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upm/src/bmx055/bmm150.hpp
Noel Eck edd8df4c50 encodings: Added check for non-8bit encodings in src tree. 
This commit sanitizes source files for unicode encodings which
cause failures in downstream flows (docgen, python2 module loading,
etc...).

    * Removed explicit encodings from src files
    * Replaced 2 byte character encodings with ascii encodies:
        ± -> +/-
        ° -> deg
        “ -> "
        etc...
    * Added ctest to check src tree files for non-8bit encodings

Signed-off-by: Noel Eck <noel.eck@intel.com>
2016-10-05 14:39:30 -07:00

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <mraa/i2c.hpp>
#include <mraa/spi.hpp>
#include <mraa/gpio.hpp>
#define BMM150_I2C_BUS 0
#define BMM150_SPI_BUS 0
#define BMM150_DEFAULT_ADDR 0x10
namespace upm {
/**
* @library bmx050
* @sensor bmm150
* @comname BMM150 3-Axis Geomagnetic Sensor
* @altname bmm050
* @type compass
* @man bosch
* @con i2c spi gpio
*
* @brief API for the BMM150 3-Axis Geomagnetic Sensor
*
* The BMM150 is a standalone geomagnetic sensor for consumer market
* applications. It allows measurements of the magnetic field in
* three perpendicular axes. Based on Bosch's proprietary FlipCore
* technology, performance and features of BMM150 are carefully
* tuned and perfectly match the demanding requirements of all
* 3-axis mobile applications such as electronic compass, navigation
* or augmented reality.
*
* An evaluation circuitry (ASIC) converts the output of the
* geomagnetic sensor to digital results which can be read out over
* the industry standard digital interfaces (SPI and I2C).
*
* Not all functionality of this chip has been implemented in this
* driver, however all the pieces are present to add any desired
* functionality. This driver supports both I2C (default) and SPI
* operation.
*
* This device requires 3.3v operation.
*
* @snippet bmm150.cxx Interesting
*/
class BMM150 {
public:
// NOTE: Reserved registers must not be written into. Reading
// from them may return indeterminate values. Registers
// containing reserved bitfields must be written as 0. Reading
// reserved bitfields may return indeterminate values.
/**
* BMM150 registers
*/
typedef enum : uint8_t {
REG_CHIP_ID = 0x40,
// 0x41 reserved
REG_MAG_X_LSB = 0x42,
REG_MAG_X_MSB = 0x43,
REG_MAG_Y_LSB = 0x44,
REG_MAG_Y_MSB = 0x45,
REG_MAG_Z_LSB = 0x46,
REG_MAG_Z_MSB = 0x47,
REG_RHALL_LSB = 0x48,
REG_RHALL_MSB = 0x49,
REG_INT_STATUS = 0x4a,
REG_POWER_CTRL = 0x4b,
REG_OPMODE = 0x4c,
REG_INT_EN = 0x4d,
REG_INT_CONFIG = 0x4e,
REG_LOW_THRES = 0x4f,
REG_HIGH_THRES = 0x50,
REG_REP_XY = 0x51,
REG_REP_Z = 0x52,
// 0x53-0x71 reserved (mostly)
// TRIM registers from Bosch BMM050 driver
REG_TRIM_DIG_X1 = 0x5d,
REG_TRIM_DIG_Y1 = 0x5e,
REG_TRIM_DIG_Z4_LSB = 0x62,
REG_TRIM_DIG_Z4_MSB = 0x63,
REG_TRIM_DIG_X2 = 0x64,
REG_TRIM_DIG_Y2 = 0x65,
REG_TRIM_DIG_Z2_LSB = 0x68,
REG_TRIM_DIG_Z2_MSB = 0x69,
REG_TRIM_DIG_Z1_LSB = 0x6a,
REG_TRIM_DIG_Z1_MSB = 0x6b,
REG_TRIM_DIG_XYZ1_LSB = 0x6c,
REG_TRIM_DIG_XYZ1_MSB = 0x6d,
REG_TRIM_DIG_Z3_LSB = 0x6e,
REG_TRIM_DIG_Z3_MSB = 0x6f,
REG_TRIM_DIG_XY2 = 0x70,
REG_TRIM_DIG_XY1 = 0x71
} BMM150_REGS_T;
/**
* REG_MAG_XY_LSB bits (for X and Y mag data LSB's only)
*/
typedef enum {
_MAG_XY_LSB_RESERVED_BITS = 0x02 | 0x04,
MAG_XY_LSB_SELFTEST_XY = 0x01,
MAG_XY_LSB_LSB0 = 0x08,
