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BMM150 Class Reference

API for the BMM150 3-Axis Geomagnetic Sensor. More...

Detailed Description

The BMM150 is a standalone geomagnetic sensor for consumer market applications. It allows measurements of the magnetic field in three perpendicular axes. Based on Bosch’s proprietary FlipCore technology, performance and features of BMM150 are carefully tuned and perfectly match the demanding requirements of all 3-axis mobile applications such as electronic compass, navigation or augmented reality.

An evaluation circuitry (ASIC) converts the output of the geomagnetic sensor to digital results which can be read out over the industry standard digital interfaces (SPI and I2C).

Not all functionality of this chip has been implemented in this driver, however all the pieces are present to add any desired functionality. This driver supports both I2C (default) and SPI operation.

This device requires 3.3v operation.

// Instantiate an BMM150 using default I2C parameters
upm::BMM150 *sensor = new upm::BMM150();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMM150(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer x: " << x
<< " y: " << y
<< " z: " << z
<< " uT"
<< endl;
cout << endl;
usleep(250000);
}

Public Types

enum  BMM150_REGS_T : uint8_t {
  REG_CHIP_ID = 0x40, REG_MAG_X_LSB = 0x42, REG_MAG_X_MSB = 0x43, REG_MAG_Y_LSB = 0x44,
  REG_MAG_Y_MSB = 0x45, REG_MAG_Z_LSB = 0x46, REG_MAG_Z_MSB = 0x47, REG_RHALL_LSB = 0x48,
  REG_RHALL_MSB = 0x49, REG_INT_STATUS = 0x4a, REG_POWER_CTRL = 0x4b, REG_OPMODE = 0x4c,
  REG_INT_EN = 0x4d, REG_INT_CONFIG = 0x4e, REG_LOW_THRES = 0x4f, REG_HIGH_THRES = 0x50,
  REG_REP_XY = 0x51, REG_REP_Z = 0x52, REG_TRIM_DIG_X1 = 0x5d, REG_TRIM_DIG_Y1 = 0x5e,
  REG_TRIM_DIG_Z4_LSB = 0x62, REG_TRIM_DIG_Z4_MSB = 0x63, REG_TRIM_DIG_X2 = 0x64, REG_TRIM_DIG_Y2 = 0x65,
  REG_TRIM_DIG_Z2_LSB = 0x68, REG_TRIM_DIG_Z2_MSB = 0x69, REG_TRIM_DIG_Z1_LSB = 0x6a, REG_TRIM_DIG_Z1_MSB = 0x6b,
  REG_TRIM_DIG_XYZ1_LSB = 0x6c, REG_TRIM_DIG_XYZ1_MSB = 0x6d, REG_TRIM_DIG_Z3_LSB = 0x6e, REG_TRIM_DIG_Z3_MSB = 0x6f,
  REG_TRIM_DIG_XY2 = 0x70, REG_TRIM_DIG_XY1 = 0x71
}
 
enum  MAG_XY_LSB_BITS_T {
  _MAG_XY_LSB_RESERVED_BITS = 0x02 | 0x04, MAG_XY_LSB_SELFTEST_XY = 0x01, MAG_XY_LSB_LSB0 = 0x08, MAG_XY_LSB_LSB1 = 0x10,
  MAG_XY_LSB_LSB2 = 0x20, MAG_XY_LSB_LSB3 = 0x40, MAG_XY_LSB_LSB4 = 0x80, _MAG_XY_LSB_LSB_MASK = 31,
  _MAG_XY_LSB_LSB_SHIFT = 3
}
 
enum  MAG_Z_LSB_BITS_T {
  MAG_Z_LSB_SELFTEST_Z = 0x01, MAG_Z_LSB_LSB0 = 0x02, MAG_Z_LSB_LSB1 = 0x04, MAG_Z_LSB_LSB2 = 0x08,
  MAG_Z_LSB_LSB3 = 0x10, MAG_Z_LSB_LSB4 = 0x20, MAG_Z_LSB_LSB5 = 0x40, MAG_Z_LSB_LSB6 = 0x80,
  _MAG_Z_LSB_LSB_MASK = 127, _MAG_Z_LSB_LSB_SHIFT = 1
}
 
enum  MAG_RHALL_LSB_BITS_T {
  _MAG_RHALL_LSB_RESERVED_BITS = 0x02, MAG_RHALL_LSB_DATA_READY_STATUS = 0x01, MAG_RHALL_LSB_LSB0 = 0x04, MAG_RHALL_LSB_LSB1 = 0x08,
  MAG_RHALL_LSB_LSB2 = 0x10, MAG_RHALL_LSB_LSB3 = 0x20, MAG_RHALL_LSB_LSB4 = 0x40, MAG_RHALL_LSB_LSB5 = 0x80,
  _MAG_RHALL_LSB_LSB_MASK = 63, _MAG_RHALL_LSB_LSB_SHIFT = 2
}
 
enum  INT_STATUS_BITS_T {
  INT_STATUS_LOW_INT_X = 0x01, INT_STATUS_LOW_INT_Y = 0x02, INT_STATUS_LOW_INT_Z = 0x04, INT_STATUS_HIGH_INT_X = 0x08,
  INT_STATUS_HIGH_INT_Y = 0x10, INT_STATUS_HIGH_INT_Z = 0x20, INT_STATUS_OVERFLOW = 0x40, INT_STATUS_DATA_OVERRUN = 0x80
}
 
enum  POWER_CTRL_BITS_T {
  _POWER_CTRL_RESERVED_BITS = 0x40 | 0x20 | 0x10 | 0x08, POWER_CTRL_POWER_CTRL_BIT = 0x01, POWER_CTRL_SOFT_RESET0 = 0x02, POWER_CTRL_SPI3EN = 0x04,
  POWER_CTRL_SOFT_RESET1 = 0x80
}
 
enum  OPMODE_BITS_T {
  OPMODE_SELFTTEST = 0x01, OPMODE_OPERATION_MODE0 = 0x02, OPMODE_OPERATION_MODE1 = 0x04, _OPMODE_OPERATION_MODE_MASK = 3,
  _OPMODE_OPERATION_MODE_SHIFT = 1, OPMODE_DATA_RATE0 = 0x08, OPMODE_DATA_RATE1 = 0x10, OPMODE_DATA_RATE2 = 0x20,
  _OPMODE_DATA_RATE_MASK = 7, _OPMODE_DATA_RATE_SHIFT = 3, OPMODE_ADV_SELFTEST0 = 0x40, OPMODE_ADV_SELFTEST1 = 0x80,
  _OPMODE_ADV_SELFTEST_MASK = 3, _OPMODE_ADV_SELFTEST_SHIFT = 6
}
 
enum  OPERATION_MODE_T { OPERATION_MODE_NORMAL = 0, OPERATION_MODE_FORCED = 1, OPERATION_MODE_SLEEP = 3 }
 
enum  DATA_RATE_T {
  DATA_RATE_10HZ = 0, DATA_RATE_2HZ = 1, DATA_RATE_6HZ = 2, DATA_RATE_8HZ = 3,
  DATA_RATE_15HZ = 4, DATA_RATE_20HZ = 5, DATA_RATE_25HZ = 6, DATA_RATE_30HZ = 7
}
 
enum  INT_EN_T {
  INT_EN_LOW_INT_X_EN = 0x01, INT_EN_LOW_INT_Y_EN = 0x02, INT_EN_LOW_INT_Z_EN = 0x04, INT_EN_HIGH_INT_X_EN = 0x08,
  INT_EN_HIGH_INT_Y_EN = 0x10, INT_EN_HIGH_INT_Z_EN = 0x20, INT_EN_OVERFLOW_INT_EN = 0x40, INT_EN_DATA_OVERRUN_INT_EN = 0x80
}
 
enum  INT_CONFIG_T {
  INT_CONFIG_INT_POLARITY = 0x01, INT_CONFIG_INT_LATCH = 0x02, INT_CONFIG_DR_POLARITY = 0x04, INT_CONFIG_CHANNEL_X = 0x08,
  INT_CONFIG_CHANNEL_Y = 0x10, INT_CONFIG_CHANNEL_Z = 0x20, INT_CONFIG_INT_PIN_EN = 0x40, INT_CONFIG_DR_PIN_EN = 0x80
}
 
enum  INTERRUPT_PINS_T { INTERRUPT_INT, INTERRUPT_DR }
 
enum  USAGE_PRESETS_T { USAGE_LOW_POWER, USAGE_REGULAR, USAGE_ENHANCED_REGULAR, USAGE_HIGH_ACCURACY }
 

Public Member Functions

 BMM150 (int bus=BMM150_I2C_BUS, int addr=BMM150_DEFAULT_ADDR, int cs=-1)
 
 ~BMM150 ()
 
void update ()
 
uint8_t getChipID ()
 
void getMagnetometer (float *x, float *y, float *z)
 
float * getMagnetometer ()
 
void init (USAGE_PRESETS_T usage=USAGE_HIGH_ACCURACY)
 
void setPresetMode (USAGE_PRESETS_T usage)
 
void reset ()
 
void setOutputDataRate (DATA_RATE_T odr)
 
void setPowerBit (bool power)
 
void setOpmode (OPERATION_MODE_T opmode)
 
OPERATION_MODE_T getOpmode ()
 
uint8_t getInterruptEnable ()
 
void setInterruptEnable (uint8_t bits)
 
uint8_t getInterruptConfig ()
 
void setInterruptConfig (uint8_t bits)
 
uint8_t getInterruptStatus ()
 
void setRepetitionsXY (uint8_t reps)
 
void setRepetitionsZ (uint8_t reps)
 
void installISR (INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(*isr)(void *), void *arg)
 
void uninstallISR (INTERRUPT_PINS_T intr)
 
uint8_t readReg (uint8_t reg)
 
int readRegs (uint8_t reg, uint8_t *buffer, int len)
 
void writeReg (uint8_t reg, uint8_t val)
 

Protected Member Functions

void csOn ()
 
void csOff ()
 
void readTrimData ()
 

Protected Attributes

mraa::I2c * m_i2c
 
mraa::Spi * m_spi
 
mraa::Gpio * m_gpioCS
 
mraa::Gpio * m_gpioIntr
 
mraa::Gpio * m_gpioDR
 
uint8_t m_addr
 
OPERATION_MODE_T m_opmode
 
float m_magX
 
float m_magY
 
float m_magZ
 
uint16_t m_hall
 
int8_t m_dig_x1
 
int8_t m_dig_y1
 
int16_t m_dig_z4
 
int8_t m_dig_x2
 
int8_t m_dig_y2
 
int16_t m_dig_z2
 
uint16_t m_dig_z1
 
uint16_t m_dig_xyz1
 
int16_t m_dig_z3
 
int8_t m_dig_xy2
 
uint8_t m_dig_xy1
 

Member Enumeration Documentation

enum BMM150_REGS_T : uint8_t

BMM150 registers

enum MAG_XY_LSB_BITS_T

REG_MAG_XY_LSB bits (for X and Y mag data LSB's only)

enum MAG_Z_LSB_BITS_T

REG_MAG_Z_LSB bits (for Z LSB only)

enum MAG_RHALL_LSB_BITS_T

REG_MAG_RHALL_LSB bits (for RHALL LSB only)

enum INT_STATUS_BITS_T

REG_INT_STATUS bits

enum POWER_CTRL_BITS_T

REG_POWER_CTRL bits

enum OPMODE_BITS_T

REG_OPMODE bits

enum OPERATION_MODE_T

OPMODE_OPERATION_MODE values

enum DATA_RATE_T

OPMODE_DATA_RATE values

enum INT_EN_T

REG_INT_EN bits

enum INT_CONFIG_T

REG_INT_CONFIG bits

enum INTERRUPT_PINS_T

Interrupt selection for installISR() and uninstallISR()

enum USAGE_PRESETS_T

Bosch recommended usage preset modes

Constructor & Destructor Documentation

BMM150 ( int  bus = BMM150_I2C_BUS,
int  addr = BMM150_DEFAULT_ADDR,
int  cs = -1 
)

BMM150 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
busI2C or SPI bus to use.
addrThe address for this device. -1 for SPI.
csThe gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.
theChipIDThe chip ID to use for validation

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~BMM150 ( )

BMM150 Destructor.

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Member Function Documentation

void update ( void  )

Update the internal stored values from sensor data.

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uint8_t getChipID ( )

Return the chip ID.

Returns
The chip ID (BMM150_CHIPID).

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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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float * getMagnetometer ( )

Return magnetometer data in micro-Teslas (uT) in the form of a floating point array. The pointer returned by this function is statically allocated and will be rewritten on each call. update() must have been called prior to calling this method.

