}" STREQUAL "x_-128-NOTFOUND")
   message (WARNING " - Install git to compile a production UPM!")
-  set (VERSION "v0.7.0-dirty")
+  set (VERSION "v0.7.2-dirty")
 endif ()
 
 message (INFO " - UPM Version ${VERSION}")
@@ -231,8 +231,6 @@ if (RPM)
   include(CPack)
 endif()
 
-add_subdirectory (src)
-
 if(BUILDEXAMPLES)
   add_subdirectory (examples/c++)
 endif()
@@ -249,6 +247,8 @@ if (BUILDSWIGPYTHON OR BUILDTESTS)
   endif ()
 endif ()
 
+add_subdirectory (src)
+
 if (BUILDTESTS)
   find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
   enable_testing ()

README.md

@@ -4,7 +4,7 @@ UPM (Useful Packages & Modules) Sensor/Actuator repository for MRAA
 The UPM repository provides software drivers for a wide variety of commonly
 used sensors and actuators. These software drivers interact with the
 underlying hardware platform (or microcontroller), as well as with the attached
-sensors, through calls to [MRAA](github.com/intel-iot-devkit/mraa) APIs.
+sensors, through calls to [MRAA](https://github.com/intel-iot-devkit/mraa) APIs.
 
 Programmers can access the interfaces for each sensor by including the sensor’s
 corresponding header file and instantiating the associated sensor class. In the

docs/changelog.md

@@ -4,6 +4,19 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v0.7.2
+
+ * Mraa 1.1.1 required changes to UPM drivers and examples for IIO core
+ kernel support
+ * Rev'ed libmraa requirement to 1.1.1
+
+### v0.7.1
+
+ * Fix for building python2 vs python3 bindings
+ * Fixes for jhd1313m1 row/font size and reset
+ * Added bacnet utility class
+ * New sensors: bmx055, bmi055, bmc160, bma250e, bmg150, bmm150, t8100, tb7300
+
 ### v0.7.0
 
  * C++ header files have been renamed from *.h to *.hpp along with all Intel

examples/c++/CMakeLists.txt

@@ -262,6 +262,8 @@ if (BACNET_FOUND)
   # we need access to bacnetmstp headers too
   include_directories(${PROJECT_SOURCE_DIR}/src/bacnetmstp)
   add_example (e50hx)
+  add_example (t8100)
+  add_example (tb7300)
 endif()
 add_example (vcap)
 add_example (ds2413)
@@ -269,6 +271,7 @@ add_example (ds18b20)
 add_example (bmp280)
 add_example (bno055)
 add_example (l3gd20)
+add_example (bmx055)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)
@@ -295,3 +298,8 @@ add_custom_example (adc-example adc-sensor.cxx "ads1x15")
 add_custom_example (light-sensor-example light-sensor.cxx "si1132;max44009")
 add_custom_example (light-controller-example light-controller.cxx "lp8860;ds1808lc;hlg150h")
 add_custom_example (bme280-example bme280.cxx bmp280)
+add_custom_example (bma250e-example bma250e.cxx bmx055)
+add_custom_example (bmg160-example bmg160.cxx bmx055)
+add_custom_example (bmm150-example bmm150.cxx bmx055)
+add_custom_example (bmc150-example bmc150.cxx bmx055)
+add_custom_example (bmi055-example bmi055.cxx bmx055)

examples/c++/bma250e.cxx

@@ -0,0 +1,83 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bma250e.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMA250E using default I2C parameters
+  upm::BMA250E *sensor = new upm::BMA250E();
+
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMA250E(0, -1, 10);
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " g"
+           << endl;
+
+      // we show both C and F for temperature
+      cout << "Compensation Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/bmc150.cxx

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmc150.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMC150 using default I2C parameters
+  upm::BMC150 *sensor = new upm::BMC150();
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " g"
+           << endl;
+
+      sensor->getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/bmg160.cxx

@@ -0,0 +1,83 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmg160.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMG160 using default I2C parameters
+  upm::BMG160 *sensor = new upm::BMG160();
+
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMG160(0, -1, 10);
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getGyroscope(&x, &y, &z);
+      cout << "Gyroscope x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " degrees/s"
+           << endl;
+
+      // we show both C and F for temperature
+      cout << "Compensation Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/bmi055.cxx

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmi055.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMI055 using default I2C parameters
+  upm::BMI055 *sensor = new upm::BMI055();
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " g"
+           << endl;
+
+      sensor->getGyroscope(&x, &y, &z);
+      cout << "Gyroscope x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " degrees/s"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/bmm150.cxx

@@ -0,0 +1,78 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmm150.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMM150 using default I2C parameters
+  upm::BMM150 *sensor = new upm::BMM150();
+
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: BMM150(0, -1, 10);
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/bmx055.cxx

@@ -0,0 +1,89 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmx055.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an BMX055 using default I2C parameters
+  upm::BMX055 *sensor = new upm::BMX055();
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor->update();
+
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " g"
+           << endl;
+
+      sensor->getGyroscope(&x, &y, &z);
+      cout << "Gyroscope x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " degrees/s"
+           << endl;
+
+      sensor->getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " uT"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/e50hx.cxx

@@ -74,8 +74,8 @@ int main(int argc, char **argv)
   // sensor->setDebug(true);
 
   cout << endl;
-  cout << "Device Description: " << sensor->getDescription() << endl;
-  cout << "Device Location: " << sensor->getLocation() << endl;
+  cout << "Device Description: " << sensor->getDeviceDescription() << endl;
+  cout << "Device Location: " << sensor->getDeviceLocation() << endl;
   cout << endl;
 
   // update and print a few values every 5 seconds

examples/c++/kxcjk1013.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -22,8 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+#include <iomanip>
+#include <unistd.h>
 #include <signal.h>
 #include "kxcjk1013.hpp"
 
@@ -44,7 +45,8 @@ data_callback(char* data)
 {
     float x, y, z;
     accelerometer->extract3Axis(data, &x, &y, &z);
-    printf("% .1f               % .1f               % .1f\n", x, y, z);
+    cout << fixed << setprecision(1);
+    cout << x << '\t' << y << '\t' << z << "[m/s^2]" << endl;
 }
 
 int
@@ -54,7 +56,10 @@ main()
     //! [Interesting]
     // Instantiate a KXCJK1013 Accelerometer Sensor on iio device 0
     accelerometer = new upm::KXCJK1013(0);
+    // Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
     accelerometer->setScale(0.019163);
+    // Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
+    // 100, 200, 400, 800, and 1600
     accelerometer->setSamplingFrequency(25.0);
     accelerometer->enable3AxisChannel();
     accelerometer->installISR(data_callback, NULL);

examples/c++/l3gd20.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -22,8 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+#include <iomanip>
+#include <unistd.h>
 #include <signal.h>
 #include "l3gd20.hpp"
 
@@ -43,8 +44,10 @@ void
 data_callback(char* data)
 {
     float x, y, z;
-    if (gyroscope->extract3Axis(data, &x, &y, &z))
-        printf("% .2f               % .2f               % .2f\n", x, y, z);
+    if (gyroscope->extract3Axis(data, &x, &y, &z)) {
+        cout << fixed << setprecision(1);
+        cout << x << '\t' << y << '\t' << z << "[rad/sec]" << endl;
+    }
 }
 
 int
@@ -54,7 +57,9 @@ main()
     //! [Interesting]
     // Instantiate a L3GD20 Gyroscope Sensor on iio device 3
     gyroscope = new upm::L3GD20(3);
+    // Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
     gyroscope->setScale(0.001222);
+    // Available sampling frequency are 95, 190, 380, and 760
     gyroscope->setSamplingFrequency(95.0);
     gyroscope->enable3AxisChannel();
     gyroscope->installISR(data_callback, NULL);

examples/c++/t8100.cxx

@@ -0,0 +1,117 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "t8100.hpp"
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // You will need to edit this example to conform to your site and your
+  // devices, specifically the Device Object Instance ID passed to the
+  // constructor, and the arguments to initMaster() that are
+  // appropriate for your BACnet network.
+
+  string defaultDev = "/dev/ttyUSB0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an T8100 object for an T8100 device that has 568000
+  // as it's unique Device Object Instance ID.  NOTE: You will
+  // certainly want to change this to the correct value for your
+  // device(s).
+  T8100 *sensor = new T8100(568000);
+
+  // Initialize our BACnet master, if it has not already been
+  // initialized, with the device and baudrate, choosing 1000001 as
+  // our unique Device Object Instance ID, 2 as our MAC address and
+  // using default values for maxMaster and maxInfoFrames
+  sensor->initMaster(defaultDev, 38400, 1000001, 2);
+
+  // Uncomment to enable debugging output
+  // sensor->setDebug(true);
+
+  cout << endl;
+  cout << "Device Description: " << sensor->getDeviceDescription() << endl;
+  cout << "Device Location: " << sensor->getDeviceLocation() << endl;
+  cout << endl;
+
+  // update and print a few values every 5 seconds
+  while (shouldRun)
+    {
+      // update our values
+      sensor->update();
+
+      cout << "CO2 Concentration: "
+           << sensor->getCO2()
+           << " ppm"
+           << endl;
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / "
+           << sensor->getTemperature(true)
+           << " F"
+           << endl;
+
+      cout << "Humidity: " << sensor->getHumidity()
+           << " %RH"
+           << endl;
+
+      cout << "Relay State: " << sensor->getRelayState()
+           << endl;
+
+      cout << endl;
+      sleep(5);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/tb7300.cxx

@@ -0,0 +1,124 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "tb7300.hpp"
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // You will need to edit this example to conform to your site and your
+  // devices, specifically the Device Object Instance ID passed to the
+  // constructor, and the arguments to initMaster() that are
+  // appropriate for your BACnet network.
+
+  string defaultDev = "/dev/ttyUSB0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an TB7300 object for an TB7300 device that has 73001
+  // as it's unique Device Object Instance ID.  NOTE: You will
+  // certainly want to change this to the correct value for your
+  // device(s).
+  TB7300 *sensor = new TB7300(73001);
+
+  // Initialize our BACnet master, if it has not already been
+  // initialized, with the device and baudrate, choosing 1000001 as
+  // our unique Device Object Instance ID, 2 as our MAC address and
+  // using default values for maxMaster and maxInfoFrames
+  sensor->initMaster(defaultDev, 38400, 1000001, 2);
+
+  // Uncomment to enable debugging output
+  // sensor->setDebug(true);
+
+  cout << endl;
+  cout << "Device Name: " << sensor->getDeviceName() << endl;
+  cout << "Device Description: " << sensor->getDeviceDescription() << endl;
+  cout << "Device Location: " << sensor->getDeviceLocation() << endl;
+  cout << endl;
+
+  cout << "Fan Mode: "
+       << sensor->getMultiStateValueText(TB7300::MV_Fan_Mode)
+       << endl;
+
+  cout << "Fan Status: "
+       << sensor->getMultiStateValueText(TB7300::MV_Fan_Status)
+       << endl;
+
+  cout << "System Mode: "
+       << sensor->getMultiStateValueText(TB7300::MV_System_Mode)
+       << endl;
+
+  cout << "Service Alarm: "
+       << sensor->getBinaryInputText(TB7300::BI_Service_Alarm)
+       << endl;
+
+  cout << endl;
+
+  // update and print the room temperature every 5 seconds
+  while (shouldRun)
+    {
+      // update our values
+      sensor->update();
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / "
+           << sensor->getTemperature(true)
+           << " F"
+           << endl;
+
+      cout << endl;
+      sleep(5);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/java/BMA250E_Example.java

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMA250E;
+
+public class BMA250E_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMA250E instance using default i2c bus and address
+        BMA250E sensor = new BMA250E();
+
+        // For SPI, bus 0, you would pass -1 as the address, and a
+        // valid pin for CS:
+        // BMA250E(0, -1, 10);
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float dataA[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer x: " + dataA[0]
+                                   + " y: " + dataA[1]
+                                   + " z: " + dataA[2]
+                                   + " g");
+
+                System.out.println("Compensation Temperature: "
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/BMC150_Example.java

@@ -0,0 +1,61 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMC150;
+
+public class BMC150_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMC150 instance using default i2c bus and address
+        BMC150 sensor = new BMC150();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float data[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " g");
+
+                data = sensor.getMagnetometer();
+
+                System.out.println("Magnetometer x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " uT");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/BMG160_Example.java

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMG160;
+
+public class BMG160_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMG160 instance using default i2c bus and address
+        BMG160 sensor = new BMG160();
+
+        // For SPI, bus 0, you would pass -1 as the address, and a
+        // valid pin for CS:
+        // BMG160(0, -1, 10);
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float dataA[] = sensor.getGyroscope();
+
+                System.out.println("Gyroscope x: " + dataA[0]
+                                   + " y: " + dataA[1]
+                                   + " z: " + dataA[2]
+                                   + " degrees/s");
+
+                System.out.println("Compensation Temperature: "
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/BMI055_Example.java

@@ -0,0 +1,61 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMI055;
+
+public class BMI055_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMI055 instance using default i2c bus and address
+        BMI055 sensor = new BMI055();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float data[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " g");
+
+                data = sensor.getGyroscope();
+
+                System.out.println("Gyroscope x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " degrees/s");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/BMM150_Example.java

@@ -0,0 +1,58 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMM150;
+
+public class BMM150_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMM150 instance using default i2c bus and address
+        BMM150 sensor = new BMM150();
+
+        // For SPI, bus 0, you would pass -1 as the address, and a
+        // valid pin for CS:
+        // BMM150(0, -1, 10);
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float dataA[] = sensor.getMagnetometer();
+
+                System.out.println("Magnetometer x: " + dataA[0]
+                                   + " y: " + dataA[1]
+                                   + " z: " + dataA[2]
+                                   + " uT");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/BMX055_Example.java

@@ -0,0 +1,69 @@
+/*
+ * 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.
+ */
+
+import upm_bmx055.BMX055;
+
+public class BMX055_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a BMX055 instance using default i2c bus and address
+        BMX055 sensor = new BMX055();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float data[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " g");
+
+                data = sensor.getGyroscope();
+
+                System.out.println("Gyroscope x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " degrees/s");
+
+
+                data = sensor.getMagnetometer();
+
+                System.out.println("Magnetometer x: " + data[0]
+                                   + " y: " + data[1]
+                                   + " z: " + data[2]
+                                   + " uT");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/CMakeLists.txt

@@ -124,10 +124,13 @@ if (MODBUS_FOUND)
 endif()
 if (BACNET_FOUND)
   add_example(E50HX_Example e50hx)
+  add_example(T8100_Example t8100)
+  add_example(TB7300_Example tb7300)
 endif()
 add_example(VCAP_Example vcap)
 add_example(BMP280_Example bmp280)
 add_example(BNO055_Example bno055)
+add_example(BMX055_Example bmx055)
 
 add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
 add_example_with_path(Jhd1313m1Sample lcd i2clcd)
@@ -136,4 +139,9 @@ add_example_with_path(Lcm1602_parallelSample lcd i2clcd)
 add_example_with_path(SSD1308_oledSample lcd i2clcd)
 add_example_with_path(SSD1327_oledSample lcd i2clcd)
 add_example_with_path(BME280_Example bmp280 bmp280)
+add_example_with_path(BMA250E_Example bmx055 bmx055)
+add_example_with_path(BMG160_Example bmx055 bmx055)
+add_example_with_path(BMM150_Example bmx055 bmx055)
+add_example_with_path(BMC150_Example bmx055 bmx055)
+add_example_with_path(BMI055_Example bmx055 bmx055)
 

examples/java/E50HX_Example.java

@@ -58,8 +58,10 @@ public class E50HX_Example
         // sensor.setDebug(true);
 
         System.out.println();
-        System.out.println("Device Description: " + sensor.getDescription());
-        System.out.println("Device Location: " + sensor.getLocation());
+        System.out.println("Device Description: "
+                           + sensor.getDeviceDescription());
+        System.out.println("Device Location: "
+                           + sensor.getDeviceLocation());
         System.out.println();
 
         // update and print a few values every 5 seconds
@@ -84,7 +86,6 @@ public class E50HX_Example
                 System.out.println();
                 Thread.sleep(5000);
             }
-
 // ! [Interesting]
     }
 }

examples/java/T8100_Example.java

@@ -0,0 +1,97 @@
+/*
+ * 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.
+ */
+
+import upm_t8100.T8100;
+
+public class T8100_Example
+{
+    private static String defaultDev = "/dev/ttyUSB0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // You will need to edit this example to conform to your site
+        // and your devices, specifically the Device Object Instance
+        // ID passed to the constructor, and the arguments to
+        // initMaster() that are appropriate for your BACnet network.
+
+        if (args.length > 0)
+            defaultDev = args[0];
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an T8100 object for an T8100 device that has
+        // 568000 as it's unique Device Object Instance ID.  NOTE: You
+        // will certainly want to change this to the correct value for
+        // your device(s).
+        T8100 sensor = new T8100(568000);
+
+        // Initialize our BACnet master, if it has not already been
+        // initialized, with the device and baudrate, choosing 1000001
+        // as our unique Device Object Instance ID, 2 as our MAC
+        // address and using default values for maxMaster and
+        // maxInfoFrames
+        sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+        // Uncomment to enable debugging output
+        // sensor.setDebug(true);
+
+        System.out.println();
+        System.out.println("Device Description: "
+                           + sensor.getDeviceDescription());
+        System.out.println("Device Location: " + sensor.getDeviceLocation());
+        System.out.println();
+
+        // update and print a few values every 5 seconds
+        while (true)
+            {
+                // update our values
+                sensor.update();
+
+                System.out.println("CO2 Concentration: "
+                                   + sensor.getCO2()
+                                   + " ppm");
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: "
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println("Humidity: "
+                                   + sensor.getHumidity()
+                                   + " %RH");
+
+                System.out.println("Relay State: "
+                                   + sensor.getRelayState());
+
+                System.out.println();
+                Thread.sleep(5000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/TB7300_Example.java

@@ -0,0 +1,99 @@
+/*
+ * 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.
+ */
+
+import upm_tb7300.TB7300;
+
+public class TB7300_Example
+{
+    private static String defaultDev = "/dev/ttyUSB0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // You will need to edit this example to conform to your site
+        // and your devices, specifically the Device Object Instance
+        // ID passed to the constructor, and the arguments to
+        // initMaster() that are appropriate for your BACnet network.
+
+        if (args.length > 0)
+            defaultDev = args[0];
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an TB7300 object for an TB7300 device that has
+        // 73001 as it's unique Device Object Instance ID.  NOTE: You
+        // will certainly want to change this to the correct value for
+        // your device(s).
+        TB7300 sensor = new TB7300(73001);
+
+        // Initialize our BACnet master, if it has not already been
+        // initialized, with the device and baudrate, choosing 1000001
+        // as our unique Device Object Instance ID, 2 as our MAC
+        // address and using default values for maxMaster and
+        // maxInfoFrames
+        sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+        // Uncomment to enable debugging output
+        // sensor.setDebug(true);
+
+        System.out.println();
+        System.out.println("Device Name: "
+                           + sensor.getDeviceName());
+        System.out.println("Device Description: "
+                           + sensor.getDeviceDescription());
+        System.out.println("Device Location: " + sensor.getDeviceLocation());
+        System.out.println();
+
+        System.out.println("Fan Mode: "
+                           + sensor.getMultiStateValueText(TB7300.MULTISTATE_VALUES_T.MV_Fan_Mode));
+        System.out.println("Fan Status: "
+                           + sensor.getMultiStateValueText(TB7300.MULTISTATE_VALUES_T.MV_Fan_Status));
+        System.out.println("System Mode: "
+                           + sensor.getMultiStateValueText(TB7300.MULTISTATE_VALUES_T.MV_System_Mode));
+        System.out.println("Service Alarm:"
+                           + sensor.getBinaryInputText(TB7300.BINARY_INPUTS_T.BI_Service_Alarm));
+
+        System.out.println();
+
+        // update and print the room temperature every 5 seconds
+        while (true)
+            {
+                // update our values
+                sensor.update();
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: "
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(5000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/javascript/bma250e.js

@@ -0,0 +1,72 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMA250E instance using default i2c bus and address
+var sensor = new sensorObj.BMA250E();
+
+// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+// BMA250E(0, -1, 10);
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " g");
+
+    // we show both C and F for temperature
+    console.log("Compensation Temperature: "
+                + sensor.getTemperature()
+                + " C / "
+                + sensor.getTemperature(true)
+                + " F");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/bmc150.js

@@ -0,0 +1,69 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMC150 instance using default i2c bus and address
+var sensor = new sensorObj.BMC150();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " g");
+
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " uT");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/bmg160.js

@@ -0,0 +1,72 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMG160 instance using default i2c bus and address
+var sensor = new sensorObj.BMG160();
+
+// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+// BMG160(0, -1, 10);
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " degrees/s");
+
+    // we show both C and F for temperature
+    console.log("Compensation Temperature: "
+                + sensor.getTemperature()
+                + " C / "
+                + sensor.getTemperature(true)
+                + " F");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/bmi055.js

@@ -0,0 +1,69 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMI055 instance using default i2c bus and address
+var sensor = new sensorObj.BMI055();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " g");
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " degrees/s");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/bmm150.js

@@ -0,0 +1,65 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMM150 instance using default i2c bus and address
+var sensor = new sensorObj.BMM150();
+
+// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+// BMM150(0, -1, 10);
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " uT");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/bmx055.js

@@ -0,0 +1,76 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_bmx055');
+
+// Instantiate a BMX055 instance using default i2c bus and address
+var sensor = new sensorObj.BMX055();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " g");
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " degrees/s");
+
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer x: "
+                + sensorObj.floatp_value(x)
+                + " y: " + sensorObj.floatp_value(y)
+                + " z: " + sensorObj.floatp_value(z)
+                + " uT");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/e50hx.js

@@ -63,8 +63,8 @@ sensor.initMaster(defaultDev, 38400, 1000001, 2);
 // sensor.setDebug(true);
 
 console.log("");
-console.log("Device Description:", sensor.getDescription());
-console.log("Device Location:", sensor.getLocation());
+console.log("Device Description:", sensor.getDeviceDescription());
+console.log("Device Location:", sensor.getDeviceLocation());
 console.log("");
 
 // update and print a few values every 5 seconds

examples/javascript/t8100.js

@@ -0,0 +1,98 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+
+var sensorObj = require('jsupm_t8100');
+
+
+/************** Main code **************/
+
+// You will need to edit this example to conform to your site and your
+// devices, specifically the Device Object Instance ID passed to the
+// constructor, and the arguments to initMaster() that are
+// appropriate for your BACnet network.
+
+var defaultDev = "/dev/ttyUSB0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an T8100 object for an T8100 device that has 568000
+// as it's unique Device Object Instance ID.  NOTE: You will
+// certainly want to change this to the correct value for your
+// device(s).
+var sensor = new sensorObj.T8100(568000);
+
+// Initialize our BACnet master, if it has not already been
+// initialized, with the device and baudrate, choosing 1000001 as
+// our unique Device Object Instance ID, 2 as our MAC address and
+// using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+// Uncomment to enable debugging output
+// sensor.setDebug(true);
+
+console.log("");
+console.log("Device Description:", sensor.getDeviceDescription());
+console.log("Device Location:", sensor.getDeviceLocation());
+console.log("");
+
+// update and print a few values every 5 seconds
+setInterval(function()
+{
+    // update our values
+    sensor.update();
+
+    console.log("CO2 Concentration:", sensor.getCO2(), "ppm");
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+
+    console.log("Humidity:", sensor.getHumidity(), "%RH");
+
+    console.log("Relay State:", sensor.getRelayState());
+
+    console.log("");
+
+}, 5000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/tb7300.js

