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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>
159 lines
3.5 KiB
C++
159 lines
3.5 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 "bmx055.hpp"
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using namespace upm;
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using namespace std;
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BMX055::BMX055(int accelBus, uint8_t accelAddr, int accelCS,
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int gyroBus, uint8_t gyroAddr, int gyroCS,
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int magBus, uint8_t magAddr, int magCS) :
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m_accel(0), m_gyro(0), m_mag(0)
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{
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// if -1 is supplied as a bus for any of these, we will not
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// instantiate them
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if (accelBus >= 0)
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m_accel = new BMA250E(accelBus, accelAddr, accelCS);
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if (gyroBus >= 0)
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m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
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if (magBus >= 0)
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m_mag = new BMM150(magBus, magAddr, magCS);
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// now initialize them...
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if (m_accel)
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m_accel->init();
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if (m_gyro)
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m_gyro->init();
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if (m_mag)
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m_mag->init();
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}
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BMX055::~BMX055()
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{
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if (m_accel)
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delete m_accel;
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if (m_gyro)
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delete m_gyro;
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if (m_mag)
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delete m_mag;
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}
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void BMX055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
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BMA250E::RANGE_T range,
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BMA250E::BW_T bw)
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{
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if (m_accel)
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m_accel->init(pwr, range, bw);
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}
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void BMX055::initGyroscope(BMG160::POWER_MODE_T pwr,
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BMG160::RANGE_T range,
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BMG160::BW_T bw)
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{
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if (m_gyro)
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m_gyro->init(pwr, range, bw);
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}
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void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
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{
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if (m_mag)
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m_mag->init(usage);
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}
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void BMX055::update()
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{
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if (m_accel)
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m_accel->update();
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if (m_gyro)
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m_gyro->update();
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if (m_mag)
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m_mag->update();
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}
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void BMX055::getAccelerometer(float *x, float *y, float *z)
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{
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if (m_accel)
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m_accel->getAccelerometer(x, y, z);
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}
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float *BMX055::getAccelerometer()
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{
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if (m_accel)
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return m_accel->getAccelerometer();
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else
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{
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static float v[3] = {0.0f, 0.0f, 0.0f};
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return v;
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}
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}
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void BMX055::getGyroscope(float *x, float *y, float *z)
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{
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if (m_gyro)
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m_gyro->getGyroscope(x, y, z);
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}
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float *BMX055::getGyroscope()
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{
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if (m_gyro)
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return m_gyro->getGyroscope();
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else
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{
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static float v[3] = {0.0f, 0.0f, 0.0f};
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return v;
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}
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}
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void BMX055::getMagnetometer(float *x, float *y, float *z)
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{
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if (m_mag)
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m_mag->getMagnetometer(x, y, z);
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}
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float *BMX055::getMagnetometer()
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{
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if (m_mag)
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return m_mag->getMagnetometer();
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else
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{
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static float v[3] = {0.0f, 0.0f, 0.0f};
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return v;
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}
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}
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