bmc150.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016-2017 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 <vector>

#include "bma250e.hpp"
#include "bmm150.hpp"

#define BMC150_DEFAULT_BUS 0
#define BMC150_DEFAULT_ACC_ADDR 0x10
#define BMC150_DEFAULT_MAG_ADDR 0x12

namespace upm {

    class BMC150 {
    public:
        BMC150(int accelBus=BMC150_DEFAULT_BUS,
               int accelAddr=BMC150_DEFAULT_ACC_ADDR,
               int accelCS=-1,
               int magBus=BMC150_DEFAULT_BUS,
               int magAddr=BMC150_DEFAULT_MAG_ADDR,
               int magCS=-1);

        ~BMC150();

        void update();

        void initAccelerometer(
            BMA250E_POWER_MODE_T pwr=BMA250E_POWER_MODE_NORMAL,
            BMA250E_RANGE_T range=BMA250E_RANGE_2G,
            BMA250E_BW_T bw=BMA250E_BW_250);

        void initMagnetometer(
            BMM150_USAGE_PRESETS_T usage=BMM150_USAGE_HIGH_ACCURACY);

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

        std::vector<float> getAccelerometer();

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

        std::vector<float> getMagnetometer();


    protected:
        BMA250E *m_accel;
        BMM150 *m_mag;

    private:
        /* Disable implicit copy and assignment operators */
        BMC150(const BMC150&) = delete;
        BMC150 &operator=(const BMC150&) = delete;
    };
}