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Diffstat (limited to 'peripheral/libupm/src/bmx055/bmg160.cxx')
-rw-r--r--peripheral/libupm/src/bmx055/bmg160.cxx581
1 files changed, 0 insertions, 581 deletions
diff --git a/peripheral/libupm/src/bmx055/bmg160.cxx b/peripheral/libupm/src/bmx055/bmg160.cxx
deleted file mode 100644
index 45593b6..0000000
--- a/peripheral/libupm/src/bmx055/bmg160.cxx
+++ /dev/null
@@ -1,581 +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.
- */
-
-#include <unistd.h>
-#include <iostream>
-#include <stdexcept>
-#include <string>
-#include <string.h>
-
-#include "bmg160.hpp"
-
-using namespace upm;
-using namespace std;
-
-#define BMG160_DEFAULT_CHIPID 0x0f
-
-// conversion from celcius to fahrenheit
-
-static float c2f(float c)
-{
- return (c * (9.0 / 5.0) + 32.0);
-}
-
-BMG160::BMG160(int bus, uint8_t addr, int cs) :
- m_i2c(0), m_spi(0), m_gpioIntr1(0), m_gpioIntr2(0), m_gpioCS(0)
-{
- m_addr = addr;
- m_isSPI = false;
-
- m_gyrX = 0;
- m_gyrY = 0;
- m_gyrZ = 0;
- m_gyrScale = 0;
- m_temperature = 0.0;
-
- if (addr < 0)
- m_isSPI = true;
-
- if (m_isSPI)
- {
- m_spi = new mraa::Spi(bus);
-
- // Only create cs context if we are actually using a valid pin.
- // A hardware controlled pin should specify cs as -1.
- if (cs >= 0)
- {
- m_gpioCS = new mraa::Gpio(cs);
- m_gpioCS->dir(mraa::DIR_OUT);
- }
-
- m_spi->mode(mraa::SPI_MODE0);
- m_spi->frequency(5000000);
- }
- else
- {
- // I2C
- m_i2c = new mraa::I2c(bus);
-
- mraa::Result rv;
- if ((rv = m_i2c->address(m_addr)) != mraa::SUCCESS)
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": I2c.address() failed");
- }
- }
-
- // check the chip id
-
- uint8_t chipID = getChipID();
- if (chipID != BMG160_DEFAULT_CHIPID)
- {
- throw std::runtime_error(string(__FUNCTION__)
- + ": invalid chip ID. Expected "
- + std::to_string(int(BMG160_DEFAULT_CHIPID))
- + ", got "
- + std::to_string(int(chipID)));
- }
-
- // call init with default options
- init();
-}
-
-BMG160::~BMG160()
-{
- uninstallISR(INTERRUPT_INT1);
- uninstallISR(INTERRUPT_INT2);
-}
-
-void BMG160::init(POWER_MODE_T pwr, RANGE_T range, BW_T bw)
-{
- setPowerMode(pwr);
- usleep(50000); // 50ms, in case we are waking up
-
- // set our range and bandwidth
- setRange(range);
- setBandwidth(bw);
-
- // make sure register shadowing is enabled
- enableRegisterShadowing(true);
-
- // enable output filtering
- enableOutputFiltering(true);
-
- // use the FIFO by default
- fifoConfig(FIFO_MODE_BYPASS, FIFO_DATA_SEL_XYZ);
- enableFIFO(true);
-
- // settle
- usleep(50000);
-}
-
-void BMG160::update()
-{
- int bufLen = 0;
- uint8_t startReg = 0;
-
- if (m_useFIFO)
- {
- bufLen = 6;
- startReg = REG_FIFO_DATA;
- }
- else
- {
- // non FIFO, read acc regs directly (including temp)
- bufLen = 7;
- startReg = REG_RATE_X_LSB;
- }
-
- uint8_t buf[bufLen];
-
- if (readRegs(startReg, buf, bufLen) != bufLen)
- {
- throw std::runtime_error(string(__FUNCTION__)
- + ": readRegs() failed to read "
- + std::to_string(bufLen)
- + " bytes");
- }
-
- int16_t val;
-
- // x
- val = int16_t(buf[1] << 8 | buf[0]);
- m_gyrX = float(val);
-
- // y
- val = int16_t(buf[3] << 8 | buf[2]);
- m_gyrY = float(val);
-
- // z
- val = int16_t(buf[5] << 8 | buf[4]);
- m_gyrZ = float(val);
-
- // get the temperature...
