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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 <stdint.h>
#define BMI160_I2C_BUS 0
#define BMI160_DEFAULT_I2C_ADDR 0x69
namespace upm {
/**
* @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
* @defgroup bmi160 libupm-bmi160
* @ingroup i2c accelerometer compass
*/
/**
* @library bmi160
* @sensor bmi160
* @comname UPM API for the BMI160 3-axis Accelerometer, Gyroscope
* and Magnetometer
* @type accelerometer compass
* @man mouser
* @con i2c
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
*
* @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
* Magnetometer
*
* The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
* Additionally it supports an external Magnetometer, accessed
* through the BMI160's register interface. This driver was
* developed with a BMI160 "Shuttle" board, which included a BMM150
* Magnetometer.
*
* The device is driven by either 1.8v or 3.3vdc. This driver
* incorporates the Bosch BMI160 driver code at
* https://github.com/BoschSensortec/BMI160_driver .
*
* While not all of the functionality of this device is supported
* initially, the inclusion of the Bosch driver in the source code
* makes it possible to support whatever features are required that
* the driver can support.
*
* @snippet bmi160.cxx Interesting
*/
class BMI160 {
public:
typedef enum {
ACCEL_RANGE_2G = 0, // 2 Gravities
ACCEL_RANGE_4G,
ACCEL_RANGE_8G,
ACCEL_RANGE_16G
} ACCEL_RANGE_T;
typedef enum {
GYRO_RANGE_125 = 0, // 125 degrees/sec
GYRO_RANGE_250,
GYRO_RANGE_500,
GYRO_RANGE_1000,
GYRO_RANGE_2000
} GYRO_RANGE_T;
/**
* bmi160 constructor
*
* @param bus i2c bus to use
* @param address the address for this device
*/
BMI160(int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR);
/**
* BMI160 Destructor
*/
~BMI160();
/**
* Take a measurement and store the current sensor values
* internally. This function must be called prior to retrieving
* any sensor values, for example getAccelerometer().
*
*/
void update();
/**
* set the scaling mode of the accelerometer
*
* @param scale one of the ACCEL_RANGE_T values
*/
void setAccelerometerScale(ACCEL_RANGE_T scale);
/**
* set the scaling mode of the gyroscope
*
* @param scale one of the GYRO_RANGE_T values
*/
void setGyroscopeScale(GYRO_RANGE_T scale);
/**
* Get the Accelerometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values returned are in gravities. update() must have been
* called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* gravities.
*/
float *getAccelerometer();
/**
* Get the Accelerometer values. The values returned are in
* gravities. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Get the Gyroscope values. This function returns a pointer to 3
* floating point values: X, Y, and Z, in that order. The values
* values returned are in degrees per second. update() must have
* been called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* degrees per second.
*/
float *getGyroscope();
/**
* Get the Gyroscope values. The values returned are in degrees
* per second. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getGyroscope(float *x, float *y, float *z);
/**
* Get the Magnetometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values values returned are in micro Teslas. update() must have
* been called prior to calling this method. If the Magnetometer
* has been disabled, the return values will always be 0, 0, and
* 0.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* micro Teslas.
*/
float *getMagnetometer();
/**
* Get the Magnetometer values. The values returned are in micro
* Teslas. update() must have been called prior to calling this
* method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Enable or disable the Magnetometer. By default, the
* magnetometer is enabled.
*
* @param enable true to enable the magnetometer, false to disable.
*/
void enableMagnetometer(bool enable);
/**
* Return the sensor time. This is a 24bit value that increments
* every 39us. It will wrap around once the 24b resolution is
* exceeded.
*
* @return The current sensor time.
*/
unsigned int getSensorTime();
protected:
// uncompensated accelerometer and gyroscope values
float m_accelX;
float m_accelY;
float m_accelZ;
float m_gyroX;
float m_gyroY;
float m_gyroZ;
float m_magX;
float m_magY;
float m_magZ;
unsigned int m_sensorTime;
// accelerometer and gyro scaling factors, depending on their Full
// Scale (Range) settings.
float m_accelScale;
float m_gyroScale;
// is the magnetometer enabled?
bool m_magEnabled;
/**
* set up initial values and start operation
*
* @return true if successful
*/
virtual bool init();
private:
// due to the way we need to 'hook' into the bmi driver, the i2c
// context is a static variable defined in the .cxx implmentation.
uint8_t m_addr;
};
}
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