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bmx055: remove bmm150, use new bmm150 library

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2017-03-29 14:09:35 -06:00
parent aeaf84ccc6
commit c014ffddcd
15 changed files with 398 additions and 1718 deletions
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72
src/bmx055/bmi055.cxx
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@@ -36,83 +36,83 @@ using namespace std;
BMI055::BMI055(int accelBus, int accelAddr, int accelCS,
int gyroBus, int gyroAddr, int gyroCS) :
m_accel(0), m_gyro(0)
m_accel(0), m_gyro(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);
// 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();
}
BMI055::~BMI055()
{
if (m_accel)
delete m_accel;
if (m_accel)
delete m_accel;
if (m_gyro)
delete m_gyro;
if (m_gyro)
delete m_gyro;
}
void BMI055::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 BMI055::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 BMI055::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();
}
void BMI055::getAccelerometer(float *x, float *y, float *z)
{
if (m_accel)
m_accel->getAccelerometer(x, y, z);
if (m_accel)
m_accel->getAccelerometer(x, y, z);
}
std::vector<float> BMI055::getAccelerometer()
{
if (m_accel)
return m_accel->getAccelerometer();
else
return {0, 0, 0};
if (m_accel)
return m_accel->getAccelerometer();
else
return {0, 0, 0};
}
void BMI055::getGyroscope(float *x, float *y, float *z)
{
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
if (m_gyro)
m_gyro->getGyroscope(x, y, z);
}
std::vector<float> BMI055::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};
}