1 files changed, 158 insertions, 0 deletions
diff --git a/peripheral/libupm/src/bmx055/bmx055.cxx b/peripheral/libupm/src/bmx055/bmx055.cxx
new file mode 100644
index 0000000..9d36a5b
--- /dev/null
+++ b/peripheral/libupm/src/bmx055/bmx055.cxx
@@ -0,0 +1,158 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "bmx055.hpp"
+
+using namespace upm;
+using namespace std;
+
+BMX055::BMX055(int accelBus, uint8_t accelAddr, int accelCS,
+               int gyroBus, uint8_t gyroAddr, int gyroCS,
+               int magBus, uint8_t magAddr, int magCS) :
+  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 (accelBus >= 0)
+    m_accel = new BMA250E(accelBus, accelAddr, accelCS);
+
+  if (gyroBus >= 0)
+    m_gyro = new BMG160(gyroBus, gyroAddr, gyroCS);
+
+  if (magBus >= 0)
+    m_mag = new BMM150(magBus, magAddr, magCS);
+
+  // now initialize them...
+  if (m_accel)
+    m_accel->init();
+
+  if (m_gyro)
+    m_gyro->init();
+
+  if (m_mag)
+    m_mag->init();
+}
+
+BMX055::~BMX055()
+{
+  if (m_accel)
+    delete m_accel;
+
+  if (m_gyro)
+    delete m_gyro;
+
+  if (m_mag)
+    delete m_mag;
+}
+
+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);
+}
+
+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);
+}
+
+void BMX055::initMagnetometer(BMM150::USAGE_PRESETS_T usage)
+{
+  if (m_mag)
+    m_mag->init(usage);
+}
+
+void BMX055::update()
+{
+  if (m_accel)
+    m_accel->update();
+
+  if (m_gyro)
+    m_gyro->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);
+}
+
+float *BMX055::getAccelerometer()
+{
+  if (m_accel)
+    return m_accel->getAccelerometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMX055::getGyroscope(float *x, float *y, float *z)
+{
+  if (m_gyro)
+    m_gyro->getGyroscope(x, y, z);
+}
+
+float *BMX055::getGyroscope()
+{
+  if (m_gyro)
+    return m_gyro->getGyroscope();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}
+
+void BMX055::getMagnetometer(float *x, float *y, float *z)
+{
+  if (m_mag)
+    m_mag->getMagnetometer(x, y, z);
+}
+
+float *BMX055::getMagnetometer()
+{
+  if (m_mag)
+    return m_mag->getMagnetometer();
+  else
+    {
+      static float v[3] = {0.0f, 0.0f, 0.0f};
+      return v;
+    }
+}