BMC150 Class Reference

API for the BMC150 6-axis eCompass. More...

Detailed Description

• ID: bmc150
• Name: 6-axis Ecompass
• Category: accelerometer compass
• Manufacturer: bosch
• Connection: i2c gpio spi
• Link: http://www.bosch-sensortec.com/en/bst/products/all_products/homepage_1_ohne_marginalspalte_52

The BMC150 is an integrated electronic compass solution for consumer market applications. It comprises a 12bit leading edge triaxial, low-g acceleration sensor and an ultra-low power, high precision triaxial magnetic field sensor. It allows measurements of acceleration and magnetic field in three perpendicular axes. Performance and features of both sensing technologies are carefully tuned and perfectly match the demanding requirements of all 6-axis mobile applications such as electronic compass, navigation or augmented reality.

The BMC150 is essentially 2 separate devices in one: the BMA250E Accelerometer and the BMM150 Magnetometer. They are completely independent of each other.

This driver provides a very simple interface to these 2 devices. If finer control is desired, you should just use the separate BMA25E and BMM150 device classes directly. This driver simply initializes both devices, and provides a mechanism to read accelerometer and magnetometer data from them.

    // Instantiate an BMC150 using default I2C parameters
    upm::BMC150 sensor;

    // now output data every 250 milliseconds
    while (shouldRun) {
        float x, y, z;

        sensor.update();

        sensor.getAccelerometer(&x, &y, &z);
        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;

        sensor.getMagnetometer(&x, &y, &z);
        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;

        cout << endl;

        upm_delay_us(250000);
    }

Public Member Functions
	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 Attributes
BMA250E *	m_accel
BMM150 *	m_mag

Constructor & Destructor Documentation

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 constructor.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters

accelBus	I2C or SPI bus to use. -1 to skip initializing this device.
accelAddr	The address for this device. -1 for SPI.
accelCS	The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.
magBus	I2C or SPI bus to use. -1 to skip initializing this device.
magAddr	The address for this device. -1 for SPI.
magCS	The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.

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~BMC150

(

)

BMC150 Destructor.

Member Function Documentation

void update

(

void

)

Update the internal stored values from sensor data.

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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
	)

Initialize the accelerometer and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset or you want to change these values.

Parameters

pwr	One of the BMA250E_POWER_MODE_T values. The default is BMA250E_POWER_MODE_NORMAL.
range	One of the BMA250E_RANGE_T values. The default is BMA250E_RANGE_2G.
bw	One of the filtering BMA250E_BW_T values. The default is BMA250E_BW_250.

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void initMagnetometer

(

BMM150_USAGE_PRESETS_T

usage = BMM150_USAGE_HIGH_ACCURACY

)

Initialize the magnetometer and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset or you want to change these values. This method will call BMM150::setPresetMode() with the passed parameter.

Parameters

usage

One of the BMM150_USAGE_PRESETS_T values. The default is BMM150_USAGE_HIGH_ACCURACY.

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

Return accelerometer data in gravities. update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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std::vector< float > getAccelerometer

(

)

Return accelerometer data in gravities in the form of a floating point vector. update() must have been called prior to calling this method.

Returns

A floating point vector containing x, y, and z in that order.

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

Return magnetometer data in micro-Teslas (uT). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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std::vector< float > getMagnetometer

(

)

Return magnetometer data in micro-Teslas (uT) in the form of a floating point vector. update() must have been called prior to calling this method.

Returns

A floating point vector containing x, y, and z in that order.

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Collaboration diagram for BMC150:

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The documentation for this class was generated from the following files:

• src/bmx055/bmc150.hpp
• src/bmx055/bmc150.cxx