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https://bitbucket.org/librepilot/librepilot.git
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06443b4281
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
88 lines
3.0 KiB
C
88 lines
3.0 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_BMA180 BMA180 Functions
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* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
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* @{
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*
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* @file pios_bma180.h
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief PiOS BMA180 digital accelerometer driver.
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* - Driver for the BMA180 digital accelerometer on the SPI bus.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_BMA180_H
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#define PIOS_BMA180_H
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/* BMA180 Addresses */
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#define BMA_CHIPID_ADDR 0x00
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#define BMA_VERSION_ADDR 0x00
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#define BMA_X_LSB_ADDR 0x02
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#define BMA_Y_LSB_ADDR 0x04
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#define BMA_Z_LSB_ADDR 0x06
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#define BMA_WE_ADDR 0x0D
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#define BMA_BW_ADDR 0x20
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#define BMA_RANGE_ADDR 0x35
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/* Accel range */
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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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#define BMA_RANGE_3G 0x03 // +/- 3G ADC resolution 0.38 mg/LSB
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#define BMA_RANGE_4G 0x04 // +/- 4G ADC resolution 0.50 mg/LSB
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#define BMA_RANGE_8G 0x05 // +/- 8G ADC resolution 0.99 mg/LSB
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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_10HZ 0x00
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#define BMA_BW_20HZ 0x01
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#define BMA_BW_40HZ 0x02
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#define BMA_BW_75HZ 0x03
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#define BMA_BW_150HZ 0x04 // *** default ***
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#define BMA_BW_300HZ 0x05
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#define BMA_BW_600HZ 0x06
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#define BMA_BW_1200HZ 0x07
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#define BMA_BW_HP1HZ 0x08 // High-pass, 1Hz
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#define BMA_BW_BP0_300HZ 0x09 // Band-pass, 0.3Hz-300Hz
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struct pios_bma180_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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/* Public Functions */
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void PIOS_BMA180_WriteEnable(uint8_t _we);
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uint8_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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uint8_t PIOS_BMA180_Read(struct pios_bma180_data * data);
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uint8_t PIOS_BMA180_Test();
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#endif /* PIOS_BMA180_H */
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/**
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* @}
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* @}
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*/
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