mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
113 lines
3.6 KiB
C
113 lines
3.6 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|