MAG_XY_LSB_LSB1 = 0x10,
MAG_XY_LSB_LSB2 = 0x20,
MAG_XY_LSB_LSB3 = 0x40,
MAG_XY_LSB_LSB4 = 0x80,
_MAG_XY_LSB_LSB_MASK = 31,
_MAG_XY_LSB_LSB_SHIFT = 3
} MAG_XY_LSB_BITS_T;
/**
* REG_MAG_Z_LSB bits (for Z LSB only)
*/
typedef enum {
MAG_Z_LSB_SELFTEST_Z = 0x01,
MAG_Z_LSB_LSB0 = 0x02,
MAG_Z_LSB_LSB1 = 0x04,
MAG_Z_LSB_LSB2 = 0x08,
MAG_Z_LSB_LSB3 = 0x10,
MAG_Z_LSB_LSB4 = 0x20,
MAG_Z_LSB_LSB5 = 0x40,
MAG_Z_LSB_LSB6 = 0x80,
_MAG_Z_LSB_LSB_MASK = 127,
_MAG_Z_LSB_LSB_SHIFT = 1
} MAG_Z_LSB_BITS_T;
/**
* REG_MAG_RHALL_LSB bits (for RHALL LSB only)
*/
typedef enum {
_MAG_RHALL_LSB_RESERVED_BITS = 0x02,
MAG_RHALL_LSB_DATA_READY_STATUS = 0x01,
MAG_RHALL_LSB_LSB0 = 0x04,
MAG_RHALL_LSB_LSB1 = 0x08,
MAG_RHALL_LSB_LSB2 = 0x10,
MAG_RHALL_LSB_LSB3 = 0x20,
MAG_RHALL_LSB_LSB4 = 0x40,
MAG_RHALL_LSB_LSB5 = 0x80,
_MAG_RHALL_LSB_LSB_MASK = 63,
_MAG_RHALL_LSB_LSB_SHIFT = 2
} MAG_RHALL_LSB_BITS_T;
/**
* REG_INT_STATUS bits
*/
typedef enum {
INT_STATUS_LOW_INT_X = 0x01,
INT_STATUS_LOW_INT_Y = 0x02,
INT_STATUS_LOW_INT_Z = 0x04,
INT_STATUS_HIGH_INT_X = 0x08,
INT_STATUS_HIGH_INT_Y = 0x10,
INT_STATUS_HIGH_INT_Z = 0x20,
INT_STATUS_OVERFLOW = 0x40,
INT_STATUS_DATA_OVERRUN = 0x80
} INT_STATUS_BITS_T;
/**
* REG_POWER_CTRL bits
*/
typedef enum {
_POWER_CTRL_RESERVED_BITS = 0x40 | 0x20 | 0x10 | 0x08,
POWER_CTRL_POWER_CTRL_BIT = 0x01,
POWER_CTRL_SOFT_RESET0 = 0x02,
POWER_CTRL_SPI3EN = 0x04, // not supported
POWER_CTRL_SOFT_RESET1 = 0x80
} POWER_CTRL_BITS_T;
/**
* REG_OPMODE bits
*/
typedef enum {
OPMODE_SELFTTEST = 0x01,
OPMODE_OPERATION_MODE0 = 0x02,
OPMODE_OPERATION_MODE1 = 0x04,
_OPMODE_OPERATION_MODE_MASK = 3,
_OPMODE_OPERATION_MODE_SHIFT = 1,
OPMODE_DATA_RATE0 = 0x08,
OPMODE_DATA_RATE1 = 0x10,
OPMODE_DATA_RATE2 = 0x20,
_OPMODE_DATA_RATE_MASK = 7,
_OPMODE_DATA_RATE_SHIFT = 3,
OPMODE_ADV_SELFTEST0 = 0x40,
OPMODE_ADV_SELFTEST1 = 0x80,
_OPMODE_ADV_SELFTEST_MASK = 3,
_OPMODE_ADV_SELFTEST_SHIFT = 6
} OPMODE_BITS_T;
/**
* OPMODE_OPERATION_MODE values
*/
typedef enum {
OPERATION_MODE_NORMAL = 0,
OPERATION_MODE_FORCED = 1,
OPERATION_MODE_SLEEP = 3
} OPERATION_MODE_T;
/**
* OPMODE_DATA_RATE values
*/
typedef enum {
DATA_RATE_10HZ = 0,
DATA_RATE_2HZ = 1,
DATA_RATE_6HZ = 2,
DATA_RATE_8HZ = 3,
DATA_RATE_15HZ = 4,
DATA_RATE_20HZ = 5,
DATA_RATE_25HZ = 6,
DATA_RATE_30HZ = 7
} DATA_RATE_T;
/**
* REG_INT_EN bits
*/
typedef enum {
INT_EN_LOW_INT_X_EN = 0x01,
INT_EN_LOW_INT_Y_EN = 0x02,
INT_EN_LOW_INT_Z_EN = 0x04,
INT_EN_HIGH_INT_X_EN = 0x08,
INT_EN_HIGH_INT_Y_EN = 0x10,
INT_EN_HIGH_INT_Z_EN = 0x20,
INT_EN_OVERFLOW_INT_EN = 0x40,
INT_EN_DATA_OVERRUN_INT_EN = 0x80
} INT_EN_T;
/**
* REG_INT_CONFIG bits
*/
typedef enum {
INT_CONFIG_INT_POLARITY = 0x01,
INT_CONFIG_INT_LATCH = 0x02,
INT_CONFIG_DR_POLARITY = 0x04,
INT_CONFIG_CHANNEL_X = 0x08,
INT_CONFIG_CHANNEL_Y = 0x10,
INT_CONFIG_CHANNEL_Z = 0x20,
INT_CONFIG_INT_PIN_EN = 0x40,
INT_CONFIG_DR_PIN_EN = 0x80
} INT_CONFIG_T;
/**
* Interrupt selection for installISR() and uninstallISR()
*/
typedef enum {
INTERRUPT_INT,
INTERRUPT_DR
} INTERRUPT_PINS_T;
/**
* Bosch recommended usage preset modes
*/
typedef enum {
USAGE_LOW_POWER,
USAGE_REGULAR,
USAGE_ENHANCED_REGULAR,
USAGE_HIGH_ACCURACY
} USAGE_PRESETS_T;
/**
* BMM150 constructor.
*
* This device can support both I2C and SPI. For SPI, set the addr
* to -1, and specify a positive integer representing the Chip