@@ -0,0 +1,102 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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.
+ */
+
+
+var sensorObj = require('jsupm_tb7300');
+
+
+/************** Main code **************/
+
+// You will need to edit this example to conform to your site and your
+// devices, specifically the Device Object Instance ID passed to the
+// constructor, and the arguments to initMaster() that are
+// appropriate for your BACnet network.
+
+var defaultDev = "/dev/ttyUSB0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an TB7300 object for an TB7300 device that has 73001
+// as it's unique Device Object Instance ID.  NOTE: You will
+// certainly want to change this to the correct value for your
+// device(s).
+var sensor = new sensorObj.TB7300(73001);
+
+// Initialize our BACnet master, if it has not already been
+// initialized, with the device and baudrate, choosing 1000001 as
+// our unique Device Object Instance ID, 2 as our MAC address and
+// using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+// Uncomment to enable debugging output
+// sensor.setDebug(true);
+
+console.log("");
+console.log("Device Name:", sensor.getDeviceName());
+console.log("Device Description:", sensor.getDeviceDescription());
+console.log("Device Location:", sensor.getDeviceLocation());
+console.log("");
+
+console.log("Fan Mode:",
+            sensor.getMultiStateValueText(sensorObj.TB7300.MV_Fan_Mode));
+console.log("Fan Status:",
+             sensor.getMultiStateValueText(sensorObj.TB7300.MV_Fan_Status));
+console.log("System Mode:",
+            sensor.getMultiStateValueText(sensorObj.TB7300.MV_System_Mode));
+console.log("Service Alarm:",
+            sensor.getBinaryInputText(sensorObj.TB7300.BI_Service_Alarm));
+console.log("");
+
+// update and print the room temperature every 5 seconds
+setInterval(function()
+{
+    // update our values
+    sensor.update();
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+    console.log("");
+
+}, 5000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/python/bma250e.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMP250E instance using default i2c bus and address
+sensor = sensorObj.BMA250E()
+
+# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+# BMA250E(0, -1, 10);
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " g"
+
+        # we show both C and F for temperature
+        print "Compensation Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(.250)

examples/python/bmc150.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMC150 instance using default i2c bus and address
+sensor = sensorObj.BMC150()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " g"
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " uT"
+
+        print
+	time.sleep(.250)

examples/python/bmg160.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMP250E instance using default i2c bus and address
+sensor = sensorObj.BMG160()
+
+# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+# BMG160(0, -1, 10);
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " degrees/s"
+
+        # we show both C and F for temperature
+        print "Compensation Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(.250)

examples/python/bmi055.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMI055 instance using default i2c bus and address
+sensor = sensorObj.BMI055()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " g"
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " degrees/s"
+
+        print
+	time.sleep(.250)

examples/python/bmm150.py

@@ -0,0 +1,62 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMP250E instance using default i2c bus and address
+sensor = sensorObj.BMM150()
+
+# For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+# BMM150(0, -1, 10);
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " uT"
+
+        print
+	time.sleep(.250)

examples/python/bmx055.py

@@ -0,0 +1,71 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_bmx055 as sensorObj
+
+# Instantiate a BMX055 instance using default i2c bus and address
+sensor = sensorObj.BMX055()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+# now output data every 250 milliseconds
+while (1):
+        sensor.update()
+
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " g"
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " degrees/s"
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer x:", sensorObj.floatp_value(x),
+        print " y:", sensorObj.floatp_value(y),
+        print " z:", sensorObj.floatp_value(z),
+        print " uT"
+
+        print
+	time.sleep(.250)

examples/python/e50hx.py

@@ -69,8 +69,8 @@ sensor.initMaster(defaultDev, 38400, 1000001, 2)
 
 # output the serial number and firmware revision
 print
-print "Device Description:", sensor.getDescription()
-print "Device Location:", sensor.getLocation()
+print "Device Description:", sensor.getDeviceDescription()
+print "Device Location:", sensor.getDeviceLocation()
 print
 
 # update and print available values every second

examples/python/t8100.py

@@ -0,0 +1,97 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_t8100 as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+# You will need to edit this example to conform to your site and your
+# devices, specifically the Device Object Instance ID passed to the
+# constructor, and the arguments to initMaster() that are
+# appropriate for your BACnet network.
+
+defaultDev = "/dev/ttyUSB0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an T8100 object for an T8100 device that has 568000
+# as it's unique Device Object Instance ID.  NOTE: You will
+# certainly want to change this to the correct value for your
+# device(s).
+sensor = sensorObj.T8100(568000)
+
+# Initialize our BACnet master, if it has not already been
+# initialized, with the device and baudrate, choosing 1000001 as
+# our unique Device Object Instance ID, 2 as our MAC address and
+# using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2)
+
+# Uncomment to enable debugging output
+# sensor.setDebug(True);
+
+# output the serial number and firmware revision
+print
+print "Device Description:", sensor.getDeviceDescription()
+print "Device Location:", sensor.getDeviceLocation()
+print
+
+# update and print available values every 5 seconds
+while (1):
+        # update our values
+        sensor.update();
+
+        print "CO2 Concentration:",
+        print sensor.getCO2(),
+        print "ppm"
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(),
+        print "C /", sensor.getTemperature(True), "F"
+
+        print "Humidity:",
+        print sensor.getHumidity(),
+        print "%RH"
+
+        print "Relay State:",
+        print sensor.getRelayState()
+
+        print
+	time.sleep(5)

examples/python/tb7300.py

@@ -0,0 +1,96 @@
+#!/usr/bin/python
+# 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.
+
+import time, sys, signal, atexit
+import pyupm_tb7300 as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+# You will need to edit this example to conform to your site and your
+# devices, specifically the Device Object Instance ID passed to the
+# constructor, and the arguments to initMaster() that are
+# appropriate for your BACnet network.
+
+defaultDev = "/dev/ttyUSB0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an TB7300 object for an TB7300 device that has 73001
+# as it's unique Device Object Instance ID.  NOTE: You will
+# certainly want to change this to the correct value for your
+# device(s).
+sensor = sensorObj.TB7300(73001)
+
+# Initialize our BACnet master, if it has not already been
+# initialized, with the device and baudrate, choosing 1000001 as
+# our unique Device Object Instance ID, 2 as our MAC address and
+# using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2)
+
+# Uncomment to enable debugging output
+# sensor.setDebug(True);
+
+# output the serial number and firmware revision
+print
+print "Device Name:", sensor.getDeviceName()
+print "Device Description:", sensor.getDeviceDescription()
+print "Device Location:", sensor.getDeviceLocation()
+print
+
+print "Fan Mode:", sensor.getMultiStateValueText(sensorObj.TB7300.MV_Fan_Mode)
+print "Fan Status:",
+print  sensor.getMultiStateValueText(sensorObj.TB7300.MV_Fan_Status)
+print "System Mode:",
+print  sensor.getMultiStateValueText(sensorObj.TB7300.MV_System_Mode)
+print "Service Alarm:",
+print  sensor.getBinaryInputText(sensorObj.TB7300.BI_Service_Alarm)
+print
+
+# update and print the room temperature every 5 seconds
+while (1):
+        # update our values
+        sensor.update();
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(),
+        print "C /", sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(5)

src/CMakeLists.txt

@@ -178,6 +178,7 @@ endmacro()
 if (SWIG_FOUND)
   if (BUILDSWIGPYTHON)
     if(NOT PYTHONLIBS_FOUND)
+      find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
       find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
       string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
       list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)

src/bacnetmstp/CMakeLists.txt

@@ -1,7 +1,7 @@
 set (libname "bacnetmstp")
 set (libdescription "upm driver module for BACnet MS/TP devices")
-set (module_src ${libname}.cxx device-client.c)
-set (module_hpp ${libname}.hpp)
+set (module_src ${libname}.cxx device-client.c bacnetutil.cxx)
+set (module_hpp ${libname}.hpp bacnetutil.hpp)
 
 pkg_check_modules(BACNET libbacnet)
 if (BACNET_FOUND)

src/bacnetmstp/bacnetmstp.cxx

@@ -57,7 +57,7 @@ BACNETMSTP::BACNETMSTP()
 
   memset(m_rxBuffer, 0, MAX_MPDU);
 
-  m_returnedValue = {0};
+  m_returnedValue.clear();
   m_targetAddress = {0};
   m_invokeID = 0;
   m_errorDetected = false;
@@ -165,6 +165,15 @@ void BACNETMSTP::handlerReadPropertyAck(uint8_t* service_request,
   int len = 0;
   BACNET_READ_PROPERTY_DATA data;
 
+  // clear our stored data
+  instance()->m_returnedValue.clear();
+
+  BACNET_APPLICATION_DATA_VALUE value;
+  memset((void *)&value, 0, sizeof(value));
+
+  uint8_t *application_data = 0;
+  int application_data_len = 0;
+
   if (address_match(&(instance()->m_targetAddress), src) &&
       (service_data->invoke_id == instance()->m_invokeID))
     {
@@ -173,19 +182,49 @@ void BACNETMSTP::handlerReadPropertyAck(uint8_t* service_request,
 
       len = rp_ack_decode_service_request(service_request, service_len,
                                           &data);
-      // FIXME: we don't currently handle arrays (len < service_len)
+
+      // store any delivered data elements
       if (len > 0)
         {
-          bacapp_decode_application_data(data.application_data,
-                                         data.application_data_len,
-                                         &(instance()->m_returnedValue));
+          application_data_len = data.application_data_len;
+          application_data = data.application_data;
+
+          while (true)
+            {
+              len = bacapp_decode_application_data(application_data,
+                                                   application_data_len,
+                                                   &value);
+              if (len > 0)
+                {
+                  // store a copy
+                  instance()->m_returnedValue.push_back(value);
+
+                  if (len < application_data_len)
+                    {
+                      // there is more data
+                      application_data += len;
+                      application_data_len -= len;
+                    }
+                  else
+                    {
+                      // we are done
+                      break;
+                    }
                 }
               else
                 {
                   // shouldn't happen?
                   cerr << __FUNCTION__ << ": decode app data failed" << endl;
+                  break;
                 }
             }
+        }
+    }
+
+  if (instance()->m_debugging)
+    cerr << __FUNCTION__ << ": STORED "
+         << instance()->m_returnedValue.size()
+         << " data elements." << endl;
 }
 
 void BACNETMSTP::handlerWritePropertyAck(BACNET_ADDRESS* src,
@@ -553,7 +592,7 @@ bool BACNETMSTP::readProperty(uint32_t targetDeviceInstanceID,
   m_command.readPropArgs.objType = objType;
   m_command.readPropArgs.objInstance = objInstance;
   m_command.readPropArgs.objProperty = objProperty;
-  m_command.readPropArgs.arrayIndex = arrayIndex; // not implemented in the ack handler!
+  m_command.readPropArgs.arrayIndex = arrayIndex;
 
   if (m_debugging)
     cerr << __FUNCTION__  << ": calling dispatchRequest()..." << endl;
@@ -591,7 +630,7 @@ bool BACNETMSTP::writeProperty(uint32_t targetDeviceInstanceID,
   m_command.writePropArgs.objProperty = objProperty;
   m_command.writePropArgs.propValue = propValue;
   m_command.writePropArgs.propPriority = propPriority;
-  m_command.writePropArgs.arrayIndex = arrayIndex; // not implemented!
+  m_command.writePropArgs.arrayIndex = arrayIndex;
 
   if (m_debugging)
     cerr << __FUNCTION__  << ": calling dispatchRequest()..." << endl;
@@ -605,158 +644,163 @@ bool BACNETMSTP::writeProperty(uint32_t targetDeviceInstanceID,
   return error;
 }
 
-BACNET_APPLICATION_DATA_VALUE BACNETMSTP::getData()
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::getData(int index)
 {
-  return m_returnedValue;
+  return m_returnedValue.at(index);
 }
 
-uint8_t BACNETMSTP::getDataType()
+int BACNETMSTP::getDataNumElements()
 {
-  return m_returnedValue.tag;
+  return m_returnedValue.size();
 }
 
-float BACNETMSTP::getDataTypeReal()
+uint8_t BACNETMSTP::getDataType(int index)
 {
-  if (getDataType() == BACNET_APPLICATION_TAG_REAL)
-    return m_returnedValue.type.Real;
+  return m_returnedValue.at(index).tag;
+}
+
+float BACNETMSTP::getDataTypeReal(int index)
+{
+  if (getDataType(index) == BACNET_APPLICATION_TAG_REAL)
+    return m_returnedValue.at(index).type.Real;
   else
     {
       if (m_debugging)
         cerr << __FUNCTION__ << ": Not of Real type, trying to convert..." << endl;
 
       // try to convert or throw
-      switch (getDataType())
+      switch (getDataType(index))
         {
         case BACNET_APPLICATION_TAG_BOOLEAN:
-          return (getDataTypeBoolean() ? 1.0 : 0.0);
+          return (getDataTypeBoolean(index) ? 1.0 : 0.0);
         case BACNET_APPLICATION_TAG_UNSIGNED_INT:
-          return float(getDataTypeUnsignedInt());
+          return float(getDataTypeUnsignedInt(index));
         case BACNET_APPLICATION_TAG_SIGNED_INT:
-          return float(getDataTypeSignedInt());
+          return float(getDataTypeSignedInt(index));
         default:
           throw std::invalid_argument(std::string(__FUNCTION__)
                                       + ": data type ("
-                                      + std::to_string(int(getDataType()))
+                                      + std::to_string(int(getDataType(index)))
                                       + ") is not convertible to Real");
         }
     }
 }
 
-bool BACNETMSTP::getDataTypeBoolean()
+bool BACNETMSTP::getDataTypeBoolean(int index)
 {
-  if (getDataType() == BACNET_APPLICATION_TAG_BOOLEAN)
-    return ((m_returnedValue.type.Boolean) ? true : false);
+  if (getDataType(index) == BACNET_APPLICATION_TAG_BOOLEAN)
+    return ((m_returnedValue.at(index).type.Boolean) ? true : false);
   else
     throw std::invalid_argument(std::string(__FUNCTION__)
                                 + ": data type ("
-                                + std::to_string(int(getDataType()))
+                                + std::to_string(int(getDataType(index)))
                                 + ") is not convertible to Bool");
 }
 
-unsigned int BACNETMSTP::getDataTypeUnsignedInt()
+unsigned int BACNETMSTP::getDataTypeUnsignedInt(int index)
 {
-  if (getDataType() == BACNET_APPLICATION_TAG_UNSIGNED_INT)
-    return m_returnedValue.type.Unsigned_Int;
+  if (getDataType(index) == BACNET_APPLICATION_TAG_UNSIGNED_INT)
+    return m_returnedValue.at(index).type.Unsigned_Int;
   else
     throw std::invalid_argument(std::string(__FUNCTION__)
                                 + ": data type ("
-                                + std::to_string(int(getDataType()))
+                                + std::to_string(int(getDataType(index)))
                                 + ") is not convertible to UnsignedInt");
 }
 
-int BACNETMSTP::getDataTypeSignedInt()
+int BACNETMSTP::getDataTypeSignedInt(int index)
 {
-  if (getDataType() == BACNET_APPLICATION_TAG_SIGNED_INT)
-    return m_returnedValue.type.Signed_Int;
+  if (getDataType(index) == BACNET_APPLICATION_TAG_SIGNED_INT)
+    return m_returnedValue.at(index).type.Signed_Int;
   else
     throw std::invalid_argument(std::string(__FUNCTION__)
                                 + ": data type ("
-                                + std::to_string(int(getDataType()))
+                                + std::to_string(int(getDataType(index)))
                                 + ") is not convertible to SignedInt");
 }
 
 #if defined(BACAPP_DOUBLE)
-double BACNETMSTP::getDataTypeDouble()
+double BACNETMSTP::getDataTypeDouble(int index)
 {
   if (getDataType() == BACNET_APPLICATION_TAG_DOUBLE)
-    return m_returnedValue.type.Double;
+    return m_returnedValue.at(index).type.Double;
   else
     {
       if (m_debugging)
         cerr << __FUNCTION__ << ": Not of Double type, trying to convert..." << endl;
 
       // try to convert or throw
-      switch (getDataType())
+      switch (getDataType(index))
         {
         case BACNET_APPLICATION_TAG_REAL:
-          return double(getDataTypeReal());
+          return double(getDataTypeReal(index));
         case BACNET_APPLICATION_TAG_BOOLEAN:
-          return (getDataTypeBoolean() ? 1.0 : 0.0);
+          return (getDataTypeBoolean(index) ? 1.0 : 0.0);
         case BACNET_APPLICATION_TAG_UNSIGNED_INT:
-          return double(getDataTypeUnsignedInt());
+          return double(getDataTypeUnsignedInt(index));
         case BACNET_APPLICATION_TAG_SIGNED_INT:
-          return double(getDataTypeSignedInt());
+          return double(getDataTypeSignedInt(index));
         default:
           throw std::invalid_argument(std::string(__FUNCTION__)
                                       + ": data type ("
-                                      + std::to_string(int(getDataType()))
+                                      + std::to_string(int(getDataType(index)))
                                       + ") is not convertible to Double");
         }
     }
 }
 #endif // BACAPP_DOUBLE
 
-unsigned int BACNETMSTP::getDataTypeEnum()
+unsigned int BACNETMSTP::getDataTypeEnum(int index)
 {
-  if (getDataType() == BACNET_APPLICATION_TAG_ENUMERATED)
-    return m_returnedValue.type.Enumerated;
+  if (getDataType(index) == BACNET_APPLICATION_TAG_ENUMERATED)
+    return m_returnedValue.at(index).type.Enumerated;
   else
     throw std::invalid_argument(std::string(__FUNCTION__)
                                 + ": data type ("
-                                + std::to_string(int(getDataType()))
+                                + std::to_string(int(getDataType(index)))
                                 + ") is not convertible to Enum");
 }
 
-std::string BACNETMSTP::getDataTypeString()
+std::string BACNETMSTP::getDataTypeString(int index)
 {
   string retval;
 
   // Here, we can try to accomodate all the types
-  switch(getDataType())
+  switch(getDataType(index))
     {
     case BACNET_APPLICATION_TAG_REAL:
-      retval = std::to_string(getDataTypeReal());
+      retval = std::to_string(getDataTypeReal(index));
       break;
 
 #if defined(BACAPP_DOUBLE)
     case BACNET_APPLICATION_TAG_DOUBLE:
-      retval = std::to_string(getDataTypeDouble());
+      retval = std::to_string(getDataTypeDouble(index));
       break;
 #endif // BACAPP_DOUBLE
 
     case BACNET_APPLICATION_TAG_UNSIGNED_INT:
-      retval = std::to_string(getDataTypeUnsignedInt());
+      retval = std::to_string(getDataTypeUnsignedInt(index));
       break;
 
     case BACNET_APPLICATION_TAG_SIGNED_INT:
-      retval = std::to_string(getDataTypeSignedInt());
+      retval = std::to_string(getDataTypeSignedInt(index));
       break;
 
     case BACNET_APPLICATION_TAG_BOOLEAN:
-      retval = (getDataTypeBoolean() ? string("true") : string("false"));
+      retval = (getDataTypeBoolean(index) ? string("true") : string("false"));
       break;
 
     case BACNET_APPLICATION_TAG_CHARACTER_STRING:
-      retval = string(characterstring_value(&m_returnedValue.type.Character_String),
+      retval = string(characterstring_value(&m_returnedValue.at(index).type.Character_String),
 
-                      characterstring_length(&m_returnedValue.type.Character_String));
+                      characterstring_length(&m_returnedValue.at(index).type.Character_String));
       break;
 
     case BACNET_APPLICATION_TAG_OCTET_STRING:
       {
-        string tmpstr((char *)octetstring_value(&m_returnedValue.type.Octet_String),
+        string tmpstr((char *)octetstring_value(&m_returnedValue.at(index).type.Octet_String),
 
-                      octetstring_length(&m_returnedValue.type.Octet_String));
+                      octetstring_length(&m_returnedValue.at(index).type.Octet_String));
         retval = string2HexString(tmpstr);
       }
 
@@ -764,11 +808,12 @@ std::string BACNETMSTP::getDataTypeString()
 
     case BACNET_APPLICATION_TAG_BIT_STRING:
       {
-        int len = bitstring_bits_used(&m_returnedValue.type.Bit_String);
+        int len = bitstring_bits_used(&m_returnedValue.at(index).type.Bit_String);
 
         for (int i=0; i<len; i++)
           {
-            if (bitstring_bit(&m_returnedValue.type.Bit_String, uint8_t(i)))
+            if (bitstring_bit(&m_returnedValue.at(index).type.Bit_String,
+                              uint8_t(i)))
               retval += "1";
             else
               retval += "0";
@@ -783,7 +828,7 @@ std::string BACNETMSTP::getDataTypeString()
     default:
       throw std::invalid_argument(std::string(__FUNCTION__)
                                   + ": data type ("
-                                  + std::to_string(int(getDataType()))
+                                  + std::to_string(int(getDataType(index)))
                                   + ") is not convertible to String");
       break;
     }
@@ -860,6 +905,17 @@ BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataString(string value)
   return data;
 }
 
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataEnum(uint32_t value)
+{
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_ENUMERATED;
+  data.type.Enumerated = value;
+
+  return data;
+}
 
 string BACNETMSTP::string2HexString(string input)
 {

src/bacnetmstp/bacnetmstp.hpp

@@ -24,6 +24,7 @@
 #pragma once
 
 #include <string>
+#include <vector>
 
 // we only support a BACnet RS-485 MS/TP datalink
 #define BACDL_MSTP 1
@@ -185,8 +186,7 @@ namespace upm {
      * instance you wish to access.  It should be one of the
      * BACNET_PROPERTY_ID values.
      * @param arrayIndex This specifies the index number of an array
-     * property.  This is not currently supported.  Until it is, leave
-     * the default at BACNET_ARRAY_ALL.
+     * property. The default is BACNET_ARRAY_ALL.
      * @return true if an error occurred, false otherwise.
      */
     bool readProperty(uint32_t targetDeviceInstanceID,
@@ -225,8 +225,7 @@ namespace upm {
      * information in the bacnet-stack documentation as to whether
      * this is even supported.
      * @param arrayIndex This specifies the index number of an array
-     * property.  This is not currently supported.  Until it is, leave
-     * the default at BACNET_ARRAY_ALL.
+     * property. The default is BACNET_ARRAY_ALL.
      * @return true if an error occurred, false otherwise.
      */
     bool writeProperty(uint32_t targetDeviceInstanceID,
@@ -242,19 +241,32 @@ namespace upm {
      * to return a BACNET_APPLICATION_DATA_VALUE structure containing
      * the returned data.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return a BACNET_APPLICATION_DATA_VALUE structure containing
      * the returned data.
      */
-    BACNET_APPLICATION_DATA_VALUE getData();
+    BACNET_APPLICATION_DATA_VALUE getData(int index=0);
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the number of data elements returned.  This will
+     * usually be 1, unless reading an array.
+     *
+     * @return The number of data elements received.
+     */
+    int getDataNumElements();
 
     /**
      * After a successful readProperty request, this method can be
      * used to return the BACnet data type of the returned data.  It
      * will be one of the BACNET_APPLICATION_TAG_* values.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A BACNET_APPLICATION_TAG_* value
      */
-    uint8_t getDataType();
+    uint8_t getDataType(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -263,9 +275,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_REAL, and the value returned cannot be
      * safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A floating point value representing the returned data
      */
-    float getDataTypeReal();
+    float getDataTypeReal(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -274,9 +288,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_BOOLEAN, and the value returned cannot
      * be safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A boolean value representing the returned data
      */
-    bool getDataTypeBoolean();
+    bool getDataTypeBoolean(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -285,9 +301,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_UNSIGNED_INT, and the value returned
      * cannot be safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return An unsigned int value representing the returned data
      */
-    unsigned int getDataTypeUnsignedInt();
+    unsigned int getDataTypeUnsignedInt(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -296,9 +314,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_SIGNED_INT, and the value returned
      * cannot be safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A signed int value representing the returned data
      */
-    int getDataTypeSignedInt();
+    int getDataTypeSignedInt(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -308,9 +328,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_CHARACTER_STRING, and the value returned
      * cannot be safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A string value representing the returned data
      */
-    std::string getDataTypeString();
+    std::string getDataTypeString(int index=0);
 
