/* * 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. */ #pragma once #include #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: }; }