-
- uint8_t temp = 0;
- if (m_useFIFO)
- {
- // we have to read temperature separately...
- temp = readReg(REG_TEMP);
- }
- else
- {
- // we already got it
- temp = buf[6];
- }
-
- // .5K/LSB, 23C center point
- m_temperature = (float(temp) / 2.0) + 23.0;
-}
-
-void BMG160::enableFIFO(bool useFIFO)
-{
- m_useFIFO = useFIFO;
-}
-
-uint8_t BMG160::readReg(uint8_t reg)
-{
- if (m_isSPI)
- {
- reg |= 0x80; // needed for read
- uint8_t pkt[2] = {reg, 0};
-
- csOn();
- if (m_spi->transfer(pkt, pkt, 2))
- {
- csOff();
- throw std::runtime_error(string(__FUNCTION__)
- + ": Spi.transfer() failed");
- }
- csOff();
-
- return pkt[1];
- }
- else
- return m_i2c->readReg(reg);
-}
-
-int BMG160::readRegs(uint8_t reg, uint8_t *buffer, int len)
-{
- if (m_isSPI)
- {
- reg |= 0x80; // needed for read
-
- uint8_t sbuf[len + 1];
- memset((char *)sbuf, 0, len + 1);
- sbuf[0] = reg;
-
- // We need to do it this way for edison - ie: use a single
- // transfer rather than breaking it up into two like we used to.
- // This means a buffer copy is now required, but that's the way
- // it goes.
-
- csOn();
- if (m_spi->transfer(sbuf, sbuf, len + 1))
- {
- csOff();
- throw std::runtime_error(string(__FUNCTION__)
- + ": Spi.transfer(buf) failed");
- }
- csOff();
-
- // now copy it into user buffer
- for (int i=0; i<len; i++)
- buffer[i] = sbuf[i + 1];
-
- return len;
- }
- else
- return m_i2c->readBytesReg(reg, buffer, len);
-}
-
-void BMG160::writeReg(uint8_t reg, uint8_t val)
-{
- if (m_isSPI)
- {
- reg &= 0x7f; // mask off 0x80 for writing
- uint8_t pkt[2] = {reg, val};
-
- csOn();
- if (m_spi->transfer(pkt, NULL, 2))
- {
- csOff();
- throw std::runtime_error(string(__FUNCTION__)
- + ": Spi.transfer() failed");
- }
- csOff();
- }
- else
- {
-
- mraa::Result rv;
- if ((rv = m_i2c->writeReg(reg, val)) != mraa::SUCCESS)
- {
- throw std::runtime_error(std::string(__FUNCTION__)
- + ": I2c.writeReg() failed");
- }
- }
-}
-
-void BMG160::csOn()
-{
- if (m_gpioCS)
- m_gpioCS->write(0);
-}
-
-void BMG160::csOff()
-{
- if (m_gpioCS)
- m_gpioCS->write(1);
-}
-
-uint8_t BMG160::getChipID()
-{
- return readReg(REG_CHIP_ID);
-}
-
-void BMG160::getGyroscope(float *x, float *y, float *z)
-{
- if (x)
- *x = (m_gyrX * m_gyrScale) / 1000.0;
-
- if (y)
- *y = (m_gyrY * m_gyrScale) / 1000.0;
-
- if (z)
- *z = (m_gyrZ * m_gyrScale) / 1000.0;
-}
-
-float *BMG160::getGyroscope()
-{
- static float v[3];
-
- getGyroscope(&v[0], &v[1], &v[2]);
- return v;
-}
-
-float BMG160::getTemperature(bool fahrenheit)
-{
- if (fahrenheit)
- return c2f(m_temperature);
- else
- return m_temperature;
-}
-
-void BMG160::reset()
-{
- writeReg(REG_SOFTRESET, BMG160_RESET_BYTE);
- sleep(1);
-}
-
