datasheet complete

Bno055Interface.cpp

@@ -1,9 +1,46 @@
 //
-// Created by volundr on 7/6/16.
+// Created by volundr on 7/19/16.
 //
 
+#include <vector>
 #include "Bno055Interface.h"
 
 namespace bno055 {
 
-}
+    bool Bno055Interface::init(const char* bno055File) {
+        bool wasSuccess = true;
+        printf("foo0\n");
+        wasSuccess &= uart.openPort(bno055File, BNO055_BAUD_RATE);
+        printf("foo1\n");
+        wasSuccess &= writeByte(OPR_MODE, CONFIG);
+        wasSuccess &= writeByte(PWR_MODE, NORMAL);
+        wasSuccess &= writeByte(Page_ID, 0);
+        wasSuccess &= writeByte(SYS_TRIGGER, 0);
+        wasSuccess &= writeByte(UNIT_SEL, 0x83);
+        wasSuccess &= writeByte(AXIS_MAP_CONFIG, 0x24);
+        wasSuccess &= writeByte(AXIS_MAP_SIGN, 0x06);
+        wasSuccess &= writeByte(OPR_MODE, NDOF);
+
+        hasInit = wasSuccess;
+        return wasSuccess;
+    }
+
+    bool Bno055Interface::write(uint8_t regAddr, uint8_t length, uint8_t* data) {
+        RegisterWritePacket packetToSend(regAddr, length, data);
+        uart.sendData(packetToSend.bytes(), packetToSend.length);
+        ReceivedAck ack;
+        ack.readFrom(uart);
+        return (ack.isValidAck() && !ack.isErrorStatus());
+    }
+
+    bool Bno055Interface::writeByte(uint8_t regAddr, uint8_t data) {
+        return write(regAddr, 1, &data);
+    }
+
+    bool Bno055Interface::isLive() {
+        return hasInit;
+    }
+
+
+}
+

Bno055Interface.h

@@ -1,18 +1,24 @@
 //
-// Created by volundr on 7/6/16.
+// Created by volundr on 7/19/16.
 //
 
 #ifndef BNO055_BNO055INTERFACE_H
 #define BNO055_BNO055INTERFACE_H
 
-#include "bno055Enum.h"
+#include "UartInterface.h"
+#include "bno055DataSheet.h"
 
 namespace bno055 {
-
     class Bno055Interface {
+        UartInterface uart;
+        bool hasInit = false;
 
+        bool write(uint8_t regAddr, uint8_t length, uint8_t* data);
+        bool writeByte(uint8_t regAddr, uint8_t data);
+    public:
+        bool init(const char* bno055File);
+        bool isLive();
     };
-
 }
 
 #endif //BNO055_BNO055INTERFACE_H

CMakeLists.txt

@@ -19,9 +19,13 @@ endif()
 set( LIBS         ${LIBS}         )
 set( INCLUDE_DIRS ${INCLUDE_DIRS} )
 set( SOURCE_FILES ${SOURCE_FILES}
+        bno055DataSheet.h
         Bno055Interface.cpp
         Bno055Interface.h
-        bno055Enum.h)
+        main.cpp
+        UartInterface.cpp
+        UartInterface.h
+        )
 
