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Diffstat (limited to 'peripheral/libupm/src/bmx055/bmm150.hpp')
| -rw-r--r-- | peripheral/libupm/src/bmx055/bmm150.hpp | 614 |
1 files changed, 0 insertions, 614 deletions
diff --git a/peripheral/libupm/src/bmx055/bmm150.hpp b/peripheral/libupm/src/bmx055/bmm150.hpp deleted file mode 100644 index ab20e8c..0000000 --- a/peripheral/libupm/src/bmx055/bmm150.hpp +++ /dev/null @@ -1,614 +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 <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, uint8_t 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); - }; -} |