bno055.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016-2017 Intel Corporation.
 *
 * The MIT License
 *
 * 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 <vector>
#include "bno055.h"

namespace upm {

    class BNO055 {

    public:
        BNO055(int bus=BNO055_DEFAULT_I2C_BUS,
               uint8_t addr=BNO055_DEFAULT_ADDR);

        virtual ~BNO055();

        void update();

        uint8_t getChipID();

        uint8_t getACCID();

        uint8_t getMAGID();

        uint8_t getGYRID();

        uint16_t getSWRevID();

        uint8_t getBootLoaderID();

        void setClockExternal(bool extClock);

        void setTemperatureSource(BNO055_TEMP_SOURCES_T src);

        void setOperationMode(BNO055_OPERATION_MODES_T mode);

        void resetSystem();

        void getCalibrationStatus(int *mag, int *acc, int *gyr, int *sys);

        std::vector<int> getCalibrationStatus();

        bool isFullyCalibrated();

        std::vector<uint8_t> readCalibrationData();

        void writeCalibrationData(std::vector<uint8_t> calibrationData);

        float getTemperature(bool fahrenheit=false);

        void getEulerAngles(float *heading, float *roll, float *pitch);

        std::vector<float> getEulerAngles();

        void getQuaternions(float *w, float *x, float *y, float *z);

        std::vector<float> getQuaternions();

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

        std::vector<float> getLinearAcceleration();

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

        std::vector<float> getGravityVectors();

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

        std::vector<float> getAccelerometer();

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

        std::vector<float> getMagnetometer();

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

        std::vector<float> getGyroscope();

        void setAccelerationConfig(BNO055_ACC_RANGE_T range,
                                   BNO055_ACC_BW_T bw,
                                   BNO055_ACC_PWR_MODE_T pwr);

        void setMagnetometerConfig(BNO055_MAG_ODR_T odr,
                                   BNO055_MAG_OPR_T opr,
                                   BNO055_MAG_POWER_T pwr);

        void setGyroscopeConfig(BNO055_GYR_RANGE_T range,
                                BNO055_GYR_BW_T bw,
                                BNO055_GYR_POWER_MODE_T pwr);

        void setAccelerometerUnits(bool mg=false);

        void setGyroscopeUnits(bool radians=false);

        void setEulerUnits(bool radians=false);

        void resetInterruptStatus();

        uint8_t getInterruptStatus();

        uint8_t getInterruptEnable();

        void setInterruptEnable(uint8_t enables);

        uint8_t getInterruptMask();

        void setInterruptMask(uint8_t mask);

        BNO055_SYS_STATUS_T getSystemStatus();

        BNO055_SYS_ERR_T getSystemError();


#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(int gpio, mraa_gpio_edge_t level, jobject runnable)
        {
            installISR(gpio, level, mraa_java_isr_callback, runnable);
        }
#else

        void installISR(int gpio, mraa_gpio_edge_t level,
                        void (*isr)(void *), void *arg);
#endif

        void uninstallISR();

    protected:
        bno055_context m_bno055;

        void setPage(uint8_t page, bool force=false);

        uint8_t readReg(uint8_t reg);

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

        void writeReg(uint8_t reg, uint8_t val);

        void writeRegs(uint8_t reg, uint8_t *buffer, int len);

    private:
        /* Disable implicit copy and assignment operators */
        BNO055(const BNO055&) = delete;
        BNO055 &operator=(const BNO055&) = delete;

        // Adding a private function definition for java bindings
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
        void installISR(int gpio, mraa_gpio_edge_t level,
                        void (*isr)(void *), void *arg);
#endif
    };
}