bmi160.hpp

/*
 * 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 "bmi160.h"

#define BMI160_I2C_BUS 0
#define BMI160_DEFAULT_I2C_ADDR 0x69

namespace upm {

    class BMI160 {
    public:

        BMI160(int bus=BMI160_I2C_BUS, int address=BMI160_DEFAULT_I2C_ADDR,
               int csPin=-1, bool enableMag=true);

        ~BMI160();

        void update();

        void setAccelerometerScale(BMI160_ACC_RANGE_T scale);

        void setGyroscopeScale(BMI160_GYRO_RANGE_T scale);

        float *getAccelerometer();

        void getAccelerometer(float *x, float *y, float *z);

        float *getGyroscope();

        void getGyroscope(float *x, float *y, float *z);

        float *getMagnetometer();

        void getMagnetometer(float *x, float *y, float *z);

        void enableMagnetometer(bool enable);

        unsigned int getSensorTime();

    protected:
        bmi160_context m_bmi160;

        std::string busRead(int addr, int reg, int len);

        void busWrite(int addr, int reg, std::string data);

    private:
        /* Disable implicit copy and assignment operators */
        BMI160(const BMI160&) = delete;
        BMI160 &operator=(const BMI160&) = delete;
    };
}