Diff: quadv3/bma180.cpp

Revision:

0:978110f7f027

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quadv3/bma180.cpp	Wed Jan 30 13:14:44 2013 +0000
@@ -0,0 +1,200 @@
+#include "bma180.h"
+ 
+#define ID         0x00
+#define VERSION    0x01
+#define XaccLSB    0x02
+#define XaccMSB    0x03
+#define YaccLSB    0x04
+#define YaccMSB    0x05
+#define ZaccLSB    0x06
+#define ZaccMSB    0x07
+#define CTRL_REG0  0x0D
+#define CTRL_REG1  0x0E
+#define CTRL_REG2  0x0F
+#define RESET      0x10
+#define BW         0x20
+#define CTRL_REG3  0x21
+#define CTRL_REG4  0x22
+#define DIS_I2C    0x27
+#define MODE       0x30
+#define RANGE      0x35
+ 
+#include "mbed.h"
+ 
+BMA180::BMA180(SPI& spi, PinName cs): _spi(spi), _cs(cs) {
+    _spi.format(8,3);
+    _spi.frequency(10000000);
+        
+}
+ 
+void BMA180::readX() {
+    _cs = 0;  
+    _spi.write(XaccLSB | 0x80);
+    data[0] = _spi.write(XaccMSB | 0x80);
+    data[1] = _spi.write(XaccMSB | 0x80);
+    _cs = 1;
+    xi = (data[1]<<6) | (data[0]>>2);
+}
+void BMA180::readY() {
+    _cs = 0; 
+    _spi.write(YaccLSB | 0x80);
+    data[2] = _spi.write(YaccMSB | 0x80);
+    data[3] = _spi.write(YaccMSB | 0x80);
+    _cs = 1;
+    yi = (data[3]<<6) | (data[2]>>2);
+}
+void BMA180::readZ() {
+    _cs = 0; 
+    _spi.write(ZaccLSB | 0x80);
+    data[4] = _spi.write(ZaccMSB | 0x80);
+    data[5] = _spi.write(ZaccMSB | 0x80);
+    _cs = 1;
+    zi = (data[5]<<6) | (data[4]>>2);
+}
+void BMA180::readRaw() {
+    _cs = 0; 
+    _spi.write(XaccLSB | 0x80);
+    data[0] = _spi.write(0x80);
+    data[1] = _spi.write(0x80);
+    data[2] = _spi.write(0x80);
+    data[3] = _spi.write(0x80);
+    data[4] = _spi.write(0x80);
+    data[5] = _spi.write(0x80);
+    _cs = 1;
+    x = (data[1]<<6) | (data[0]>>2);
+    if(x>=0x2000)
+        {
+            x -= 0x4000;
+            xi = x;
+        }
+    else
+        {    
+            xi = x;
+        }
+    x/=0x2000;
+    y = (data[3]<<6) | (data[2]>>2);
+    if(y>=0x2000)
+        {
+            y -= 0x4000;
+            yi =y;
+        }
+    else
+        {
+            yi = y;
+        }
+    y/=0x2000;
+    z = (data[5]<<6) | (data[4]>>2);
+    if(z>=0x2000)
+        {
+            z -= 0x4000;
+            zi =z;
+        }
+    else
+        {
+            zi=z;
+        }
+    z/=0x2000;
+}
+char BMA180::write(char address,char data) {
+     address &= 0x7F;
+     _cs = 0;
+     _spi.write(address);
+     _spi.write(data);
+     _cs = 1;
+     return 1;
+}
+char BMA180::read(char address) {
+    char data;
+    address |= 0x80;
+    _cs = 0;
+    _spi.write(address);
+    data = _spi.write(0xFF);
+    _cs = 1;
+    return data;
+}
+void BMA180::softReset() {
+    _cs = 0; wait_us(2);
+    _spi.write(RESET & 0x7F); wait_us(2);
+    _spi.write(0xB6); 
+    _cs = 1; wait_us(2);
+}   
+void BMA180::range(int r) {
+    char byte;
+    
+    byte = read(CTRL_REG0);                         //unlock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F);
+    _spi.write(byte | 0x10);
+    _cs = 1; wait_us(2);
+    
+    byte = read(RANGE);                             //set the range of acceleromter
+    byte &= 0xF1; 
+    if(r>6)
+        byte |= 0x02;
+    else 
+        byte |= (r<<1);
+    _cs = 0; wait_us(2);
+    _spi.write(RANGE & 0x7F);
+    _spi.write(byte);
+    _cs = 1; wait_us(2);
+    
+    byte = read(CTRL_REG0);                         //lock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F);
+    _spi.write(byte & 0xEF);
+    _cs = 1; wait_us(2);
+}
+void BMA180::bw(int r){
+    char byte;
+    
+    byte = read(CTRL_REG0);                         //unlock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F);
+    _spi.write(byte | 0x10);
+    _cs = 1; wait_us(2);
+    
+    byte = read(BW);                                //bandwidth of acc
+    byte &= 0x0F;
+    if (r>9)
+        byte |= 0x70;
+    else
+        byte |= (r<<4);    
+    _cs = 0; wait_us(2);
+    _spi.write(BW & 0x7F);
+    _spi.write(byte);
+    _cs = 1; wait_us(2);
+    
+    byte = read(CTRL_REG0);                         //lock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F); 
+    _spi.write(byte & 0xEF); 
+    _cs = 1; wait_us(2);
+}
+    
+void BMA180::init() {
+    char byte;
+    wait_us(10000);
+    byte = read(CTRL_REG0);                         //unlock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F); 
+    _spi.write(byte | 0x10); 
+    _cs = 1; wait_us(2);
+     
+    byte = read(DIS_I2C);                           //disable I2C
+    _cs = 0; wait_us(2);
+    _spi.write(DIS_I2C & 0x7F);
+    _spi.write(byte | 0x01);
+    _cs = 1; wait_us(2);
+    
+    byte = read(MODE);                              //mode of acc
+    _cs = 0; wait_us(2);
+    _spi.write(MODE & 0x7F);
+    _spi.write(byte & 0xFC);
+    _cs = 1; wait_us(2);
+        
+    byte = read(CTRL_REG0);                         //lock image writing
+    _cs = 0; wait_us(2);
+    _spi.write(CTRL_REG0 & 0x7F); 
+    _spi.write(byte & 0xEF);
+    _cs = 1; wait_us(2);
+}
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