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346 lines
12 KiB
C++
346 lines
12 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016-2017 Intel Corporation.
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*
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* The MIT License
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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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#pragma once
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#include <string>
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#include <vector>
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#include <mraa/gpio.hpp>
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#include "bmm150.h"
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namespace upm {
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/**
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* @brief Bosch 3-axis Magnetometer
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* @defgroup bmm150 libupm-bmm150
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* @ingroup i2c spi gpio bosch compass
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*/
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/**
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* @library bmx050
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* @sensor bmm150
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* @comname 3-axis Geomagnetic Sensor
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* @altname bmm050
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* @type compass
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* @man bosch
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* @con i2c spi gpio
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* @web https://www.bosch-sensortec.com/bst/products/all_products/bmm150
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*
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* @brief API for the BMM150 3-Axis Geomagnetic Sensor
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*
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* The BMM150 is a standalone geomagnetic sensor for consumer market
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* applications. It allows measurements of the magnetic field in
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* three perpendicular axes. Based on Bosch's proprietary FlipCore
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* technology, performance and features of BMM150 are carefully
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* tuned and perfectly match the demanding requirements of all
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* 3-axis mobile applications such as electronic compass, navigation
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* or augmented reality.
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*
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* An evaluation circuitry (ASIC) converts the output of the
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* geomagnetic sensor to digital results which can be read out over
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* the industry standard digital interfaces (SPI and I2C).
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*
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* Not all functionality of this chip has been implemented in this
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* driver, however all the pieces are present to add any desired
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* functionality. This driver supports both I2C (default) and SPI
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* operation.
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*
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* This device requires 3.3v operation.
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*
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* @snippet bmm150.cxx Interesting
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*/
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class BMM150 {
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public:
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/**
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* BMM150 constructor.
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*
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* This device can support both I2C and SPI. For SPI, set the addr
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* to -1, and specify a positive integer representing the Chip
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* Select (CS) pin for the cs argument. If you are using a
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* hardware CS pin (like edison with arduino breakout), then you
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* can connect the proper pin to the hardware CS pin on your MCU
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* and supply -1 for cs. The default operating mode is I2C.
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*
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* @param bus I2C or SPI bus to use.
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* @param addr The address for this device. -1 for SPI.
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* @param cs The gpio pin to use for the SPI Chip Select. -1 for
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* I2C or for SPI with a hardware controlled pin.
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*
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* @throws std::runtime_error on failure.
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*/
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BMM150(int bus=BMM150_DEFAULT_I2C_BUS,
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int addr=BMM150_DEFAULT_ADDR,
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int cs=-1);
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/**
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* BMM150 Destructor.
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*/
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~BMM150();
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/**
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* Update the internal stored values from sensor data.
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*
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* @throws std::runtime_error on failure.
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*/
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void update();
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/**
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* Return the chip ID.
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*
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* @return The chip ID.
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*/
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uint8_t getChipID();
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/**
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* Return magnetometer data in micro-Teslas (uT). update() must
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* have been called prior to calling this method.
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*
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void getMagnetometer(float *x, float *y, float *z);
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/**
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* Return magnetometer data in micro-Teslas (uT) in the form
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* of a floating point vector. update() must have been called
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* prior to calling this method.
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*
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* @return A floating point vector containing x, y, and z in
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* that order.
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*/
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std::vector<float> getMagnetometer();
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/**
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* Initialize the device and start operation. This function is
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* called from the constructor so will not typically need to be
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* called by a user unless the device is reset. This method will
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* call setPresetMode() with the passed parameter.
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*
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* @param usage One of the BMM150_USAGE_PRESETS_T values. The
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* default is BMM150_USAGE_HIGH_ACCURACY.
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* @throws std::runtime_error on failure.
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*/
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void init(BMM150_USAGE_PRESETS_T usage=BMM150_USAGE_HIGH_ACCURACY);
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/**
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* Set one of the Bosch recommended preset modes. These modes
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* configure the sensor for varying use cases.
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*
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* @param usage One of the BMM150_USAGE_PRESETS_T values. The
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* default is BMM150_USAGE_HIGH_ACCURACY.
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*
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* @throws std::runtime_error on failure.
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*/
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void setPresetMode(BMM150_USAGE_PRESETS_T usage);
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/**
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* Perform a device soft-reset. The device will be placed in
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* SUSPEND mode afterward with all configured setting lost, so
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* some re-initialization will be required to get data from the
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* sensor. Calling init() will get everything running again.
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*
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* @throws std::runtime_error on failure.
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*/
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void reset();
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/**
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* Set the magnetometer Output Data Rate. See the datasheet for
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* details.
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*
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* @param odr One of the BMM150_DATA_RATE_T values.
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* @throws std::runtime_error on failure.
