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7afd1f3fc1
Signed-off-by: Petre Eftime <petre.p.eftime@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
112 lines
2.7 KiB
C++
112 lines
2.7 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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 <iostream>
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#include <unistd.h>
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#include <stdlib.h>
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#include "mpu9150.h"
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using namespace upm;
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using namespace std;
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MPU9150::MPU9150 (int bus, int address, int magAddress) :
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m_mag(0), MPU60X0(bus, address)
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{
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m_magAddress = magAddress;
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m_i2cBus = bus;
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}
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MPU9150::~MPU9150()
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{
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if (m_mag)
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delete m_mag;
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}
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bool MPU9150::init()
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{
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// init the gyro/accel component
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if (!MPU60X0::init())
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{
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cerr << __FUNCTION__ << ": Unable to init MPU60X0" << endl;
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return false;
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}
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// Now, we need to enable I2C bypass on the MPU60X0 component. This
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// will allow us to access the AK8975 Magnetometer on I2C addr 0x0c.
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if (!enableI2CBypass(true))
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{
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cerr << __FUNCTION__ << ": Unable to enable I2C bypass" << endl;
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return false;
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}
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// Now that we've done that, create an AK8975 instance and
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// initialize it.
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m_mag = new AK8975(m_i2cBus, m_magAddress);
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if (!m_mag->init())
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{
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cerr << __FUNCTION__ << ": Unable to init magnetometer" << endl;
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delete m_mag;
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m_mag = 0;
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return false;
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}
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return true;
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}
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void MPU9150::update()
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{
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MPU60X0::update();
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if (m_mag)
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m_mag->update();
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}
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void MPU9150::getMagnetometer(float *x, float *y, float *z)
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{
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float mx, my, mz;
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if (!m_mag)
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mx = my = mz = 0.0;
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else
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m_mag->getMagnetometer(&mx, &my, &mz);
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if (x)
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*x = mx;
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if (y)
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*y = my;
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if (z)
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*z = mz;
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}
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#ifdef SWIGJAVA
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float *MPU9150::getMagnetometer()
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{
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float *v = new float[3];
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getMagnetometer(&v[0], &v[1], &v[2]);
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return v;
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}
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#endif
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