Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Accelerometer.cpp@32:d37447aec6b4, 2015-05-04 (annotated)

Committer:
pvaibhav
Date:
Mon May 04 15:16:57 2015 +0000
Revision:
32:d37447aec6b4
Parent:
31:d65576185bdf
Child:
40:8e852115fe55
Interrupt lines added to all sensors and motor driver, power aware I2C subclass added (currently doesn't do anything)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 1:c279bc3af90c 1 #include "Accelerometer.h"
pvaibhav 1:c279bc3af90c 2 #define DEBUG "BMX055-Acc"
pvaibhav 1:c279bc3af90c 3 #include "Logger.h"
pvaibhav 1:c279bc3af90c 4
pvaibhav 8:cba37530d480 5 #include "Vector3.h"
pvaibhav 8:cba37530d480 6
pvaibhav 32:d37447aec6b4 7 Accelerometer::Accelerometer(I2C &i2c) : I2CPeripheral(i2c, 0x18 << 1 /* address */), int1(p2), int2(p0)
pvaibhav 7:604a8369b801 8 {
pvaibhav 7:604a8369b801 9 if (powerOn()) {
pvaibhav 5:b9f2f62a8f90 10 INFO("Bosch Sensortec BMX055-Accel found");
pvaibhav 7:604a8369b801 11 powerOff();
pvaibhav 1:c279bc3af90c 12 } else {
pvaibhav 7:604a8369b801 13 WARN("Bosch Sensortec BMX055-Accel not found");
pvaibhav 1:c279bc3af90c 14 }
pvaibhav 1:c279bc3af90c 15 }
pvaibhav 1:c279bc3af90c 16
pvaibhav 7:604a8369b801 17 bool Accelerometer::powerOn()
pvaibhav 7:604a8369b801 18 {
pvaibhav 5:b9f2f62a8f90 19 write_reg(0x14, 0xB6); // reset
pvaibhav 5:b9f2f62a8f90 20 wait_ms(2); // page 11 says only 1.3ms, nothing for startup time, so assuming 2ms
pvaibhav 5:b9f2f62a8f90 21 write_reg(0x11, 0); // set power normal mode
pvaibhav 31:d65576185bdf 22 write_reg(0x10, 12); // set bandwidth = 125 Hz (earlier comment was incorrect)
pvaibhav 7:604a8369b801 23 return read_reg(0x00) == 0xfa; // verify chip ID
pvaibhav 5:b9f2f62a8f90 24 }
pvaibhav 5:b9f2f62a8f90 25
pvaibhav 7:604a8369b801 26 void Accelerometer::powerOff()
pvaibhav 7:604a8369b801 27 {
pvaibhav 5:b9f2f62a8f90 28 write_reg(0x11, 1); // deep suspend mode
pvaibhav 6:c12cea26842d 29 LOG("deep sleep");
pvaibhav 5:b9f2f62a8f90 30 }
pvaibhav 7:604a8369b801 31
pvaibhav 7:604a8369b801 32 void Accelerometer::start()
pvaibhav 7:604a8369b801 33 {
pvaibhav 8:cba37530d480 34 // nothing to do right now
pvaibhav 7:604a8369b801 35 }
pvaibhav 7:604a8369b801 36
pvaibhav 7:604a8369b801 37 void Accelerometer::stop()
pvaibhav 7:604a8369b801 38 {
pvaibhav 7:604a8369b801 39 // nothing to do right now
pvaibhav 7:604a8369b801 40 }
pvaibhav 7:604a8369b801 41
pvaibhav 8:cba37530d480 42 Vector3 Accelerometer::read()
pvaibhav 7:604a8369b801 43 {
pvaibhav 7:604a8369b801 44 // Check comments in the read() function of the Gyroscope for more info why we read bytes one by one.
pvaibhav 12:1632d7391453 45 uint8_t buffer[6];
pvaibhav 12:1632d7391453 46
pvaibhav 12:1632d7391453 47 for (size_t i = 0; i < 6; i++)
pvaibhav 12:1632d7391453 48 buffer[i] = read_reg(0x02 + i);
pvaibhav 12:1632d7391453 49
pvaibhav 12:1632d7391453 50 const int16_t x = *(reinterpret_cast<const int16_t*>(buffer + 0)) / 16;
pvaibhav 12:1632d7391453 51 const int16_t y = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 16;
pvaibhav 12:1632d7391453 52 const int16_t z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 16;
pvaibhav 12:1632d7391453 53
pvaibhav 8:cba37530d480 54 const float accel_resolution = 0.0009765625;
pvaibhav 12:1632d7391453 55
pvaibhav 15:4488660e1a3b 56 return Vector3(x, y, z) * accel_resolution;
pvaibhav 7:604a8369b801 57 }