bmi160.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016 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 <stdint.h>

#define BMI160_I2C_BUS 0
#define BMI160_DEFAULT_I2C_ADDR 0x69

namespace upm {

  class BMI160 {
  public:

    typedef enum {
      ACCEL_RANGE_2G                      = 0, // 2 Gravities
      ACCEL_RANGE_4G,
      ACCEL_RANGE_8G,
      ACCEL_RANGE_16G
    } ACCEL_RANGE_T;

    typedef enum {
      GYRO_RANGE_125                      = 0, // 125 degrees/sec
      GYRO_RANGE_250,
      GYRO_RANGE_500,
      GYRO_RANGE_1000,
      GYRO_RANGE_2000
    } GYRO_RANGE_T;

    BMI160(int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR);

    ~BMI160();

    void update();

    void setAccelerometerScale(ACCEL_RANGE_T scale);

    void setGyroscopeScale(GYRO_RANGE_T scale);

    float *getAccelerometer();

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

    float *getGyroscope();

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

    float *getMagnetometer();

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

    void enableMagnetometer(bool enable);

    unsigned int getSensorTime();

  protected:
    // uncompensated accelerometer and gyroscope values
    float m_accelX;
    float m_accelY;
    float m_accelZ;

    float m_gyroX;
    float m_gyroY;
    float m_gyroZ;

    float m_magX;
    float m_magY;
    float m_magZ;

    unsigned int m_sensorTime;

    // accelerometer and gyro scaling factors, depending on their Full
    // Scale (Range) settings.
    float m_accelScale;
    float m_gyroScale;

    // is the magnetometer enabled?
    bool m_magEnabled;

    virtual bool init();

  private:
    // due to the way we need to 'hook' into the bmi driver, the i2c
    // context is a static variable defined in the .cxx implmentation.

    uint8_t m_addr;
  };
}