     /**
      * After a successful readProperty request, this method can be
@@ -318,9 +340,11 @@ namespace upm {
      * enumeration.  If the data type (getDataType()) is not a
      * BACNET_APPLICATION_TAG_ENUMERATED an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return An unsigned int representing a BACnet enumerant
      */
-    unsigned int getDataTypeEnum();
+    unsigned int getDataTypeEnum(int index=0);
 
 #if defined(BACAPP_DOUBLE)
     /**
@@ -330,9 +354,11 @@ namespace upm {
      * BACNET_APPLICATION_TAG_DOUBLE, and the value returned cannot be
      * safely converted, an exception is thrown.
      *
+     * @param index into the list of returned data. 0 (first) is the
+     * default.
      * @return A double floating point value representing the returned data
      */
-    double getDataTypeDouble();
+    double getDataTypeDouble(int index=0);
 #endif // BACAPP_DOUBLE
 
     /**
@@ -392,6 +418,18 @@ namespace upm {
      */
     BACNET_APPLICATION_DATA_VALUE createDataString(std::string value);
 
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing an enumeration.  A
+     * pointer to this returned structure can then be used with
+     * writeProperty().
+     *
+     * @param value The BACnet enumeration to initialize the
+     * structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataEnum(uint32_t value);
+
     /**
      * Return an enumration of the last error type to occur.  The
      * value returned will be one of the BACERR_TYPE_T values.
@@ -664,7 +702,7 @@ namespace upm {
     std::string m_upmErrorString;
 
     // our returned data from readProperty()
-    BACNET_APPLICATION_DATA_VALUE m_returnedValue;
+    std::vector<BACNET_APPLICATION_DATA_VALUE> m_returnedValue;
 
     // current bound target address of dispatched service request
     // (read/write prop, etc)

src/bacnetmstp/bacnetutil.cxx

@@ -0,0 +1,925 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "bacnetutil.hpp"
+
+using namespace upm;
+using namespace std;
+
+
+BACNETUTIL::BACNETUTIL(uint32_t targetDeviceObjectID) :
+  m_instance(0)
+{
+  // Save our device's ID
+  m_targetDeviceObjectID = targetDeviceObjectID;
+
+  // create the BACNETMSTP instance here if it does not already exist,
+  // and store the pointer in our class to save on some typing.
+
+  m_instance = BACNETMSTP::instance();
+
+  // now see if it has been initialized yet for init()
+  m_initialized = m_instance->isInitialized();
+
+  setDebug(false);
+
+  // we disable this by default for performance reasons
+  checkReliability(false);
+
+  // empty our unit caches
+  m_avUnitCache.clear();
+  m_aiUnitCache.clear();
+
+  // empty our msv info store
+  m_msvInfo.clear();
+
+  // empty our binary info stores
+  m_bvInfo.clear();
+  m_biInfo.clear();
+}
+
+BACNETUTIL::~BACNETUTIL()
+{
+}
+
+void BACNETUTIL::initMaster(std::string port, int baudRate,
+                            int deviceInstanceID, int macAddr, int maxMaster,
+                            int maxInfoFrames)
+{
+  // first we check to see if the bacnetmstp instance has already been
+  // initialized (determined in the ctor).  If not, we will do so here
+  // with the arguments specified.  If it has already been
+  // initialized, then we do not bother calling bacnetmstp's init
+  // again as it will just be ignored.
+
+  if (!m_initialized)
+    m_instance->initMaster(port, baudRate, deviceInstanceID,
+                           macAddr, maxMaster, maxInfoFrames);
+
+  // either it threw an exception, was already initialized or it's
+  // initialized now...
+  m_initialized = true;
+}
+
+void BACNETUTIL::setDebug(bool enable)
+{
+  m_debugging = enable;
+
+  // we also enable/disable debugging in BACNETMSTP
+  m_instance->setDebug(enable);
+}
+
+float BACNETUTIL::getAnalogValue(uint32_t objInstance)
+{
+  // check reliability first, if enabled
+  if (m_checkReliability)
+    {
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
+                                   objInstance, PROP_RELIABILITY))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": (reliability): " << getAllErrorString()
+                 << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + getAllErrorString());
+        }
+
+      BACNET_RELIABILITY reliable =
+        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
+
+      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": Reliability check failed");
+        }
+    }
+
+  // now get the value
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
+                               objInstance, PROP_PRESENT_VALUE))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": (value): " << getAllErrorString()
+             << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  return m_instance->getDataTypeReal();
+}
+
+void BACNETUTIL::setAnalogValue(uint32_t objInstance,
+                                float value)
+{
+  // Write the value
+  BACNET_APPLICATION_DATA_VALUE myData =
+    m_instance->createDataReal(value);
+
+  // write it
+  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
+                                objInstance, PROP_PRESENT_VALUE,
+                                &myData))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+}
+
+string BACNETUTIL::getAnalogValueUnits(uint32_t objInstance)
+{
+  // see if it exists
+  if (m_avUnitCache.count(objInstance) == 0)
+    {
+      // then we need to fetch it
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
+                                   objInstance, PROP_UNITS))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+          // set to empty string
+          m_avUnitCache[objInstance] = string("");
+        }
+      else
+        {
+          // cache it for future calls
+          m_avUnitCache[objInstance] =
+            string(bactext_engineering_unit_name(m_instance->getDataTypeEnum()));
+        }
+    }
+
+  return m_avUnitCache[objInstance];
+}
+
+float BACNETUTIL::getAnalogInput(uint32_t objInstance)
+{
+  // check reliability first, if enabled
+  if (m_checkReliability)
+    {
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
+                                   objInstance, PROP_RELIABILITY))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": (reliability): "
+                 << getAllErrorString() << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + getAllErrorString());
+        }
+
+      BACNET_RELIABILITY reliable =
+        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
+
+      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": Reliability check failed");
+        }
+    }
+
+  // now get the value
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
+                               objInstance, PROP_PRESENT_VALUE))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": (value): " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  return m_instance->getDataTypeReal();
+}
+
+bool BACNETUTIL::getBinaryInput(uint32_t objInstance)
+{
+  // check the BV info, and update/cache the data if needed
+  updateBinaryInputInfo(objInstance);
+
+  // check reliability first, if enabled
+  if (m_checkReliability)
+    {
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_BINARY_INPUT,
+                                   objInstance, PROP_RELIABILITY))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": (reliability): "
+                 << getAllErrorString() << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + getAllErrorString());
+        }
+
+      BACNET_RELIABILITY reliable =
+        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
+
+      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": Reliability check failed");
+        }
+    }
+
+  // now get the value
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_BINARY_INPUT,
+                               objInstance, PROP_PRESENT_VALUE))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": (value): " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  BACNET_BINARY_PV bpv =
+    static_cast<BACNET_BINARY_PV>(m_instance->getDataTypeEnum());
+
+  return (bpv == BINARY_INACTIVE) ? false : true;
+}
+
+bool BACNETUTIL::getBinaryValue(uint32_t objInstance)
+{
+  // check the BV info, and update/cache the data if needed
+  updateBinaryValueInfo(objInstance);
+
+  // check reliability first, if enabled
+  if (m_checkReliability)
+    {
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_BINARY_VALUE,
+                                   objInstance, PROP_RELIABILITY))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": (reliability): "
+                 << getAllErrorString() << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + getAllErrorString());
+        }
+
+      BACNET_RELIABILITY reliable =
+        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
+
+      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": Reliability check failed");
+        }
+    }
+
+  // now get the value
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_BINARY_VALUE,
+                               objInstance, PROP_PRESENT_VALUE))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": (value): " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  BACNET_BINARY_PV bpv =
+    static_cast<BACNET_BINARY_PV>(m_instance->getDataTypeEnum());
+
+  return (bpv == BINARY_INACTIVE) ? false : true;
+}
+
+void BACNETUTIL::setBinaryValue(uint32_t objInstance,
+                                bool value)
+{
+  BACNET_BINARY_PV bpv = (value) ? BINARY_ACTIVE : BINARY_INACTIVE;
+
+  // Write the value
+  BACNET_APPLICATION_DATA_VALUE myData =
+    m_instance->createDataEnum(bpv);
+
+  // write it
+  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_BINARY_VALUE,
+                                objInstance, PROP_PRESENT_VALUE,
+                                &myData))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+}
+
+string BACNETUTIL::getAnalogInputUnits(uint32_t objInstance)
+{
+  // see if it exists
+  if (m_aiUnitCache.count(objInstance) == 0)
+    {
+      // then we need to fetch it
+      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
+                                   objInstance, PROP_UNITS))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+          // set to empty string
+          m_aiUnitCache[objInstance] = string("");
+        }
+      else
+        {
+          // cache it for future calls
+          m_aiUnitCache[objInstance] =
+            string(bactext_engineering_unit_name(m_instance->getDataTypeEnum()));
+        }
+    }
+
+  return m_aiUnitCache[objInstance];
+}
+
+unsigned int BACNETUTIL::getMultiStateValue(uint32_t objInstance)
+{
+  // check the MSV info, and update/cache the data if needed
+  updateMultiStateValueInfo(objInstance);
+
+  // check reliability first, if enabled
+  if (m_checkReliability)
+    {
+      if (m_instance->readProperty(m_targetDeviceObjectID,
+                                   OBJECT_MULTI_STATE_VALUE,
+                                   objInstance, PROP_RELIABILITY))
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": (reliability): "
+                 << getAllErrorString() << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + getAllErrorString());
+        }
+
+      BACNET_RELIABILITY reliable =
+        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
+
+      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
+        {
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
+
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": Reliability check failed");
+        }
+    }
+
+  // now get the value
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_MULTI_STATE_VALUE,
+                               objInstance, PROP_PRESENT_VALUE))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": (value): " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  return m_instance->getDataTypeUnsignedInt();
+}
+
+void BACNETUTIL::updateMultiStateValueInfo(uint32_t objInstance)
+{
+  // bail if we already have information on this msv
+  if (m_msvInfo.count(objInstance) != 0)
+    return;
+
+  // we need to fetch information on MSV's - number of states, and
+  // possibly the state-text, if present
+
+  // get the number of values possible (required)
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_MULTI_STATE_VALUE,
+                               objInstance, PROP_NUMBER_OF_STATES))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (number of states): "
+             << getAllErrorString()
+             << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+
+  // Add the entry...
+  m_msvInfo[objInstance].numStates = m_instance->getDataTypeUnsignedInt();
+
+  if (m_debugging)
+    cerr << __FUNCTION__
+         << ": number of states: "
+         << m_msvInfo[objInstance].numStates
+         << endl;
+
+  // now get the state-text.  This is optional, so we will not throw
+  // here.
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_MULTI_STATE_VALUE,
+                               objInstance, PROP_STATE_TEXT))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (state-text): "
+             << getAllErrorString()
+             << endl;
+    }
+
+  // store them
+  int numElements = m_instance->getDataNumElements();
+
+  if (m_debugging)
+    cerr << __FUNCTION__ << ": numElements: " << numElements << endl;
+
+  if (numElements > 0)
+    {
+      for (int i=0; i<numElements; i++)
+        {
+          m_msvInfo[objInstance].stateList.push_back(m_instance->getDataTypeString(i));
+
+          if (m_debugging)
+            cerr << __FUNCTION__ << ": " << int(objInstance) << ", "
+                 << i << ": "
+                 << "added state text string: "
+                 << m_msvInfo[objInstance].stateList.at(i)
+                 << endl;
+        }
+    }
+
+  return;
+}
+
+void BACNETUTIL::deleteMultiStateValueInfo(uint32_t objInstance)
+{
+  // if there is no data stored for this objInstance yet, then we do
+  // not need to do anything.
+  if (m_msvInfo.count(objInstance) == 0)
+    return;
+
+  // Now, we just erase the entry, and it will be updated the next
+  // time the MSV is accessed.
+  m_msvInfo.erase(objInstance);
+
+  return;
+}
+
+string BACNETUTIL::lookupMultiStateValueText(uint32_t objInstance,
+                                             unsigned int value)
+{
+  // verify that we have the relevant object data cached. If not, go
+  // get it.
+  updateMultiStateValueInfo(objInstance);
+
+  // verify that value is valid for this object
+  if (value == 0 || value > m_msvInfo[objInstance].numStates)
+    throw std::out_of_range(std::string(__FUNCTION__)
+                            + ": value supplied is invalid. Maximum "
+                            + "allowed values are 1 to "
+                            + std::to_string(m_msvInfo[objInstance].numStates)
+                            + " for this object");
+
+
+  // at this point either it failed or suceeded.  If it suceeded, then
+  // we will see if any state text was retrieved.  If no text is
+  // available (it is an optional property), then we will simply
+  // return the value itself as a string.
+
+  if (m_msvInfo[objInstance].stateList.size() > 0)
+    {
+      // we have state-text and a usable value.
+
+      // value should never be 0 at this point, so compensate for
+      // indexing into stateList which is 0-based.
+      value--;
+
+      return m_msvInfo[objInstance].stateList.at(value);
+    }
+
+  // no stateList text available, so just return value as a string
+  return std::to_string(value);
+}
+
+unsigned int BACNETUTIL::getMultiStateValueMaxStates(uint32_t objInstance)
+{
+  // check the MSV info, and update/cache the data if needed
+  updateMultiStateValueInfo(objInstance);
+
+  return m_msvInfo[objInstance].numStates;
+}
+
+string BACNETUTIL::getMultiStateValueText(uint32_t objInstance)
+{
+  unsigned int value = getMultiStateValue(objInstance);
+
+  return lookupMultiStateValueText(objInstance, value);
+}
+
+void BACNETUTIL::setMultiStateValue(uint32_t objInstance,
+                                    unsigned int value)
+{
+  // check the MSV info, and update/cache the data if needed
+  updateMultiStateValueInfo(objInstance);
+
+  // Check value against the valid limits
+
+  if (value == 0 || value > m_msvInfo[objInstance].numStates)
+    throw std::invalid_argument(std::string(__FUNCTION__)
+                                + ": value supplied is invalid. Maximum "
+                                + "allowed values are 1 to "
+                                + std::to_string(m_msvInfo[objInstance].numStates)
+                                + " for this object");
+
+  // Write the value
+  BACNET_APPLICATION_DATA_VALUE myData =
+    m_instance->createDataUnsignedInt(value);
+
+  // write it
+  if (m_instance->writeProperty(m_targetDeviceObjectID,
+                                OBJECT_MULTI_STATE_VALUE,
+                                objInstance, PROP_PRESENT_VALUE,
+                                &myData))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      throw std::runtime_error(std::string(__FUNCTION__)
+                               + ": "
+                               + getAllErrorString());
+    }
+}
+
+void BACNETUTIL::updateBinaryValueInfo(uint32_t objInstance)
+{
+  // bail if we already have information on this object
+  if (m_bvInfo.count(objInstance) != 0)
+    return;
+
+  // fetch inactive/active text.  These are optional accordingto the
+  // spec, so we will not throw if they do not exist.
+
+  // get inactive text
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_BINARY_VALUE,
+                               objInstance, PROP_INACTIVE_TEXT))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (inactive text): "
+             << getAllErrorString()
+             << endl;
+
+      m_bvInfo[objInstance].inactiveText = "inactive";
+    }
+  else
+    {
+      m_bvInfo[objInstance].inactiveText = m_instance->getDataTypeString();
+    }
+
+  // get active text
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_BINARY_VALUE,
+                               objInstance, PROP_ACTIVE_TEXT))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (active text): "
+             << getAllErrorString()
+             << endl;
+
+      m_bvInfo[objInstance].activeText = "active";
+    }
+  else
+    {
+      m_bvInfo[objInstance].activeText = m_instance->getDataTypeString();
+    }
+
+  return;
+}
+
+void BACNETUTIL::deleteBinaryValueInfo(uint32_t objInstance)
+{
+  // if there is no data stored for this objInstance yet, then we do
+  // not need to do anything.
+  if (m_bvInfo.count(objInstance) == 0)
+    return;
+
+  // Now, we just erase the entry, and it will be updated the next
+  // time it is accessed.
+  m_bvInfo.erase(objInstance);
+
+  return;
+}
+
+void BACNETUTIL::updateBinaryInputInfo(uint32_t objInstance)
+{
+  // bail if we already have information on this object
+  if (m_biInfo.count(objInstance) != 0)
+    return;
+
+  // fetch inactive/active text.  These are optional accordingto the
+  // spec, so we will not throw if they do not exist.
+
+  // get inactive text
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_BINARY_INPUT,
+                               objInstance, PROP_INACTIVE_TEXT))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (inactive text): "
+             << getAllErrorString()
+             << endl;
+
+      m_biInfo[objInstance].inactiveText = "inactive";
+    }
+  else
+    {
+      m_biInfo[objInstance].inactiveText = m_instance->getDataTypeString();
+    }
+
+  // get active text
+  if (m_instance->readProperty(m_targetDeviceObjectID,
+                               OBJECT_BINARY_INPUT,
+                               objInstance, PROP_ACTIVE_TEXT))
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__
+             << ": (active text): "
+             << getAllErrorString()
+             << endl;
+
+      m_biInfo[objInstance].activeText = "active";
+    }
+  else
+    {
+      m_biInfo[objInstance].activeText = m_instance->getDataTypeString();
+    }
+
+  return;
+}
+
+void BACNETUTIL::deleteBinaryInputInfo(uint32_t objInstance)
+{
+  // if there is no data stored for this objInstance yet, then we do
+  // not need to do anything.
+  if (m_biInfo.count(objInstance) == 0)
+    return;
+
+  // Now, we just erase the entry, and it will be updated the next
+  // time it is accessed.
+  m_biInfo.erase(objInstance);
+
+  return;
+}
+
+string BACNETUTIL::lookupBinaryInputText(uint32_t objInstance, bool value)
+{
+  // cache relevant data if necessary
+  updateBinaryInputInfo(objInstance);
+
+ if (value)
+    return m_biInfo[objInstance].activeText;
+  else
+    return m_biInfo[objInstance].inactiveText;
+}
+
+string BACNETUTIL::getBinaryInputText(uint32_t objInstance)
+{
+  bool value = getBinaryInput(objInstance);
+
+  return lookupBinaryInputText(objInstance, value);
+}
+
+string BACNETUTIL::lookupBinaryValueText(uint32_t objInstance, bool value)
+{
+  // cache relevant data if necessary
+  updateBinaryValueInfo(objInstance);
+
+ if (value)
+    return m_bvInfo[objInstance].activeText;
+  else
+    return m_bvInfo[objInstance].inactiveText;
+}
+
+string BACNETUTIL::getBinaryValueText(uint32_t objInstance)
+{
+  bool value = getBinaryValue(objInstance);
+
+  return lookupBinaryValueText(objInstance, value);
+}
+
+BACNETMSTP::BACERR_TYPE_T BACNETUTIL::getErrorType()
+{
+  return m_instance->getErrorType();
+}
+
+uint8_t BACNETUTIL::getRejectReason()
+{
+  return m_instance->getRejectReason();
+}
+
+std::string BACNETUTIL::getRejectString()
+{
+  return m_instance->getRejectString();
+}
+
+uint8_t BACNETUTIL::getAbortReason()
+{
+  return m_instance->getAbortReason();
+}
+
+std::string BACNETUTIL::getAbortString()
+{
+  return m_instance->getAbortString();
+}
+
+BACNET_ERROR_CLASS BACNETUTIL::getErrorClass()
+{
+  return m_instance->getErrorClass();
+}
+
+BACNET_ERROR_CODE BACNETUTIL::getErrorCode()
+{
+  return m_instance->getErrorCode();
+}
+
+std::string BACNETUTIL::getUPMErrorString()
+{
+  return m_instance->getUPMErrorString();
+}
+
+std::string BACNETUTIL::getErrorString()
+{
+  return m_instance->getErrorString();
+};
+
+string BACNETUTIL::getAllErrorString()
+{
+  switch (m_instance->getErrorType())
+    {
+    case BACNETMSTP::BACERR_TYPE_NONE:
+      return string("No Error");
+      break;
+
+    case BACNETMSTP::BACERR_TYPE_REJECT:
+      return string("Reject: ") + getRejectString();
+      break;
+
+    case BACNETMSTP::BACERR_TYPE_ABORT:
+      return string("Abort: ") + getAbortString();
+      break;
+
+    case BACNETMSTP::BACERR_TYPE_ERROR:
+      return string("Error: ") + getErrorString();
+      break;
+
+    case BACNETMSTP::BACERR_TYPE_UPM:
+      return string("UPM Error: ") + getUPMErrorString();
+      break;
+    }
+}
+
+string BACNETUTIL::getDeviceDescription()
+{
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
+                               m_targetDeviceObjectID, PROP_DESCRIPTION))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      return "";
+    }
+
+  return m_instance->getDataTypeString();
+}
+
+string BACNETUTIL::getDeviceLocation()
+{
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
+                               m_targetDeviceObjectID, PROP_LOCATION))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      return "";
+    }
+
+  return m_instance->getDataTypeString();
+}
+
+bool BACNETUTIL::setDeviceLocation(string location)
+{
+  BACNET_APPLICATION_DATA_VALUE myLocation =
+    m_instance->createDataString(location);
+
+  // write the Device Object Location
+  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
+                                m_targetDeviceObjectID, PROP_LOCATION,
+                                &myLocation))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      return false;
+    }
+
+  return true;
+}
+
+string BACNETUTIL::getDeviceName()
+{
+  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
+                               m_targetDeviceObjectID, PROP_OBJECT_NAME))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      return "";
+    }
+
+  return m_instance->getDataTypeString();
+}
+
+bool BACNETUTIL::setDeviceName(string name)
+{
+  if (name.size() < 1)
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__)
+                                  + ": name must have at least one character");
+    }
+
+  BACNET_APPLICATION_DATA_VALUE myName =
+    m_instance->createDataString(name);
+
+  // write the Device Object Location
+  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
+                                m_targetDeviceObjectID, PROP_OBJECT_NAME,
+                                &myName))
+    {
+      // error occurred
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
+
+      return false;
+    }
+
+  return true;
+}

