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bmx055: remove bma250e, use new bma250e library

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2017-03-27 13:31:39 -06:00
parent 5aed632782
commit 3d0461b40a
15 changed files with 379 additions and 2586 deletions
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175
src/bmx055/bmx055.cxx
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@@ -1,6 +1,8 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 Intel Corporation.
* 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
@@ -35,148 +37,145 @@ using namespace std;
BMX055::BMX055(int accelBus, int accelAddr, int accelCS,
int gyroBus, int gyroAddr, int gyroCS,
int magBus, int magAddr, int magCS) :
m_accel(0), m_gyro(0), m_mag(0)
m_accel(0), m_gyro(0), m_mag(0)
{
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
// if -1 is supplied as a bus for any of these, we will not
// instantiate them
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (accelBus >= 0)
m_accel = new BMA250E(accelBus, accelAddr, accelCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
if (gyroBus >= 0)
m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
if (magBus >= 0)
m_mag = new BMM150(magBus, magAddr, magCS);
if (magBus >= 0)
m_mag = new BMM150(magBus, magAddr, magCS);
// now initialize them...
if (m_accel)
m_accel->init();
// now initialize them...
if (m_accel)
m_accel->init();
if (m_gyro)
m_gyro->init();
if (m_gyro)
m_gyro->init();
if (m_mag)
m_mag->init();
if (m_mag)
m_mag->init();
}
BMX055::~BMX055()
{
if (m_accel)
delete m_accel;
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
if (m_gyro)
delete m_gyro;
if (m_mag)
delete m_mag;
if (m_mag)
delete m_mag;
}
void BMX055::initAccelerometer(BMA250E::POWER_MODE_T pwr,
BMA250E::RANGE_T range,
BMA250E::BW_T bw)
void BMX055::initAccelerometer(BMA250E_POWER_MODE_T pwr,
BMA250E_RANGE_T range,
BMA250E_BW_T bw)
{
if (m_accel)
m_accel->init(pwr, range, bw);
if (m_accel)
m_accel->init(pwr, range, bw);
}
void BMX055::initGyroscope(BMG160_POWER_MODE_T pwr,
BMG160_RANGE_T range,
BMG160_BW_T bw)
{
if (m_gyro)
m_gyro->init(pwr, range, bw);
if (m_gyro)
m_gyro->init(pwr, range, bw);
}
void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
{
if (m_mag)
m_mag->init(usage);
if (m_mag)
m_mag->init(usage);
}
void BMX055::update()
{
if (m_accel)
m_accel->update();
if (m_accel)
m_accel->update();
if (m_gyro)
m_gyro->update();
if (m_gyro)
m_gyro->update();
if (m_mag)
m_mag->update();
if (m_mag)
m_mag->update();
}
void BMX055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
if (m_accel)
m_accel->getAccelerometer(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
}
float *BMX055::getAccelerometer()
std::vector<float> BMX055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
if (m_accel)
return m_accel->getAccelerometer();
else
return {0, 0, 0};
}
void BMX055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
}
std::vector<float> BMX055::getGyroscope()
{
if (m_gyro)
return m_gyro->getGyroscope();
else
return {0, 0, 0};
if (m_gyro)
return m_gyro->getGyroscope();
else
return {0, 0, 0};
}
void BMX055::getMagnetometer(float *x, float *y, float *z)
{
if (m_mag)
m_mag->getMagnetometer(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
if (m_mag)
m_mag->getMagnetometer(x, y, z);
else
{
if (x)
*x = 0;
if (y)
*y = 0;
if (z)
*z = 0;
}
}
float *BMX055::getMagnetometer()
{
if (m_mag)
return m_mag->getMagnetometer();
else
if (m_mag)
return m_mag->getMagnetometer();
else
{
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
static float v[3] = {0.0f, 0.0f, 0.0f};
return v;
}
}