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