src/bacnetmstp/bacnetutil.hpp

@@ -0,0 +1,559 @@
+/*
+ * 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 <map>
+#include <vector>
+
+#include "bacnetmstp.hpp"
+
+namespace upm {
+
+  /**
+   * @library bacnetmstp
+   * @comname UPM Utility API for BACnet
+   * @con uart
+   *
+   * @brief UPM Utility API for BACnet
+   *
+   * This class implements some common access functions that are
+   * useful to any driver making use of the bacnetmstp driver.
+   *
+   * It provides some basic functionality for reading and writing a
+   * proprty (with and without relability checking) as well as access
+   * to error conditions.  It is intended to be inherited by your
+   * driver class.
+   */
+
+  class BACNETUTIL {
+  public:
+
+    /**
+     * BACNETUTIL constructor
+     *
+     */
+    BACNETUTIL(uint32_t targetDeviceObjectID);
+
+    /**
+     * BACNETUTIL Destructor
+     */
+    virtual ~BACNETUTIL();
+
+    /**
+     * This function initializes the underlying BACNETMSTP Master
+     * singleton in the event it has not already been initialized.  If
+     * the BACNETMSTP Master singleton has already been initialized,
+     * then this call will be ignored.
+     *
+     * @param port The serial port that the RS-485 interface is
+     * connected to.
+     * @param baudRate The baudrate of the RS-485 interface.  All
+     * devices on a BACnet RS-485 bus must run at the same baudrate.
+     * Valid values are 9600, 19200, 38400, 57600, 76800, and 115200.
+     * @param deviceInstanceNumber This is the unique Device Object
+     * Instance number that will be used for our BACnet Master in
+     * order to communicate over the BACnet interface.  This number
+     * must be between 1-4194302 and must be unique on the BACnet
+     * network.
+     * @param macAddr This is the MAC address of our BACnet Master.
+     * It must be unique on the BACnet segment, and must be between
+     * 1-127.
+     * @param maxMaster This specifies to our Master the maximum MAC
+     * address used by any other Masters on the BACnet network.  This
+     * must be between 1-127, the default is 127.  Do not change this
+     * unless you know what you are doing or you could introduce
+     * token passing errors on the BACnet network.
+     * @param maxInfoFrames This number specifies the maximum number
+     * of transmissions (like requests for data) our Master is allowed
+     * to make before passing the token to the next Master.  The
+     * default is 1.
+     */
+    virtual void initMaster(std::string port, int baudRate,
+                            int deviceInstanceNumber,
+                            int macAddr, int maxMaster=DEFAULT_MAX_MASTER,
+                            int maxInfoFrames=1);
+
+    /**
+     * Enable some debugging output in this module as well as the
+     * BACNETMSTP module.  Debugging is disabled by default.
+     *
+     * @param enable true to enable, false to disable.
+     */
+    virtual void setDebug(bool enable);
+
+    /**
+     * Retrieve the Present_Value property of an Analog Value object.
+     * If checkReliability() has been enabled, then the Reliability
+     * property of the object will be retrieved first.  If the
+     * Reliability property is anything other than
+     * RELIABILITY_NO_FAULT_DETECTED, then the method will throw.
+     * Reliability checking is disabled by default for performance
+     * reasons.
+     *
+     * @param objInstance The Analog Value Object instance.
+     * @return The floating point value requested.
+     */
+    virtual float getAnalogValue(uint32_t objInstance);
+
+    /**
+     * Set the Present_Value property of an Analog Value object.  This
+     * method will throw on an error.
+     *
+     * @param objInstance The Analog Value Object instance.
+     * @param value The data value to write.
+     */
+    virtual void setAnalogValue(uint32_t objInstance,
+                                float value);
+
+    /**
+     * Retrieve the Present_Value property of an Analog Input object.
+     * If checkReliability() has been enabled, then the Reliability
+     * property of the object will be retrieved first.  If the
+     * Reliability property is anything other than
+     * RELIABILITY_NO_FAULT_DETECTED, then the method will throw.
+     * Reliability checking is disabled by default for performance
+     * reasons.
+     *
+     * @param objInstance The Analog Input Object instance.
+     * @return the floating point value requested.
+     */
+    virtual float getAnalogInput(uint32_t objInstance);
+
+    /**
+     * Query an Analog Value object for the unit code, translate it
+     * into a string and cache the result for future use.  Return the
+     * BACnet text for the Unit enumeration.  Unit enumerations are
+     * things like 'kilowatt-hours', 'volts', etc.  For Objects which
+     * do not have a Units property defined for them, or for which
+     * Units has no meaning, 'no-units' will typically be returned and
+     * cached for the object.
+     *
+     * @param objInstance The Analog Value Object instance.
+     * @return A string representing the Object's Unit property.
+     */
+    virtual std::string getAnalogValueUnits(uint32_t objInstance);
+
+    /**
+     * Query an Analog Input object for the unit code, translate it
+     * into a string and cache the result for future use.  Return the
+     * BACnet text for the Unit enumeration.  Unit enumerations are
+     * things like 'kilowatt-hours', 'volts', etc.  For Objects which
+     * do not have a Units property defined for them, or for which
+     * Units has no meaning, 'no-units' will typically be returned and
+     * cached for the object.
+     *
+     * @param objInstance The Analog Input Object instance.
+     * @return A string representing the Object's Unit property.
+     */
+    virtual std::string getAnalogInputUnits(uint32_t objInstance);
+
+    /**
+     * Retrieve the Present_Value property of a Binary Input object.
+     * If checkReliability() has been enabled, then the Reliability
+     * property of the object will be retrieved first.  If the
+     * Reliability property is anything other than
+     * RELIABILITY_NO_FAULT_DETECTED, then the method will throw.
+     * Reliability checking is disabled by default for performance
+     * reasons.
+     *
+     * @param objInstance The Object Instance number to query
+     * @return the boolean point value requested
+     */
+    virtual bool getBinaryInput(uint32_t objInstance);
+
+    /**
+     * Lookup (retrieve if necessary) the Inactive_Text and
+     * Active_Text properties of a Binary Input object.  These text
+     * properties are optional and can provide a string representing a
+     * given state (true/false) that can be more informational than
+     * just the boolean value the object represents.  This is useful
+     * in applications that display this data to a user for example.
+     * If this text is not present in the object (as it is not
+     * required), then a string representation of the value will be
+     * returned instead ("active" and "inactive").
+     *
+     * @param objInstance The Object Instance number of the object
+     * @param value The value you want to lookup the text
+     * representation for.
+     * @return The string representing the value.
+     */
+    virtual std::string lookupBinaryInputText(uint32_t objInstance, bool value);
+
+    /**
+     * Return a string representation of the Present_Value property of
+     * a BinaryInput object.  This method just calls getBinaryInput()
+     * on the object, uses lookupBinaryInputText() to lookup the
+     * corresponding text value, and returns the result.
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @return The string representing the value.
+     */
+    virtual std::string getBinaryInputText(uint32_t objInstance);
+
+    /**
+     * Retrieve the Present_Value property of a Binary Value object.
+     * If checkReliability() has been enabled, then the Reliability
+     * property of the object will be retrieved first.  If the
+     * Reliability property is anything other than
+     * RELIABILITY_NO_FAULT_DETECTED, then the method will throw.
+     * Reliability checking is disabled by default for performance
+     * reasons.
+     *
+     * @param objInstance The Object Instance number to query
+     * @return the boolean point value requested
+     */
+    virtual bool getBinaryValue(uint32_t objInstance);
+
+    /**
+     * Set the Present_Value property of a Binary Value object.  This
+     * method will throw on an error.
+     *
+     * @param objInstance The Analog Value Object instance.
+     * @param value The data value to write
+     */
+    virtual void setBinaryValue(uint32_t objInstance,
+                                bool value);
+
+    /**
+     * Lookup (retrieve if necessary) the Inactive_Text and
+     * Active_Text properties of a Binary Value object.  These text
+     * properties are optional and can provide a string representing a
+     * given state (true/false) that can be more informational than
+     * just the boolean value the object represents.  This is useful
+     * in applications that display this data to a user for example.
+     * If this text is not present in the object (as it is not
+     * required), then a string representation of the value will be
+     * returned instead ("active" and "inactive").
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @param value The value you want to lookup the text
+     * representation for.
+     * @return The string representing the value.
+     */
+    virtual std::string lookupBinaryValueText(uint32_t objInstance, bool value);
+
+    /**
+     * Return a string representation of the Present_Value property of
+     * a Binary Value object.  This method just calls getBinaryValue()
+     * on the object, uses lookupBinaryValueText() to lookup the
+     * corresponding text value, and returns the result.
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @return The string representing the value.
+     */
+    virtual std::string getBinaryValueText(uint32_t objInstance);
+
+    /**
+     * Retrieve the Present_Value property of a Multi State Value
+     * object.  If checkReliability() has been enabled, then the
+     * Reliability property of the object will be retrieved first.  If
+     * the Reliability property is anything other than
+     * RELIABILITY_NO_FAULT_DETECTED, then the method will throw.
+     * Reliability checking is disabled by default for performance
+     * reasons.
+     *
+     * @param objInstance The Object Instance number to query.
+     * @return The Present_Value property of the object.
+     */
+    virtual unsigned int getMultiStateValue(uint32_t objInstance);
+
+    /**
+     * Lookup (retrieve if necessary) the State_Text strings
+     * corresponding to the supplied value of a MultiStateValue
+     * object.  State_Text is an optional property that can provide
+     * strings representing a given state that can be more
+     * informational than just the unsigned integer the object
+     * represents.  This is useful in applications that display this
+     * data to a user for example.  If this text is not present in the
+     * object (as it is not required), then a string representation of
+     * the integer value will be returned instead.
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @param value The value you want to lookup the text
+     * representation for.
+     * @return The string representing the value.
+     */
+    virtual std::string lookupMultiStateValueText(uint32_t objInstance,
+                                                  unsigned int value);
+
+    /**
+     * Return a string representation of the Present_Value property of
+     * a MultiStateValue object.  This method just calls
+     * getMultiStateValue() on the object, uses
+     * lookupMultiStateValueText() to lookup the corresponding
+     * State_Text value, and returns the result.
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @return The string representing the value.
+     */
+    virtual std::string getMultiStateValueText(uint32_t objInstance);
+
+    /**
+     * Return the maximum legal value of a Multi State Value Object.
+     * The value represents the highest value the Present_Value
+     * porperty of the object will allow.
+     *
+     * @param objInstance The Object Instance number of the object.
+     * @return The highest Present_Value the object supports.
+     */
+    virtual unsigned int getMultiStateValueMaxStates(uint32_t objInstance);
+
+    /**
+     * Set the Present_Value property of a Multi State Value object.
+     * The value provided must not be 0, and must not exceed the
+     * object's Number_Of_States property. Use
+     * getMultiStateValueMaxStates() to determine the maximum value
+     * the object supports. This method will throw on an error.
+     *
+     * @param objInstance The MultiStateValue Object instance.
+     * @param value The data value to write.
+     */
+    virtual void setMultiStateValue(uint32_t objInstance,
+                                    unsigned int value);
+
+    /**
+     * Enable or disable reliability checking.  When retrieving data,
+     * the Present_Value property is returned.  There is also an
+     * optional property called Reliability that can be checked to
+     * ensure that the Present_Value property is currently valid.
+     *
+     * Enabling Reliability Checking has the data retrieval functions
+     * check for a RELIABILITY_NO_FAULT_DETECTED value for the
+     * Reliability property before querying the Present_Value
+     * property.  If anything other than RELIABILITY_NO_FAULT_DETECTED
+     * is set, then the method will throw.
+     *
+     * This checking is disabled by default since it will double the
+     * number of queries needed to retrieve a given value.  In
+     * addition, since it is an optional property, calling it for an
+     * object that does not support it will also throw.  However, if
+     * you need to ensure that the values returned are always
+     * completely valid as determined by the device firmware, and the
+     * objects you are querying support the reliability property, you
+     * can enable this.
+     *
+     * @param enable true to check Reliability before returning a
+     * value, false otherwise.
+     */
+    virtual void checkReliability(bool enable)
+    {
+      m_checkReliability = enable;
+    };
+
+    /**
+     * Query the Device Object of the device and return it's
+     * Description property.  This typically contains information like
+     * the Vendor, model and serial number of a device.
+     *
+     * @return A string containing the Device Object's Description property.
+     */
+    virtual std::string getDeviceDescription();
+
+    /**
+     * Query the Device Object of the device and return it's Location
+     * property.  This typically contains a string indication of a
+     * customer specific value.  Use setLocation() to change.
+     *
+     * @return A string containing the Device Object's Location property.
+     */
+    virtual std::string getDeviceLocation();
+
+    /**
+     * Set the Device Object's Location property.  This must be a
+     * string containing no more than 63 characters.  Not all devices
+     * allow setting the location.
+     *
+     * @param location The new location to set, if supported.
+     * @return true if the operation succeeded, otherwise false.
+     */
+    virtual bool setDeviceLocation(std::string location);
+
+    /**
+     * Query the Device Object of the device and return it's Name
+     * property.  This should contain a unique string value.  Use
+     * setName() to change.  Note, according to the spec, the Device
+     * Object Name must be unique within a given BACnet network.
+     *
+     * @return A string containing the Object's Name property.
+     */
+    virtual std::string getDeviceName();
+
+    /**
+     * Set the Device Object's Name property.  This must be a string
+     * containing at least one character and no more than 63
+     * characters.  Note, according to the spec, the Device Object
+     * Name must be unique within a given BACnet network.
+     *
+     * @param name The name to set.
+     * @return true if the operation succeeded, false otherwise
+     */
+    virtual bool setDeviceName(std::string name);
+
+    /**
+     * This is a utility function that will return a string reporting
+     * on the various types of errors that can occur in BACnet
+     * operation.
+     *
+     * @return A string containing the last error message.
+     */
+    virtual std::string getAllErrorString();
+
+    /**
+     * Return an enumration of the last error type to occur.  The
+     * value returned will be one of the BACNETMSTP::BACERR_TYPE_T
+     * values.
+     *
+     * @return The last error type to occur, one of the
+     * BACNETMSTP::BACERR_TYPE_T values.
+     */
+    virtual BACNETMSTP::BACERR_TYPE_T getErrorType();
+
+    /**
+     * In the event of a BACnet Reject error, return the error code.
+     *
+     * @return The Reject error code.
+     */
+    virtual uint8_t getRejectReason();
+
+    /**
+     * In the event of a BACnet Reject error, return the error string.
+     *
+     * @return The Reject error string.
+     */
+    virtual std::string getRejectString();
+
+    /**
+     * In the event of a BACnet Abort error, return the Abort reason code.
+     *
+     * @return The Abort reason code.
+     */
+    virtual uint8_t getAbortReason();
+
+    /**
+     * In the event of a BACnet Abort error, return the Abort string.
+     *
+     * @return The Abort error string.
+     */
+    virtual std::string getAbortString();
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error class.
+     *
+     * @return One of the BACNET_ERROR_CLASS error class codes
+     */
+    virtual BACNET_ERROR_CLASS getErrorClass();
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error code.
+     *
+     * @return One of the BACNET_ERROR_CODE error codes
+     */
+    virtual BACNET_ERROR_CODE getErrorCode();
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error
+     * string.
+     *
+     * @return A string representing the BACnet error class and code.
+     */
+    virtual std::string getErrorString();
+
+    /**
+     * In the event of a non-BACnet UPM error, return a string
+     * describing the error.
+     *
+     * @return A string representing the UPM error.
+     */
+    virtual std::string getUPMErrorString();
+
+  protected:
+    // update our stored info for an MSV
+    virtual void updateMultiStateValueInfo(uint32_t objInstance);
+    // delete our stored info for an MSV
+    virtual void deleteMultiStateValueInfo(uint32_t objInstance);
+
+    // update our stored info for a BV
+    virtual void updateBinaryValueInfo(uint32_t objInstance);
+    // delete our stored info for a BV
+    virtual void deleteBinaryValueInfo(uint32_t objInstance);
+
+    // update our stored info for a BI
+    virtual void updateBinaryInputInfo(uint32_t objInstance);
+    // delete our stored info for a BI
+    virtual void deleteBinaryInputInfo(uint32_t objInstance);
+
+    // also enable mstp debugging in BACNETMSTP
+    bool m_debugging;
+
+    // whether or not to verify reliability before reading a value.
+    bool m_checkReliability;
+
+    // our target Device Object ID
+    uint32_t m_targetDeviceObjectID;
+
+    // a copy of the BACNETMSTP singleton instance pointer
+    BACNETMSTP* m_instance;
+
+    // are we initialized?
+    bool m_initialized;
+
+    // storage for Binary Input and Binary Value Data.  This will
+    // generate SWIG warnings which can be ignored as we do not expose
+    // this struct outside the class.
+    typedef struct {
+      std::string inactiveText;
+      std::string activeText;
+    } binaryData_t;
+
+    typedef std::map<uint32_t, binaryData_t> binaryInfo_t;
+
+    // storage for binary input/value information
+    binaryInfo_t m_bvInfo;
+    binaryInfo_t m_biInfo;
+
+    // storage for multi-state data.  This will generate SWIG
+    // warnings which can be ignored as we do not expose this struct
+    // outside the class.
+    typedef struct {
+      unsigned int numStates;
+      std::vector<std::string>stateList;
+    } multiStateData_t;
+
+    // our information storage for MSV's
+    typedef std::map<uint32_t, multiStateData_t> multiStateInfo_t;
+
+    multiStateInfo_t m_msvInfo;
+
+    // Unit cache for AV
+    typedef std::map<uint32_t, std::string> avCacheMap_t;
+    avCacheMap_t m_avUnitCache;
+
+    // Unit cache for AI
+    typedef std::map<uint32_t, std::string> aiCacheMap_t;
+    aiCacheMap_t m_aiUnitCache;
+
+  private:
+  };
+}

src/bacnetmstp/javaupm_bacnetmstp.i

@@ -1,15 +1,15 @@
 %module javaupm_bacnetmstp
 %include "../upm.i"
 %include "typemaps.i"
-%include "cpointer.i"
-%include "arrays_java.i";
-%include "../java_buffer.i"
+%include "carrays_uint32_t.i"
 
 %{
     #include "bacnetmstp.hpp"
+    #include "bacnetutil.hpp"
 %}
 
 %include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
 
 %pragma(java) jniclasscode=%{
     static {

src/bmx055/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "bmx055")
+set (libdescription "Bosch bmx055, bmi055, bma250e, bmc150, bmg160, bmm150")
+set (module_src ${libname}.cxx bma250e.cxx bmg160.cxx bmm150.cxx bmc150.cxx bmi055.cxx)
+set (module_hpp ${libname}.hpp bma250e.hpp bmg160.hpp bmm150.hpp bmc150.cxx bmi055.hpp)
+upm_module_init()

