/* * 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 "bmi055.hpp" using namespace upm; using namespace std; BMI055::BMI055(int accelBus, int accelAddr, int accelCS, int gyroBus, int 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; } }