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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1993 | - | 1 | |
| 2 | #include <avr/pgmspace.h> |
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| 3 | #include <wiring.h> |
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| 4 | |||
| 5 | #include "bma180.h" |
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| 6 | |||
| 7 | BMA180::BMA180() |
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| 8 | { |
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| 9 | gSense=G2; |
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| 10 | } |
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| 11 | |||
| 12 | void BMA180::setAddress(int adr) |
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| 13 | { |
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| 14 | address=(unsigned char) adr; |
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| 15 | } |
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| 16 | |||
| 17 | int temp; |
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| 18 | |||
| 19 | void BMA180::readAccel(int * x, int * y, int * z) |
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| 20 | { |
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| 21 | unsigned int result; |
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| 22 | |||
| 23 | Wire.beginTransmission(address); |
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| 24 | Wire.send(0x02); |
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| 25 | Wire.endTransmission(); |
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| 26 | Wire.requestFrom((int)address, 7); |
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| 27 | if(Wire.available()==7) |
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| 28 | { |
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| 29 | int lsb = Wire.receive()>>2; |
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| 30 | int msb = Wire.receive(); |
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| 31 | *x=(msb<<6)+lsb; |
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| 32 | if ((*x)&0x2000) (*x)|=0xc000; // set full 2 complement for neg values |
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| 33 | lsb = Wire.receive()>>2; |
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| 34 | msb = Wire.receive(); |
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| 35 | *y=(msb<<6)+lsb; |
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| 36 | if ((*y)&0x2000) (*y)|=0xc000; |
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| 37 | lsb = Wire.receive()>>2; |
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| 38 | msb = Wire.receive(); |
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| 39 | *z=(msb<<6)+lsb; |
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| 40 | if ((*z)&0x2000) (*z)|=0xc000; |
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| 41 | temp = Wire.receive(); |
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| 42 | if (temp&0x80) temp|=0xff00; |
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| 43 | } |
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| 44 | result = Wire.endTransmission(); |
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| 45 | } |
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| 46 | |||
| 47 | float BMA180::getGSense() |
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| 48 | { |
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| 49 | switch(gSense) |
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| 50 | { |
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| 51 | case G1: return 1.0; |
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| 52 | case G15: return 1.5; |
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| 53 | case G2: return 2.0; |
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| 54 | case G3: return 3.0; |
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| 55 | case G4: return 4.0; |
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| 56 | case G8: return 8.0; |
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| 57 | case G16: return 16.0; |
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| 58 | } |
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| 59 | } |
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| 60 | |||
| 61 | float BMA180::getXValFloat() |
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| 62 | { |
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| 63 | // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
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| 64 | return (float)x/8191.0*getGSense(); |
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| 65 | } |
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| 66 | float BMA180::getYValFloat() |
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| 67 | { |
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| 68 | // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
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| 69 | return (float)y/8191.0*getGSense(); |
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| 70 | } |
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| 71 | float BMA180::getZValFloat() |
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| 72 | { |
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| 73 | // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
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| 74 | return (float)z/8191.0*getGSense(); |
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| 75 | } |
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| 76 | |||
| 77 | int BMA180::getRegValue(int adr) |
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| 78 | { |
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| 79 | int val; |
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| 80 | Wire.beginTransmission(address); |
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| 81 | Wire.send(adr); |
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| 82 | Wire.endTransmission(); |
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| 83 | Wire.requestFrom((int)address, 1); |
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| 84 | if (Wire.available()==1) |
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| 85 | { |
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| 86 | val = Wire.receive(); |
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| 87 | } |
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| 88 | else val=-1; |
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| 89 | int result = Wire.endTransmission(); |
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| 90 | checkResult(result); |
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| 91 | return val; |
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| 92 | } |
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| 93 | |||
| 94 | void BMA180::setRegValue(int regAdr, int val, int maskPreserve) |
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| 95 | { |
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| 96 | int preserve=getRegValue(regAdr); |
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| 97 | int orgval=preserve & maskPreserve; |
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| 98 | Wire.beginTransmission(address); |
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| 99 | Wire.send(regAdr); |
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| 100 | Wire.send(orgval|val); |
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| 101 | int result = Wire.endTransmission(); |
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| 102 | checkResult(result); |
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| 103 | |||
| 104 | } |
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| 105 | |||
| 106 | void BMA180::setGSensitivty(GSENSITIVITY maxg) //1, 1.5 2 3 4 8 16 |
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| 107 | { |
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| 108 | setRegValue(0x35,maxg<<1,0xF1); |
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| 109 | } |
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| 110 | |||
| 111 | void BMA180::SetFilter(FILTER f) // 10,20,40,75,150,300,600,1200, HP 1HZ,BP 0.2-300, higher values not authorized |
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| 112 | { |
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| 113 | setRegValue(0x20,f<<4,0x0F); |
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| 114 | } |
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| 115 | |||
| 116 | void BMA180::SetISRMode() // you must provide a ISR function on the pin selected (pin 2 or 3,. so INT0 or INT1) |
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| 117 | { |
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| 118 | setRegValue(0x21,2,0xFD); |
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| 119 | } |
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| 120 | |||
| 121 | void BMA180::SoftReset() // all values will be default |
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| 122 | { |
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| 123 | setRegValue(0x10,0xB6,0); |
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| 124 | delay(100); |
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| 125 | } |
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| 126 | |||
| 127 | void BMA180::SetSMPSkip() |
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| 128 | { |
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| 129 | setRegValue(0x35, 1, 0xFE); |
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| 130 | } |
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| 131 | |||
| 132 | int BMA180::getIDs(int *id, int *version) |
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| 133 | { |
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| 134 | Wire.beginTransmission(address); |
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| 135 | Wire.send(0x0); |
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| 136 | Wire.endTransmission(); |
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| 137 | Wire.requestFrom((int)address, 2); |
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| 138 | if (Wire.available()==2) |
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| 139 | { |
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| 140 | *id = Wire.receive(); |
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| 141 | *version= Wire.receive(); |
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| 142 | } |
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| 143 | else *id=-1; |
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| 144 | int result = Wire.endTransmission(); |
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| 145 | checkResult(result); |
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| 146 | return *id!=-1; |
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| 147 | } |
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| 148 | |||
| 149 | |||
| 150 | void BMA180::enableWrite() |
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| 151 | { |
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| 152 | //ctrl_reg1 register set ee_w bit to enable writing to regs. |
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| 153 | setRegValue(0x0D,0x10,~0x10); |
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| 154 | delay(10); |
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| 155 | } |
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| 156 | |||
| 157 | |||
| 158 | void BMA180::disableWrite() |
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| 159 | { |
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| 160 | setRegValue(0x0D,0x0,~0x10); |
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| 161 | delay(10); |
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| 162 | } |
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| 163 | |||
| 164 | bool BMA180::checkResult(int result) |
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| 165 | { |
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| 166 | if(result >= 1) |
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| 167 | return false; |
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| 168 | return true; |
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| 169 | } |
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| 170 | |||
| 171 |