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Mikkeli Matlock
287
components/ExternLib/SensorLib/src/SensorBMM150.hpp
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287
components/ExternLib/SensorLib/src/SensorBMM150.hpp
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/**
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*
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* @license MIT License
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*
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* Copyright (c) 2023 lewis he
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @file SensorBMM150.hpp
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* @author Lewis He (lewishe@outlook.com)
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* @date 2023-10-09
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* @note Most source code references come from the https://github.com/boschsensortec/BMM150-Sensor-API
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* Simplification for Arduino
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*/
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#pragma once
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#include "bosch/BMM150/bmm150.h"
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#include "SensorPlatform.hpp"
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#if defined(ARDUINO)
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/*! @name I2C ADDRESS */
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#define BMM150_DEFAULT_I2C_ADDRESS UINT8_C(0x10)
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#define BMM150_I2C_ADDRESS_CSB_LOW_SDO_HIGH UINT8_C(0x11)
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#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_LOW UINT8_C(0x12)
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#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_HIGH UINT8_C(0x13)
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class SensorBMM150
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{
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public:
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enum PowerMode {
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POWERMODE_NORMAL,
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POWERMODE_FORCED,
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POWERMODE_SLEEP,
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POWERMODE_SUSPEND,
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};
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enum InterruptLevel {
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INTERRUPT_HIGH_ACTIVE,
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INTERRUPT_LOW_ACTIVE,
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};
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SensorBMM150(): comm(nullptr),
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hal(nullptr),
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staticComm(nullptr),
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dev(nullptr),
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_rst(-1),
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_error_code(0)
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{
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}
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~SensorBMM150()
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{
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}
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void setPins(int rst)
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{
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_rst = rst;
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}
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#if defined(ARDUINO)
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bool begin(TwoWire &wire, uint8_t addr, int sda, int scl)
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{
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if (!beginCommonStatic<SensorCommI2C, HalArduino>(comm, staticComm, hal, wire, addr, sda, scl)) {
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return false;
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}
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return initImpl(BMM150_I2C_INTF);
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}
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bool begin(SPIClass &spi, uint8_t csPin, int mosi, int miso, int sck)
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{
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if (!beginCommonStatic<SensorCommSPI, HalArduino>(comm,
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staticComm, hal,
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spi, csPin, mosi, miso, sck)) {
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return false;
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}
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return initImpl(BMM150_I2C_INTF);
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}
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#elif defined(ESP_PLATFORM)
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#if defined(USEING_I2C_LEGACY)
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bool begin(i2c_port_t port_num, uint8_t addr, int sda, int scl)
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{
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if (!beginCommonStatic<SensorCommI2C, HalEspIDF>(comm, staticComm, hal, port_num, addr, sda, scl)) {
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return false;
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}
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return initImpl(BHY2_I2C_INTERFACE);
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}
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#else
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bool begin(i2c_master_bus_handle_t handle, uint8_t addr)
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{
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if (!beginCommonStatic<SensorCommI2C, HalEspIDF>(comm, staticComm, hal, handle, addr)) {
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return false;
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}
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return initImpl(BHY2_I2C_INTERFACE);
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}
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#endif //ESP_PLATFORM
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#endif //ARDUINO
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bool begin(CommInterface interface,
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SensorCommCustom::CustomCallback callback,
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SensorCommCustomHal::CustomHalCallback hal_callback,
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uint8_t addr)
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{
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if (!beginCommCustomCallback<SensorCommCustom, SensorCommCustomHal>(interface,
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callback, hal_callback, addr, comm, hal)) {
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return false;
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}
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return initImpl(static_cast<bmm150_intf>(interface));
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}
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void reset()
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{
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if (_rst != -1) {
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hal->digitalWrite(_rst, HIGH);
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hal->delay(5);
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hal->digitalWrite(_rst, LOW);
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hal->delay(10);
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hal->digitalWrite(_rst, HIGH);
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hal->delay(5);
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}
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}
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void sleep()
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{
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setMode(POWERMODE_SLEEP);
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}
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bool setMode(PowerMode mode)
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{
