/* * Author: Jon Trulson * 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 #include #include #include #include "bmi160.hpp" using namespace upm; using namespace std; BMI160::BMI160(int bus, int address, int csPin, bool enableMag) : m_bmi160(bmi160_init(bus, address, csPin, enableMag)) { if (!m_bmi160) throw std::runtime_error(string(__FUNCTION__) + ": bmi160_init() failed"); } BMI160::~BMI160() { bmi160_close(m_bmi160); } void BMI160::update() { bmi160_update(m_bmi160); } void BMI160::setAccelerometerScale(BMI160_ACC_RANGE_T scale) { bmi160_set_accelerometer_scale(m_bmi160, scale); } void BMI160::setGyroscopeScale(BMI160_GYRO_RANGE_T scale) { bmi160_set_gyroscope_scale(m_bmi160, scale); } void BMI160::getAccelerometer(float *x, float *y, float *z) { bmi160_get_accelerometer(m_bmi160, x, y, z); } void BMI160::getGyroscope(float *x, float *y, float *z) { bmi160_get_gyroscope(m_bmi160, x, y, z); } void BMI160::getMagnetometer(float *x, float *y, float *z) { bmi160_get_magnetometer(m_bmi160, x, y, z); } float *BMI160::getAccelerometer() { static float values[3]; // x, y, and then z getAccelerometer(&values[0], &values[1], &values[2]); return values; } float *BMI160::getGyroscope() { static float values[3]; // x, y, and then z getGyroscope(&values[0], &values[1], &values[2]); return values; } float *BMI160::getMagnetometer() { static float values[3]; // x, y, and then z getMagnetometer(&values[0], &values[1], &values[2]); return values; } void BMI160::enableMagnetometer(bool enable) { bmi160_enable_magnetometer(m_bmi160, enable); } unsigned int BMI160::getSensorTime() { return bmi160_get_time(m_bmi160); } string BMI160::busRead(int addr, int reg, int len) { u8 dev_addr = (u8)(addr & 0xff); u8 reg_addr = (u8)(reg & 0xff); u8 cnt = (u8)(len & 0xff); u8 *data = new u8[cnt]; if (bmi160_bus_read(dev_addr, reg_addr, data, cnt)) { delete [] data; throw std::runtime_error(string(__FUNCTION__) + ": bmi160_bus_read() failed"); } string dataStr((char *)data, cnt); delete [] data; return dataStr; } void BMI160::busWrite(int addr, int reg, string data) { u8 dev_addr = (u8)(addr & 0xff); u8 reg_addr = (u8)(reg & 0xff); if (bmi160_bus_write(dev_addr, reg_addr, (u8 *)data.data(), data.size())) throw std::runtime_error(string(__FUNCTION__) + ": bmi160_bus_write() failed"); }