upm  1.1.0
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bmm150.hpp
1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2016 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <string>
27 #include <mraa/i2c.hpp>
28 #include <mraa/spi.hpp>
29 #include <mraa/gpio.hpp>
30 
31 #define BMM150_I2C_BUS 0
32 #define BMM150_SPI_BUS 0
33 #define BMM150_DEFAULT_ADDR 0x10
34 
35 
36 namespace upm {
37 
72  class BMM150 {
73  public:
74 
75  // NOTE: Reserved registers must not be written into. Reading
76  // from them may return indeterminate values. Registers
77  // containing reserved bitfields must be written as 0. Reading
78  // reserved bitfields may return indeterminate values.
79 
83  typedef enum : uint8_t {
84  REG_CHIP_ID = 0x40,
85 
86  // 0x41 reserved
87 
88  REG_MAG_X_LSB = 0x42,
89  REG_MAG_X_MSB = 0x43,
90  REG_MAG_Y_LSB = 0x44,
91  REG_MAG_Y_MSB = 0x45,
92  REG_MAG_Z_LSB = 0x46,
93  REG_MAG_Z_MSB = 0x47,
94 
95  REG_RHALL_LSB = 0x48,
96  REG_RHALL_MSB = 0x49,
97 
98  REG_INT_STATUS = 0x4a,
99 
100  REG_POWER_CTRL = 0x4b,
101 
102  REG_OPMODE = 0x4c,
103 
104  REG_INT_EN = 0x4d,
105  REG_INT_CONFIG = 0x4e,
106 
107  REG_LOW_THRES = 0x4f,
108  REG_HIGH_THRES = 0x50,
109 
110  REG_REP_XY = 0x51,
111  REG_REP_Z = 0x52,
112 
113  // 0x53-0x71 reserved (mostly)
114 
115  // TRIM registers from Bosch BMM050 driver
116  REG_TRIM_DIG_X1 = 0x5d,
117  REG_TRIM_DIG_Y1 = 0x5e,
118 
119  REG_TRIM_DIG_Z4_LSB = 0x62,
120  REG_TRIM_DIG_Z4_MSB = 0x63,
121  REG_TRIM_DIG_X2 = 0x64,
122  REG_TRIM_DIG_Y2 = 0x65,
123 
124  REG_TRIM_DIG_Z2_LSB = 0x68,
125  REG_TRIM_DIG_Z2_MSB = 0x69,
126  REG_TRIM_DIG_Z1_LSB = 0x6a,
127  REG_TRIM_DIG_Z1_MSB = 0x6b,
128  REG_TRIM_DIG_XYZ1_LSB = 0x6c,
129  REG_TRIM_DIG_XYZ1_MSB = 0x6d,
130  REG_TRIM_DIG_Z3_LSB = 0x6e,
131  REG_TRIM_DIG_Z3_MSB = 0x6f,
132  REG_TRIM_DIG_XY2 = 0x70,
133  REG_TRIM_DIG_XY1 = 0x71
134 
135  } BMM150_REGS_T;
136 
140  typedef enum {
141  _MAG_XY_LSB_RESERVED_BITS = 0x02 | 0x04,
142 
143  MAG_XY_LSB_SELFTEST_XY = 0x01,
144 
145  MAG_XY_LSB_LSB0 = 0x08,
146  MAG_XY_LSB_LSB1 = 0x10,
147  MAG_XY_LSB_LSB2 = 0x20,
148  MAG_XY_LSB_LSB3 = 0x40,
149  MAG_XY_LSB_LSB4 = 0x80,
150  _MAG_XY_LSB_LSB_MASK = 31,
151  _MAG_XY_LSB_LSB_SHIFT = 3
153 
157  typedef enum {
158  MAG_Z_LSB_SELFTEST_Z = 0x01,
159 
160  MAG_Z_LSB_LSB0 = 0x02,
161  MAG_Z_LSB_LSB1 = 0x04,
162  MAG_Z_LSB_LSB2 = 0x08,
163  MAG_Z_LSB_LSB3 = 0x10,
164  MAG_Z_LSB_LSB4 = 0x20,
165  MAG_Z_LSB_LSB5 = 0x40,
166  MAG_Z_LSB_LSB6 = 0x80,
167  _MAG_Z_LSB_LSB_MASK = 127,
168  _MAG_Z_LSB_LSB_SHIFT = 1
170 
174  typedef enum {
175  _MAG_RHALL_LSB_RESERVED_BITS = 0x02,
176 
177  MAG_RHALL_LSB_DATA_READY_STATUS = 0x01,
178 
179  MAG_RHALL_LSB_LSB0 = 0x04,
180  MAG_RHALL_LSB_LSB1 = 0x08,
181  MAG_RHALL_LSB_LSB2 = 0x10,
182  MAG_RHALL_LSB_LSB3 = 0x20,
183  MAG_RHALL_LSB_LSB4 = 0x40,
184  MAG_RHALL_LSB_LSB5 = 0x80,
185  _MAG_RHALL_LSB_LSB_MASK = 63,
186  _MAG_RHALL_LSB_LSB_SHIFT = 2
188 
192  typedef enum {
193  INT_STATUS_LOW_INT_X = 0x01,
194  INT_STATUS_LOW_INT_Y = 0x02,
195  INT_STATUS_LOW_INT_Z = 0x04,
196  INT_STATUS_HIGH_INT_X = 0x08,
197  INT_STATUS_HIGH_INT_Y = 0x10,
198  INT_STATUS_HIGH_INT_Z = 0x20,
199  INT_STATUS_OVERFLOW = 0x40,
200  INT_STATUS_DATA_OVERRUN = 0x80
202 
206  typedef enum {
207  _POWER_CTRL_RESERVED_BITS = 0x40 | 0x20 | 0x10 | 0x08,
208 
209  POWER_CTRL_POWER_CTRL_BIT = 0x01,
210  POWER_CTRL_SOFT_RESET0 = 0x02,
211  POWER_CTRL_SPI3EN = 0x04, // not supported
212 
213  POWER_CTRL_SOFT_RESET1 = 0x80
215 
219  typedef enum {
220  OPMODE_SELFTTEST = 0x01,
221 
222  OPMODE_OPERATION_MODE0 = 0x02,
223  OPMODE_OPERATION_MODE1 = 0x04,
224  _OPMODE_OPERATION_MODE_MASK = 3,
225  _OPMODE_OPERATION_MODE_SHIFT = 1,
226 
227  OPMODE_DATA_RATE0 = 0x08,
228  OPMODE_DATA_RATE1 = 0x10,
229  OPMODE_DATA_RATE2 = 0x20,
230  _OPMODE_DATA_RATE_MASK = 7,
231  _OPMODE_DATA_RATE_SHIFT = 3,
232 
233  OPMODE_ADV_SELFTEST0 = 0x40,
234  OPMODE_ADV_SELFTEST1 = 0x80,
235  _OPMODE_ADV_SELFTEST_MASK = 3,
236  _OPMODE_ADV_SELFTEST_SHIFT = 6
237  } OPMODE_BITS_T;
238 
242  typedef enum {
243  OPERATION_MODE_NORMAL = 0,
244  OPERATION_MODE_FORCED = 1,
245  OPERATION_MODE_SLEEP = 3
247 
251  typedef enum {
252  DATA_RATE_10HZ = 0,
253  DATA_RATE_2HZ = 1,
254  DATA_RATE_6HZ = 2,
255  DATA_RATE_8HZ = 3,
256  DATA_RATE_15HZ = 4,
257  DATA_RATE_20HZ = 5,
258  DATA_RATE_25HZ = 6,
259  DATA_RATE_30HZ = 7
260  } DATA_RATE_T;
261 
265  typedef enum {
266  INT_EN_LOW_INT_X_EN = 0x01,
267  INT_EN_LOW_INT_Y_EN = 0x02,
268  INT_EN_LOW_INT_Z_EN = 0x04,
269  INT_EN_HIGH_INT_X_EN = 0x08,
270  INT_EN_HIGH_INT_Y_EN = 0x10,
271  INT_EN_HIGH_INT_Z_EN = 0x20,
272  INT_EN_OVERFLOW_INT_EN = 0x40,
273  INT_EN_DATA_OVERRUN_INT_EN = 0x80
274  } INT_EN_T;
275 
279  typedef enum {
280  INT_CONFIG_INT_POLARITY = 0x01,
281  INT_CONFIG_INT_LATCH = 0x02,
282  INT_CONFIG_DR_POLARITY = 0x04,
283  INT_CONFIG_CHANNEL_X = 0x08,
284  INT_CONFIG_CHANNEL_Y = 0x10,
285  INT_CONFIG_CHANNEL_Z = 0x20,
286  INT_CONFIG_INT_PIN_EN = 0x40,
287  INT_CONFIG_DR_PIN_EN = 0x80
288  } INT_CONFIG_T;
289 
293  typedef enum {
294  INTERRUPT_INT,
295  INTERRUPT_DR
297 
301  typedef enum {
302  USAGE_LOW_POWER,
303  USAGE_REGULAR,
304  USAGE_ENHANCED_REGULAR,
305  USAGE_HIGH_ACCURACY
306  } USAGE_PRESETS_T;
307 
324  BMM150(int bus=BMM150_I2C_BUS, int addr=BMM150_DEFAULT_ADDR,
325  int cs=-1);
326 
330  ~BMM150();
331 
335  void update();
336 
342  uint8_t getChipID();
343 
355  void getMagnetometer(float *x, float *y, float *z);
356 
366  float *getMagnetometer();
367 
377  void init(USAGE_PRESETS_T usage=USAGE_HIGH_ACCURACY);
378 
386  void setPresetMode(USAGE_PRESETS_T usage);
387 
394  void reset();
395 
402  void setOutputDataRate(DATA_RATE_T odr);
403 
415  void setPowerBit(bool power);
416 
423  void setOpmode(OPERATION_MODE_T opmode);
424 
432 
440  uint8_t getInterruptEnable();
441 
448  void setInterruptEnable(uint8_t bits);
449 
458  uint8_t getInterruptConfig();
459 
468  void setInterruptConfig(uint8_t bits);
469 
477  uint8_t getInterruptStatus();
478 
487  void setRepetitionsXY(uint8_t reps);
488 
497  void setRepetitionsZ(uint8_t reps);
498 
499 #if defined(SWIGJAVA) || defined(JAVACALLBACK)
500  void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
501  jobject runnable);
502 #else
503 
515  void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
516  void (*isr)(void *), void *arg);
517 #endif
518 
525  void uninstallISR(INTERRUPT_PINS_T intr);
526 
533  uint8_t readReg(uint8_t reg);
534 
542  int readRegs(uint8_t reg, uint8_t *buffer, int len);
543 
550  void writeReg(uint8_t reg, uint8_t val);
551 
552  protected:
553  mraa::I2c *m_i2c;
554  mraa::Spi *m_spi;
555 
556  mraa::Gpio *m_gpioIntr;
557  mraa::Gpio *m_gpioDR;
558 
559  // spi chip select
560  mraa::Gpio *m_gpioCS;
561 
562  uint8_t m_addr;
563 
564  OPERATION_MODE_T m_opmode;
565 
566  // SPI chip select
567  void csOn();
568  void csOff();
569 
570  // acc data
571  float m_magX;
572  float m_magY;
573  float m_magZ;
574 
575  // hall resistance
576  uint16_t m_hall;
577 
578  // trimming data
579  int8_t m_dig_x1;
580  int8_t m_dig_y1;
581 
582  int16_t m_dig_z4;
583  int8_t m_dig_x2;
584  int8_t m_dig_y2;
585 
586  int16_t m_dig_z2;
587  uint16_t m_dig_z1;
588  uint16_t m_dig_xyz1;
589  int16_t m_dig_z3;
590  int8_t m_dig_xy2;
591  uint8_t m_dig_xy1;
592 
593  // read trim data for compensation
594  void readTrimData();
595 
596  private:
597  bool m_isSPI;
598 
599  // return a reference to a gpio pin pointer depending on intr
600  mraa::Gpio*& getPin(INTERRUPT_PINS_T intr);
601 
602  // Adding a private function definition for java bindings
603 #if defined(SWIGJAVA) || defined(JAVACALLBACK)
604  void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level,
605  void (*isr)(void *), void *arg);
606 #endif
607 
608  // bosch compensation algorithms
609  float bmm050_compensate_X_float(int16_t mag_data_x, uint16_t data_r);
610  float bmm050_compensate_Y_float(int16_t mag_data_y, uint16_t data_r);
611  float bmm050_compensate_Z_float(int16_t mag_data_z, uint16_t data_r);
612  };
613 }
uint8_t getChipID()
Definition: bmm150.cxx:361
OPERATION_MODE_T getOpmode()
Definition: bmm150.cxx:432
uint8_t getInterruptEnable()
Definition: bmm150.cxx:442
void setPowerBit(bool power)
Definition: bmm150.cxx:408
BMM150_REGS_T
Definition: bmm150.hpp:83
void setOutputDataRate(DATA_RATE_T odr)
Definition: bmm150.cxx:398
DATA_RATE_T
Definition: bmm150.hpp:251
void writeReg(uint8_t reg, uint8_t val)
Definition: bmm150.cxx:321
int readRegs(uint8_t reg, uint8_t *buffer, int len)
Definition: bmm150.cxx:287
void reset()
Definition: bmm150.cxx:386
void setOpmode(OPERATION_MODE_T opmode)
Definition: bmm150.cxx:421
API for the BMM150 3-Axis Geomagnetic Sensor.
Definition: bmm150.hpp:72
OPERATION_MODE_T
Definition: bmm150.hpp:242
float * getMagnetometer()
Definition: bmm150.cxx:378
MAG_Z_LSB_BITS_T
Definition: bmm150.hpp:157
~BMM150()
Definition: bmm150.cxx:182
INT_STATUS_BITS_T
Definition: bmm150.hpp:192
BMM150(int bus=BMM150_I2C_BUS, int addr=BMM150_DEFAULT_ADDR, int cs=-1)
Definition: bmm150.cxx:95
void setRepetitionsXY(uint8_t reps)
Definition: bmm150.cxx:496
void setRepetitionsZ(uint8_t reps)
Definition: bmm150.cxx:501
void init(USAGE_PRESETS_T usage=USAGE_HIGH_ACCURACY)
Definition: bmm150.cxx:195
POWER_CTRL_BITS_T
Definition: bmm150.hpp:206
INT_EN_T
Definition: bmm150.hpp:265
void setInterruptConfig(uint8_t bits)
Definition: bmm150.cxx:457
void uninstallISR(INTERRUPT_PINS_T intr)
Definition: bmm150.cxx:574
uint8_t getInterruptConfig()
Definition: bmm150.cxx:452
MAG_XY_LSB_BITS_T
Definition: bmm150.hpp:140
void setPresetMode(USAGE_PRESETS_T usage)
Definition: bmm150.cxx:506
USAGE_PRESETS_T
Definition: bmm150.hpp:301
void setInterruptEnable(uint8_t bits)
Definition: bmm150.cxx:447
uint8_t getInterruptStatus()
Definition: bmm150.cxx:462
MAG_RHALL_LSB_BITS_T
Definition: bmm150.hpp:174
INTERRUPT_PINS_T
Definition: bmm150.hpp:293
OPMODE_BITS_T
Definition: bmm150.hpp:219
INT_CONFIG_T
Definition: bmm150.hpp:279
uint8_t readReg(uint8_t reg)
Definition: bmm150.cxx:265
void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(*isr)(void *), void *arg)
Definition: bmm150.cxx:560
void update()
Definition: bmm150.cxx:208