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settings.pwr_mode = mode;
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return bmm150_set_op_mode(&settings, dev.get()) == BMM150_OK;
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}
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bool setThreshold(uint8_t high_th, uint8_t low_th)
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{
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settings.int_settings.high_threshold = high_th;
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settings.int_settings.low_threshold = low_th;
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return bmm150_set_sensor_settings(BMM150_SEL_HIGH_THRESHOLD_SETTING, &settings, dev.get()) == BMM150_OK;
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}
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bool setInterruptLevel(InterruptLevel level)
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{
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settings.int_settings.high_int_en = level;
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return bmm150_set_sensor_settings(BMM150_SEL_HIGH_THRESHOLD_INT, &settings, dev.get()) == BMM150_OK;
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}
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bool enableINT()
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{
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settings.int_settings.int_pin_en = BMM150_INT_ENABLE;
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return bmm150_set_sensor_settings(BMM150_SEL_INT_PIN_EN, &settings, dev.get()) == BMM150_OK;
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}
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bool disableINT()
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{
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settings.int_settings.int_pin_en = BMM150_INT_DISABLE;
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return bmm150_set_sensor_settings(BMM150_SEL_INT_PIN_EN, &settings, dev.get()) == BMM150_OK;
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}
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bool enabledDataReady()
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{
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settings.int_settings.drdy_pin_en = BMM150_INT_ENABLE;
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return bmm150_set_sensor_settings(BMM150_SEL_DRDY_PIN_EN, &settings, dev.get()) == BMM150_OK;
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}
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bool disabledDataReady()
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{
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settings.int_settings.drdy_pin_en = BMM150_INT_DISABLE;
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return bmm150_set_sensor_settings(BMM150_SEL_DRDY_PIN_EN, &settings, dev.get()) == BMM150_OK;
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}
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uint8_t getChipID()
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{
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return dev->chip_id;
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}
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uint8_t getIrqStatus()
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{
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bmm150_get_interrupt_status(dev.get());
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return dev->int_status;
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}
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bool isDataReady()
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{
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return dev->int_status & BMM150_INT_ASSERTED_DRDY;
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}
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bool isLowThreshold()
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{
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return dev->int_status & BMM150_INT_ASSERTED_LOW_THRES;
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}
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bool isHighThreshold()
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{
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return dev->int_status & BMM150_INT_ASSERTED_HIGH_THRES;
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}
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struct bmm150_mag_data getMag()
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{
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struct bmm150_mag_data data = {0, 0, 0};
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bmm150_read_mag_data(&data, dev.get());
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return data;
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}
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bool getMag(int16_t &x, int16_t &y, int16_t &z)
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{
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struct bmm150_mag_data data;
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if (bmm150_read_mag_data(&data, dev.get()) != BMM150_OK) {
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return false;
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}
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x = data.x;
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y = data.y;
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z = data.z;
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return true;
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}
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private:
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bool initImpl(bmm150_intf interface)
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{
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memset(&settings, 0, sizeof(settings));
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if (_rst != -1) {
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hal->pinMode(_rst, OUTPUT);
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}
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reset();
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dev = std::make_unique<struct bmm150_dev>();
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if (!dev) {
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log_e(" Device handler malloc failed!");
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return false;
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}
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dev->intf = interface;
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dev->read = SensorCommStatic::sensor_static_read_data;
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dev->write = SensorCommStatic::sensor_static_write_data;
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dev->intf_ptr = staticComm.get();
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dev->delay_us = SensorCommStatic::sensor_static_delay_us;
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_error_code = bmm150_init(dev.get());
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if (_error_code != BMM150_OK) {
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return false;
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}
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_error_code = bmm150_soft_reset(dev.get());
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if (_error_code != BMM150_OK) {
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return false;
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}
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bmm150_get_sensor_settings(&settings, dev.get());
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return _error_code == BMM150_OK;
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}
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std::unique_ptr<SensorCommBase> comm;
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std::unique_ptr<SensorHal> hal;
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std::unique_ptr<SensorCommStatic> staticComm;
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std::unique_ptr<struct bmm150_dev> dev;
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int _rst;
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int8_t _error_code;
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struct bmm150_settings settings;
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};
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#endif /*defined(ARDUINO)*/
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