bmc050.hpp

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/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
 * If you would like the official Bosch Sensortec drivers, please contact:
 * contact@bosch-sensortec.com
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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

#ifndef BMC050_H_
#define BMC050_H_

#include <cmath>
#include <unistd.h> // for the sleep function
#include <iostream> // for the calibration routine

// ROS debugging output
#include <ros/console.h>

#include <bosch_drivers_sensor_driver.hpp>
#include <bosch_drivers_hardware_interface.hpp>

#include "bmc050_parameters.hpp"

using namespace bosch_drivers_common;

class BMC050: public sensor_driver, public BMC050Parameters
{

public:
 
 /*----- Bit Flags --------------------------------------------------- */
 // class copies of the sensor registers, so not to overwrite data 
  uint8_t modechange_accel_;         
  uint8_t softreset_;            
  uint8_t rate_compass_;       
  uint8_t set_filter_;    
 
  // POWERFLAGS
  static const uint8_t SUSPEND     = 0x07; // b7  
  static const uint8_t LOWPOWER_EN = 0x06; // b6
  static const uint8_t SLEEP_DUR   = 0x01; // b1 is the lsb
 
  // changing modes
  static const uint8_t SET_OPMODE_SLEEP  = 0x03;
  static const uint8_t SET_OPMODE_FORCED = 0x01;
  static const uint8_t OPMODE            = 0x01; // (b1 is the lsb)  
  static const uint8_t POWER_CONTROL_BIT = 0x00;

  // Specific commands
  static const uint8_t SOFTRESET_COMPASS_CMD = 0x82;
  static const uint8_t SOFTRESET_ACCEL_CMD   = 0xB6;
  static const uint8_t FLAG_R                = 0x80; // for SPI reads

  // BitFlags: BANDWIDTH REG
  static const uint8_t DATA_HIGH_BW = 7; // <7>
  // BitFlags: RATE_COMPASS
  static const uint8_t Data_Rate    = 3; // <5:3> in 0x4C
 
  // BitFlags: ADDRESS_ENABLE_CALIBRATION
  static const uint8_t hp_z_en = 2;
  static const uint8_t hp_y_en = 1;
  static const uint8_t hp_x_en = 0;

  // BitFlags: ADDRESS_OFFSET_TARGET register:
  static const uint8_t offset_target_x = 1; // <2:1>
  static const uint8_t offset_target_y = 3; // <4:3>
  static const uint8_t offset_target_z = 5; // <6:5>

  enum compass_mode
  {
    compass_suspend_,
    compass_sleep_,
    compass_normal_,
    compass_forced_
  };

  enum accel_mode
  {
    accel_suspend_,
    accel_normal_,
    accel_low_power_
  };

  // Constructor
  BMC050( bosch_hardware_interface* hw );

  // Destructor
  ~BMC050();
  uint8_t getDeviceAddress(); 

  bool initialize();

  bool readRegistersAccel();

  bool readRegistersCompass();

  bool takeMeasurement();

  bool softResetAccel();

  bool changeAccelRange();         
 
  bool filterData( bool request );    

  bool changeAccelBandwidth();       

  bool getAccelData();
  
  double getAccelX();

  double getAccelY();

  double getAccelZ();

  double getTemperature();

  void simpleCalibrationAccel();

  // Compass: settings
  bool softResetCompass();

  bool changeCompassRate(); 

  bool changeNumRepetitionsXY();

  bool   changeNumRepetitionsZ();
 
  // Compass: data
  bool    getCompassData();

  double   getCompassX();
  double   getCompassY();
  double   getCompassZ();
  uint16_t  getRHall();
 
  double getUncompensatedYaw();
 
