BMX055 Class Reference

API for the BMX055 9-axis Sensor Module. More...

Detailed Description

• ID: bmx055
• Name: 9-axis Sensor Module
• Category: accelerometer compass
• Manufacturer: bosch
• Connection: i2c gpio spi
• Link: https://www.bosch-sensortec.com/bst/products/all_products/bmx055

The BMX055 is an integrated 9-axis sensor for the detection of movements and rotations and magnetic heading. It comprises the full functionality of a triaxial, low-g acceleration sensor, a triaxial angular rate sensor and a triaxial geomagnetic sensor.

The BMX055 senses orientation, tilt, motion, acceleration, rotation, shock, vibration and heading in cell phones, handhelds, computer peripherals, man-machine interfaces, virtual reality features and game controllers.

The BMX055 is essentially 3 separate devices in one: the BMA250E Accelerometer, the BMG160 Gyroscope, and the BMM150 Magnetometer. They are completely independent of each other.

This driver provides a very simple interface to these 3 devices. If finer control is desired, you should just use the separate BMA250E, BMG160, and BMM150 device classes directly. This driver simply initializes all three devices, and provides a mechanism to read accelerometer, gyroscope and magnetometer data from them.

    // Instantiate an BMX055 using default I2C parameters
    upm::BMX055 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.getGyroscope(&x, &y, &z);
        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << 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
	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 Attributes
BMA250E *	m_accel
BMG160 *	m_gyro
BMM150 *	m_mag

Constructor & Destructor Documentation

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 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.
gyroBus	I2C or SPI bus to use. -1 to skip initializing this device.
gyroAddr	The address for this device. -1 for SPI.
gyroCS	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.

~BMX055

(

)

BMX055 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 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
	)

Initialize the gyroscope 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 BMG160_POWER_MODE_T values. The default is BMG160_POWER_MODE_NORMAL.
range	One of the BMG160_RANGE_T values. The default is BMG160_RANGE_250.
bw	One of the filtering BMG160_BW_T values. The default is BMG160_BW_400_47.

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

Return gyroscope data in degrees per second. 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 > getGyroscope

(

)

Return gyroscope data in degrees per second 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 BMX055:

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

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