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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 "bma250e.hpp"
#include "bmm150.hpp"
#define BMC150_DEFAULT_BUS 0
#define BMC150_DEFAULT_ACC_ADDR 0x10
#define BMC150_DEFAULT_MAG_ADDR 0x12
namespace upm {
/**
* @library bmx055
* @sensor bmc150
* @comname BMC150 6-axis eCompass
* @type accelerometer compass
* @man mouser
* @con i2c gpio spi
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB0156/?qs=sGAEpiMZZMsrChSOYEGTCd8nwjostN1SWavW0HYOOXw%3d
*
* @brief API for the BMC150 6-axis eCompass
*
*
* The BMC150 is an integrated electronic compass solution for
* consumer market applications. It comprises a 12bit leading edge
* triaxial, low-g acceleration sensor and an ultra-low power, high
* precision triaxial magnetic field sensor. It allows measurements
* of acceleration and magnetic field in three perpendicular
* axes. Performance and features of both sensing technologies are
* carefully tuned and perfectly match the demanding requirements of
* all 6-axis mobile applications such as electronic compass,
* navigation or augmented reality.
* The BMC150 is essentially 2 separate devices in one: the BMA250E
* Accelerometer and the BMM150 Magnetometer. They are completely
* independant of each other.
*
* This driver provides a very simple interface to these 2 devices.
* If finer control is desired, you should just use the separate
* BMA25E and BMM150 device classes directly. This driver simply
* initializes both devices, and provides a mechanism to read
* accelerometer and magnetometer data from them.
*
* @snippet bmc150.cxx Interesting
*/
class BMC150 {
public:
/**
* BMC150 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 magBus I2C or SPI bus to use. -1 to skip initializing
* this device.
* @param magAddr The address for this device. -1 for SPI.
* @param magCS The gpio pin to use for the SPI Chip Select. -1 for
* I2C or for SPI with a hardware controlled pin.
*/
BMC150(int accelBus=BMC150_DEFAULT_BUS,
uint8_t accelAddr=BMC150_DEFAULT_ACC_ADDR,
int accelCS=-1,
int magBus=BMC150_DEFAULT_BUS,
uint8_t magAddr=BMC150_DEFAULT_MAG_ADDR,
int magCS=-1);
/**
* BMC150 Destructor.
*/
~BMC150();
/**
* 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 magnetometer 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. This method will call
* BMM150::setPresetMode() with the passed parameter.
*
* @param usage One of the BMM150::USAGE_PRESETS_T values. The default is
* BMM150::USAGE_HIGH_ACCURACY.
*/
void initMagnetometer(BMM150::USAGE_PRESETS_T usage=BMM150::USAGE_HIGH_ACCURACY);
/**
* 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 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();
protected:
BMA250E *m_accel;
BMM150 *m_mag;
private:
};
}
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