upm  1.7.1
Sensor/Actuator repository for libmraa (v2.0.0)
Public Member Functions | Protected Attributes

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

Detailed Description

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

BMA250Em_accel
 
BMM150m_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
accelBusI2C or SPI bus to use. -1 to skip initializing this device.
accelAddrThe address for this device. -1 for SPI.
accelCSThe gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.
magBusI2C or SPI bus to use. -1 to skip initializing this device.
magAddrThe address for this device. -1 for SPI.
magCSThe 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
pwrOne of the BMA250E_POWER_MODE_T values. The default is BMA250E_POWER_MODE_NORMAL.
rangeOne of the BMA250E_RANGE_T values. The default is BMA250E_RANGE_2G.
bwOne 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
usageOne 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
xPointer to a floating point value that will have the current x component placed into it.
yPointer to a floating point value that will have the current y component placed into it.
zPointer 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
xPointer to a floating point value that will have the current x component placed into it.
yPointer to a floating point value that will have the current y component placed into it.
zPointer 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: