bmi055.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 <string>

#include "bma250e.hpp"
#include "bmg160.hpp"

namespace upm {

  class BMI055 {
  public:
    BMI055(int accelBus=BMA250E_I2C_BUS,
           int accelAddr=BMA250E_DEFAULT_ADDR,
           int accelCS=-1,
           int gyroBus=BMG160_I2C_BUS,
           int gyroAddr=BMG160_DEFAULT_ADDR,
           int gyroCS=-1);

    ~BMI055();

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

    float *getAccelerometer();

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

    float *getGyroscope();


  protected:
    BMA250E *m_accel;
    BMG160 *m_gyro;

  private:
  };
}