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Diffstat (limited to 'peripheral/libupm/src/bmx055/bmi055.hpp')
| -rw-r--r-- | peripheral/libupm/src/bmx055/bmi055.hpp | 193 |
1 files changed, 0 insertions, 193 deletions
diff --git a/peripheral/libupm/src/bmx055/bmi055.hpp b/peripheral/libupm/src/bmx055/bmi055.hpp deleted file mode 100644 index 4212643..0000000 --- a/peripheral/libupm/src/bmx055/bmi055.hpp +++ /dev/null @@ -1,193 +0,0 @@ -/* - * 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 "bma250e.hpp" -#include "bmg160.hpp" - -namespace upm { - - /** - * @library bmx055 - * @sensor bmi055 - * @comname BMI055 6-axis Sensor Module - * @type accelerometer compass - * @man mouser - * @con i2c gpio spi - * @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0134/?qs=sGAEpiMZZMsrChSOYEGTCVIRbo47L7ys6GxSnxRPEhU%3d - * - * @brief API for the BMI055 6-axis Sensor Module - * - * The BMI055 is an inertial measurement unit (IMU) for the - * detection of movements and rotations in 6 degrees of freedom - * (6DoF). It reflects the full functionality of a triaxial, low-g - * acceleration sensor and at the same time it is capable to measure - * angular rates. Both – acceleration and angular rate – in three - * perpendicular room dimensions, the x-, y- and z-axis. - * - * The BMI055 is essentially 2 separate devices in one: the BMA250E - * Accelerometer and the BMG160 Gyroscope. They are completely - * independant of each other. - * - * This driver provides a very simple interface to these two devices. - * If finer control is desired, you should just use the separate - * BMA25E and BMG160 device classes directly. This driver - * simply initializes both devices, and provides a mechanism to - * read accelerometer and gyroscope data from them. - * - * @snippet bmi055.cxx Interesting - */ - - class BMI055 { - public: - /** - * BMI055 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 accelBus I2C or SPI bus to use. -1 to skip initializing - * this device. - * @param accelAddr The address for this device. -1 for SPI. - * @param accelCS The gpio pin to use for the SPI Chip Select. -1 for - * I2C or for SPI with a hardware controlled pin. - * @param gyroBus I2C or SPI bus to use. -1 to skip initializing - * this device. - * @param gyroAddr The address for this device. -1 for SPI. - * @param gyroCS The gpio pin to use for the SPI Chip Select. -1 for - * I2C or for SPI with a hardware controlled pin. - */ - BMI055(int accelBus=BMA250E_I2C_BUS, - uint8_t accelAddr=BMA250E_DEFAULT_ADDR, - int accelCS=-1, - int gyroBus=BMG160_I2C_BUS, - uint8_t gyroAddr=BMG160_DEFAULT_ADDR, - int gyroCS=-1); - - /** - * BMI055 Destructor. - */ - ~BMI055(); - - /** - * Update the internal stored values from sensor data. - */ - void update(); - - /** - * Initialize the accelerometer 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 or you - * want to change these values. - * - * @param pwr One of the BMA250E::POWER_MODE_T values. The default is - * BMA250E::POWER_MODE_NORMAL. - * @param range One of the BMA250E::RANGE_T values. The default is - * BMA250E::RANGE_2G. - * @param bw One of the filtering BMA250E::BW_T values. The default is - * BMA250E::BW_250. - */ - void initAccelerometer(BMA250E::POWER_MODE_T pwr=BMA250E::POWER_MODE_NORMAL, - BMA250E::RANGE_T range=BMA250E::RANGE_2G, - BMA250E::BW_T bw=BMA250E::BW_250); - - /** - * Initialize the gyroscope 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 or you want to - * change these values. - * - * @param pwr One of the BMG160::POWER_MODE_T values. The default is - * BMG160::POWER_MODE_NORMAL. - * @param range One of the BMG160::RANGE_T values. The default is - * BMG160::RANGE_250. - * @param bw One of the filtering BMG160::BW_T values. The default is - * BMG160::BW_400_47. - */ - void initGyroscope(BMG160::POWER_MODE_T pwr=BMG160::POWER_MODE_NORMAL, - BMG160::RANGE_T range=BMG160::RANGE_250, - BMG160::BW_T bw=BMG160::BW_400_47); - - /** - * Return accelerometer data in gravities. 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 getAccelerometer(float *x, float *y, float *z); - - /** - * Return accelerometer data in gravities 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 *getAccelerometer(); - - /** - * Return gyroscope data in degrees per second. 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 getGyroscope(float *x, float *y, float *z); - - /** - * Return gyroscope data in degrees per second 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 *getGyroscope(); - - - protected: - BMA250E *m_accel; - BMG160 *m_gyro; - - private: - }; -} |