LibrePilot/flight/pios/inc/pios_bma180.h

/**
 ******************************************************************************
 * @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

#include "fifo_buffer.h"

#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 */

/**
 * @}
 * @}
 */