bmx055.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016-2017 Intel Corporation.
 *
 * The MIT License
 *
 * 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 "bmg160.hpp"
#include "bmm150.hpp"

#define BMX055_DEFAULT_MAG_I2C_ADDR 0x12

namespace upm {

    class BMX055 {
    public:
        BMX055(int accelBus=BMA250E_DEFAULT_I2C_BUS,
               int accelAddr=BMA250E_DEFAULT_ADDR,
               int accelCS=-1,
               int gyroBus=BMG160_DEFAULT_I2C_BUS,
               int gyroAddr=BMG160_DEFAULT_ADDR,
               int gyroCS=-1,
               int magBus=BMM150_DEFAULT_I2C_BUS,
               int magAddr=BMX055_DEFAULT_MAG_I2C_ADDR,
               int magCS=-1);

        ~BMX055();

        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 initGyroscope(BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL,
                           BMG160_RANGE_T range=BMG160_RANGE_250,
                           BMG160_BW_T bw=BMG160_BW_400_47);

        void initMagnetometer(
            BMM150_USAGE_PRESETS_T usage=BMM150_USAGE_HIGH_ACCURACY);

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

        std::vector<float> getAccelerometer();

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

        std::vector<float> getGyroscope();

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

        std::vector<float> getMagnetometer();

    protected:
        BMA250E *m_accel;
        BMG160 *m_gyro;
        BMM150 *m_mag;

    private:
        /* Disable implicit copy and assignment operators */
        BMX055(const BMX055&) = delete;
        BMX055 &operator=(const BMX055&) = delete;
    };
}