* Select (CS) pin for the cs argument. If you are using a
* hardware CS pin (like edison with arduino breakout), then you
* can connect the proper pin to the hardware CS pin on your MCU
* and supply -1 for cs. The default operating mode is I2C.
*
* @param bus I2C or SPI bus to use.
* @param addr The address for this device. -1 for SPI.
* @param cs The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
* @param theChipID The chip ID to use for validation
*/
BMM150(int bus=BMM150_I2C_BUS, int addr=BMM150_DEFAULT_ADDR,
int cs=-1);
/**
* BMM150 Destructor.
*/
~BMM150();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Return the chip ID.
*
* @return The chip ID (BMM150_CHIPID).
*/
uint8_t getChipID();
/**
* Return magnetometer data in micro-Teslas (uT). update() must
* have been called prior to calling this method.
*
* @param x Pointer to a floating point value that will have the
* current x component placed into it.
* @param y Pointer to a floating point value that will have the
* current y component placed into it.
* @param z Pointer to a floating point value that will have the
* current z component placed into it.
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Return magnetometer data in micro-Teslas (uT) in the form of a
* floating point array. The pointer returned by this function is
* statically allocated and will be rewritten on each call.
* update() must have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getMagnetometer();
/**
* Initialize the device and start operation. This function is
* called from the constructor so will not typically need to be
* called by a user unless the device is reset. This method will
* call setPresetMode() with the passed parameter.
*
* @param usage One of the USAGE_PRESETS_T values. The default is
* USAGE_HIGH_ACCURACY.
*/
void init(USAGE_PRESETS_T usage=USAGE_HIGH_ACCURACY);
/**
* Set one of the Bosch recommended preset modes. These modes
* configure the sensor for varying use cases.
*
* @param usage One of the USAGE_PRESETS_T values. The default is
* USAGE_HIGH_ACCURACY.
*/
void setPresetMode(USAGE_PRESETS_T usage);
/**
* Perform a device soft-reset. The device will be placed in
* SUSPEND mode afterward with all configured setting lost, so
* some re-initialization will be required to get data from the
* sensor. Calling init() will get everything running again.
*/
void reset();
/**
* Set the magnetometer Output Data Rate. See the datasheet for
* details.
*
* @param odr One of the DATA_RATE_T values.
*/
void setOutputDataRate(DATA_RATE_T odr);
/**
* Set or clear the Power bit. When the power bit is cleared, the
* device enters a deep suspend mode where only the REG_POWER_CTRL
* register can be accessed. This bit needs to be enabled for the
* device to operate. See the datasheet for details. The
* constructor enables this by default. After a deep suspend mode
* has been entered, all configured data is lost and the device
* must be reconfigured (as via init()).
*
* @param power true to enable the bit, false otherwise.
*/
void setPowerBit(bool power);
/**
* Set the operating mode of the device. See the datasheet for
* details.
*
* @param power One of the POWER_MODE_T values.
*/
void setOpmode(OPERATION_MODE_T opmode);
/**
* Get the current operating mode of the device. See the datasheet for
* details. The power bit must be one for this method to succeed.
