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LibrePilot/flight/PiOS/inc/pios_bma180.h

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMA180 BMA180 Functions
* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
* @{
*
* @file pios_bma180.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS BMA180 digital accelerometer driver.
* - Driver for the BMA180 digital accelerometer on the SPI bus.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_BMA180_H
#define PIOS_BMA180_H
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#include "fifo_buffer.h"
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#include <pios.h>
/* BMA180 Addresses */
#define BMA_CHIPID_ADDR 0x00
#define BMA_VERSION_ADDR 0x00
#define BMA_X_LSB_ADDR 0x02
#define BMA_Y_LSB_ADDR 0x04
#define BMA_Z_LSB_ADDR 0x06
#define BMA_WE_ADDR 0x0D
#define BMA_RESET 0x10
#define BMA_BW_ADDR 0x20
#define BMA_RANGE_ADDR 0x35
#define BMA_OFFSET_LSB1 0x35
#define BMA_GAIN_Y 0x33
#define BMA_CTRREG3 0x21
#define BMA_CTRREG0 0x0D
#define BMA_RESET_CODE 0x6B
/* Accel range */
#define BMA_RANGE_MASK 0x0E
#define BMA_RANGE_SHIFT 1
enum bma180_range { BMA_RANGE_1G = 0x00,
BMA_RANGE_1_5G = 0x01,
BMA_RANGE_2G = 0x02,
BMA_RANGE_3G = 0x03,
BMA_RANGE_4G = 0x04,
BMA_RANGE_8G = 0x05,
BMA_RANGE_16G = 0x06
};
/* Measurement bandwidth */
#define BMA_BW_MASK 0xF0
#define BMA_BW_SHIFT 4
enum bma180_bandwidth { BMA_BW_10HZ = 0x00,
BMA_BW_20HZ = 0x01,
BMA_BW_40HZ = 0x02,
BMA_BW_75HZ = 0x03,
BMA_BW_150HZ = 0x04,
BMA_BW_300HZ = 0x05,
BMA_BW_600HZ = 0x06,
BMA_BW_1200HZ =0x07,
BMA_BW_HP1HZ = 0x08, // High-pass, 1 Hz
BMA_BW_BP0_300HZ = 0x09 // Band-pass, 0.3Hz-300Hz
};
#define BMA_NEW_DAT_INT 0x02
struct pios_bma180_data {
int16_t x;
int16_t y;
int16_t z;
int8_t temperature;
};
struct pios_bma180_cfg {
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
enum bma180_bandwidth bandwidth;
enum bma180_range range;
};
/* Public Functions */
extern int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg * cfg);
extern void PIOS_BMA180_Attach(uint32_t spi_id);
extern float PIOS_BMA180_GetScale();
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
extern int32_t PIOS_BMA180_Test();
extern bool PIOS_BMA180_IRQHandler();
#endif /* PIOS_BMA180_H */
/**
* @}
* @}
*/