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0086626173
This adds SPI support to the BMI160, as well as a C driver and a C example. In addition, some changes were made to more properly detect and handle errors. Functions supplied by the bosch_bmi160 driver source code is also exported and made available to callers who want more than what the basic driver support. Bus access methods (I2C and SPI) are also now exposed to both C and C++. Signed-off-by: Jon Trulson <jtrulson@ics.com>
145 lines
3.6 KiB
C++
145 lines
3.6 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <stdexcept>
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#include <string>
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#include "bmi160.hpp"
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using namespace upm;
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using namespace std;
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BMI160::BMI160(int bus, int address, int csPin, bool enableMag) :
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m_bmi160(bmi160_init(bus, address, csPin, enableMag))
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{
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if (!m_bmi160)
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throw std::runtime_error(string(__FUNCTION__)
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+ ": bmi160_init() failed");
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}
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BMI160::~BMI160()
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{
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bmi160_close(m_bmi160);
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}
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void BMI160::update()
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{
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bmi160_update(m_bmi160);
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}
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void BMI160::setAccelerometerScale(BMI160_ACC_RANGE_T scale)
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{
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bmi160_set_accelerometer_scale(m_bmi160, scale);
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}
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void BMI160::setGyroscopeScale(BMI160_GYRO_RANGE_T scale)
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{
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bmi160_set_gyroscope_scale(m_bmi160, scale);
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}
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void BMI160::getAccelerometer(float *x, float *y, float *z)
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{
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bmi160_get_accelerometer(m_bmi160, x, y, z);
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}
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void BMI160::getGyroscope(float *x, float *y, float *z)
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{
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bmi160_get_gyroscope(m_bmi160, x, y, z);
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}
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void BMI160::getMagnetometer(float *x, float *y, float *z)
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{
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bmi160_get_magnetometer(m_bmi160, x, y, z);
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}
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float *BMI160::getAccelerometer()
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{
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static float values[3]; // x, y, and then z
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getAccelerometer(&values[0], &values[1], &values[2]);
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return values;
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}
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float *BMI160::getGyroscope()
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{
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static float values[3]; // x, y, and then z
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getGyroscope(&values[0], &values[1], &values[2]);
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return values;
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}
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float *BMI160::getMagnetometer()
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{
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static float values[3]; // x, y, and then z
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getMagnetometer(&values[0], &values[1], &values[2]);
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return values;
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}
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void BMI160::enableMagnetometer(bool enable)
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{
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bmi160_enable_magnetometer(m_bmi160, enable);
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}
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unsigned int BMI160::getSensorTime()
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{
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return bmi160_get_time(m_bmi160);
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}
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string BMI160::busRead(int addr, int reg, int len)
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{
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u8 dev_addr = (u8)(addr & 0xff);
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u8 reg_addr = (u8)(reg & 0xff);
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u8 cnt = (u8)(len & 0xff);
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u8 *data = new u8[cnt];
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if (bmi160_bus_read(dev_addr, reg_addr, data, cnt))
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{
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delete [] data;
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throw std::runtime_error(string(__FUNCTION__)
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+ ": bmi160_bus_read() failed");
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}
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string dataStr((char *)data, cnt);
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delete [] data;
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return dataStr;
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}
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void BMI160::busWrite(int addr, int reg, string data)
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{
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u8 dev_addr = (u8)(addr & 0xff);
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u8 reg_addr = (u8)(reg & 0xff);
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if (bmi160_bus_write(dev_addr, reg_addr, (u8 *)data.data(), data.size()))
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throw std::runtime_error(string(__FUNCTION__)
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+ ": bmi160_bus_write() failed");
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}
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