src/bmx055/bma250e.cxx

@@ -0,0 +1,735 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+#include <string.h>
+
+#include "bma250e.hpp"
+
+using namespace upm;
+using namespace std;
+
+// conversion from celcius to fahrenheit
+
+static float c2f(float c)
+{
+  return (c * (9.0 / 5.0) + 32.0);
+}
+
+BMA250E::BMA250E(int bus, uint8_t addr, int cs) :
+  m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
+{
+  m_addr = addr;
+  m_isSPI = false;
+
+  m_accX = 0;
+  m_accY = 0;
+  m_accZ = 0;
+  m_accScale = 0;
+  m_temperature = 0.0;
+
+  if (addr < 0)
+    m_isSPI = true;
+
+  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");
+        }
+    }
+
+  // check the chip id
+
+  uint8_t chipID = getChipID();
+
+  m_useFIFO = false;
+
+  // check the various chips id's and set appropriate capabilities.
+  // Bail if the chip id is unknown.
+  switch (chipID)
+    {
+    case 0xf9: // standalone bma250e
+      m_resolution = RESOLUTION_10BITS;
+      m_fifoAvailable = true;
+
+      break;
+
+    case 0xfa: // bmx055, bmi055 variants, 12b resolution
+      m_resolution = RESOLUTION_12BITS;
+      m_fifoAvailable = true;
+
+      break;
+
+    case 0x03: // bmc050 variant, no FIFO, 12b resolution
+      m_resolution = RESOLUTION_12BITS;
+      m_fifoAvailable = false;
+
+      break;
+
+    default:
+      throw std::runtime_error(string(__FUNCTION__)
+                               + ": invalid chip ID.  Expected "
+                               + "3, 249, or 250 "
+                               + ", got "
+                               + std::to_string(int(chipID)));
+    }
+
+  // call init with default options
+  init();
+}
+
+BMA250E::~BMA250E()
+{
+  uninstallISR(INTERRUPT_INT1);
+  uninstallISR(INTERRUPT_INT2);
+}
+
+void BMA250E::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
+{
+  setPowerMode(pwr);
+  usleep(50000); // 50ms, in case we are waking up
+
+  // set our range and bandwidth
+  setRange(range);
+  setBandwidth(bw);
+
+  // make sure register shadowing is enabled
+  enableRegisterShadowing(true);
+
+  // enable output filtering
+  enableOutputFiltering(true);
+
+  // use the FIFO by default, if we have one
+  fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
+  enableFIFO(true);
+
+  // make sure low power mode LPM2 is enabled in case we go to low
+  // power or suspend mode. LPM1 mode (the default) requires register
+  // writes to be drastically slowed down when enabled, which we
+  // cannot handle.
+  setLowPowerMode2();
+
+  // settle
+  usleep(50000);
+}
+
+void BMA250E::update()
+{
+  int bufLen = 0;
+  uint8_t startReg = 0;
+
+  if (m_useFIFO)
+    {
+      bufLen = 6;
+      startReg = REG_FIFO_DATA;
+    }
+  else
+    {
+      // non FIFO, read acc regs directly (including temp)
+      bufLen = 7;
+      startReg = REG_ACCD_X_LSB;
+    }
+
+  uint8_t buf[bufLen];
+
+  if (readRegs(startReg, buf, bufLen) != bufLen)
+    {
+      throw std::runtime_error(string(__FUNCTION__)
+                               + ": readRegs() failed to read "
+                               + std::to_string(bufLen)
+                               + " bytes");
+    }
+
+  uint8_t mask, shift;
+  float divisor;
+
+  switch (m_resolution)
+    {
+    case RESOLUTION_10BITS:
+      mask = _ACCD10_LSB_MASK;
+      shift = _ACCD10_LSB_SHIFT;
+      divisor = 64.0;
+
+      break;
+
+    case RESOLUTION_12BITS:
+      mask = _ACCD12_LSB_MASK;
+      shift = _ACCD12_LSB_SHIFT;
+      divisor = 16.0;
+
+      break;
+
+    default:
+      throw std::logic_error(string(__FUNCTION__)
+                             + ": internal error: invalid resolution "
+                             + std::to_string(int(m_resolution)));
+    }
+
+  int16_t val;
+
+  // x
+  val = int16_t(buf[1] << 8 | (buf[0] & (mask << shift)));
+  m_accX = float(val / divisor);
+
+  // y
+  val = int16_t(buf[3] << 8 | (buf[2] & (mask << shift)));
+  m_accY = float(val / divisor);
+
+  // z
+  val = int16_t(buf[5] << 8 | (buf[4] & (mask << shift)));
+  m_accZ = float(val / divisor);
+
+  // get the temperature...
+
+  uint8_t temp = 0;
+  if (m_useFIFO)
+    {
+      // we have to read temperature separately...
+      temp = readReg(REG_TEMP);
+    }
+  else
+    {
+      // we've already got it
+      temp = buf[6];
+    }
+
+  // .5K/LSB, 23C center point
+  m_temperature = (float(temp) / 2.0) + 23.0;
+}
+
+void BMA250E::enableFIFO(bool useFIFO)
+{
+  if (m_fifoAvailable)
+    m_useFIFO = useFIFO;
+}
+
+uint8_t BMA250E::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 BMA250E::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 BMA250E::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
+    {
+      if (m_i2c->writeReg(reg, val) != mraa::SUCCESS)
+        {
+          throw std::runtime_error(std::string(__FUNCTION__)
+                                   + ": I2c.writeReg() failed");
+        }
+    }
+}
+
+void BMA250E::csOn()
+{
+  if (m_gpioCS)
+    m_gpioCS->write(0);
+}
+
+void BMA250E::csOff()
+{
+  if (m_gpioCS)
+    m_gpioCS->write(1);
+}
+
+uint8_t BMA250E::getChipID()
+{
+  return readReg(REG_CHIP_ID);
+}
+
+void BMA250E::getAccelerometer(float *x, float *y, float *z)
+{
+  if (x)
+    *x = (m_accX * m_accScale) / 1000.0;
+
+  if (y)
+    *y = (m_accY * m_accScale) / 1000.0;
+
+  if (z)
+    *z = (m_accZ * m_accScale) / 1000.0;
+}
+
+float *BMA250E::getAccelerometer()
+{
+  static float v[3];
+
+  getAccelerometer(&v[0], &v[1], &v[2]);
+  return v;
+}
+
+float BMA250E::getTemperature(bool fahrenheit)
+{
+  if (fahrenheit)
+    return c2f(m_temperature);
+  else
+    return m_temperature;
+}
+
+void BMA250E::reset()
+{
+  writeReg(REG_SOFTRESET, BMA250E_RESET_BYTE);
+  sleep(1);
+}
+
+void BMA250E::setRange(RANGE_T range)
+{
+  switch (m_resolution)
+    {
+    case RESOLUTION_10BITS:
+      switch(range)
+        {
+        case RANGE_2G:
+          m_accScale = 3.91; // milli-gravities
+          break;
+
+        case RANGE_4G:
+          m_accScale = 7.81;
+          break;
+
+        case RANGE_8G:
+          m_accScale = 15.63;
+          break;
+
+        case RANGE_16G:
+          m_accScale = 31.25;
+          break;
+        }
+
+      break;
+
+    case RESOLUTION_12BITS:
+      switch(range)
+        {
+        case RANGE_2G:
+          m_accScale = 0.98; // milli-gravities
+          break;
+
+        case RANGE_4G:
+          m_accScale = 1.95;
+          break;
+
+        case RANGE_8G:
+          m_accScale = 3.91;
+          break;
+
+        case RANGE_16G:
+          m_accScale = 7.81;
+          break;
+        }
+
+      break;
+    }
+
+  writeReg(REG_PMU_RANGE, range);
+}
+
+void BMA250E::setBandwidth(BW_T bw)
+{
+  writeReg(REG_PMU_BW, bw);
+}
+
+void BMA250E::setPowerMode(POWER_MODE_T power)
+{
+  // mask off reserved bits
+  uint8_t reg = readReg(REG_PMU_LPW) & ~_PMU_LPW_RESERVED_MASK;
+
+  reg &= ~(_PMU_LPW_POWER_MODE_MASK << _PMU_LPW_POWER_MODE_SHIFT);
+  reg |= (power << _PMU_LPW_POWER_MODE_SHIFT);
+
+  writeReg(REG_PMU_LPW, power);
+}
+
+void BMA250E::fifoSetWatermark(int wm)
+{
+  // do nothing if we don't have a FIFO
+  if (!m_fifoAvailable)
+    return;
+
+  // mask off illegal values
+  uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
+
+  writeReg(REG_FIFO_CONFIG_0, reg);
+}
+
+void BMA250E::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
+{
+  // do nothing if we don't have a FIFO
+  if (!m_fifoAvailable)
+    return;
+
+  uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
+                  (axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
+
+  writeReg(REG_FIFO_CONFIG_1, reg);
+}
+
+void BMA250E::setSelfTest(bool sign, bool amp, SELFTTEST_AXIS_T axis)
+{
+  uint8_t reg = (axis << _PMU_SELFTTEST_AXIS_SHIFT);
+
+  if (amp)
+    reg |= PMU_SELFTTEST_AMP;
+
+  if (sign)
+    reg |= PMU_SELFTTEST_SIGN;
+
+  writeReg(REG_PMU_SELFTEST, reg);
+}
+
+uint8_t BMA250E::getInterruptEnable0()
+{
+  return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptEnable0(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_0, reg);
+}
+
+uint8_t BMA250E::getInterruptEnable1()
+{
+  return readReg(REG_INT_EN_1) & ~_INT_EN_1_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptEnable1(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_1_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_1, reg);
+}
+
+uint8_t BMA250E::getInterruptEnable2()
+{
+  return readReg(REG_INT_EN_2) & ~_INT_EN_2_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptEnable2(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_2_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_2, reg);
+}
+
+uint8_t BMA250E::getInterruptMap0()
+{
+  return readReg(REG_INT_MAP_0);
+}
+
+void BMA250E::setInterruptMap0(uint8_t bits)
+{
+  writeReg(REG_INT_MAP_0, bits);
+}
+
+uint8_t BMA250E::getInterruptMap1()
+{
+  return readReg(REG_INT_MAP_1) & ~_INT_MAP_1_INT1_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptMap1(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_MAP_1_INT1_RESERVED_BITS;
+
+  writeReg(REG_INT_MAP_1, reg);
+}
+
+uint8_t BMA250E::getInterruptMap2()
+{
+  return readReg(REG_INT_MAP_2);
+}
+
+void BMA250E::setInterruptMap2(uint8_t bits)
+{
+  writeReg(REG_INT_MAP_2, bits);
+}
+
+uint8_t BMA250E::getInterruptSrc()
+{
+  return readReg(REG_INT_SRC) & ~_INT_SRC_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptSrc(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_SRC_RESERVED_BITS;
+
+  writeReg(REG_INT_SRC, reg);
+}
+
+uint8_t BMA250E::getInterruptOutputControl()
+{
+  return readReg(REG_INT_OUT_CTRL) & ~_INT_OUT_CTRL_INT1_RESERVED_BITS;
+}
+
+void BMA250E::setInterruptOutputControl(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_OUT_CTRL_INT1_RESERVED_BITS;
+
+  writeReg(REG_INT_OUT_CTRL, reg);
+}
+
+void BMA250E::clearInterruptLatches()
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg |= INT_RST_LATCH_RESET_INT;
+
+  writeReg(REG_INT_RST_LATCH, reg);
+}
+
+BMA250E::RST_LATCH_T BMA250E::getInterruptLatchBehavior()
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
+
+  return static_cast<RST_LATCH_T>(reg);
+}
+
+void BMA250E::setInterruptLatchBehavior(RST_LATCH_T latch)
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
+  reg |= (latch << _INT_RST_LATCH_SHIFT);
+
+  writeReg(REG_INT_RST_LATCH, reg);
+}
+
+void BMA250E::enableRegisterShadowing(bool shadow)
+{
+  uint8_t reg = readReg(REG_ACC_HBW) & ~_ACC_HBW_RESERVED_BITS;
+
+  if (shadow)
+    reg &= ~ACC_HBW_SHADOW_DIS;
+  else
+    reg |= ACC_HBW_SHADOW_DIS;
+
+  writeReg(REG_ACC_HBW, reg);
+}
+
+void BMA250E::enableOutputFiltering(bool filter)
+{
+  uint8_t reg = readReg(REG_ACC_HBW) & ~_ACC_HBW_RESERVED_BITS;
+
+  if (filter)
+    reg &= ~ACC_HBW_DATA_HIGH_BW;
+  else
+    reg |= ACC_HBW_DATA_HIGH_BW;
+
+  writeReg(REG_ACC_HBW, reg);
+}
+
+uint8_t BMA250E::getInterruptStatus0()
+{
+  return readReg(REG_INT_STATUS_0);
+}
+
+uint8_t BMA250E::getInterruptStatus1()
+{
+  return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
+}
+
+uint8_t BMA250E::getInterruptStatus2()
+{
+  return readReg(REG_INT_STATUS_2);
+}
+
+uint8_t BMA250E::getInterruptStatus3Bits()
+{
+  // filter out the orientation bitfield..
+  return readReg(REG_INT_STATUS_3) &
+    ~(_INT_STATUS_3_ORIENT_MASK << _INT_STATUS_3_ORIENT_SHIFT);
+}
+
+BMA250E::ORIENT_T BMA250E::getInterruptStatus3Orientation()
+{
+  // grab just the orientation bitfield
+  uint8_t reg = readReg(REG_INT_STATUS_3) &
+    (_INT_STATUS_3_ORIENT_MASK << _INT_STATUS_3_ORIENT_SHIFT);
+
+  reg >>= _INT_STATUS_3_ORIENT_SHIFT;
+
+  return static_cast<ORIENT_T>(reg);
+}
+
+void BMA250E::setLowPowerMode2()
+{
+  uint8_t reg = readReg(REG_PMU_LOW_POWER) & ~_LOW_POWER_RESERVED_BITS;
+
+  // we simply set the low power mode to 2.  Low power mode 1 slows
+  // down register write accesses, and we can't handle that.  In the
+  // words of the late Admiral Akbar: "We cannot handle firepower of
+  // that magnitude!" :(
+
+  reg |= LOW_POWER_LOWPOWER_MODE;
+
+  writeReg(REG_PMU_LOW_POWER, reg);
+}
+
+#if defined(SWIGJAVA) || (JAVACALLBACK)
+void BMA250E::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 BMA250E::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 BMA250E::uninstallISR(INTERRUPT_PINS_T intr)
+{
+  if (getPin(intr))
+    {
+      getPin(intr)->isrExit();
+      delete getPin(intr);
+
+      getPin(intr) = 0;
+    }
+}
+
+mraa::Gpio*& BMA250E::getPin(INTERRUPT_PINS_T intr)
+{
+  switch(intr)
+    {
+    case INTERRUPT_INT1:
+      return m_gpioIntr1;
+      break;
+
+    case INTERRUPT_INT2:
+      return m_gpioIntr2;
+      break;
+
+    default:
+      throw std::out_of_range(string(__FUNCTION__) +
+                              ": Invalid interrupt enum passed");
+    }
+}

src/bmx055/bmc150.cxx

@@ -0,0 +1,120 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "bmc150.hpp"
+
+using namespace upm;
+using namespace std;
+
+BMC150::BMC150(int accelBus, uint8_t accelAddr, int accelCS,
+               int magBus, uint8_t magAddr, int magCS) :
+  m_accel(0), m_mag(0)
+{
+  // 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 (magBus >= 0)
+    m_mag = new BMM150(magBus, magAddr, magCS);
+
+  // now initialize them...
+  if (m_accel)
+    m_accel->init();
+
+  if (m_mag)
+    m_mag->init();
+}
+
+BMC150::~BMC150()
+{
+  if (m_accel)
+    delete m_accel;
+
+  if (m_mag)
+    delete m_mag;
+}
+
+void BMC150::initAccelerometer(BMA250E::POWER_MODE_T pwr,
+                               BMA250E::RANGE_T range,
+                               BMA250E::BW_T bw)
+{
+  if (m_accel)
+    m_accel->init(pwr, range, bw);
+}
+
+void BMC150::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
+{
+  if (m_mag)
+    m_mag->init(usage);
+}
+
+void BMC150::update()
+{
+  if (m_accel)
+    m_accel->update();
+
+  if (m_mag)
+    m_mag->update();
+}
+
+void BMC150::getAccelerometer(float *x, float *y, float *z)
+{
+  if (m_accel)
+    m_accel->getAccelerometer(x, y, z);
+}
+
+float *BMC150::getAccelerometer()
+{
+  if (m_accel)
+    return m_accel->getAccelerometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMC150::getMagnetometer(float *x, float *y, float *z)
+{
+  if (m_mag)
+    m_mag->getMagnetometer(x, y, z);
+}
+
+float *BMC150::getMagnetometer()
+{
+  if (m_mag)
+    return m_mag->getMagnetometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}

src/bmx055/bmc150.hpp

@@ -0,0 +1,196 @@
+/*
+ * 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 "bma250e.hpp"
+#include "bmm150.hpp"
+
+#define BMC150_DEFAULT_BUS 0
+#define BMC150_DEFAULT_ACC_ADDR 0x10
+#define BMC150_DEFAULT_MAG_ADDR 0x12
+
+namespace upm {
+
+  /**
+   * @library bmx055
+   * @sensor bmc150
+   * @comname BMC150 6-axis eCompass
+   * @type accelerometer compass
+   * @man mouser
+   * @con i2c gpio spi
+   * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0156/?qs=sGAEpiMZZMsrChSOYEGTCd8nwjostN1SWavW0HYOOXw%3d
+   *
+   * @brief API for the BMC150 6-axis eCompass
+   *
+   *
+   * The BMC150 is an integrated electronic compass solution for
+   * consumer market applications. It comprises a 12bit leading edge
+   * triaxial, low-g acceleration sensor and an ultra-low power, high
+   * precision triaxial magnetic field sensor. It allows measurements
+   * of acceleration and magnetic field in three perpendicular
+   * axes. Performance and features of both sensing technologies are
+   * carefully tuned and perfectly match the demanding requirements of
+   * all 6-axis mobile applications such as electronic compass,
+   * navigation or augmented reality.
+
+   * The BMC150 is essentially 2 separate devices in one: the BMA250E
+   * Accelerometer and the BMM150 Magnetometer.  They are completely
+   * independant of each other.
+   *
+   * This driver provides a very simple interface to these 2 devices.
+   * If finer control is desired, you should just use the separate
+   * BMA25E and BMM150 device classes directly.  This driver simply
+   * initializes both devices, and provides a mechanism to read
+   * accelerometer and magnetometer data from them.
+   *
+   * @snippet bmc150.cxx Interesting
+   */
+
+  class BMC150 {
+  public:
+    /**
+     * BMC150 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 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.
+     */
+    BMC150(int accelBus=BMC150_DEFAULT_BUS,
+           uint8_t accelAddr=BMC150_DEFAULT_ACC_ADDR,
+           int accelCS=-1,
+           int magBus=BMC150_DEFAULT_BUS,
+           uint8_t magAddr=BMC150_DEFAULT_MAG_ADDR,
+           int magCS=-1);
+
+    /**
+     * BMC150 Destructor.
+     */
+    ~BMC150();
+
+    /**
+     * 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 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 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 *getAccelerometer();
+
+    /**
+     * 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();
+
+
+  protected:
+    BMA250E *m_accel;
+    BMM150 *m_mag;
+
+  private:
+  };
+}

src/bmx055/bmg160.cxx

@@ -0,0 +1,581 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+#include <string.h>
+
+#include "bmg160.hpp"
+
+using namespace upm;
+using namespace std;
+
+#define BMG160_DEFAULT_CHIPID 0x0f
+
+// conversion from celcius to fahrenheit
+
+static float c2f(float c)
+{
+  return (c * (9.0 / 5.0) + 32.0);
+}
+
+BMG160::BMG160(int bus, uint8_t addr, int cs) :
+  m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
+{
+  m_addr = addr;
+  m_isSPI = false;
+
+  m_gyrX = 0;
+  m_gyrY = 0;
+  m_gyrZ = 0;
+  m_gyrScale = 0;
+  m_temperature = 0.0;
+
+  if (addr < 0)
+    m_isSPI = true;
+
+  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");
+        }
+    }
+
+  // check the chip id
+
+  uint8_t chipID = getChipID();
+  if (chipID != BMG160_DEFAULT_CHIPID)
+    {
+      throw std::runtime_error(string(__FUNCTION__)
+                               + ": invalid chip ID.  Expected "
+                               + std::to_string(int(BMG160_DEFAULT_CHIPID))
+                               + ", got "
+                               + std::to_string(int(chipID)));
+    }
+
+  // call init with default options
+  init();
+}
+
+BMG160::~BMG160()
+{
+  uninstallISR(INTERRUPT_INT1);
+  uninstallISR(INTERRUPT_INT2);
+}
+
+void BMG160::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
+{
+  setPowerMode(pwr);
+  usleep(50000); // 50ms, in case we are waking up
+
+  // set our range and bandwidth
+  setRange(range);
+  setBandwidth(bw);
+
+  // make sure register shadowing is enabled
+  enableRegisterShadowing(true);
+
+  // enable output filtering
+  enableOutputFiltering(true);
+
+  // use the FIFO by default
+  fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
+  enableFIFO(true);
+
+  // settle
+  usleep(50000);
+}
+
+void BMG160::update()
+{
+  int bufLen = 0;
+  uint8_t startReg = 0;
+
+  if (m_useFIFO)
+    {
+      bufLen = 6;
+      startReg = REG_FIFO_DATA;
+    }
+  else
+    {
+      // non FIFO, read acc regs directly (including temp)
+      bufLen = 7;
+      startReg = REG_RATE_X_LSB;
+    }
+
+  uint8_t buf[bufLen];
+
+  if (readRegs(startReg, buf, bufLen) != bufLen)
+    {
+      throw std::runtime_error(string(__FUNCTION__)
+                               + ": readRegs() failed to read "
+                               + std::to_string(bufLen)
+                               + " bytes");
+    }
+
+  int16_t val;
+
+  // x
+  val = int16_t(buf[1] << 8 | buf[0]);
+  m_gyrX = float(val);
+
+  // y
+  val = int16_t(buf[3] << 8 | buf[2]);
+  m_gyrY = float(val);
+
+  // z
+  val = int16_t(buf[5] << 8 | buf[4]);
+  m_gyrZ = float(val);
+
+  // get the temperature...
+
+  uint8_t temp = 0;
+  if (m_useFIFO)
+    {
+      // we have to read temperature separately...
+      temp = readReg(REG_TEMP);
+    }
+  else
+    {
+      // we already got it
+      temp = buf[6];
+    }
+
+  // .5K/LSB, 23C center point
+  m_temperature = (float(temp) / 2.0) + 23.0;
+}
+
+void BMG160::enableFIFO(bool useFIFO)
+{
+  m_useFIFO = useFIFO;
+}
+
+uint8_t BMG160::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 BMG160::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 BMG160::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 BMG160::csOn()
+{
+  if (m_gpioCS)
+    m_gpioCS->write(0);
+}
+
+void BMG160::csOff()
+{
+  if (m_gpioCS)
+    m_gpioCS->write(1);
+}
+
+uint8_t BMG160::getChipID()
+{
+  return readReg(REG_CHIP_ID);
+}
+
+void BMG160::getGyroscope(float *x, float *y, float *z)
+{
+  if (x)
+    *x = (m_gyrX * m_gyrScale) / 1000.0;
+
+  if (y)
+    *y = (m_gyrY * m_gyrScale) / 1000.0;
+
+  if (z)
+    *z = (m_gyrZ * m_gyrScale) / 1000.0;
+}
+
+float *BMG160::getGyroscope()
+{
+  static float v[3];
+
+  getGyroscope(&v[0], &v[1], &v[2]);
+  return v;
+}
+
+float BMG160::getTemperature(bool fahrenheit)
+{
+  if (fahrenheit)
+    return c2f(m_temperature);
+  else
+    return m_temperature;
+}
+
+void BMG160::reset()
+{
+  writeReg(REG_SOFTRESET, BMG160_RESET_BYTE);
+  sleep(1);
+}
+
+void BMG160::setRange(RANGE_T range)
+{
+  switch(range)
+    {
+    case RANGE_125:
+      m_gyrScale = 3.8; // milli-degrees
+      break;
+
+    case RANGE_250:
+      m_gyrScale = 7.6;
+      break;
+
+    case RANGE_500:
+      m_gyrScale = 15.3;
+      break;
+
+    case RANGE_1000:
+      m_gyrScale = 30.5;
+      break;
+
+    case RANGE_2000:
+      m_gyrScale = 61.0;
+      break;
+    }
+
+  // we also have to write a fixed '0x10' to the high-order bits for
+  // some reason (according to datasheet)
+  uint8_t reg = range | (_GYR_RANGE_FIXED_VALUE << _GYR_RANGE_FIXED_SHIFT);
+  writeReg(REG_GYR_RANGE, reg);
+}
+
+void BMG160::setBandwidth(BW_T bw)
+{
+  writeReg(REG_GYR_BW, bw);
+}
+
+void BMG160::setPowerMode(POWER_MODE_T power)
+{
+  // mask off reserved bits
+  uint8_t reg = readReg(REG_LPM1) & ~_LPM1_RESERVED_MASK;
+
+  reg &= ~(_LPM1_POWER_MODE_MASK << _LPM1_POWER_MODE_SHIFT);
+  reg |= (power << _LPM1_POWER_MODE_SHIFT);
+
+  writeReg(REG_LPM1, power);
+}
+
+void BMG160::fifoSetWatermark(int wm)
+{
+  // mask off illegal values
+  uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
+
+  writeReg(REG_FIFO_CONFIG_0, reg);
+}
+
+void BMG160::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
+{
+  uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
+                  (axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
+
+  writeReg(REG_FIFO_CONFIG_1, reg);
+}
+
+uint8_t BMG160::getInterruptEnable0()
+{
+  return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
+}
+
+void BMG160::setInterruptEnable0(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_0, reg);
+}
+
+uint8_t BMG160::getInterruptMap0()
+{
+  return readReg(REG_INT_MAP_0) & ~_INT_MAP_0_RESERVED_BITS;
+}
+
+void BMG160::setInterruptMap0(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_MAP_0_RESERVED_BITS;
+
+  writeReg(REG_INT_MAP_0, reg);
+}
+
+uint8_t BMG160::getInterruptMap1()
+{
+  return readReg(REG_INT_MAP_1);
+}
+
+void BMG160::setInterruptMap1(uint8_t bits)
+{
+  writeReg(REG_INT_MAP_1, bits);
+}
+
+// REG_INT_EN1, for some strange reason
+uint8_t BMG160::getInterruptSrc()
+{
+  return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
+}
+
+void BMG160::setInterruptSrc(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_1, reg);
+}
+
+uint8_t BMG160::getInterruptOutputControl()
+{
+  return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
+}
+
+void BMG160::setInterruptOutputControl(uint8_t bits)
+{
+  uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
+
+  writeReg(REG_INT_EN_1, reg);
+}
+
+void BMG160::clearInterruptLatches()
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg |= INT_RST_LATCH_RESET_INT;
+
+  writeReg(REG_INT_RST_LATCH, reg);
+}
+
+BMG160::RST_LATCH_T BMG160::getInterruptLatchBehavior()
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
+
+  return static_cast<RST_LATCH_T>(reg);
+}
+
+void BMG160::setInterruptLatchBehavior(RST_LATCH_T latch)
+{
+  uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
+
+  reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
+  reg |= (latch << _INT_RST_LATCH_SHIFT);
+
+  writeReg(REG_INT_RST_LATCH, reg);
+}
+
+void BMG160::enableRegisterShadowing(bool shadow)
+{
+  uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
+
+  if (shadow)
+    reg &= ~RATE_HBW_SHADOW_DIS;
+  else
+    reg |= RATE_HBW_SHADOW_DIS;
+
+  writeReg(REG_RATE_HBW, reg);
+}
+
+void BMG160::enableOutputFiltering(bool filter)
+{
+  uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
+
+  if (filter)
+    reg &= ~RATE_HBW_DATA_HIGH_BW;
+  else
+    reg |= RATE_HBW_DATA_HIGH_BW;
+
+  writeReg(REG_RATE_HBW, reg);
+}
+
+uint8_t BMG160::getInterruptStatus0()
+{
+  return readReg(REG_INT_STATUS_0) & ~_INT_STATUS_0_RESERVED_BITS;
+}
+
+uint8_t BMG160::getInterruptStatus1()
+{
+  return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
+}
+
+uint8_t BMG160::getInterruptStatus2()
+{
+  return readReg(REG_INT_STATUS_2) & ~_INT_STATUS_2_RESERVED_BITS;
+}
+
+uint8_t BMG160::getInterruptStatus3()
+{
+  return readReg(REG_INT_STATUS_3) & ~_INT_STATUS_3_RESERVED_BITS;
+}
+
+#if defined(SWIGJAVA) || (JAVACALLBACK)
+void BMG160::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 BMG160::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 BMG160::uninstallISR(INTERRUPT_PINS_T intr)
+{
+  if (getPin(intr))
+    {
+      getPin(intr)->isrExit();
+      delete getPin(intr);
+
+      getPin(intr) = 0;
+    }
+}
+
+mraa::Gpio*& BMG160::getPin(INTERRUPT_PINS_T intr)
+{
+  switch(intr)
+    {
+    case INTERRUPT_INT1:
+      return m_gpioIntr1;
+      break;
+
+    case INTERRUPT_INT2:
+      return m_gpioIntr2;
+      break;
+
+    default:
+      throw std::out_of_range(string(__FUNCTION__) +
+                              ": Invalid interrupt enum passed");
+    }
+}

src/bmx055/bmi055.cxx

@@ -0,0 +1,122 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "bmi055.hpp"
+
+using namespace upm;
+using namespace std;
+
+BMI055::BMI055(int accelBus, uint8_t accelAddr, int accelCS,
+               int gyroBus, uint8_t gyroAddr, int gyroCS) :
+  m_accel(0), m_gyro(0)
+{
+  // 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 (gyroBus >= 0)
+    m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
+
+  // now initialize them...
+  if (m_accel)
+    m_accel->init();
+
+  if (m_gyro)
+    m_gyro->init();
+}
+
+BMI055::~BMI055()
+{
+  if (m_accel)
+    delete m_accel;
+
+  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);
+}
+
+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);
+}
+
+void BMI055::update()
+{
+  if (m_accel)
+    m_accel->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);
+}
+
+float *BMI055::getAccelerometer()
+{
+  if (m_accel)
+    return m_accel->getAccelerometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMI055::getGyroscope(float *x, float *y, float *z)
+{
+  if (m_gyro)
+    m_gyro->getGyroscope(x, y, z);
+}
+
+float *BMI055::getGyroscope()
+{
+  if (m_gyro)
+    return m_gyro->getGyroscope();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}