 # Build
 include_directories( ${INCLUDE_DIRS} )

UartInterface.cpp

@@ -0,0 +1,100 @@
+//
+// Created by volundr on 7/6/16.
+//
+
+#include "UartInterface.h"
+
+namespace bno055 {
+
+    /**
+     * Opens communications with the UART device found at location 'deviceFile'
+     * This code was taken from the 'Using the UART' tutorial page found at
+     * http://www.raspberry-projects.com/pi/programming-in-c/uart-serial-port/using-the-uart
+     */
+    bool UartInterface::openPort(const char* deviceFile, tcflag_t baudRate) {
+        /*
+         * Close any existing serial communications
+         */
+        closePort();
+        /*
+         * OPEN THE UART
+         * The flags (defined in fcntl.h):
+         * 	Access modes (use 1 of these):
+         * 		O_RDONLY - Open for reading only.
+         * 		O_RDWR - Open for reading and writing.
+         * 		O_WRONLY - Open for writing only.
+         *
+         * 	O_NDELAY / O_NONBLOCK (same function) -
+         * 	Enables nonblocking mode. When set read requests on the file can return immediately with a failure status
+         * 	if there is no input immediately available (instead of blocking). Likewise, sendData requests can also return
+         * 	immediately with a failure status if the output can't be written immediately.
+         *
+         * 	O_NOCTTY -
+         * 	When set and path identifies a terminal device, open() shall not cause the terminal device to become the
+         * 	controlling terminal for the process.
+         */
+        uartFile = open(deviceFile, O_RDWR | O_NOCTTY | O_NDELAY);		//Open in non blocking read/sendData mode
+        if (uartFile == -1) {
+            return false;
+        }
+
+        /*
+         * CONFIGURE THE UART
+         * The flags (defined in /usr/include/termios.h -
+         * see http://pubs.opengroup.org/onlinepubs/007908799/xsh/termios.h.html):
+         *
+         * 	Baud rate:  B1200, B2400, B4800, B9600, B19200, B38400, B57600, B115200, B230400, B460800, B500000, B576000,
+         * 	                B921600, B1000000, B1152000, B1500000, B2000000, B2500000, B3000000, B3500000, B4000000
+         * 	CSIZE   :   CS5, CS6, CS7, CS8
+         * 	CLOCAL  :   Ignore modem status lines
+         * 	CREAD   :   Enable receiver
+         * 	IGNPAR  :   Ignore characters with parity errors
+         * 	ICRNL   :   Map CR to NL on input (Use for ASCII comms where you want to auto correct end of line characters
+         * 	                - don't use for bianry comms!)
+         * 	PARENB  :   Parity enable
+         * 	PARODD  :   Odd parity (else even)
+         */
+        struct termios options;
+        tcgetattr(uartFile, &options);
+        options.c_cflag = baudRate | CS8 | CLOCAL | CREAD;		//<Set baud rate
+        options.c_iflag = IGNPAR;
+        options.c_oflag = 0;
+        options.c_lflag = 0;
+        tcflush(uartFile, TCIFLUSH);
+        tcsetattr(uartFile, TCSANOW, &options);
+
+        return true;
+    }
+
+    bool UartInterface::closePort() {
+        if (uartFile != -1) {
+            close(uartFile);
+            uartFile = -1;
+            return true;
+        }
+        return false;
+    }
+
+    UartInterface::~UartInterface() {
+        if (uartFile != -1) {
+            close(uartFile);
+        }
+    }
+
+    int64_t UartInterface::sendData(uint8_t* data, uint32_t length) {
+        if (uartFile == -1) {
+            return -1;
+        } else {
+            return (int64_t)write(uartFile, data, length);
+        }
+    }
+
+    int64_t UartInterface::recvData(uint8_t* empty, uint32_t maxLength) {
+        if (uartFile == -1) {
+            return -1;
+        } else {
+            return (int64_t)read(uartFile, (void*)empty, maxLength);
+        }
+    }
+
+}

UartInterface.h

@@ -0,0 +1,28 @@
+//
+// Created by volundr on 7/6/16.
+//
+
+#ifndef BNO055_UARTINTERFACE_H
+#define BNO055_UARTINTERFACE_H
+
+#include <stdio.h>
+#include <unistd.h>			//Used for UART
+#include <fcntl.h>			//Used for UART
+#include <termios.h>		//Used for UART
+#include <stdint.h>
+
+namespace bno055 {
+
+    class UartInterface {
+        int uartFile = -1;
+    public:
+        ~UartInterface();
+        bool    openPort(const char* deviceFile, tcflag_t baudRate);
+        bool    closePort();
+        int64_t sendData(uint8_t* data, uint32_t length);
+        int64_t recvData(uint8_t* empty, uint32_t maxLength);
+    };
+
+}
+
+#endif //BNO055_UARTINTERFACE_H