1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 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
25 #include <iostream>
26 #include <unistd.h>
27 #include <stdlib.h>
28
29 #include "mpu9150.h"
30
31 using namespace upm;
32 using namespace std;
33
MPU9150(int bus,int address,int magAddress,bool enableAk8975)34 MPU9150::MPU9150 (int bus, int address, int magAddress, bool enableAk8975) :
35 m_mag(0), MPU60X0(bus, address)
36 {
37 m_magAddress = magAddress;
38 m_i2cBus = bus;
39 m_enableAk8975 = enableAk8975;
40 }
41
~MPU9150()42 MPU9150::~MPU9150()
43 {
44 if (m_mag)
45 delete m_mag;
46 }
47
init()48 bool MPU9150::init()
49 {
50 // init the gyro/accel component
51 if (!MPU60X0::init())
52 {
53 throw std::runtime_error(std::string(__FUNCTION__) +
54 ": Unable to init MPU60X0");
55 return false;
56 }
57
58 // Enabling I2C bypass will allow us to access the
59 // AK8975 Magnetometer on I2C addr 0x0c.
60 if (m_enableAk8975 == true)
61 {
62 if (!enableI2CBypass(true))
63 {
64 throw std::runtime_error(std::string(__FUNCTION__) +
65 ": Unable to enable I2C bypass");
66 return false;
67 }
68
69 // Now that we've done that, create an AK8975 instance and
70 // initialize it.
71
72 m_mag = new AK8975(m_i2cBus, m_magAddress);
73
74 if (!m_mag->init())
75 {
76 throw std::runtime_error(std::string(__FUNCTION__) +
77 ": Unable to init magnetometer");
78 delete m_mag;
79 m_mag = 0;
80 return false;
81 }
82 }
83
84 return true;
85 }
86
update()87 void MPU9150::update()
88 {
89 MPU60X0::update();
90
91 if (m_mag)
92 m_mag->update();
93 }
94
getMagnetometer(float * x,float * y,float * z)95 void MPU9150::getMagnetometer(float *x, float *y, float *z)
96 {
97 float mx, my, mz;
98
99 if (!m_mag)
100 mx = my = mz = 0.0;
101 else
102 m_mag->getMagnetometer(&mx, &my, &mz);
103
104 if (x)
105 *x = mx;
106 if (y)
107 *y = my;
108 if (z)
109 *z = mz;
110 }
111
112 #ifdef SWIGJAVA
getMagnetometer()113 float *MPU9150::getMagnetometer()
114 {
115 float *v = new float[3];
116 getMagnetometer(&v[0], &v[1], &v[2]);
117 return v;
118 }
119 #endif
120