src/bmx055/bmi055.hpp

@@ -0,0 +1,193 @@
+/*
+ * 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 "bma250e.hpp"
+#include "bmg160.hpp"
+
+namespace upm {
+
+  /**
+   * @library bmx055
+   * @sensor bmi055
+   * @comname BMI055 6-axis Sensor Module
+   * @type accelerometer compass
+   * @man mouser
+   * @con i2c gpio spi
+   * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0134/?qs=sGAEpiMZZMsrChSOYEGTCVIRbo47L7ys6GxSnxRPEhU%3d
+   *
+   * @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.
+     *
+     * 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_I2C_BUS,
+           uint8_t accelAddr=BMA250E_DEFAULT_ADDR,
+           int accelCS=-1,
+           int gyroBus=BMG160_I2C_BUS,
+           uint8_t 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.
+     *
+     * @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 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 *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 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 *getGyroscope();
+
+
+  protected:
+    BMA250E *m_accel;
+    BMG160 *m_gyro;
+
+  private:
+  };
+}

src/bmx055/bmm150.cxx

@@ -0,0 +1,675 @@
+/*
+ * 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, uint8_t addr, int cs) :
+  m_i2c(0), m_spi(0), m_gpioIntr(0), m_gpioDR(0), m_gpioCS(0)
+{
+  m_addr = addr;
+  m_isSPI = false;
+
+  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_isSPI = true;
+
+  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);
+}
+
+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;
+}

src/bmx055/bmm150.hpp

@@ -0,0 +1,614 @@
+/*
+ * 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 BMM150 3-Axis Geomagnetic Sensor
+   * @altname bmm050
+   * @type compass
+   * @man bosch
+   * @con i2c spi gpio
+   *
+   * @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, uint8_t 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 resgister
+     * 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 repetion 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 repetion 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;
+
+    // spi chip select
+    mraa::Gpio *m_gpioCS;
+
+    mraa::Gpio *m_gpioIntr;
+    mraa::Gpio *m_gpioDR;
+
+    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;
+    // use the FIFO by default?
+    bool m_useFIFO;
+
+    // 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);
+  };
+}

src/bmx055/bmx055.cxx

@@ -0,0 +1,158 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "bmx055.hpp"
+
+using namespace upm;
+using namespace std;
+
+BMX055::BMX055(int accelBus, uint8_t accelAddr, int accelCS,
+               int gyroBus, uint8_t gyroAddr, int gyroCS,
+               int magBus, uint8_t magAddr, int magCS) :
+  m_accel(0), m_gyro(0), m_mag(0)
+{
+  // 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 (gyroBus >= 0)
+    m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
+
+  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()
+{
+  if (m_accel)
+    delete m_accel;
+
+  if (m_gyro)
+    delete m_gyro;
+
+  if (m_mag)
+    delete m_mag;
+}
+
+void BMX055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
+                               BMA250E::RANGE_T range,
+                               BMA250E::BW_T bw)
+{
+  if (m_accel)
+    m_accel->init(pwr, range, bw);
+}
+
+void BMX055::initGyroscope(BMG160::POWER_MODE_T pwr,
+                           BMG160::RANGE_T range,
+                           BMG160::BW_T bw)
+{
+  if (m_gyro)
+    m_gyro->init(pwr, range, bw);
+}
+
+void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
+{
+  if (m_mag)
+    m_mag->init(usage);
+}
+
+void BMX055::update()
+{
+  if (m_accel)
+    m_accel->update();
+
+  if (m_gyro)
+    m_gyro->update();
+
+  if (m_mag)
+    m_mag->update();
+}
+
+void BMX055::getAccelerometer(float *x, float *y, float *z)
+{
+  if (m_accel)
+    m_accel->getAccelerometer(x, y, z);
+}
+
+float *BMX055::getAccelerometer()
+{
+  if (m_accel)
+    return m_accel->getAccelerometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMX055::getGyroscope(float *x, float *y, float *z)
+{
+  if (m_gyro)
+    m_gyro->getGyroscope(x, y, z);
+}
+
+float *BMX055::getGyroscope()
+{
+  if (m_gyro)
+    return m_gyro->getGyroscope();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMX055::getMagnetometer(float *x, float *y, float *z)
+{
+  if (m_mag)
+    m_mag->getMagnetometer(x, y, z);
+}
+
+float *BMX055::getMagnetometer()
+{
+  if (m_mag)
+    return m_mag->getMagnetometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}

src/bmx055/bmx055.hpp

@@ -0,0 +1,248 @@
+/*
+ * 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 "bma250e.hpp"
+#include "bmg160.hpp"
+#include "bmm150.hpp"
+
+namespace upm {
+
+  /**
+   * @brief BMX055 9-axis Sensor Module
+   * @defgroup bmx055 libupm-bmx055
+   * @ingroup i2c spi accelerometer compass
+   */
+
+  /**
+   * @library bmx055
+   * @sensor bmx055
+   * @comname BMX055 9-axis Sensor Module
+   * @type accelerometer compass
+   * @man mouser
+   * @con i2c gpio spi
+   * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0179/?qs=sGAEpiMZZMsrChSOYEGTCZo8d3KRE6KPUk8gVuWS2Ho%3d
+   *
+   * @brief API for the BMX055 9-axis Sensor Module
+   *
+   * The BMX055 is an integrated 9-axis sensor for the detection of
+   * movements and rotations and magnetic heading. It comprises the
+   * full functionality of a triaxial, low-g acceleration sensor, a
+   * triaxial angular rate sensor and a triaxial geomagnetic sensor.
+   *
+   * The BMX055 senses orientation, tilt, motion, acceleration,
+   * rotation, shock, vibration and heading in cell phones, handhelds,
+   * computer peripherals, man-machine interfaces, virtual reality
+   * features and game controllers.
+   *
+   * The BMX055 is essentially 3 separate devices in one: the BMA250E
+   * Accelerometer, the BMG160 Gyroscope, and the BMM150 Magnetometer.
+   * They are completely independant of each other.
+   *
+   * This driver provides a very simple interface to these 3 devices.
+   * If finer control is desired, you should just use the separate
+   * BMA25E, BMG160, and BMM150 device classes directly.  This driver
+   * simply initializes all three devices, and provides a mechanism to
+   * read accelerometer, gyroscope and magnetometer data from them.
+   *
+   * @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_I2C_BUS,
+           uint8_t accelAddr=BMA250E_DEFAULT_ADDR,
+           int accelCS=-1,
+           int gyroBus=BMG160_I2C_BUS,
+           uint8_t gyroAddr=BMG160_DEFAULT_ADDR,
+           int gyroCS=-1,
+           int magBus=BMM150_I2C_BUS,
+           uint8_t magAddr=BMM150_DEFAULT_ADDR,
+           int magCS=-1);
+
+    /**
+     * BMX055 Destructor.
+     */
+    ~BMX055();
+
+    /**
+     * 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);
+
+    /**
+     * 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 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 *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 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 *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) 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();
+
+
+  protected:
+    BMA250E *m_accel;
+    BMG160 *m_gyro;
+    BMM150 *m_mag;
+
+  private:
+  };
+}

src/bmx055/javaupm_bmx055.i

@@ -0,0 +1,77 @@
+%module javaupm_bmx055
+%include "../upm.i"
+%include "cpointer.i"
+%include "typemaps.i"
+%include "arrays_java.i";
+%include "../java_buffer.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 *getAccelerometer {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+}
+
+%typemap(out) float *getGyroscope {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+}
+
+%typemap(out) float *getMagnetometer {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+}
+
+%ignore getAccelerometer(float *, float *, float *);
+%ignore getGyroscope(float *, float *, float *);
+%ignore getMagnetometer(float *, float *, float *);
+
+%include "bma250e.hpp"
+%{
+    #include "bma250e.hpp"
+%}
+
+%include "bmg160.hpp"
+%{
+    #include "bmg160.hpp"
+%}
+
+%include "bmm150.hpp"
+%{
+    #include "bmm150.hpp"
+%}
+
+%include "bmx055.hpp"
+%{
+    #include "bmx055.hpp"
+%}
+
+%include "bmc150.hpp"
+%{
+    #include "bmc150.hpp"
+%}
+
+%include "bmi055.hpp"
+%{
+    #include "bmi055.hpp"
+%}
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_bmx055");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/bmx055/jsupm_bmx055.i

@@ -0,0 +1,37 @@
+%module jsupm_bmx055
+%include "../upm.i"
+%include "cpointer.i"
+
+/* Send "int *" and "float *" to JavaScript as intp and floatp */
+%pointer_functions(int, intp);
+%pointer_functions(float, floatp);
+
+%include "bma250e.hpp"
+%{
+    #include "bma250e.hpp"
+%}
+
+%include "bmg160.hpp"
+%{
+    #include "bmg160.hpp"
+%}
+
+%include "bmm150.hpp"
+%{
+    #include "bmm150.hpp"
+%}
+
+%include "bmx055.hpp"
+%{
+    #include "bmx055.hpp"
+%}
+
+%include "bmc150.hpp"
+%{
+    #include "bmc150.hpp"
+%}
+
+%include "bmi055.hpp"
+%{
+    #include "bmi055.hpp"
+%}

src/bmx055/pyupm_bmx055.i

@@ -0,0 +1,47 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_bmx055
+%include "../upm.i"
+%include "cpointer.i"
+
+%include "stdint.i"
+
+/* Send "int *" and "float *" to python as intp and floatp */
+%pointer_functions(int, intp);
+%pointer_functions(float, floatp);
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "bmx055_doc.i"
+#endif
+
+%include "bma250e.hpp"
+%{
+    #include "bma250e.hpp"
+%}
+
+%include "bmg160.hpp"
+%{
+    #include "bmg160.hpp"
+%}
+
+%include "bmm150.hpp"
+%{
+    #include "bmm150.hpp"
+%}
+
+%include "bmx055.hpp"
+%{
+    #include "bmx055.hpp"
+%}
+
+%include "bmc150.hpp"
+%{
+    #include "bmc150.hpp"
+%}
+
+%include "bmi055.hpp"
+%{
+    #include "bmi055.hpp"
+%}

src/e50hx/e50hx.cxx

@@ -36,359 +36,34 @@ using namespace std;
 
 
 E50HX::E50HX(uint32_t targetDeviceObjectID) :
-  m_instance(0)
+  BACNETUTIL(targetDeviceObjectID)
 {
-  // Save our device's ID
-  m_targetDeviceObjectID = targetDeviceObjectID;
-
-  // create the BACNETMSTP instance here if it does not already exist,
-  // and store the pointer in our class to save on some typing.
-
-  m_instance = BACNETMSTP::instance();
-
-  // now see if it has been initialized yet for init()
-  m_initialized = m_instance->isInitialized();
-
   setDebug(false);
 
   // we disable this by default for performance reasons
   checkReliability(false);
-
-  // empty our unit caches
-  m_avUnitCache.clear();
-  m_aiUnitCache.clear();
 }
 
 E50HX::~E50HX()
 {
 }
 
-void E50HX::initMaster(std::string port, int baudRate,
-                       int deviceInstanceID, int macAddr, int maxMaster,
-                       int maxInfoFrames)
-{
-  // first we check to see if the bacnetmstp instance has already been
-  // initialized (determined in the ctor).  If not, we will do so here
-  // with the arguments specified.  If it has already been
-  // initialized, then we do not bother calling bacnetmstp's init
-  // again as it will just be ignored.
-
-  if (!m_initialized)
-    m_instance->initMaster(port, baudRate, deviceInstanceID,
-                           macAddr, maxMaster, maxInfoFrames);
-
-  // either it threw an exception, was already initialized or it's
-  // initialized now...
-  m_initialized = true;
-}
-
-void E50HX::setDebug(bool enable)
-{
-  m_debugging = enable;
-
-  // we also enable/disable debugging in BACNETMSTP
-  m_instance->setDebug(enable);
-}
-
-float E50HX::getAnalogValue(ANALOG_VALUES_T objInstance)
-{
-  // check reliability first, if enabled
-  if (m_checkReliability)
-    {
-      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                   objInstance, PROP_RELIABILITY))
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": (reliability): " << getAllErrorString()
-                 << endl;
-
-          return RETURN_ERROR;
-        }
-
-      BACNET_RELIABILITY reliable =
-        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
-
-      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
-
-          return RETURN_UNRELIABLE;
-        }
-    }
-
-  // now get the value
-  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                               objInstance, PROP_PRESENT_VALUE))
-    {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": (value): " << getAllErrorString()
-                 << endl;
-
-      return RETURN_ERROR;
-    }
-
-  return m_instance->getDataTypeReal();
-}
-
-string E50HX::getAnalogValueUnits(ANALOG_VALUES_T objInstance)
-{
-  // see if it exists
-  if (m_avUnitCache.count(objInstance) == 0)
-    {
-      // then we need to fetch it
-      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                   objInstance, PROP_UNITS))
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-          // set to empty string
-          m_avUnitCache[objInstance] = string("");
-        }
-      else
-        {
-          // cache it for future calls
-          m_avUnitCache[objInstance] =
-            string(bactext_engineering_unit_name(m_instance->getDataTypeEnum()));
-        }
-    }
-
-  return m_avUnitCache[objInstance];
-}
-
-float E50HX::getAnalogInput(ANALOG_INPUTS_T objInstance)
-{
-  // check reliability first, if enabled
-  if (m_checkReliability)
-    {
-      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
-                                   objInstance, PROP_RELIABILITY))
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": (reliability): "
-                 << getAllErrorString() << endl;
-
-          return RETURN_ERROR;
-        }
-
-      BACNET_RELIABILITY reliable =
-        static_cast<BACNET_RELIABILITY>(m_instance->getDataTypeEnum());
-
-      if (reliable != RELIABILITY_NO_FAULT_DETECTED)
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": Reliability check failed" << endl;
-
-          return RETURN_UNRELIABLE;
-        }
-    }
-
-  // now get the value
-  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
-                               objInstance, PROP_PRESENT_VALUE))
-    {
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": (value): " << getAllErrorString() << endl;
-
-      return RETURN_ERROR;
-    }
-
-  return m_instance->getDataTypeReal();
-}
-
-string E50HX::getAnalogInputUnits(ANALOG_INPUTS_T objInstance)
-{
-  // see if it exists
-  if (m_aiUnitCache.count(objInstance) == 0)
-    {
-      // then we need to fetch it
-      if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_ANALOG_INPUT,
-                                   objInstance, PROP_UNITS))
-        {
-          if (m_debugging)
-            cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-          // set to empty string
-          m_aiUnitCache[objInstance] = string("");
-        }
-      else
-        {
-          // cache it for future calls
-          m_aiUnitCache[objInstance] =
-            string(bactext_engineering_unit_name(m_instance->getDataTypeEnum()));
-        }
-    }
-
-  return m_aiUnitCache[objInstance];
-}
-
 uint16_t E50HX::getAlarmBits()
 {
   return uint16_t(getAnalogInput(AI_Alarm_Bitmap));
 }
 
-BACNETMSTP::BACERR_TYPE_T E50HX::getErrorType()
+void E50HX::writeConfig(CFG_VALUES_T config)
 {
-  return m_instance->getErrorType();
+  setAnalogValue(AV_Config, float(config));
 }
 
-uint8_t E50HX::getRejectReason()
+void E50HX::writeSystemType(SYSTEM_TYPES_T systype)
 {
-  return m_instance->getRejectReason();
+  setAnalogValue(AV_System_Type, float(systype));
 }
 
-std::string E50HX::getRejectString()
-{
-  return m_instance->getRejectString();
-}
-
-uint8_t E50HX::getAbortReason()
-{
-  return m_instance->getAbortReason();
-}
-
-std::string E50HX::getAbortString()
-{
-  return m_instance->getAbortString();
-}
-
-BACNET_ERROR_CLASS E50HX::getErrorClass()
-{
-  return m_instance->getErrorClass();
-}
-
-BACNET_ERROR_CODE E50HX::getErrorCode()
-{
-  return m_instance->getErrorCode();
-}
-
-std::string E50HX::getUPMErrorString()
-{
-  return m_instance->getUPMErrorString();
-}
-
-std::string E50HX::getErrorString()
-{
-  return m_instance->getErrorString();
-};
-
-
-string E50HX::getAllErrorString()
-{
-  switch (m_instance->getErrorType())
-    {
-    case BACNETMSTP::BACERR_TYPE_NONE:
-      return string("No Error");
-      break;
-
-    case BACNETMSTP::BACERR_TYPE_REJECT:
-      return string("Reject: ") + getRejectString();
-      break;
-
-    case BACNETMSTP::BACERR_TYPE_ABORT:
-      return string("Abort: ") + getAbortString();
-      break;
-
-    case BACNETMSTP::BACERR_TYPE_ERROR:
-      return string("Error: ") + getErrorString();
-      break;
-
-    case BACNETMSTP::BACERR_TYPE_UPM:
-      return string("UPM Error: ") + getUPMErrorString();
-      break;
-    }
-}
-
-string E50HX::getDescription()
-{
-  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
-                               m_targetDeviceObjectID, PROP_DESCRIPTION))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return "";
-    }
-
-  return m_instance->getDataTypeString();
-}
-
-string E50HX::getLocation()
-{
-  if (m_instance->readProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
-                               m_targetDeviceObjectID, PROP_LOCATION))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return "";
-    }
-
-  return m_instance->getDataTypeString();
-}
-
-bool E50HX::setLocation(string location)
-{
-  BACNET_APPLICATION_DATA_VALUE myLocation =
-    m_instance->createDataString(location);
-
-  // write the Device Object Location
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_DEVICE,
-                                m_targetDeviceObjectID, PROP_LOCATION,
-                                &myLocation))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
-}
-
-bool E50HX::writeConfig(CFG_VALUES_T config)
-{
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(float(config));
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_Config, PROP_PRESENT_VALUE, &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
-}
-
-bool E50HX::writeSystemType(SYSTEM_TYPES_T systype)
-{
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(float(systype));
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_System_Type, PROP_PRESENT_VALUE, &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
-}
-
-bool E50HX::writeCTRatioPrimary(float ctRatio)
+void E50HX::writeCTRatioPrimary(float ctRatio)
 {
   if (ctRatio < 5 || ctRatio > 32000)
     {
@@ -396,47 +71,15 @@ bool E50HX::writeCTRatioPrimary(float ctRatio)
                               + ": ctRatio must be between 5-32000");
     }
 
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(ctRatio);
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_CT_Ratio_Primary, PROP_PRESENT_VALUE,
-                                &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_CT_Ratio_Primary, ctRatio);
 }
 
-bool E50HX::writeCTRatioSecondary(CT_SECONDARY_T ctRatio)
+void E50HX::writeCTRatioSecondary(CT_SECONDARY_T ctRatio)
 {
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(float(ctRatio));
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_CT_Ratio_Secondary, PROP_PRESENT_VALUE,
-                                &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_CT_Ratio_Secondary, ctRatio);
 }
 
-bool E50HX::writePTRatio(float ptRatio)
+void E50HX::writePTRatio(float ptRatio)
 {
   if (ptRatio < 0.01 || ptRatio > 320.0)
     {
@@ -444,26 +87,10 @@ bool E50HX::writePTRatio(float ptRatio)
                               + ": ptRatio must be between 0.01-320.0");
     }
 
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(ptRatio);
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_PT_Ratio, PROP_PRESENT_VALUE,
-                                &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_PT_Ratio, ptRatio);
 }
 
-bool E50HX::writeSystemVoltage(float sysVolts)
+void E50HX::writeSystemVoltage(float sysVolts)
 {
   if (sysVolts < 82.0 || sysVolts > 32000.0)
     {
@@ -471,47 +98,15 @@ bool E50HX::writeSystemVoltage(float sysVolts)
                               + ": sysVolts must be between 82.0-32000.0");
     }
 
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(sysVolts);
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_System_Voltage, PROP_PRESENT_VALUE,
-                                &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_System_Voltage, sysVolts);
 }
 
-bool E50HX::writeDisplayUnits(DISP_UNITS_T dispUnits)
+void E50HX::writeDisplayUnits(DISP_UNITS_T dispUnits)
 {
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(float(dispUnits));
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_Display_Units, PROP_PRESENT_VALUE,
-                                &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_Display_Units, dispUnits);
 }
 
-bool E50HX::writePhaseLossVT(float phaseLoss)
+void E50HX::writePhaseLossVT(float phaseLoss)
 {
   if (phaseLoss < 1.0 || phaseLoss > 99.0)
     {
@@ -519,26 +114,10 @@ bool E50HX::writePhaseLossVT(float phaseLoss)
                               + ": phaseLoss must be between 1.0-99.0");
     }
 
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(phaseLoss);
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_Phase_Loss_Voltage_Threshold,
-                                PROP_PRESENT_VALUE, &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_Phase_Loss_Voltage_Threshold, phaseLoss);
 }
 
-bool E50HX::writePhaseLossIT(float phaseLoss)
+void E50HX::writePhaseLossIT(float phaseLoss)
 {
   if (phaseLoss < 1.0 || phaseLoss > 99.0)
     {
@@ -546,21 +125,5 @@ bool E50HX::writePhaseLossIT(float phaseLoss)
                               + ": phaseLoss must be between 1.0-99.0");
     }
 
-  // Write the value
-  BACNET_APPLICATION_DATA_VALUE myData =
-    m_instance->createDataReal(phaseLoss);
-
-  // write it
-  if (m_instance->writeProperty(m_targetDeviceObjectID, OBJECT_ANALOG_VALUE,
-                                AV_Phase_Loss_Imbalance_Threshold,
-                                PROP_PRESENT_VALUE, &myData))
-    {
-      // error occurred
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": " << getAllErrorString() << endl;
-
-      return false;
-    }
-
-  return true;
+  setAnalogValue(AV_Phase_Loss_Imbalance_Threshold, phaseLoss);
 }

src/e50hx/e50hx.hpp

@@ -27,6 +27,7 @@
 #include <map>
 
 #include "bacnetmstp.hpp"
+#include "bacnetutil.hpp"
 
 namespace upm {
 
@@ -81,7 +82,7 @@ namespace upm {
    * @snippet e50hx.cxx Interesting
    */
 
-  class E50HX {
+  class E50HX : public BACNETUTIL {
   public:
 
     // Supported Analog Value Objects.  These are readable and writable.
@@ -209,14 +210,6 @@ namespace upm {
       DISP_UNITS_IEEE               = 1  // IEEE display units
     } DISP_UNITS_T;
 
-    // Since none of the legal values returned by getAnalogValue() or
-    // getAnalogInput() will ever be negative, we use these two values
-    // to indicate either an error (BACnet or UPM), or to indicate
-    // that the value is unreliable if checkReliability() has been
-    // enabled.
-    const float RETURN_ERROR = -1.0;
-    const float RETURN_UNRELIABLE = -2.0;
-
     /**
      * E50HX constructor
      *
@@ -236,353 +229,93 @@ namespace upm {
      */
     ~E50HX();
 
