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117 lines
2.8 KiB
C++
117 lines
2.8 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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#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 "bmc150.hpp"
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using namespace upm;
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using namespace std;
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BMC150::BMC150(int accelBus, int accelAddr, int accelCS,
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int magBus, int magAddr, int magCS) :
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m_accel(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 (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_mag)
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m_mag->init();
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}
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BMC150::~BMC150()
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{
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if (m_accel)
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delete m_accel;
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if (m_mag)
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delete m_mag;
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}
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void BMC150::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 BMC150::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 BMC150::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_mag)
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m_mag->update();
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}
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void BMC150::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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std::vector<float> BMC150::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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return {0, 0, 0};
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}
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void BMC150::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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std::vector<float> BMC150::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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return {0, 0, 0};
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}
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