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114 lines
3.3 KiB
C
114 lines
3.3 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 The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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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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#include "fifo_buffer.h"
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#ifndef PIOS_BMA180_H
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#define PIOS_BMA180_H
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#include <pios.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_RESET 0x10
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#define BMA_BW_ADDR 0x20
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#define BMA_RANGE_ADDR 0x35
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#define BMA_OFFSET_LSB1 0x35
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#define BMA_GAIN_Y 0x33
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#define BMA_CTRREG3 0x21
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#define BMA_CTRREG0 0x0D
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#define BMA_RESET_CODE 0x6B
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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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enum bma180_range { BMA_RANGE_1G = 0x00,
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BMA_RANGE_1_5G = 0x01,
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BMA_RANGE_2G = 0x02,
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BMA_RANGE_3G = 0x03,
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BMA_RANGE_4G = 0x04,
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BMA_RANGE_8G = 0x05,
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BMA_RANGE_16G = 0x06
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};
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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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enum bma180_bandwidth { BMA_BW_10HZ = 0x00,
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BMA_BW_20HZ = 0x01,
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BMA_BW_40HZ = 0x02,
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BMA_BW_75HZ = 0x03,
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BMA_BW_150HZ = 0x04,
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BMA_BW_300HZ = 0x05,
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BMA_BW_600HZ = 0x06,
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BMA_BW_1200HZ =0x07,
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BMA_BW_HP1HZ = 0x08, // High-pass, 1 Hz
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BMA_BW_BP0_300HZ = 0x09 // Band-pass, 0.3Hz-300Hz
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};
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#define BMA_NEW_DAT_INT 0x02
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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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int8_t temperature;
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};
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struct pios_bma180_cfg {
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const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
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enum bma180_bandwidth bandwidth;
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enum bma180_range range;
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};
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/* Public Functions */
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extern int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg * cfg);
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extern void PIOS_BMA180_Attach(uint32_t spi_id);
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extern float PIOS_BMA180_GetScale();
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extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
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extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
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extern int32_t PIOS_BMA180_Test();
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extern void PIOS_BMA180_IRQHandler();
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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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