*
* @return One of the OPERATION_MODE_T values.
*/
OPERATION_MODE_T getOpmode();
/**
* Return the Interrupt Enables register. This resgister
* allows you to enable various interrupt conditions. See the
* datasheet for details.
*
* @return A bitmask of INT_EN_BITS_T bits.
*/
uint8_t getInterruptEnable();
/**
* Set the Interrupt Enables register. See the datasheet for
* details.
*
* @param bits A bitmask of INT_EN_BITS_T bits.
*/
void setInterruptEnable(uint8_t bits);
/**
* Return the Interrupt Config register. This register allows
* determining the electrical characteristics of the 2 interrupt
* pins (open-drain/push-pull and level/edge triggering) as well
* as other options. See the datasheet for details.
*
* @return A bitmask of INT_CONFIG_BITS_T bits.
*/
uint8_t getInterruptConfig();
/**
* Set the Interrupt Config register. This register
* allows determining the electrical characteristics of the 2
* interrupt pins (open-drain/push-pull and level/edge
* triggering). See the datasheet for details.
*
* @param bits A bitmask of INT_CONFIG_BITS_T bits.
*/
void setInterruptConfig(uint8_t bits);
/**
* Return the interrupt status register. This register
* indicates which interrupts have been triggered. See the
* datasheet for details.
*
* @return a bitmask of INT_STATUS_BITS_T bits.
*/
uint8_t getInterruptStatus();
/**
* Set the repetion counter for the X and Y axes. This allows the
* device to average a number of measurements for a more stable
* output. See the datasheet for details.
*
* @param reps A coefficient for specifying the number of
* repititions to perform. (1 + 2(reps))
*/
void setRepetitionsXY(uint8_t reps);
/**
* Set the repetion counter for the Z axis. This allows the
* device to average a number of measurements for a more stable
* output. See the datasheet for details.
*
* @param reps A coefficient for specifying the number of
* repititions to perform. (1 + (reps))
*/
void setRepetitionsZ(uint8_t reps);
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
jobject runnable);
#else
/**
* install an interrupt handler.
*
* @param intr one of the INTERRUPT_PINS_T values specifying which
* interrupt pin you are installing.
* @param gpio gpio pin to use as interrupt pin
* @param level the interrupt trigger level (one of mraa::Edge
* values). Make sure that you have configured the interrupt pin
* properly for whatever level you choose.
* @param isr the interrupt handler, accepting a void * argument
* @param arg the argument to pass the the interrupt handler
*/
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
/**
* uninstall a previously installed interrupt handler
*
* @param intr one of the INTERRUPT_PINS_T values specifying which
* interrupt pin you are removing.
*/
void uninstallISR(INTERRUPT_PINS_T intr);
/**
* Read a register.
*
* @param reg The register to read.
* @return The value of the register.
*/
uint8_t readReg(uint8_t reg);
/**
* Read contiguous registers into a buffer.
*
* @param buffer The buffer to store the results.
* @param len The number of registers to read.
* @return The number of bytes read.
*/
int readRegs(uint8_t reg, uint8_t *buffer, int len);
/**
* Write to a register
*
* @param reg The register to write to.
* @param val The value to write.
*/
void writeReg(uint8_t reg, uint8_t val);
protected:
mraa::I2c *m_i2c;
mraa::Spi *m_spi;
// spi chip select
mraa::Gpio *m_gpioCS;
mraa::Gpio *m_gpioIntr;
mraa::Gpio *m_gpioDR;
uint8_t m_addr;
OPERATION_MODE_T m_opmode;
// SPI chip select
void csOn();
void csOff();
// acc data
float m_magX;
float m_magY;
float m_magZ;
// hall resistance
uint16_t m_hall;
// trimming data
int8_t m_dig_x1;
int8_t m_dig_y1;
int16_t m_dig_z4;
int8_t m_dig_x2;
int8_t m_dig_y2;
int16_t m_dig_z2;
uint16_t m_dig_z1;
uint16_t m_dig_xyz1;
int16_t m_dig_z3;
int8_t m_dig_xy2;
uint8_t m_dig_xy1;
// read trim data for compensation
void readTrimData();
private:
bool m_isSPI;
// use the FIFO by default?
bool m_useFIFO;
// return a reference to a gpio pin pointer depending on intr
mraa::Gpio*& getPin(INTERRUPT_PINS_T intr);
// Adding a private function definition for java bindings
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
// bosch compensation algorithms
float bmm050_compensate_X_float(int16_t mag_data_x, uint16_t data_r);
float bmm050_compensate_Y_float(int16_t mag_data_y, uint16_t data_r);
float bmm050_compensate_Z_float(int16_t mag_data_z, uint16_t data_r);
};
}
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