Returns
A floating point array containing x, y, and z in that order.
void init ( USAGE_PRESETS_T  usage = USAGE_HIGH_ACCURACY)

Initialize the device 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. This method will call setPresetMode() with the passed parameter.

Parameters
usageOne of the USAGE_PRESETS_T values. The default is USAGE_HIGH_ACCURACY.

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void setPresetMode ( USAGE_PRESETS_T  usage)

Set one of the Bosch recommended preset modes. These modes configure the sensor for varying use cases.

Parameters
usageOne of the USAGE_PRESETS_T values. The default is USAGE_HIGH_ACCURACY.

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void reset ( )

Perform a device soft-reset. The device will be placed in SUSPEND mode afterward with all configured setting lost, so some re-initialization will be required to get data from the sensor. Calling init() will get everything running again.

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void setOutputDataRate ( DATA_RATE_T  odr)

Set the magnetometer Output Data Rate. See the datasheet for details.

Parameters
odrOne of the DATA_RATE_T values.

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void setPowerBit ( bool  power)

Set or clear the Power bit. When the power bit is cleared, the device enters a deep suspend mode where only the REG_POWER_CTRL register can be accessed. This bit needs to be enabled for the device to operate. See the datasheet for details. The constructor enables this by default. After a deep suspend mode has been entered, all configured data is lost and the device must be reconfigured (as via init()).

Parameters
powertrue to enable the bit, false otherwise.

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void setOpmode ( OPERATION_MODE_T  opmode)

Set the operating mode of the device. See the datasheet for details.

Parameters
powerOne of the POWER_MODE_T values.

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BMM150::OPERATION_MODE_T getOpmode ( )

Get the current operating mode of the device. See the datasheet for details. The power bit must be one for this method to succeed.

Returns
One of the OPERATION_MODE_T values.

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uint8_t getInterruptEnable ( )

Return the Interrupt Enables register. This resgister allows you to enable various interrupt conditions. See the datasheet for details.

Returns
A bitmask of INT_EN_BITS_T bits.

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void setInterruptEnable ( uint8_t  bits)

Set the Interrupt Enables register. See the datasheet for details.

Parameters
bitsA bitmask of INT_EN_BITS_T bits.

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uint8_t getInterruptConfig ( )

Return the Interrupt Config register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering) as well as other options. See the datasheet for details.

Returns
A bitmask of INT_CONFIG_BITS_T bits.

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void setInterruptConfig ( uint8_t  bits)

Set the Interrupt Config register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering). See the datasheet for details.

Parameters
bitsA bitmask of INT_CONFIG_BITS_T bits.

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uint8_t getInterruptStatus ( )

Return the interrupt status register. This register indicates which interrupts have been triggered. See the datasheet for details.

Returns
a bitmask of INT_STATUS_BITS_T bits.

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void setRepetitionsXY ( uint8_t  reps)

Set the repetion counter for the X and Y axes. This allows the device to average a number of measurements for a more stable output. See the datasheet for details.

Parameters
repsA coefficient for specifying the number of repititions to perform. (1 + 2(reps))

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void setRepetitionsZ ( uint8_t  reps)

Set the repetion counter for the Z axis. This allows the device to average a number of measurements for a more stable output. See the datasheet for details.

Parameters
repsA coefficient for specifying the number of repititions to perform. (1 + (reps))

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void installISR ( INTERRUPT_PINS_T  intr,
int  gpio,
mraa::Edge  level,
void(*)(void *)  isr,
void *  arg 
)

install an interrupt handler.

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin you are installing.
gpiogpio pin to use as interrupt pin
levelthe interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isrthe interrupt handler, accepting a void * argument
argthe argument to pass the the interrupt handler

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void uninstallISR ( INTERRUPT_PINS_T  intr)

uninstall a previously installed interrupt handler

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin you are removing.

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uint8_t readReg ( uint8_t  reg)

Read a register.

Parameters
regThe register to read.
Returns
The value of the register.

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int readRegs ( uint8_t  reg,
uint8_t *  buffer,
int  len 
)

Read contiguous registers into a buffer.

Parameters
bufferThe buffer to store the results.
lenThe number of registers to read.
Returns
The number of bytes read.

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void writeReg ( uint8_t  reg,
uint8_t  val 
)

Write to a register

Parameters
regThe register to write to.
valThe value to write.

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