-    /**
-     * This function initializes the underlying BACNETMSTP Master
-     * singleton in the event it has not already been initialized.  If
-     * the BACNETMSTP Master singleton has already been initialized,
-     * then this call will be ignored.
-     *
-     * @param port The serial port that the RS-485 interface is
-     * connected to.
-     * @param baudRate The baudrate of the RS-485 interface.  All
-     * devices on a BACnet RS-485 bus must run at the same baudrate.
-     * Valid values are 9600, 19200, 38400, 57600, 76800, and 115200.
-     * @param deviceInstanceNumber This is the unique Device Object
-     * Instance number that will be used for our BACnet Master in
-     * order to communicate over the BACnet interface.  This number
-     * must be between 1-4194302 and must be unique on the BACnet
-     * network.
-     * @param macAddr This is the MAC address of our BACnet Master.
-     * It must be unique on the BACnet segment, and must be between
-     * 1-127.
-     * @param maxMaster This specifies to our Master the maximum MAC
-     * address used by any other Masters on the BACnet network.  This
-     * must be between 1-127, the default is 127.  Do not change this
-     * unless you know what you are doing or you could introduce
-     * token passing errors on the BACnet network.
-     * @param maxInfoFrames This number specifies the maximum number
-     * of transmissions (like requests for data) our Master is allowed
-     * to make before passing the token to the next Master.  The
-     * default is 1.
-     */
-    void initMaster(std::string port, int baudRate, int deviceInstanceNumber,
-                    int macAddr, int maxMaster=DEFAULT_MAX_MASTER,
-                    int maxInfoFrames=1);
-
-    /**
-     * Enable some debugging output in this module as well as the
-     * BACNETMSTP module.  Debugging is disabled by default.
-     *
-     * @param enable true to enable, false to disable.
-     */
-    void setDebug(bool enable);
-
-    /**
-     * Retrieve the Present_Value property of an Analog Value object.
-     * If checkReliability() has been enabled, then the Reliability
-     * property of the object will be retrieved first.  If the
-     * Reliability property is anything other than
-     * RELIABILITY_NO_FAULT_DETECTED, then the RETURN_UNRELIABLE value
-     * will be returned.  Reliability checking is disabled by default
-     * for performance reasons.
-     *
-     * @param objInstance One of the ANALOG_VALUES_T values.
-     * @return the floating point value requested
-     */
-    float getAnalogValue(ANALOG_VALUES_T objInstance);
-
-    /**
-     * Retrieve the Present_Value property of an Analog Input object.
-     * If checkReliability() has been enabled, then the Reliability
-     * property of the object will be retrieved first.  If the
-     * Reliability property is anything other than
-     * RELIABILITY_NO_FAULT_DETECTED, then the RETURN_UNRELIABLE value
-     * will be returned.  Reliability checking is disabled by default
-     * for performance reasons.
-     *
-     * @param objInstance One of the ANALOG_INPUTS_T values.
-     * @return the floating point value requested
-     */
-    float getAnalogInput(ANALOG_INPUTS_T objInstance);
-
     /**
      * Write one of several 'magic' numbers to the configuration
      * object (AV1).  This is used to clear certain counters, reset
-     * the accumulated Energy consumption values, etc.
+     * the accumulated Energy consumption values, etc.  This method
+     * will throw on error.
      *
      * @param config One of the CFG_VALUES_T values
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeConfig(CFG_VALUES_T config);
+    void writeConfig(CFG_VALUES_T config);
 
     /**
      * Set the System Type of the device.  This defines the voltage
-     * lines you have connected.
+     * lines you have connected.  This method will throw on error.
      *
      * @param systype One of the SYSTEM_TYPES_T values.
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeSystemType(SYSTEM_TYPES_T systype);
+    void writeSystemType(SYSTEM_TYPES_T systype);
 
     /**
-     * Set the Primary CT ratio.  See the datasheet for details.
+     * Set the Primary CT ratio.  See the datasheet for details.  This
+     * method will throw on error.
      *
      * @param ctRatio A floating point value between 5-32000
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeCTRatioPrimary(float ctRatio);
+    void writeCTRatioPrimary(float ctRatio);
 
     /**
      * Set the Secondary CT ratio.  See the datasheet for details.
+     * This method will throw on error.
      *
      * @param ctRatio One of the CT_SECONDARY_T values.
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeCTRatioSecondary(CT_SECONDARY_T ctRatio);
+    void writeCTRatioSecondary(CT_SECONDARY_T ctRatio);
 
     /**
-     * Set the PT ratio.  See the datasheet for details.
+     * Set the PT ratio.  See the datasheet for details.  This method
+     * will throw on error.
      *
      * @param ptRatio A floating point value between 0.01-320.0
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writePTRatio(float ptRatio);
+    void writePTRatio(float ptRatio);
 
     /**
-     * Set the System Voltage parmeter.  See the datasheet for details.
+     * Set the System Voltage parmeter.  See the datasheet for
+     * details.  This method will throw on error.
      *
      * @param sysVolts A floating point value between 82.0-32000.0
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeSystemVoltage(float sysVolts);
+    void writeSystemVoltage(float sysVolts);
 
     /**
-     * Set the LCD Display Units in IEC or IEEE format.
+     * Set the LCD Display Units in IEC or IEEE format.  This method
+     * will throw on error.
      *
      * @param dispUnits One of the DISP_UNITS_T values.
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writeDisplayUnits(DISP_UNITS_T dispUnits);
+    void writeDisplayUnits(DISP_UNITS_T dispUnits);
 
     /**
      * Set the Phase Loss Voltage Threshold.  See the datasheet for
-     * details.
+     * details.  This method will throw on error.
      *
      * @param dispUnits A floating point value between 1.0-99.0
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writePhaseLossVT(float phaseLoss);
+    void writePhaseLossVT(float phaseLoss);
 
     /**
      * Set the Phase Loss Imbalance Threshold.  See the datasheet for
-     * details.
+     * details.  This method will throw on error.
      *
      * @param dispUnits A floating point value between 1.0-99.0
-     * @return true if the operation suceeded, false if there was an
-     * error.
      */
-    bool writePhaseLossIT(float phaseLoss);
-
-    /**
-     * Query an Analog Value object for the unit code, translate it
-     * into a string and cache the result for future use.  Return the
-     * BACnet text for the Unit enumeration.  Unit enumerations are
-     * things like 'kilowatt-hours', 'volts', etc.  For Objects which
-     * do not have a Units property defined for them, or for which
-     * Units has no meaning, 'no-units' will typically be returned and
-     * cached.
-     *
-     * @param objInstance One of the ANALOG_VALUES_T values.
-     * @return A string representing the Object's Unit property.
-     */
-    std::string getAnalogValueUnits(ANALOG_VALUES_T objInstance);
-
-    /**
-     * Query an Analog Input object for the unit code, translate it
-     * into a string and cache the result for future use.  Return the
-     * BACnet text for the Unit enumeration.  Unit enumerations are
-     * things like 'kilowatt-hours', 'volts', etc.  For Objects which
-     * do not have a Units property defined for them, or for which
-     * Units has no meaning, 'no-units' will typically be returned and
-     * cached.
-     *
-     * @param objInstance One of the ANALOG_INPUTS_T values.
-     * @return A string representing the Object's Unit property.
-     */
-    std::string getAnalogInputUnits(ANALOG_INPUTS_T objInstance);
+    void writePhaseLossIT(float phaseLoss);
 
     /**
      * Query the AI52 Object and return a bitmask of current Alarms.
      * Compare against ALARM_BITS_T to determine what conditions are
      * signaling an alarm.  Alarm conditions will clear on their own
-     * as soon as the cause is rectified.
+     * as soon as the cause is rectified.  This method will throw on
+     * error.
      *
      * @return A bitmask of values from ALARM_BITS_T indicating
      * current alarm conditions.
      */
     uint16_t getAlarmBits();
 
-    /**
-     * Enable or disable reliability checking.  By default, when using
-     * getAnalogValue() or getAnalogInput() the Present_Value property
-     * is returned.  There is also a property called Reliability that
-     * can be checked to ensure that the Present_Value property is
-     * currently valid.
-     *
-     * Enabling Reliability Checking has these functions check for a
-     * RELIABILITY_NO_FAULT_DETECTED value for the Reliability
-     * property before querying the Present_Value property.  If
-     * anything other than RELIABILITY_NO_FAULT_DETECTED is set, then
-     * these functions will return RETURN_UNRELIABLE rather than the
-     * Present_Value.
-     *
-     * This checking is disabled by default since it will double the
-     * number of queries needed to retrieve a given value.  However,
-     * if you need to ensure that the values returned are always
-     * completely valid as determined by the device firmware, you
-     * should enable this.
-     *
-     * @param enable true to check Reliability before returning a
-     * value, false otherwise.
-     */
-    void checkReliability(bool enable)
-    {
-      m_checkReliability = enable;
-    };
-
-    /**
-     * Query the Device Object of the device and return it's
-     * Description property.  This typically contains information like
-     * the Vendor, model and serial number of a device.
-     *
-     * @return A string containing the Device Object's Description property.
-     */
-    std::string getDescription();
-
-    /**
-     * Query the Device Object of the device and return it's Location
-     * property.  This typically contains a string indication a
-     * customer specific value.  Use setLocation() to change.
-     *
-     * @return A string containing the Device Object's Location property.
-     */
-    std::string getLocation();
-
-    /**
-     * Set the Device Object's Location property.  This must be a
-     * string containing no more than 63 characters.
-     *
-     * @return true if the operation succeeded, false otherwise
-     */
-    bool setLocation(std::string location);
-
-    /**
-     * This is a utility function that will return a string reporting
-     * on the various types of errors that can occur in BACnet
-     * operation.
-     *
-     * @return A string containing the last error message.
-     */
-    std::string getAllErrorString();
-
-    /**
-     * Return an enumration of the last error type to occur.  The
-     * value returned will be one of the BACNETMSTP::BACERR_TYPE_T
-     * values.
-     *
-     * @return The last error type to occur, one of the
-     * BACNETMSTP::BACERR_TYPE_T values.
-     */
-    BACNETMSTP::BACERR_TYPE_T getErrorType();
-
-    /**
-     * In the event of a BACnet Reject error, return the error code.
-     *
-     * @return The Reject error code.
-     */
-    uint8_t getRejectReason();
-
-    /**
-     * In the event of a BACnet Reject error, return the error string.
-     *
-     * @return The Reject error string.
-     */
-    std::string getRejectString();
-
-    /**
-     * In the event of a BACnet Abort error, return the Abort reason code.
-     *
-     * @return The Abort reason code.
-     */
-    uint8_t getAbortReason();
-
-    /**
-     * In the event of a BACnet Abort error, return the Abort string.
-     *
-     * @return The Abort error string.
-     */
-    std::string getAbortString();
-
-    /**
-     * In the event of a general BACnet error, return the BACnet error class.
-     *
-     * @return One of the BACNET_ERROR_CLASS error class codes
-     */
-    BACNET_ERROR_CLASS getErrorClass();
-
-    /**
-     * In the event of a general BACnet error, return the BACnet error code.
-     *
-     * @return One of the BACNET_ERROR_CODE error codes
-     */
-    BACNET_ERROR_CODE getErrorCode();
-
-    /**
-     * In the event of a general BACnet error, return the BACnet error
-     * string.
-     *
-     * @return A string representing the BACnet error class and code.
-     */
-    std::string getErrorString();
-
-    /**
-     * In the event of a non-BACnet UPM error, return a string
-     * describing the error.
-     *
-     * @return A string representing the UPM error.
-     */
-    std::string getUPMErrorString();
-
   protected:
-    // a copy of the BACNETMSTP singleton instance pointer
-    BACNETMSTP* m_instance;
-
-    // unique device object ID of e50hx
-    uint32_t m_targetDeviceObjectID;
-
-    // are we initialized?
-    bool m_initialized;
-
   private:
-    bool m_debugging;
-
-    // whether or not to verify reliability before reading a value.
-    bool m_checkReliability;
-
-    // Unit cache for AV
-    typedef std::map<ANALOG_VALUES_T, std::string> avCacheMap_t;
-    avCacheMap_t m_avUnitCache;
-
-    // Unit cache for AI
-    typedef std::map<ANALOG_INPUTS_T, std::string> aiCacheMap_t;
-    aiCacheMap_t m_aiUnitCache;
   };
 }

src/e50hx/javaupm_e50hx.i

@@ -1,10 +1,23 @@
 %module javaupm_e50hx
 %include "../upm.i"
 %include "typemaps.i"
+%include "carrays_uint32_t.i"
+
+// We need to use this method for enum wrapping since the enum typedefs used
+// by the derived classes (like ANALOG_VALUES_T) are passed to methods
+// in the base class which expect a uint32_t.  This is fine, and
+// works everywhere except Java.  It's type safety is a little too
+// stringent in these cases.  %javaconst(1) is generally recommended
+// as it avoids JNI calls to determine the enumerant values at
+// runtime.
+%include "enumtypeunsafe.swg"
+%javaconst(1);
 
 %include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
 %include "e50hx.hpp"
 %{
+    #include "bacnetutil.hpp"
     #include "e50hx.hpp"
 %}
 

src/e50hx/jsupm_e50hx.i

@@ -3,6 +3,7 @@
 %include "stdint.i"
 
 %include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
 %include "e50hx.hpp"
 %{
     #include "e50hx.hpp"

src/e50hx/pyupm_e50hx.i

@@ -7,6 +7,7 @@
 %feature("autodoc", "3");
 
 %include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
 %include "e50hx.hpp"
 %{
     #include "e50hx.hpp"

src/kxcjk1013/kxcjk1013.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -30,8 +30,6 @@
 
 #define NUMBER_OF_BITS_IN_BYTE 8
 
-#define NUMBER_OF_BITS_IN_BYTE 8
-
 using namespace upm;
 
 KXCJK1013::KXCJK1013(int device)
@@ -51,7 +49,7 @@ KXCJK1013::KXCJK1013(int device)
     if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
         fprintf(stderr, "Create trigger %s failed\n", trigger);
 
-    if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
+    if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", m_mount_matrix) == MRAA_SUCCESS)
         m_mount_matrix_exist = true;
     else
         m_mount_matrix_exist = false;
@@ -62,7 +60,7 @@ KXCJK1013::KXCJK1013(int device)
 
 KXCJK1013::~KXCJK1013()
 {
-    if(m_iio)
+    if (m_iio)
         mraa_iio_close(m_iio);
 }
 
@@ -146,6 +144,7 @@ KXCJK1013::disableBuffer()
 bool
 KXCJK1013::setScale(float scale)
 {
+    m_scale = scale;
     mraa_iio_write_float(m_iio, "in_accel_scale", scale);
 
     return true;
@@ -187,6 +186,7 @@ KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
     iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
     iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
 
+    // Raw data is acceleration in direction. Units after application of scale are m/s^2
     *x = (iio_x * m_scale);
     *y = (iio_y * m_scale);
     *z = (iio_z * m_scale);

src/kxcjk1013/kxcjk1013.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -85,7 +85,7 @@ class KXCJK1013
 
     /**
      * Enable trigger buffer
-     * @param trigger buffer length in string
+     * @param trigger buffer length in integer
      */
     bool enableBuffer(int length);
 
@@ -96,13 +96,18 @@ class KXCJK1013
 
     /**
      * Set scale
-     * @param scale in string
+     * @param scale in float
+     * Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
+     * Default scale is 0.019163
      */
     bool setScale(const float scale);
 
     /**
      * Set sampling frequency
-     * @param sampling frequency in string
+     * @param sampling frequency in float
+     * Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
+     * 100, 200, 400, 800, and 1600
+     * Default sampling frequency is 25
      */
     bool setSamplingFrequency(const float sampling_frequency);
 

src/l3gd20/l3gd20.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -56,7 +56,7 @@ L3GD20::L3GD20(int device)
     if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
         fprintf(stderr, "Create trigger %s failed\n", trigger);
 
-    if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
+    if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", m_mount_matrix) == MRAA_SUCCESS)
         m_mount_matrix_exist = true;
     else
         m_mount_matrix_exist = false;
@@ -88,18 +88,10 @@ L3GD20::~L3GD20()
         free(m_filter.buff);
         m_filter.buff = NULL;
     }
-    if(m_iio)
+    if (m_iio)
         mraa_iio_close(m_iio);
 }
 
-#ifdef JAVACALLBACK
-void
-L3GD20::installISR(IsrCallback* cb)
-{
-    installISR(generic_callback_isr, cb);
-}
-#endif
-
 void
 L3GD20::installISR(void (*isr)(char*), void* arg)
 {
@@ -177,6 +169,8 @@ L3GD20::disableBuffer()
 bool
 L3GD20::setScale(float scale)
 {
+    m_scale = scale;
+
     mraa_iio_write_float(m_iio, "in_anglvel_x_scale", scale);
     mraa_iio_write_float(m_iio, "in_anglvel_y_scale", scale);
     mraa_iio_write_float(m_iio, "in_anglvel_z_scale", scale);
@@ -224,6 +218,8 @@ L3GD20::extract3Axis(char* data, float* x, float* y, float* z)
     iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
     iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
 
+    // Raw data is x, y, z axis angular velocity. Units after application of scale are radians per
+    // second
     *x = (iio_x * m_scale);
     *y = (iio_y * m_scale);
     *z = (iio_z * m_scale);

src/l3gd20/l3gd20.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * 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
@@ -100,7 +100,7 @@ class L3GD20
 
     /**
      * Enable trigger buffer
-     * @param trigger buffer length in string
+     * @param trigger buffer length in integer
      */
     bool enableBuffer(int length);
 
@@ -111,13 +111,17 @@ class L3GD20
 
     /**
      * Set scale
-     * @param scale in string
+     * @param scale in float
+     * Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
+     * Default scale is 0.000153
      */
     bool setScale(const float scale);
 
     /**
      * Set sampling frequency
-     * @param sampling frequency  in string
+     * @param sampling frequency in float
+     * Available sampling frequency are 95, 190, 380, and 760
+     * Default sampling frequency is 95
      */
     bool setSamplingFrequency(const float sampling_frequency);
 

src/lcd/jhd1313m1.cxx

@@ -46,13 +46,23 @@ Jhd1313m1::Jhd1313m1(int bus, int lcdAddress, int rgbAddress)
                                     ": I2c.address() failed");
     }
 
+    /* HD44780 requires writing three times to initialize or reset
+       according to the hardware errata on page 45 figure 23 of
+       the Hitachi HD44780 datasheet */
+    /* First try */
     usleep(50000);
-    ret = command(LCD_FUNCTIONSET | LCD_2LINE);
-
-    if (!ret) {
-        ret = command(LCD_FUNCTIONSET | LCD_2LINE);
+    ret = command(LCD_FUNCTIONSET | LCD_8BITMODE);
+    /* Second try */
+    usleep(4500);
+    ret = command(LCD_FUNCTIONSET | LCD_8BITMODE);
+    /* Third try */
+    usleep(150);
+    ret = command(LCD_FUNCTIONSET | LCD_8BITMODE);
+    UPM_CHECK_MRAA_SUCCESS(ret, "Unable to initialise the LCD controller");
+
+    /* Set 2 row mode and font size */
+    ret = command(LCD_FUNCTIONSET | LCD_8BITMODE | LCD_2LINE | LCD_5x10DOTS);
     UPM_CHECK_MRAA_SUCCESS(ret, "Unable to initialise the LCD controller");
-    }
 
     usleep(100);
     ret = displayOn();

src/package.json.in

@@ -9,7 +9,7 @@
   "url": "https://github.com/intel-iot-devkit/upm"
   },
   "engines" : {
-    "node": ">= 0.10.x"
+    "node": ">= 4.4.x"
   },
   "bugs": {
     "url" : "http://github.com/intel-iot-devkit/upm/issues"

src/t8100/CMakeLists.txt

@@ -0,0 +1,28 @@
+set (libname "t8100")
+set (libdescription "upm module for the Telaire T8100 Ventostat")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+
+pkg_check_modules(BACNET libbacnet)
+if (BACNET_FOUND)
+  # upm-libbacnetmstp will bring in libbacnet, I hope
+  set (reqlibname "upm-bacnetmstp")
+  include_directories(${BACNET_INCLUDE_DIRS})
+  include_directories("../bacnetmstp")
+  upm_module_init()
+  target_link_libraries(${libname} bacnetmstp)
+  if (BUILDSWIG)
+    if (BUILDSWIGNODE)
+      set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (jsupm_${libname} bacnetmstp)
+    endif()
+    if (BUILDSWIGPYTHON)
+      set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (pyupm_${libname} bacnetmstp)
+    endif()
+    if (BUILDSWIGJAVA)
+      set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (javaupm_${libname} bacnetmstp)
+    endif()
+  endif()
+endif ()

src/t8100/javaupm_t8100.i

@@ -0,0 +1,22 @@
+%module javaupm_t8100
+%include "../upm.i"
+%include "typemaps.i"
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "t8100.hpp"
+%{
+    #include "t8100.hpp"
+%}
+
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_t8100");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/t8100/jsupm_t8100.i

@@ -0,0 +1,10 @@
+%module jsupm_t8100
+%include "../upm.i"
+%include "stdint.i"
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "t8100.hpp"
+%{
+    #include "t8100.hpp"
+%}

src/t8100/pyupm_t8100.i

@@ -0,0 +1,14 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_t8100
+%include "../upm.i"
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "t8100.hpp"
+%{
+    #include "t8100.hpp"
+%}

src/t8100/t8100.cxx

@@ -0,0 +1,254 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "t8100.hpp"
+
+using namespace upm;
+using namespace std;
+
+// conversion from fahrenheit to celcius and back
+
+static float f2c(float f)
+{
+  return ((f - 32.0) / (9.0 / 5.0));
+}
+
+static float c2f(float c)
+{
+  return (c * (9.0 / 5.0) + 32.0);
+}
+
+
+T8100::T8100(uint32_t targetDeviceObjectID) :
+  BACNETUTIL(targetDeviceObjectID)
+{
+  setDebug(false);
+
+  // we disable this by default for performance reasons
+  checkReliability(false);
+
+  m_isTempInitialized = false;
+  m_isCelcius = false;
+
+  m_humidity = 0.0;
+  m_temperature = 0.0;
+  m_co2 = 0.0;
+  m_relayState = false;
+}
+
+T8100::~T8100()
+{
+}
+
+void T8100::update()
+{
+  if (!m_isTempInitialized)
+    {
+      // this will update internals so conversions work properly
+      getTemperatureScale();
+    }
+
+  float tmpF = getAnalogInput(AI_Temperature_Thermistor);
+
+  if (m_isCelcius)
+    m_temperature = tmpF;
+  else
+    m_temperature = f2c(tmpF);
+
+  m_humidity = getAnalogInput(AI_Relative_Humidity);
+  m_co2 = getAnalogInput(AI_CO2);
+  m_relayState = getBinaryInput(BI_Relay_State);
+}
+
+float T8100::getTemperature(bool fahrenheit)
+{
+  if (fahrenheit)
+    return c2f(m_temperature);
+  else
+    return m_temperature;
+}
+
+void T8100::setTemperatureScale(bool fahrenheit)
+{
+  setBinaryValue(BV_Temperature_Units, fahrenheit);
+
+  m_isTempInitialized = true;
+  m_isCelcius = (fahrenheit) ? false : true;
+}
+
+bool T8100::getTemperatureScale()
+{
+  bool scale = getBinaryValue(BV_Temperature_Units);
+
+  m_isTempInitialized = true;
+  m_isCelcius = !scale;
+
+  return scale;
+}
+
+float T8100::getTemperatureOffset()
+{
+  return getAnalogValue(AV_Temperature_Offset);
+}
+
+void T8100::setTemperatureOffset(float value)
+{
+  // Always in C...
+  if (value < -50.0 || value > 50.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between -50 and 50,"
+                              + " in degrees Celcius");
+
+    }
+
+  setAnalogValue(AV_Temperature_Offset, value);
+}
+
+float T8100::getHumidityOffset()
+{
+  return getAnalogValue(AV_RH_Offset);
+}
+
+void T8100::setHumidityOffset(float value)
+{
+  if (value < -100.0 || value > 100.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between -100 and 100");
+    }
+
+  setAnalogValue(AV_RH_Offset, value);
+}
+
+float T8100::getRelaySetPoint()
+{
+  return getAnalogValue(AV_Relay_Set_Point);
+}
+
+void T8100::setRelaySetPoint(float value)
+{
+  if (value < 0.00 || value > 65535.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between 0 and 65535");
+    }
+
+  setAnalogValue(AV_Relay_Set_Point, value);
+}
+
+float T8100::getRelayHysteresis()
+{
+  return getAnalogValue(AV_Relay_Hysteresis);
+}
+
+void T8100::setRelayHysteresis(float value)
+{
+  if (value < 0.00 || value > 65535.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between 0 and 65535");
+    }
+
+  setAnalogValue(AV_Relay_Hysteresis, value);
+}
+
+float T8100::getElevation()
+{
+  return getAnalogValue(AV_Elevation);
+}
+
+void T8100::setElevation(float value)
+{
+  if (value < 0.00 || value > 65535.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between 0 and 65535");
+    }
+
+  setAnalogValue(AV_Elevation, value);
+}
+
+float T8100::getCalibrationSinglePoint()
+{
+  return getAnalogValue(AV_Calibration_Single_Point);
+}
+
+void T8100::setCalibrationSinglePoint(float value)
+{
+  if (value < 0.00 || value > 65535.0)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": value must be between 0 and 65535");
+    }
+
+  setAnalogValue(AV_Calibration_Single_Point, value);
+}
+
+float T8100::getBaudRate()
+{
+  return getAnalogValue(AV_Baud_Rate);
+}
+
+float T8100::getMACAddress()
+{
+  return getAnalogValue(AV_MAC_Address);
+}
+
+bool T8100::getABCLogicState()
+{
+  return getBinaryValue(BV_ABC_Logic_State);
+}
+
+void T8100::setABCLogicState(bool value)
+{
+  setBinaryValue(BV_ABC_Logic_State, value);
+}
+
+bool T8100::getABCLogicReset()
+{
+  return getBinaryValue(BV_ABC_Logic_Reset);
+}
+
+void T8100::setABCLogicReset(bool value)
+{
+  setBinaryValue(BV_ABC_Logic_Reset, value);
+}
+
+bool T8100::getCO2Calibration()
+{
+  return getBinaryValue(BV_CO2_Calibration);
+}
+
+void T8100::setCO2Calibration(bool value)
+{
+  setBinaryValue(BV_CO2_Calibration, value);
+}

