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This module (bmx055) implements support for the following core Bosch chipsets: bma250e - accelerometer, 3 variants (chip id's 0x03, 0xf9, and 0xfa) bmm150 - magnetometer bmg160 - gyroscope The other 3 devices are combinations of the above: bmx055 - accel/gyro/mag bmc160 - accel/mag bmi055 - accel/gyro ...for 6 devices total. For the combination devices, all of the sub-devices appear as individual independent devices on the I2C/SPI bus. The combination drivers provide basic configuration and data output. For more detailed control as well as interrupt support, you should use the core device drivers (accel/gyro/mag) directly. These devices support both I2C and SPI communications. They must be powered at 3.3vdc. Signed-off-by: Jon Trulson <jtrulson@ics.com>
79 lines
2.0 KiB
C++
79 lines
2.0 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 <signal.h>
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#include "bmm150.hpp"
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using namespace std;
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int shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an BMM150 using default I2C parameters
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upm::BMM150 *sensor = new upm::BMM150();
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// For SPI, bus 0, you would pass -1 as the address, and a valid pin
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// for CS: BMM150(0, -1, 10);
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// now output data every 250 milliseconds
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while (shouldRun)
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{
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float x, y, z;
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sensor->update();
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sensor->getMagnetometer(&x, &y, &z);
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cout << "Magnetometer x: " << x
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<< " y: " << y
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<< " z: " << z
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<< " uT"
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<< endl;
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cout << endl;
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usleep(250000);
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}
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete sensor;
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return 0;
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}
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