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OP-378: Continue updating BMA180 sensor driver.
This commit is contained in:
James Cotton
parent
5d78a68bee
commit
50161b4ad8
@ -33,8 +33,11 @@
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#include "pios.h"
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static uint32_t PIOS_SPI_ACCEL;
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static uint8_t EEPROM_WRITEABLE=0;
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static int32_t PIOS_BMA180_GetReg(uint8_t reg);
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static int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
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static int32_t PIOS_BMA180_SelectBW(uint8_t bw);
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static int32_t PIOS_BMA180_SetRange(uint8_t range);
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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@ -58,27 +61,6 @@ int32_t PIOS_BMA180_ReleaseBus()
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return PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
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}
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/**
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* @brief Set the EEPROM write-enable bit. Must be set to 1 (unlocked) before writing control registers.
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* @return returns 0 if successful or < 0 if failure
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* @param _we[in] bit to set, 1 to enable writes or 0 to disable writes
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*/
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int32_t PIOS_BMA180_WriteEnable(uint8_t _we)
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{
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uint8_t addr_reg[2] = {BMA_WE_ADDR,0};
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if(PIOS_BMA180_ClaimBus() != 0)
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return -1;
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addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_WE_ADDR) );
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addr_reg[1] &= 0xEF;
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addr_reg[1] |= ( (0x01 & _we) << 4);
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
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PIOS_BMA180_ReleaseBus();
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EEPROM_WRITEABLE=_we;
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return 0;
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}
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/**
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* @brief Read a register from BMA180
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* @returns The register value or -1 if failure to get bus
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@ -104,49 +86,46 @@ int32_t PIOS_BMA180_GetReg(uint8_t reg)
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* @param reg[in] address of register to be written
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* @param data[in] data that is to be written to register
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*/
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void PIOS_BMA180_SetReg(uint8_t reg, uint8_t data)
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int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data)
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{
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uint8_t reg_data[2] = { (0x7F & reg), data};
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PIOS_BMA180_ClaimBus();
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,reg_data,NULL,2,NULL);
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if(PIOS_BMA180_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, 0x7f & reg);
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PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, data);
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PIOS_BMA180_ReleaseBus();
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return 0;
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}
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/**
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* @brief Select the bandwidth the digital filter pass allows.
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* @return none
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* @return 0 if successful, -1 if not
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* @param rate[in] Bandwidth setting to be used
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*
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* EEPROM must be write-enabled before calling this function.
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*/
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void PIOS_BMA180_SelectBW(uint8_t bw)
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static int32_t PIOS_BMA180_SelectBW(uint8_t bw)
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{
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uint8_t addr_reg[2] = { BMA_BW_ADDR, 0};
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PIOS_BMA180_ClaimBus();
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addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80|BMA_BW_ADDR));
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addr_reg[1] &= 0x0F;
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addr_reg[1] |= (bw << 4);
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
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PIOS_BMA180_ReleaseBus();
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uint8_t reg;
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reg = PIOS_BMA180_GetReg(BMA_BW_ADDR);
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reg = (reg & ~BMA_BW_MASK) | ((bw << BMA_BW_SHIFT) & BMA_BW_MASK);
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return PIOS_BMA180_SetReg(BMA_BW_ADDR, reg);
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}
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/**
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* @brief Select the full scale acceleration range.