src/t8100/t8100.hpp

@@ -0,0 +1,379 @@
+/*
+ * 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 <map>
+
+#include "bacnetmstp.hpp"
+#include "bacnetutil.hpp"
+
+namespace upm {
+
+  /**
+   * @brief Amphenol Telaire Ventostat T8100 Ventilation Controller
+   * @defgroup t8100 libupm-t8100
+   * @ingroup uart temp gaseous
+   */
+
+  /**
+   * @library t8100
+   * @sensor t8100
+   * @comname UPM API for the Amphenol Telaire Ventostat T8100
+   * Ventilation Controller
+   * @type gaseous temp
+   * @man amphenol
+   * @con uart
+   * @web https://www.instrumart.com/products/configure/18180?quantity=1
+   *
+   * @brief UPM API for the Amphenol Telaire Ventostat T8100
+   * Ventilation Controller
+   *
+   * This module implements support for the Amphenol Telaire Ventostat
+   * T8100 Ventilation Controller with BACnet interface.  It may also
+   * support the T8200 and T8300 models, but they have not been
+   * tested.
+   *
+   * The Telaire Ventostat T8100 reports Temperature, Humidity and CO2
+   * concentrations.  It supports an optional relay with a settable
+   * trigger point.  The unit this driver was tested under did not
+   * support the optional relay.  The temperature range supported is
+   * 0-50C, humidity is 0-100% non-condensing, and CO2 range is
+   * appoximately 0-2000 PPM for the T8100.  Other sensors in this
+   * family support wider ranges.
+   *
+   * This module was developed using the upm::BACNETMSTP library,
+   * based on libbacnet-stack 0.8.3.  Both libbacnet 0.8.3 and the
+   * upm::BACNETMSTP libraries must be present in order to build this
+   * module.
+   *
+   * It was connected using an RS232->RS485 interface.  You cannot use
+   * the built in MCU TTL UART pins for accessing this device -- you
+   * must use a full Serial RS232->RS485 or USB-RS485 interface
+   * connected via USB.
+   *
+   * @snippet t8100.cxx Interesting
+   */
+
+  class T8100 : public BACNETUTIL {
+  public:
+
+    // Supported Analog Value Objects.  These are readable and writable.
+    typedef enum : uint32_t {
+      AV_Temperature_Offset                   = 1,
+      AV_RH_Offset                            = 2,
+      AV_Relay_Set_Point                      = 3,
+      AV_Relay_Hysteresis                     = 4,
+      AV_Elevation                            = 5,
+      AV_Calibration_Single_Point             = 6,
+      AV_Baud_Rate                            = 7,
+      AV_MAC_Address                          = 8
+    } ANALOG_VALUES_T;
+
+    // Supported Analog Input Objects.  These are read only.
+    typedef enum : uint32_t {
+      AI_CO2                                  = 1,
+      AI_Relative_Humidity                    = 2,
+      AI_Temperature_ChipCap                  = 3,
+      AI_Temperature_Thermistor               = 4
+    } ANALOG_INPUTS_T;
+
+    // Supported Binary Value Objects.  These are readable and writable.
+    typedef enum : uint32_t {
+      BV_Temperature_Units                    = 1,
+      BV_ABC_Logic_State                      = 2,
+      BV_ABC_Logic_Reset                      = 3,
+      BV_CO2_Calibration                      = 4
+    } BINARY_VALUES_T;
+
+    // Supported Binary Input Objects.  These are read only.
+    typedef enum : uint32_t {
+      BI_Relay_State                          = 1
+    } BINARY_INPUTS_T;
+
+
+    /**
+     * T8100 constructor
+     *
+     * @param targetDeviceObjectID the unique Instance ID of the
+     * Device Object.  This number is used to uniquely identify
+     * devices on the BACnet network, and ranges from 1 to 4194302.
+     * This is not the device's MAC address, though on some devices,
+     * the MAC address may be used as part of this number.  On the
+     * T8100, this number is 568XXX, where XXX are the 3 digits of the
+     * set MAC address.  The MAC address is configured via DIP switches
+     * within the device.
+     */
+    T8100(uint32_t targetDeviceObjectID);
+
+    /**
+     * T8100 Destructor
+     */
+    ~T8100();
+
+    /**
+     * Read current values from the sensor and update internal stored
+     * values for temperature, humidity, CO2 concentration and relay
+     * state.  This method must be called prior to querying any
+     * of the aforementioned values.
+     */
+    void update();
+
+    /**
+     * Get the current relative humidity.  update() must have been
+     * called prior to calling this method.
+     *
+     * @return The last humidity reading
+     */
+    float getHumidity()
+    {
+      return m_humidity;
+    }
+
+    /**
+     * Get the current CO2 concentration in Parts per Million (PPM).
+     * update() must have been called prior to calling this method.
+     *
+     * @return The last CO2 reading
+     */
+    float getCO2()
+    {
+      return m_co2;
+    }
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @param fahrenheit true to return the temperature in degrees
+     * fahrenheit, false to return the temperature in degrees celcius.
+     * The default is false (degrees Celcius).
+     * @return The last temperature reading in Celcius or Fahrenheit.
+     */
+    float getTemperature(bool fahrenheit=false);
+
+    /**
+     * Return the current state of the relay.  This function will
+     * always return false if the relay option is not installed.
+     * update() must have been called prior to calling this method.
+     *
+     * @return true if the relay is active, false if inactive.
+     */
+    bool getRelayState()
+    {
+      return m_relayState;
+    }
+
+    /**
+     * Set the device temperature scale to Celcius of Fahrenheit.  For
+     * devices with an LCD display, this will affect which scale is
+     * displayed.  When changing the scale, it may take several
+     * seconds for the setting to take effect.
+     *
+     * @param fahrenheit true to set the scale to fahrenheit, false
+     * for celcius.
+     */
+    void setTemperatureScale(bool fahrenheit);
+
+    /**
+     * Get the device temperature scale.
+     *
+     * @return true if scale is fahrenheit, false for celcius.
+     */
+    bool getTemperatureScale();
+
+    /**
+     * Get the current temperature offset.
+     *
+     * @return The configured temperature offset.
+     */
+    float getTemperatureOffset();
+
+    /**
+     * Set the device temperature offset.  The offset is applied by
+     * the device internally to the temperature reading.  The offset
+     * must always be specified in degrees Celcius.  Valid values must
+     * be between -50 and 50.
+     *
+     * @param value The temperature offset to configure.
+     */
+    void setTemperatureOffset(float value);
+
+    /**
+     * Get the current humidity offset.
+     *
+     * @return The configured humidity offset.
+     */
+    float getHumidityOffset();
+
+    /**
+     * Set the device humidity offset.  The offset is applied by the
+     * device internally to the humidity reading.  Valid values must
+     * be between -100 and 100.
+     *
+     * @param value The humidity offset to configure.
+     */
+    void setHumidityOffset(float value);
+
+    /**
+     * Return the current relay set point (in PPM).  This set point is
+     * the CO2 concentration point in PPM that causes the relay to
+     * trigger.
+     *
+     * @return The relay set point value.
+     */
+    float getRelaySetPoint();
+
+    /**
+     * Set the relay set point in PPM.  This set point is the CO2
+     * concentration point in PPM that causes the relay to trigger.
+     * Valid values are between 0-65535.
+     *
+     * @param value The desired relay set point value.
+     */
+    void setRelaySetPoint(float value);
+
+    /**
+     * Return the current relay hysteresis.
+     *
+     * @return The relay hysteresis value.
+     */
+    float getRelayHysteresis();
+
+    /**
+     * Set the relay hysteresis.  Valid values are between 0-65535.
+     *
+     * @param value The desired relay set point value.
+     */
+    void setRelayHysteresis(float value);
+
+    /**
+     * Return the current elevation setting (in meters).
+     *
+     * @return The current elevation setting.
+     */
+    float getElevation();
+
+    /**
+     * Set the elevation setting in meters.  Valid values are between
+     * 0-65535.
+     *
+     * @param value The desired elevation setting in meters.
+     */
+    void setElevation(float value);
+
+    /**
+     * Return the current calibration single point value (in PPM).
+     *
+     * @return The current calibration single point value.
+     */
+    float getCalibrationSinglePoint();
+
+    /**
+     * Set the calibration single point value in PPM.  Valid values
+     * are between 0-65535.
+     *
+     * @param value The desired calibration single point value in PPM.
+     */
+    void setCalibrationSinglePoint(float value);
+
+    /**
+     * Return the current baud rate.
+     *
+     * @return The current baud rate.
+     */
+    float getBaudRate();
+
+    /**
+     * Return the current MAC address.  The MAC address is configured
+     * via DIP switches within the device.
+     *
+     * @return The current MAC address.
+     */
+    float getMACAddress();
+
+    /**
+     * Return the current ABC (Automatic Background Calibration)
+     * logic state.  See the datasheet for details.
+     *
+     * @return The current ABC logic state.
+     */
+    bool getABCLogicState();
+
+    /**
+     * Set the ABC (Automatic Background Calibration) logic state.
+     * Valid values are true for ON, false for OFF.
+     *
+     * @param value The desired ABC logic state.
+     */
+    void setABCLogicState(bool value);
+
+    /**
+     * Return the current ABC (Automatic Background Calibration)
+     * reset state.  See the datasheet for details.
+     *
+     * @return The current ABC reset state.
+     */
+    bool getABCLogicReset();
+
+    /**
+     * Set the ABC (Automatic Background Calibration) reset state.
+     * Valid values are true for Reset, false for Normal.
+     *
+     * @param value The desired ABC reset state.
+     */
+    void setABCLogicReset(bool value);
+
+    /**
+     * Return the current CO2 calibration state.  See the datasheet
+     * for details.
+     *
+     * @return The current CO2 calibration state.
+     */
+    bool getCO2Calibration();
+
+    /**
+     * Set the CO2 calibration state.
+     * Valid values are true for Calibrate, false for Normal.
+     *
+     * @param value The desired ABC reset state.
+     */
+    void setCO2Calibration(bool value);
+
+
+  protected:
+    float m_humidity;
+    // always stored in C
+    float m_temperature;
+    float m_co2;
+    bool m_relayState;
+
+  private:
+    // Have we checked the device's temperature unit setting yet
+    bool m_isTempInitialized;
+
+    // Is the device configured for Celcius?
+    bool m_isCelcius;
+  };
+}

src/tb7300/CMakeLists.txt

@@ -0,0 +1,28 @@
+set (libname "tb7300")
+set (libdescription "upm module for the TB7300 Fan Coil Thermostat")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+
+pkg_check_modules(BACNET libbacnet)
+if (BACNET_FOUND)
+  # upm-libbacnetmstp will bring in libbacnet, I hope
+  set (reqlibname "upm-bacnetmstp")
+  include_directories(${BACNET_INCLUDE_DIRS})
+  include_directories("../bacnetmstp")
+  upm_module_init()
+  target_link_libraries(${libname} bacnetmstp)
+  if (BUILDSWIG)
+    if (BUILDSWIGNODE)
+      set_target_properties(${SWIG_MODULE_jsupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (jsupm_${libname} bacnetmstp)
+    endif()
+    if (BUILDSWIGPYTHON)
+      set_target_properties(${SWIG_MODULE_pyupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (pyupm_${libname} bacnetmstp)
+    endif()
+    if (BUILDSWIGJAVA)
+      set_target_properties(${SWIG_MODULE_javaupm_${libname}_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
+      swig_link_libraries (javaupm_${libname} bacnetmstp)
+    endif()
+  endif()
+endif ()

src/tb7300/javaupm_tb7300.i

@@ -0,0 +1,32 @@
+%module javaupm_tb7300
+%include "../upm.i"
+%include "typemaps.i"
+
+// We need to use this method for enum wrapping since the enum typedefs used
+// by the derived classes (like ANALOG_VALUES_T) are passed to methods
+// in the base class which expect a uint32_t.  This is fine, and
+// works everywhere except Java.  It's type safety is a little too
+// stringent in these cases.  %javaconst(1) is generally recommended
+// as it avoids JNI calls to determine the enumerant values at
+// runtime.
+%include "enumtypeunsafe.swg"
+%javaconst(1);
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "tb7300.hpp"
+%{
+    #include "tb7300.hpp"
+%}
+
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_tb7300");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/tb7300/jsupm_tb7300.i

@@ -0,0 +1,10 @@
+%module jsupm_tb7300
+%include "../upm.i"
+%include "stdint.i"
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "tb7300.hpp"
+%{
+    #include "tb7300.hpp"
+%}

src/tb7300/pyupm_tb7300.i

@@ -0,0 +1,14 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_tb7300
+%include "../upm.i"
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "bacnetmstp.hpp"
+%include "bacnetutil.hpp"
+%include "tb7300.hpp"
+%{
+    #include "tb7300.hpp"
+%}

src/tb7300/tb7300.cxx

@@ -0,0 +1,108 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <errno.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "tb7300.hpp"
+
+using namespace upm;
+using namespace std;
+
+// conversion from fahrenheit to celcius and back
+
+static float f2c(float f)
+{
+  return ((f - 32.0) / (9.0 / 5.0));
+}
+
+static float c2f(float c)
+{
+  return (c * (9.0 / 5.0) + 32.0);
+}
+
+
+TB7300::TB7300(uint32_t targetDeviceObjectID) :
+  BACNETUTIL(targetDeviceObjectID)
+{
+  setDebug(false);
+
+  // we disable this by default for performance reasons
+  checkReliability(false);
+
+  m_isTempInitialized = false;
+  m_isCelcius = false;
+
+  // room temperature only
+  m_temperature = 0.0;
+}
+
+TB7300::~TB7300()
+{
+}
+
+void TB7300::update()
+{
+  if (!m_isTempInitialized)
+    {
+      // this will update internals so conversions work properly
+      getTemperatureScale();
+    }
+
+  float tmpF = getAnalogValue(AV_Room_Temperature);
+
+  if (m_isCelcius)
+    m_temperature = tmpF;
+  else
+    m_temperature = f2c(tmpF);
+}
+
+float TB7300::getTemperature(bool fahrenheit)
+{
+  if (fahrenheit)
+    return c2f(m_temperature);
+  else
+    return m_temperature;
+}
+
+void TB7300::setTemperatureScale(bool fahrenheit)
+{
+  setBinaryValue(BV_Temperature_Scale, fahrenheit);
+
+  m_isTempInitialized = true;
+  m_isCelcius = (fahrenheit) ? false : true;
+}
+
+bool TB7300::getTemperatureScale()
+{
+  bool scale = getBinaryValue(BV_Temperature_Scale);
+
+  m_isTempInitialized = true;
+  m_isCelcius = !scale;
+
+  return scale;
+}

src/tb7300/tb7300.hpp

@@ -0,0 +1,258 @@
+/*
+ * 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 <map>
+
+#include "bacnetmstp.hpp"
+#include "bacnetutil.hpp"
+
+namespace upm {
+
+  /**
+   * @brief Honeywell TB7300 Communicating Fan Coil Thermostat
+   * @defgroup tb7300 libupm-tb7300
+   * @ingroup uart temp
+   */
+
+  /**
+   * @library tb7300
+   * @sensor tb7300
+   * @comname UPM API for the Honeywell TB7300 Communicating Fan Coil
+   * Thermostat
+   * @type temp
+   * @man honeywell
+   * @con uart
+   * @web https://parts-hvac.com/tb7300c5014b.html
+   *
+   * @brief Honeywell TB7300 Communicating Fan Coil Thermostat
+   *
+   * This module implements support for the Honeywell TB7300
+   * Communicating Fan Coil Thermostat.  It may also support the
+   * TB7200, though only the TB7300 was available for development of
+   * this driver.
+   *
+   * The TB7200 Series PI thermostats are designed for zoning
+   * applications, and the TB7300 Series PI thermostats are designed
+   * for fan coil control. Both Series are communicating thermostats
+   * with models available in BACnet® MS/TP protocol and can be easily
+   * integrated into a WEBs-AX building automation system based on the
+   * NiagaraAX® platform.
+   *
+   * TB7200 and TB7300 Series thermostats are compatible with the
+   * Honeywell Occupancy Sensor Cover. Thermostats equipped with an
+   * occupancy sensor cover provide advanced active occupancy logic,
+   * which will automatically switch occupancy levels from Occupied to
+   * Stand-By and Unoccupied as required by local activity being
+   * present or not. This advanced occupancy functionality provides
+   * advantageous energy savings during occupied hours without
+   * sacrificing occupant comfort. All thermostats can be ordered with
+   * or without a factory installed PIR cover.
+   *
+   * If you intend to work with this device and driver, it is
+   * strongly suggested you get the BACnet Intergration Guide document
+   * for this device: 63-4524.pdf as recommended in the device
+   * documentation.
+   *
+   * This module was developed using the upm::BACNETMSTP library,
+   * based on libbacnet-stack 0.8.3.  Both libbacnet 0.8.3 and the
+   * upm::BACNETMSTP libraries must be present in order to build this
+   * module.
+   *
+   * It was connected using an RS232->RS485 interface.  You cannot use
+   * the built in MCU TTL UART pins for accessing this device -- you
+   * must use a full Serial RS232->RS485 or USB-RS485 interface
+   * connected via USB.
+   *
+   * @snippet tb7300.cxx Interesting
+   */
+
+  class TB7300 : public BACNETUTIL {
+  public:
+
+    // Supported Analog Value Objects.  These are readable and writable.
+    typedef enum : uint32_t {
+      AV_Room_Temperature                     = 7,
+
+      // GRP 20 Control Output
+      AV_PI_Heating_Demand                    = 21,
+      AV_PI_Cooling_Demand                    = 22,
+
+      // GRP 38 Temperature Setpoints
+      AV_Occupied_Heat_Setpoint               = 39,
+      AV_Occupied_Cool_Setpoint               = 40,
+      AV_Standby_Heat_Setpoint                = 41,
+      AV_Standby_Cool_Setpoint                = 42,
+      AV_Unoccupied_Heat_Setpoint             = 43,
+      AV_Unoccupied_Cool_Setpoint             = 44,
+
+      // GRP 55 General Options 2
+      AV_Password_Value                       = 56,
+      AV_Heating_Setpoint_Limit               = 58,
+      AV_Cooling_Setpoint_Limit               = 59,
+      AV_Deadband                             = 63,
+      AV_Standby_Time                         = 67,
+      AV_Unoccupied_Time                      = 68
+    } ANALOG_VALUES_T;
+
+    // Supported Analog Input Objects.  These are read only.
+    typedef enum : uint32_t {
+      AI_Supply_Temperature                   = 12
+    } ANALOG_INPUTS_T;
+
+    // Supported Binary Value Objects.  These are readable and writable.
+    typedef enum : uint32_t {
+      BV_Temp_Override                        = 8,
+      BV_Aux_Command                          = 14,
+
+      // GRP 45 General Options 1
+      BV_Menu_Scroll                          = 49,
+      BV_Auto_Mode_Enable                     = 50,
+      BV_Temperature_Scale                    = 51,
+
+      // GRP 55 General Option 2
+      BV_Setpoint_Type                        = 60,
+      BV_Setpoint_Function                    = 61,
+      BV_Reheat_Timebase                      = 64,
+      BV_Auto_Fan                             = 66,
+
+      // GRP 74 Output Configuration Options
+      BV_Control_type                         = 75,
+      BV_Direct_Reverse_Acting                = 78
+    } BINARY_VALUES_T;
+
+    // Supported Binary Input Objects.  These are read only.
+    typedef enum : uint32_t {
+      // GRP 24 Controller Status
+      BI_AUX_Status                           = 25,
+      BI_BI1_Status                           = 29,
+      BI_BI2_Status                           = 30,
+      BI_UI3_Status                           = 31,
+      BI_Local_Motion                         = 32,
+
+      // GRP 34 Controller Alarms
+      BI_Window_Alarm                         = 35,
+      BI_Filter_Alarm                         = 36,
+      BI_Service_Alarm                        = 37
+    } BINARY_INPUTS_T;
+
+    // Supported Multi-State Value Objects.  These are readable and
+    // writable.
+    typedef enum : uint32_t {
+      MV_Sequence_of_Operation                = 15,
+      MV_System_Mode                          = 16,
+      MV_Fan_Mode                             = 17,
+      MV_Occupancy_Command                    = 18,
+      MV_Keypad_Lockout                       = 19,
+
+      // GRP 24 Controller Status
+      MV_Heating_Valve_Status                 = 26,
+      MV_Cooling_Valve_Status                 = 27,
+      MV_Fan_Status                           = 28,
+      MV_Effective_Occupancy                  = 33,
+
+      // GRP 45 General Options 1
+      MV_BI1_Configuration                    = 46,
+      MV_BI2_Configuration                    = 47,
+      MV_UI1_Configuration                    = 48,
+      MV_Pipe_Number                          = 52,
+      MV_Out1_Config                          = 53,
+      MV_AUX_Configuration                    = 54,
+
+      // GRP 55 General Option 2
+      MV_Fan_Mode_Sequence                    = 58,
+      MV_Temporary_Occupancy_Time             = 62,
+      MV_Proportional_Band                    = 65,
+
+      // GRP 74 Output Configuration Options
+      MV_Floating_Motor_Timing                = 76,
+      MV_On_Off_Control_CPH                   = 77
+    } MULTISTATE_VALUES_T;
+
+    /**
+     * TB7300 constructor
+     *
+     * @param targetDeviceObjectID the unique Instance ID of the
+     * Device Object.  This number is used to uniquely identify
+     * devices on the BACnet network, and ranges from 1 to 4194302.
+     * This is not the device's MAC address, though on some devices,
+     * the MAC address may be used as part of this number.  On the
+     * TB7300, this number depends on the model and the MAC address.
+     */
+    TB7300(uint32_t targetDeviceObjectID);
+
+    /**
+     * TB7300 Destructor
+     */
+    ~TB7300();
+
+    /**
+     * Read current temperature from the sensor and update internal
+     * stored value.  This method must be called prior to querying the
+     * temperature.  All other values in the device must be queried
+     * directly via the appropriate BACNETUTIL::get*() methods
+     * depending on the object of interest.
+     */
+    void update();
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @param fahrenheit true to return the temperature in degrees
+     * fahrenheit, false to return the temperature in degrees celcius.
+     * The default is false (degrees Celcius).
+     * @return The last temperature reading in Celcius or Fahrenheit.
+     */
+    float getTemperature(bool fahrenheit=false);
+
+    /**
+     * Set the device temperature scale to Celcius of Fahrenheit.  For
+     * devices with an LCD display, this will affect which scale is
+     * displayed.  When changing the scale, it may take several
+     * seconds for the setting to take effect.
+     *
+     * @param fahrenheit true to set the scale to fahrenheit, false
+     * for celcius.
+     */
+    void setTemperatureScale(bool fahrenheit);
+
+    /**
+     * Get the device temperature scale.
+     *
+     * @return true if scale is fahrenheit, false for celcius.
+     */
+    bool getTemperatureScale();
+
+  protected:
+    // always stored in C
+    float m_temperature;
+
+    bool m_isTempInitialized;
+    bool m_isCelcius;
+
+  private:
+  };
+}