-void BMG160::setRange(RANGE_T range)
-{
- switch(range)
- {
- case RANGE_125:
- m_gyrScale = 3.8; // milli-degrees
- break;
-
- case RANGE_250:
- m_gyrScale = 7.6;
- break;
-
- case RANGE_500:
- m_gyrScale = 15.3;
- break;
-
- case RANGE_1000:
- m_gyrScale = 30.5;
- break;
-
- case RANGE_2000:
- m_gyrScale = 61.0;
- break;
- }
-
- // we also have to write a fixed '0x10' to the high-order bits for
- // some reason (according to datasheet)
- uint8_t reg = range | (_GYR_RANGE_FIXED_VALUE << _GYR_RANGE_FIXED_SHIFT);
- writeReg(REG_GYR_RANGE, reg);
-}
-
-void BMG160::setBandwidth(BW_T bw)
-{
- writeReg(REG_GYR_BW, bw);
-}
-
-void BMG160::setPowerMode(POWER_MODE_T power)
-{
- // mask off reserved bits
- uint8_t reg = readReg(REG_LPM1) & ~_LPM1_RESERVED_MASK;
-
- reg &= ~(_LPM1_POWER_MODE_MASK << _LPM1_POWER_MODE_SHIFT);
- reg |= (power << _LPM1_POWER_MODE_SHIFT);
-
- writeReg(REG_LPM1, power);
-}
-
-void BMG160::fifoSetWatermark(int wm)
-{
- // mask off illegal values
- uint8_t reg = uint8_t(wm) & _FIFO_CONFIG_0_WATER_MARK_MASK;
-
- writeReg(REG_FIFO_CONFIG_0, reg);
-}
-
-void BMG160::fifoConfig(FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
-{
- uint8_t reg = ( (mode << _FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
- (axes << _FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
-
- writeReg(REG_FIFO_CONFIG_1, reg);
-}
-
-uint8_t BMG160::getInterruptEnable0()
-{
- return readReg(REG_INT_EN_0) & ~_INT_EN_0_RESERVED_BITS;
-}
-
-void BMG160::setInterruptEnable0(uint8_t bits)
-{
- uint8_t reg = bits & ~_INT_EN_0_RESERVED_BITS;
-
- writeReg(REG_INT_EN_0, reg);
-}
-
-uint8_t BMG160::getInterruptMap0()
-{
- return readReg(REG_INT_MAP_0) & ~_INT_MAP_0_RESERVED_BITS;
-}
-
-void BMG160::setInterruptMap0(uint8_t bits)
-{
- uint8_t reg = bits & ~_INT_MAP_0_RESERVED_BITS;
-
- writeReg(REG_INT_MAP_0, reg);
-}
-
-uint8_t BMG160::getInterruptMap1()
-{
- return readReg(REG_INT_MAP_1);
-}
-
-void BMG160::setInterruptMap1(uint8_t bits)
-{
- writeReg(REG_INT_MAP_1, bits);
-}
-
-// REG_INT_EN1, for some strange reason
-uint8_t BMG160::getInterruptSrc()
-{
- return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
-}
-
-void BMG160::setInterruptSrc(uint8_t bits)
-{
- uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
-
- writeReg(REG_INT_EN_1, reg);
-}
-
-uint8_t BMG160::getInterruptOutputControl()
-{
- return readReg(REG_INT_EN_1) & ~_INT_EN_1_INT1_RESERVED_BITS;
-}
-
-void BMG160::setInterruptOutputControl(uint8_t bits)
-{
- uint8_t reg = bits & ~_INT_EN_1_INT1_RESERVED_BITS;
-
- writeReg(REG_INT_EN_1, reg);
-}
-
-void BMG160::clearInterruptLatches()
-{
- uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
- reg |= INT_RST_LATCH_RESET_INT;