  // Modes and Settings (Power Management, Overall Behavior)
  bool enterLowPowerModeAccel();      //|
  bool enterSuspendModeAccel();       //|--> not yet implemented.
  bool enterNormalModeAccel();       //|
  //bool setBandwidth(accel_bandwidth bw); //|

  bool enterSuspendModeCompass(); 
  bool enterSleepModeCompass(); 
  bool enterNormalModeCompass();  
  bool enterForcedModeCompass();

  bool readRegAccel( uint8_t reg, uint8_t* value );                
  bool readRegCompass( uint8_t reg, uint8_t* value );                 
  bool writeToAccelReg( uint8_t reg, uint8_t value );
  bool writeToCompassReg( uint8_t reg, uint8_t value );
  bool writeToCompassRegAndVerify( uint8_t reg, uint8_t value, uint8_t expected );
  bool writeToAccelRegAndVerify( uint8_t reg, uint8_t value, uint8_t expected );
  bool printOffsets();

//private:
  // Data Registers
  static const uint8_t ADDRESS_ACCLXYZ   = 0x02;
  static const uint8_t ADDRESS_ACC_X_LSB = 0x02;
  static const uint8_t ADDRESS_ACC_X_MSB = 0x03;
  static const uint8_t ADDRESS_ACC_Y_LSB = 0x04;
  static const uint8_t ADDRESS_ACC_Y_MSB = 0x05;
  static const uint8_t ADDRESS_ACC_Z_LSB = 0x06;
  static const uint8_t ADDRESS_ACC_Z_MSB = 0x07;
 
  static const uint8_t ADDRESS_TEMPERATURE = 0x08;
 
  static const uint8_t ADDRESS_ENABLE_CALIBRATION = 0x36;
  static const uint8_t ADDRESS_OFFSET_TARGET      = 0x37;
  static const uint8_t OFFSET_FILT_X              = 0x38;
  static const uint8_t OFFSET_UNFILT_Z            = 0x3D;
 
  static const uint8_t ADDRESS_COMPASS_XYZ   = 0x42;
  static const uint8_t ADDRESS_COMPASS_X_LSB = 0x42;
  static const uint8_t ADDRESS_COMPASS_X_MSB = 0x43;
  static const uint8_t ADDRESS_COMPASS_Y_LSB = 0x44;
  static const uint8_t ADDRESS_COMPASS_Y_MSB = 0x45;
  static const uint8_t ADDRESS_COMPASS_Z_LSB = 0x46;
  static const uint8_t ADDRESS_COMPASS_Z_MSB = 0x47;
 
  static const uint8_t ADDRESS_RHALL     = 0x48;
  static const uint8_t ADDRESS_RHALL_LSB = 0x48;
  static const uint8_t ADDRESS_RHALL_MSB = 0x49;
 
  static const uint8_t ADDRESS_COMPASS_REPZ  = 0x51;
  static const uint8_t ADDRESS_COMPASS_REPXY = 0x52;
 
  static const uint8_t ADDRESS_ACCEL_RANGE   = 0x0F;

  // Settings Registers
  // Accel
  static const uint8_t MODECHANGE_ACCEL = 0x11;
  static const uint8_t SOFTRESET_ACCEL  = 0x14;
  static const uint8_t BANDWIDTH_REG    = 0x10;
  static const uint8_t SET_FILTER       = 0x13;
  // Compass
  static const uint8_t RATE_COMPASS     = 0x4C;
  static const uint8_t SOFTRESET_COMPASS_REG = 0x4B;


  uint8_t RawData[13]; 

  double  AccelX_;
  double  AccelY_;
  double  AccelZ_;
  double  Temperature_;
  double  StaticPitch_;
  double  StaticRoll_;  
  
  double CompassX_;
  double CompassY_;
  double CompassZ_;
  uint16_t RHall_;
  
  double SensitivityXY_;
  double SensitivityZ_;
  double TempSlope_;
  
  compass_mode compass_mode_;
  accel_mode accel_mode_;
  bandwidth prev_bw_reg_;   // most recently written bandwidth
};

#endif // BMC050_H_