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* @return none
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* @return 0 if successful, -1 if not
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* @param rate[in] Range setting to be used
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*
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*/
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void PIOS_BMA180_SetRange(uint8_t range)
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static int32_t PIOS_BMA180_SetRange(uint8_t range)
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{
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uint8_t addr_reg[2] = { BMA_RANGE_ADDR, 0};
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PIOS_BMA180_ClaimBus();
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addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80|BMA_RANGE_ADDR));
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addr_reg[1] &= 0x0F;
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addr_reg[1] |= (range << 4);
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
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PIOS_BMA180_ReleaseBus();
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uint8_t reg;
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reg = PIOS_BMA180_GetReg(BMA_RANGE_ADDR);
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reg = (reg & ~BMA_RANGE_MASK) | ((range << BMA_RANGE_SHIFT) & BMA_RANGE_MASK);
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return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
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}
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/**
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@ -162,20 +141,15 @@ void PIOS_BMA180_Attach(uint32_t spi_id)
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*/
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void PIOS_BMA180_Init()
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{
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/*
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PIOS_BMA180_ReleaseBus();
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PIOS_BMA180_WriteEnable(1);
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PIOS_BMA180_SelectRate(BMA_RATE_3200);
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if(0){
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PIOS_BMA180_SelectBW(BMA_BW_150HZ);
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PIOS_BMA180_SetRange(BMA_RANGE_8G);
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PIOS_BMA180_FifoDepth(16);
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PIOS_BMA180_SetMeasure(1);
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PIOS_BMA180_WriteEnable(0);
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*/
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}
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}
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/**
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* @brief Read a single set of values from the x y z channels
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* @returns The number of samples remaining in the fifo or < 0 if failure
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* @returns 0 if successful
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* @retval -1 unable to claim bus
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* @retval -2 unable to transfer data
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*/
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@ -183,9 +157,8 @@ int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
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{
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// To save memory use same buffer for in and out but offset by
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// a byte
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uint8_t buf[7] = {0,0,0,0,0,0};
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uint8_t buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
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uint8_t rec[7] = {0,0,0,0,0,0};
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buf[0] = BMA_X_LSB_ADDR | 0x80 ; // Multibyte read starting at X LSB
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if(PIOS_BMA180_ClaimBus() != 0)
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return -1;
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@ -194,13 +167,22 @@ int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
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PIOS_BMA180_ReleaseBus();
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// | MSB | LSB | 0 | new_data |
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data->x = ( (rec[2] << 8) | rec[1] ) >> 2;
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data->y = ( (rec[4] << 8) | rec[3] ) >> 2;
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data->z = ( (rec[6] << 8) | rec[5] ) >> 2;
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data->x = ( (rec[2] << 8) | rec[1] ) / 4;
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data->y = ( (rec[4] << 8) | rec[3] ) / 4;
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data->z = ( (rec[6] << 8) | rec[5] ) / 4;
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return 0; // return number of remaining entries
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}
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/**
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* @brief Returns the scale the BMA180 chip is using
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* @return Scale (m / s^2) / LSB
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*/
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float PIOS_BMA_GetScale()
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{
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return 1;
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}
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/**
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* @brief Test SPI and chip functionality by reading chip ID register
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* @return 0 if success, -1 if failure.
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@ -218,11 +200,15 @@ int32_t PIOS_BMA180_Test()
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return -2;
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PIOS_BMA180_ReleaseBus();
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if(rec[1] != 0x3)
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struct pios_bma180_data data;
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if(PIOS_BMA180_Read(&data) != 0)
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return -3;
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if(rec[2] < 0x12)
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if(rec[1] != 0x3)
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return -4;
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if(rec[2] < 0x12)
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return -5;
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return 0;
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}
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@ -44,6 +44,8 @@
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#define BMA_RANGE_ADDR 0x35
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/* Accel range */
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#define BMA_RANGE_MASK 0x0E
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#define BMA_RANGE_SHIFT 1
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#define BMA_RANGE_1G 0x00 // +/- 1G ADC resolution 0.13 mg/LSB
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#define BMA_RANGE_1_5G 0x01 // +/- 1.5G ADC resolution 0.19 mg/LSB
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#define BMA_RANGE_2G 0x02 // +/- 2G ADC resolution 0.25 mg/LSB *** default ***
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@ -53,6 +55,8 @@
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#define BMA_RANGE_16G 0x06 // +/- 16G ADC resolution 1.98 mg/LSB
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/* Measurement bandwidth */
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#define BMA_BW_MASK 0xF0
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#define BMA_BW_SHIFT 4
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#define BMA_BW_10HZ 0x00
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#define BMA_BW_20HZ 0x01
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#define BMA_BW_40HZ 0x02
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@ -71,9 +75,6 @@ struct pios_bma180_data {
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};
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/* Public Functions */
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int32_t PIOS_BMA180_WriteEnable(uint8_t _we);
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int32_t PIOS_BMA180_GetReg(uint8_t reg);
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void PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
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void PIOS_BMA180_Attach(uint32_t spi_id);
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void PIOS_BMA180_Init();
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int32_t PIOS_BMA180_Read(struct pios_bma180_data * data);
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