/* * Author: Jon Trulson * Copyright (c) 2016-2017 Intel Corporation. * * The MIT License * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "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 #include #include "bma250e.hpp" #include "bmg160.hpp" #include "bmm150.hpp" #include #include #define BMX055_DEFAULT_MAG_I2C_ADDR 0x12 namespace upm { /** * @brief BMX055/BMI055/BMC150 Sensor Modules * @defgroup bmx055 libupm-bmx055 * @ingroup i2c spi accelerometer compass */ /** * @library bmx055 * @sensor bmx055 * @comname 9-axis Sensor Module * @type accelerometer compass * @man bosch * @con i2c gpio spi * @web https://www.bosch-sensortec.com/bst/products/all_products/bmx055 * * @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 independent 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 * BMA250E, 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: virtual public iAcceleration, virtual public iGyroscope, public virtual iMagnetometer { 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_DEFAULT_I2C_BUS, int accelAddr=BMA250E_DEFAULT_ADDR, int accelCS=-1, int gyroBus=BMG160_DEFAULT_I2C_BUS, int gyroAddr=BMG160_DEFAULT_ADDR, int gyroCS=-1, int magBus=BMM150_DEFAULT_I2C_BUS, int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR, int magCS=-1); /** * Instantiates BMX055 based on a given string. * * @param initStr string containing specific information for BMX055 initialization. */ BMX055(std::string initStr); /** * 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 vector. update() must have been called prior to * calling this method. * * @return A floating point vector containing x, y, and z in * that order. */ std::vector getAccelerometer(); /** * get acceleration values * * @return stl vector of size 3 representing the 3 axis */ virtual std::vector getAcceleration(); /** * 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 vector. update() must have been called prior to * calling this method. * * @return A floating point vector containing x, y, and z in * that order. */ std::vector 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 vector. update() must have been called prior to * calling this method. * * @return A floating point vector containing x, y, and z in * that order. */ std::vector getMagnetometer(); protected: BMA250E *m_accel; BMG160 *m_gyro; BMM150 *m_mag; private: /* Disable implicit copy and assignment operators */ BMX055(const BMX055&) = delete; BMX055 &operator=(const BMX055&) = delete; }; }