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*/
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void setOutputDataRate(BMM150_DATA_RATE_T odr);
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/**
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* Set or clear the Power bit. When the power bit is cleared, the
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* device enters a deep suspend mode where only the REG_POWER_CTRL
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* register can be accessed. This bit needs to be enabled for the
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* device to operate. See the datasheet for details. The
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* constructor enables this by default. After a deep suspend mode
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* has been entered, all configured data is lost and the device
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* must be reconfigured (as via init()).
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*
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* @param power true to enable the bit, false otherwise.
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* @throws std::runtime_error on failure.
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*/
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void setPowerBit(bool power);
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/**
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* Set the operating mode of the device. See the datasheet for
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* details.
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*
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* @param opmode One of the BMM150_OPERATION_MODE_T values.
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* @throws std::runtime_error on failure.
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*/
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void setOpmode(BMM150_OPERATION_MODE_T opmode);
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/**
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* Get the current operating mode of the device. See the datasheet for
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* details. The power bit must be one for this method to succeed.
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*
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* @return One of the BMM150_OPERATION_MODE_T values.
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*/
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BMM150_OPERATION_MODE_T getOpmode();
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/**
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* Return the Interrupt Enables register. This register
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* allows you to enable various interrupt conditions. See the
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* datasheet for details.
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*
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* @return A bitmask of BMM150_INT_EN_BITS_T bits.
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*/
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uint8_t getInterruptEnable();
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/**
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* Set the Interrupt Enables register. See the datasheet for
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* details.
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*
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* @param bits A bitmask of BMM150_INT_EN_BITS_T bits.
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* @throws std::runtime_error on failure.
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*/
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void setInterruptEnable(uint8_t bits);
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/**
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* Return the Interrupt Config register. This register allows
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* determining the electrical characteristics of the 2 interrupt
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* pins (open-drain/push-pull and level/edge triggering) as well
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* as other options. See the datasheet for details.
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*
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* @return A bitmask of BMM150_INT_CONFIG_BITS_T bits.
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*/
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uint8_t getInterruptConfig();
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/**
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* Set the Interrupt Config register. This register
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* allows determining the electrical characteristics of the 2
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* interrupt pins (open-drain/push-pull and level/edge
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* triggering). See the datasheet for details.
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*
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* @param bits A bitmask of BMM150_INT_CONFIG_BITS_T bits.
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* @throws std::runtime_error on failure.
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*/
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void setInterruptConfig(uint8_t bits);
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/**
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* Return the interrupt status register. This register
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* indicates which interrupts have been triggered. See the
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* datasheet for details.
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*
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* @return a bitmask of BMM150_INT_STATUS_BITS_T bits.
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*/
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uint8_t getInterruptStatus();
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/**
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* Set the repetition counter for the X and Y axes. This allows the
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* device to average a number of measurements for a more stable
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* output. See the datasheet for details.
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*
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* @param reps A coefficient for specifying the number of
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* repititions to perform. (1 + 2(reps))
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* @throws std::runtime_error on failure.
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*/
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void setRepetitionsXY(uint8_t reps);
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/**
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* Set the repetition counter for the Z axis. This allows the
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* device to average a number of measurements for a more stable
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* output. See the datasheet for details.
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*
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* @param reps A coefficient for specifying the number of
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* repititions to perform. (1 + (reps))
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* @throws std::runtime_error on failure.
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*/
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void setRepetitionsZ(uint8_t reps);
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/**
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* Install an interrupt handler.
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*
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* @param intr One of the BMM150_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are installing.
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* @param gpio GPIO pin to use as interrupt pin.
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* @param level The interrupt trigger level (one of mraa::Edge
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* values). Make sure that you have configured the interrupt pin
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* properly for whatever level you choose.
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* @param isr The interrupt handler, accepting a void * argument.
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* @param arg The argument to pass the the interrupt handler.
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* @throws std::runtime_error on failure.
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*/
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void installISR(BMM150_INTERRUPT_PINS_T intr, int gpio,
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mraa::Edge level,
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void (*isr)(void *), void *arg);
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/**
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* Uninstall a previously installed interrupt handler.
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*
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* @param intr One of the BMM150_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are removing.
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*/
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void uninstallISR(BMM150_INTERRUPT_PINS_T intr);
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/**
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* Read a register.
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*
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* @param reg The register to read.
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* @return The value of the register.
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*/
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uint8_t readReg(uint8_t reg);
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/**
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* Read contiguous registers into a buffer.
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*
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* @param buffer The buffer to store the results.
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* @param len The number of registers to read.
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* @return The number of bytes read.
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* @throws std::runtime_error on failure.
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*/
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int readRegs(uint8_t reg, uint8_t *buffer, int len);
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/**
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* Write to a register.
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*
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* @param reg The register to write to.
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* @param val The value to write.
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* @throws std::runtime_error on failure.
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*/
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void writeReg(uint8_t reg, uint8_t val);
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protected:
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bmm150_context m_bmm150;
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private:
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/* Disable implicit copy and assignment operators */
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BMM150(const BMM150&) = delete;
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BMM150 &operator=(const BMM150&) = delete;
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};
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}
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