Diff: BMC050.cpp

Revision:

3:24aa4d5fa7de

Parent:

2:93141eb80862

diff -r 93141eb80862 -r 24aa4d5fa7de BMC050.cpp
--- a/BMC050.cpp	Wed Jun 01 12:30:38 2016 +0000
+++ b/BMC050.cpp	Wed Aug 23 09:22:29 2017 +0000
@@ -3,17 +3,11 @@
  *  BMC050 COMPASS 6 AXIS, made by Bosch Sensortec
  *      http://jp.bosch-sensortec.com/content/language1/html/5033.htm
  *
- * Copyright (c) 2014, 2016 Kenji Arai / JH1PJL
+ * Copyright (c) 2014,'16,'17 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
- *      Created: July      19th, 2014 
- *      Revised: June       1st, 2016
- *
- * 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.
+ *      Created: July       19th, 2014 
+ *      Revised: August     23rd, 2017
  */
 
 #include "BMC050.h"
@@ -21,8 +15,8 @@
 BMC050::BMC050 (
     PinName p_sda, PinName p_scl,
     const BMC050ACC_TypeDef *acc_parameter,
-    const BMC050MAG_TypeDef *mag_parameter) :
-    i2c(p_sda, p_scl)
+    const BMC050MAG_TypeDef *mag_parameter)
+ : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
 {
     initialize (acc_parameter, mag_parameter);
 }
@@ -30,8 +24,8 @@
 BMC050::BMC050 (
     I2C& p_i2c,
     const BMC050ACC_TypeDef *acc_parameter,
-    const BMC050MAG_TypeDef *mag_parameter) :
-    i2c(p_i2c)
+    const BMC050MAG_TypeDef *mag_parameter)
+ :  _i2c(p_i2c)
 {
     initialize (acc_parameter, mag_parameter);
 }
@@ -48,18 +42,18 @@
     if (mag_addr != BMC050_MAG_NOT_USED_ADDR) {
         dbf[0] = BMC050_M_POWER_MODE;
         dbf[1] = 0x01;  // Power control bit on
-        i2c.write(mag_addr, dbf, 2);
+        _i2c.write(mag_addr, dbf, 2);
         dbf[0] = BMC050_M_OPERATION;
         dbf[1] = 0;
-        i2c.write(mag_addr, dbf, 2);
+        _i2c.write(mag_addr, dbf, 2);
     }
     /////////////// Accelerometer configuration ////////////////
     // Check acc chip is available of not
     // step 1/start
     acc_addr = acc_parameter->addr;
     dbf[0] = BMC050_A_WHO_AM_I; 
-    i2c.write(acc_addr, dbf, 1); 
-    i2c.read(acc_addr, dbf, 1);
+    _i2c.write(acc_addr, dbf, 1); 
+    _i2c.read(acc_addr, dbf, 1);
     if (dbf[0] == I_AM_BMC050_ACC){ acc_ready = 1;
     } else {                        acc_ready = 0; }
     /////////////// Magnetometer Configuration /////////////////
@@ -67,10 +61,10 @@
     //      -> Need to go "Normal mode" via "Sleep mode"
     // step 2 
     if (mag_addr != BMC050_MAG_NOT_USED_ADDR) {
-        i2c.write(mag_addr, dbf, 2);
+        _i2c.write(mag_addr, dbf, 2);
         dbf[0] = BMC050_M_OPERATION;
         dbf[1] = 0;
-        i2c.write(mag_addr, dbf, 2);
+        _i2c.write(mag_addr, dbf, 2);
     }
     /////////////// Accelerometer configuration ////////////////
     // step 2/last
@@ -95,7 +89,7 @@
             fs_factor_acc = 256;
             dbf[1] = BMC050_FS_2G;
         }          
-        i2c.write(acc_addr, dbf, 2);
+        _i2c.write(acc_addr, dbf, 2);
         // set bandwidth
         dbf[1] = acc_parameter->bandwith;
         if (dbf[1] == BMC050_NOT_FILTERED){
@@ -104,22 +98,22 @@
         } else {
             dbf[0] = BMC050_A_BANDWIDTH;
         }
-        i2c.write(acc_addr, dbf, 2);
+        _i2c.write(acc_addr, dbf, 2);
     }
     /////////////// Magnetometer Configuration /////////////////
     // Check mag chip is available of not
     // step 3/last
     if (mag_addr != BMC050_MAG_NOT_USED_ADDR) {
         dbf[0] = BMC050_M_WHO_AM_I; 
-        i2c.write(mag_addr, dbf, 1); 
-        i2c.read(mag_addr, dbf, 1);
+        _i2c.write(mag_addr, dbf, 1); 
+        _i2c.read(mag_addr, dbf, 1);
         if (dbf[0] == I_AM_BMC050_MAG){ mag_ready = 1;
         } else {                        mag_ready = 0; }
         if ( mag_ready == 1){
             // set output data rate
             dbf[0] = BMC050_M_OPERATION;
             dbf[1] = mag_parameter->data_rate;
-            i2c.write(mag_addr, dbf, 2);
+            _i2c.write(mag_addr, dbf, 2);
         }
     }      
 }
@@ -134,8 +128,8 @@
     }
     // X,Y &Z
     dbf[0] = BMC050_A_OUT_X_L; 
-    i2c.write(acc_addr, dbf, 1, true); 
-    i2c.read(acc_addr, data, 6, false);
+    _i2c.write(acc_addr, dbf, 1, true); 
+    _i2c.read(acc_addr, data, 6, false);
     // change data type
     dt[0] = float((short(data[1] << 8 | data[0] & 0xc0))>> 6) * GRAVITY / fs_factor_acc;
     dt[1] = float((short(data[3] << 8 | data[2] & 0xc0))>> 6) * GRAVITY / fs_factor_acc;
@@ -154,8 +148,8 @@
     }
     // X,Y &Z
     dbf[0] = BMC050_A_OUT_X_L; 
-    i2c.write(acc_addr, dbf, 1, true); 
-    i2c.read(acc_addr, data, 6, false);
+    _i2c.write(acc_addr, dbf, 1, true); 
+    _i2c.read(acc_addr, data, 6, false);
     // change data type
     dt[0] = float((short(data[1] << 8 | data[0] & 0xc0))>> 6) / fs_factor_acc;
     dt[1] = float((short(data[3] << 8 | data[2] & 0xc0))>> 6) / fs_factor_acc;
@@ -172,8 +166,8 @@
     }
     // X,Y &Z
     dbf[0] = BMC050_M_OUT_X_L; 
-    i2c.write(mag_addr, dbf, 1, true); 
-    i2c.read(mag_addr, data, 6, false);
+    _i2c.write(mag_addr, dbf, 1, true); 
+    _i2c.read(mag_addr, data, 6, false);
     // change data type
     dt[0] = float((short(data[1] << 8 | data[0] & 0xf8))>> 3);
     dt[1] = float((short(data[3] << 8 | data[2] & 0xf8))>> 3);
@@ -183,24 +177,24 @@
 /////////////// Accelerometer ///////////////////
 float BMC050::read_temp() {
     dbf[0] = BMC050_A_OUT_TEMP; 
-    i2c.write(acc_addr, dbf, 1); 
-    i2c.read(acc_addr, dbf, 1);
-    return ((float)dbf[0] * 0.5 + 24.0);
+    _i2c.write(acc_addr, dbf, 1); 
+    _i2c.read(acc_addr, dbf, 1);
+    return ((float)dbf[0] * 0.5f + 24.0f);
 }
 
 /////////////// Accelerometer ///////////////////
 uint8_t BMC050::read_id_acc() {
     dbf[0] = BMC050_A_WHO_AM_I; 
-    i2c.write(acc_addr, dbf, 1); 
-    i2c.read(acc_addr, dbf, 1);
+    _i2c.write(acc_addr, dbf, 1); 
+    _i2c.read(acc_addr, dbf, 1);
     return (uint8_t)dbf[0];
 }
 
 /////////////// Magnetometer ////////////////////
 uint8_t BMC050::read_id_mag() {
     dbf[0] = BMC050_M_WHO_AM_I; 
-    i2c.write(mag_addr, dbf, 1); 
-    i2c.read(mag_addr, dbf, 1);
+    _i2c.write(mag_addr, dbf, 1); 
+    _i2c.read(mag_addr, dbf, 1);
     return (uint8_t)dbf[0];
 }
 
@@ -208,8 +202,8 @@
 uint8_t BMC050::data_ready_acc() {
     if (acc_ready == 1){
         dbf[0] = BMC050_A_OUT_X_L; 
-        i2c.write(acc_addr, dbf, 1); 
-        i2c.read(acc_addr, dbf, 1);
+        _i2c.write(acc_addr, dbf, 1); 
+        _i2c.read(acc_addr, dbf, 1);
         if (!(dbf[0] & 0x01)){
             return 0;
         }
@@ -221,8 +215,8 @@
 uint8_t BMC050::data_ready_mag() {
     if (mag_ready == 1){
         dbf[0] = BMC050_M_HALL_L; 
-        i2c.write(mag_addr, dbf, 1); 
-        i2c.read(mag_addr, dbf, 1);
+        _i2c.write(mag_addr, dbf, 1); 
+        _i2c.read(mag_addr, dbf, 1);
         if (!(dbf[0] & 0x01)){
             return 0;
         }
@@ -234,8 +228,8 @@
 uint8_t BMC050::read_reg_acc(uint8_t addr) {
     if (acc_ready == 1){
         dbf[0] = addr; 
-        i2c.write(acc_addr, dbf, 1); 
-        i2c.read(acc_addr, dbf, 1);
+        _i2c.write(acc_addr, dbf, 1); 
+        _i2c.read(acc_addr, dbf, 1);
     } else {
         dbf[0] = 0xff;
     }
@@ -246,8 +240,8 @@
 uint8_t BMC050::read_reg_mag(uint8_t addr) {
     if (mag_ready == 1){
         dbf[0] = addr; 
-        i2c.write(mag_addr, dbf, 1); 
-        i2c.read(mag_addr, dbf, 1);
+        _i2c.write(mag_addr, dbf, 1); 
+        _i2c.read(mag_addr, dbf, 1);
     } else {
         dbf[0] = 0xff;
     }
@@ -259,7 +253,7 @@
     if (acc_ready == 1){
         dbf[0] = addr;
         dbf[1] = data; 
-        i2c.write(acc_addr, dbf, 2); 
+        _i2c.write(acc_addr, dbf, 2); 
     }
 }
 
@@ -268,11 +262,12 @@
     if (mag_ready == 1){
         dbf[0] = addr;
         dbf[1] = data; 
-        i2c.write(mag_addr, dbf, 2); 
+        _i2c.write(mag_addr, dbf, 2); 
     }
 }
 
 /////////////// Common //////////////////////////
 void BMC050::frequency(int hz) {
-    i2c.frequency(hz);
+    _i2c.frequency(hz);
 }
+