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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 David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @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
/* 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_BW_ADDR 0x20
#define BMA_RANGE_ADDR 0x35
/* Accel range */
#define BMA_RANGE_1G 0x00 // +/- 1G ADC resolution 0.13 mg/LSB
#define BMA_RANGE_1_5G 0x01 // +/- 1.5G ADC resolution 0.19 mg/LSB
#define BMA_RANGE_2G 0x02 // +/- 2G ADC resolution 0.25 mg/LSB *** default ***
#define BMA_RANGE_3G 0x03 // +/- 3G ADC resolution 0.38 mg/LSB
#define BMA_RANGE_4G 0x04 // +/- 4G ADC resolution 0.50 mg/LSB
#define BMA_RANGE_8G 0x05 // +/- 8G ADC resolution 0.99 mg/LSB
#define BMA_RANGE_16G 0x06 // +/- 16G ADC resolution 1.98 mg/LSB
/* Measurement bandwidth */
#define BMA_BW_10HZ 0x00
#define BMA_BW_20HZ 0x01
#define BMA_BW_40HZ 0x02
#define BMA_BW_75HZ 0x03
#define BMA_BW_150HZ 0x04 // *** default ***
#define BMA_BW_300HZ 0x05
#define BMA_BW_600HZ 0x06
#define BMA_BW_1200HZ 0x07
#define BMA_BW_HP1HZ 0x08 // High-pass, 1Hz
#define BMA_BW_BP0_300HZ 0x09 // Band-pass, 0.3Hz-300Hz
struct pios_bma180_data {
int16_t x;
int16_t y;
int16_t z;
};
/* Public Functions */
void PIOS_BMA180_WriteEnable(uint8_t _we);
uint8_t PIOS_BMA180_GetReg(uint8_t reg);
void PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
void PIOS_BMA180_Attach(uint32_t spi_id);
void PIOS_BMA180_Init();
uint8_t PIOS_BMA180_Read(struct pios_bma180_data * data);
uint8_t PIOS_BMA180_Test();
#endif /* PIOS_BMA180_H */
/**
* @}
* @}
*/