-
- writeReg(REG_INT_RST_LATCH, reg);
-}
-
-BMG160::RST_LATCH_T BMG160::getInterruptLatchBehavior()
-{
- uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
- reg &= (_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
-
- return static_cast<RST_LATCH_T>(reg);
-}
-
-void BMG160::setInterruptLatchBehavior(RST_LATCH_T latch)
-{
- uint8_t reg = readReg(REG_INT_RST_LATCH) & ~_INT_RST_LATCH_RESERVED_BITS;
-
- reg &= ~(_INT_RST_LATCH_MASK << _INT_RST_LATCH_SHIFT);
- reg |= (latch << _INT_RST_LATCH_SHIFT);
-
- writeReg(REG_INT_RST_LATCH, reg);
-}
-
-void BMG160::enableRegisterShadowing(bool shadow)
-{
- uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
-
- if (shadow)
- reg &= ~RATE_HBW_SHADOW_DIS;
- else
- reg |= RATE_HBW_SHADOW_DIS;
-
- writeReg(REG_RATE_HBW, reg);
-}
-
-void BMG160::enableOutputFiltering(bool filter)
-{
- uint8_t reg = readReg(REG_RATE_HBW) & ~_RATE_HBW_RESERVED_BITS;
-
- if (filter)
- reg &= ~RATE_HBW_DATA_HIGH_BW;
- else
- reg |= RATE_HBW_DATA_HIGH_BW;
-
- writeReg(REG_RATE_HBW, reg);
-}
-
-uint8_t BMG160::getInterruptStatus0()
-{
- return readReg(REG_INT_STATUS_0) & ~_INT_STATUS_0_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus1()
-{
- return readReg(REG_INT_STATUS_1) & ~_INT_STATUS_1_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus2()
-{
- return readReg(REG_INT_STATUS_2) & ~_INT_STATUS_2_RESERVED_BITS;
-}
-
-uint8_t BMG160::getInterruptStatus3()
-{
- return readReg(REG_INT_STATUS_3) & ~_INT_STATUS_3_RESERVED_BITS;
-}
-
-#if defined(SWIGJAVA) || (JAVACALLBACK)
-void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
- jobject runnable)
-{
- // delete any existing ISR and GPIO context
- uninstallISR(intr);
-
- // create gpio context
- getPin(intr) = new mraa::Gpio(gpio);
-
- getPin(intr)->dir(mraa::DIR_IN);
- getPin(intr)->isr(level, runnable);
-}
-#else
-void BMG160::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
- void (*isr)(void *), void *arg)
-{
- // delete any existing ISR and GPIO context
- uninstallISR(intr);
-
- // create gpio context
- getPin(intr) = new mraa::Gpio(gpio);
-
- getPin(intr)->dir(mraa::DIR_IN);
- getPin(intr)->isr(level, isr, arg);
-}
-#endif
-
-void BMG160::uninstallISR(INTERRUPT_PINS_T intr)
-{
- if (getPin(intr))
- {
- getPin(intr)->isrExit();
- delete getPin(intr);
-
- getPin(intr) = 0;
- }
-}
-
-mraa::Gpio*& BMG160::getPin(INTERRUPT_PINS_T intr)
-{
- switch(intr)
- {
- case INTERRUPT_INT1:
- return m_gpioIntr1;
- break;
-
- case INTERRUPT_INT2:
- return m_gpioIntr2;
- break;
-
- default:
- throw std::out_of_range(string(__FUNCTION__) +
- ": Invalid interrupt enum passed");
- }
-}
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