bmg160_parameters.cpp

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 *
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 *
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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
 *
 *********************************************************************/

//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

#include "bmg160_driver/bmg160_parameters.hpp"


/**********************************************************************/
/**********************************************************************/
BMG160Parameters::BMG160Parameters()
{
  this->setFrequency( 400000 );
  this->setProtocol( I2C );
  this->setSlaveAddressBit( 0 );
 
  flags_ = 0;
  this->setSpiMode( SPI_MODE_0 );
  this->setByteOrder( MSB_FIRST ); 
  this->setPin( 10 );

  this->setRange( RANGE_2000 );
  this->setBandwidth( BW_47HZ );
  this->setFilter( true ); 
  this->setRange( RANGE_2000 );
  this->setBandwidth( BW_UNFILTERED );
}


/**********************************************************************/
BMG160Parameters::~BMG160Parameters() 
{
}


/**********************************************************************/
double BMG160Parameters::getSensitivity()
{
  return sensitivity_;
}



/**********************************************************************/
bool BMG160Parameters::setProtocol( interface_protocol protocol )
{
  switch( protocol )
  {
  case I2C:
    protocol_ = protocol;
    break;
  case SPI:
    protocol_ = protocol;
    break;
  default:
    ROS_ERROR("BMG160Parameters:Unsupported protocol.");
    return false;
  }
  return true;
}


/**********************************************************************/
bool BMG160Parameters::setFrequency( int frequency )
{
  frequency_ = frequency;
  return true;
}



/**********************************************************************/
interface_protocol BMG160Parameters::getProtocol()
{
  return protocol_;
}


/**********************************************************************/
int BMG160Parameters::getFrequency()
{
  return frequency_;
}


/**********************************************************************/
bool BMG160Parameters::setPin( uint8_t pin )
{
  // adjust pin to desired value:
  pin_ = pin;
  // adjust the current flags to include the pin value:
  flags_ = ((0x0F)&flags_) | (pin_ << 4); 

  return true;
}


/**********************************************************************/
void BMG160Parameters::setSlaveAddressBit( bool high_or_low )
{
  slave_address_bit_ = high_or_low;
}


/**********************************************************************/
int BMG160Parameters::getPin()  
{
  return pin_;
}


/**********************************************************************/
bool BMG160Parameters::getSlaveAddressBit()
{
  return slave_address_bit_;
}



/**********************************************************************/
int* BMG160Parameters::getFlags()
{
  return &flags_;
}


/**********************************************************************/
bool BMG160Parameters::setSpiMode( uint8_t mode )
{
  switch( mode )
  {
  case SPI_MODE_3:
    break;
  case SPI_MODE_0:
    break;
  case SPI_MODE_1: {}
  case SPI_MODE_2: {}
  default:
    ROS_ERROR("BMG160Parameters: SPI_MODE can only be one of four choices");
    return false;
  }

  // adjust the flags
  flags_ = ((0xFC & flags_) | (mode) );
  return true;
}


/**********************************************************************/
bool BMG160Parameters::setByteOrder( uint8_t value )
{
  if( value > 1 )
  {
    ROS_ERROR("BMG160Parameters: Byte order must be either LSBFIRST or MSBFIRST");
    return false;
  }
  // adjust the flags
  flags_ = ((0xFB & flags_) | (value << 2));
  return true;
}


/**********************************************************************/
void BMG160Parameters::setRange( range new_range )
{
  // adjust the sensitivity accordingly:
  switch( new_range )
  {
  case RANGE_2000:
    sensitivity_ = 0.06097561; // approx: (1/16.4)  [(°/s) / LSB ]
    break;
  case RANGE_1000:
    sensitivity_ = 0.030487805; // approx: (1/32.8)  [(°/s) / LSB ]
    break;
  case RANGE_500:
    sensitivity_ = 0.015243902; // approx: (1/65.6)  [(°/s) / LSB ]
    break;
  case RANGE_250:
    sensitivity_ = 0.007621951; // approx: (1/131.2)  [(°/s) / LSB ]
    break;
  case RANGE_125:
    sensitivity_ = 0.003810976; // approx: (1/262.4)  [(°/s) / LSB ]
    break;
  default: // shouldn't happen because input argument is only an accel_range data type.
    ROS_ERROR("BMG160Parameters: invalid range setting.");
    return;
  }
  // reassign the class's new range:
  range_ = new_range;

}


/**********************************************************************/
void BMG160Parameters::setFilter( bool request )
{
  gyro_is_filtered_ = request;
}


/**********************************************************************/
void BMG160Parameters::setBandwidth( bandwidth bw )
{ 
  bw_reg_ = bw;
}