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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.
*/
#include <unistd.h>
#include <iostream>
#include <stdexcept>
#include <string>
#include "bmi055.hpp"
using namespace upm;
using namespace std;
BMI055::BMI055(int accelBus, uint8_t accelAddr, int accelCS,
int gyroBus, uint8_t gyroAddr, int gyroCS) :
m_accel(0), m_gyro(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);
// now initialize them...
if (m_accel)
m_accel->init();
if (m_gyro)
m_gyro->init();
}
BMI055::~BMI055()
{
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
}
void BMI055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
BMA250E::RANGE_T range,
BMA250E::BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMI055::initGyroscope(BMG160::POWER_MODE_T pwr,
BMG160::RANGE_T range,
BMG160::BW_T bw)
{
if (m_gyro)
m_gyro->init(pwr, range, bw);
}
void BMI055::update()
{
if (m_accel)
m_accel->update();
if (m_gyro)
m_gyro->update();
}
void BMI055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
float *BMI055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
void BMI055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
}
float *BMI055::getGyroscope()
{
if (m_gyro)
return m_gyro->getGyroscope();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}
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