Revision 2:c7eb9f15e026, committed 2012-08-15

Comitter:

cdonate

Date:

Wed Aug 15 22:17:27 2012 +0000

Parent:

1:cd2316c8a187

Commit message:

No change

Changed in this revision

diff -r cd2316c8a187 -r c7eb9f15e026 BMA180.cpp
--- a/BMA180.cpp	Wed Aug 15 01:33:49 2012 +0000
+++ b/BMA180.cpp	Wed Aug 15 22:17:27 2012 +0000
@@ -1,140 +1,140 @@
-#include "mbed.h"
-#include "BMA180.h"
-
-#define I2CADR_W(ADR)           (ADR<<1&0xFE)
-#define I2CADR_R(ADR)           (ADR<<1|0x01)
-
-//Initialization
-BMA180::BMA180(I2C & I2CBus_, Timer & GlobalTime_)
-    : I2CBus(I2CBus_),
-      GlobalTime(GlobalTime_)
-{}
-
-void BMA180::Init()
-{
-    //Zeroing
-    for(int i= 0; i < 3; i++)
-    {
-        Offset[i]= 0.0;
-        RawAcc[i]= 0;
-        Acc[i]= 0;
-    }
-    
-       
-    //BMA180 initialization
-    char tx[2];
-    char rx[1];
-    
-    //Write on EEPROM enable
-    tx[0]= 0x0D;
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
-    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
-    tx[1]= rx[0] & 0xEF | (0x01<<4);
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
-    
-    //Mode: Low-Noise
-    tx[0]= 0x30;
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
-    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
-    tx[1]= rx[0] & 0xFC | (0x00<<0);
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
-    
-    //Range: +-1.5g
-    // +-1g:0x00 | +-1.5g:0x01 | +-2g:0x02 | +-3g:0x03 |  +-4g:0x04 |  +-8g:0x05 |  +-16g:0x06 | 
-    tx[0]= 0x35;
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
-    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
-    tx[1]= rx[0] & 0xF1 | (0x01<<1);
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
-    
-    //Bandwidth filters: 10Hz    
-    tx[0]= 0x20;
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
-    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
-    tx[1]= rx[0] & 0x0F | (0x00<<4);
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
-      
-    Update();
-}
-
-
-//Read raw data
-void BMA180::ReadRawData()
-{
-    //Read acceleration on all 3 axis
-    char tx[1];
-    char rx[6];
-    
-    tx[0]= 0x02;
-    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
-    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 6); 
-    
-    //Assemble the individual bytes from the 16-bit value
-    //The last 2 bits must be "cut off" since the values came in 14-bit form
-    RawAcc[0]= (rx[1]<<8|rx[0]) & 0xFFFC;
-    RawAcc[1]= (rx[3]<<8|rx[2]) & 0xFFFC;
-    RawAcc[2]= (rx[5]<<8|rx[4]) & 0xFFFC;
-    RawAcc[0]/= 4;
-    RawAcc[1]/= 4;
-    RawAcc[2]/= 4;
-}
-   
-//Update-Method
-void BMA180::Update()
-{
-    //Read acceleration on all 3 axis
-    ReadRawData();
-    
-    //Conversions
-    Acc[0]= fConvMPSS * ((float)(RawAcc[0]) + Offset[0]);
-    Acc[1]= fConvMPSS * ((float)(RawAcc[1]) + Offset[1]);
-    Acc[2]= fConvMPSS * ((float)(RawAcc[2]) + Offset[2]);
-}
-
-//Calibration
-void BMA180::Calibrate(int ms, const short * pRaw1g)
-{
-    float AvgCalibAcc[3]= {0.0, 0.0, 0.0};    
-    float AvgCalibSampels= 0.0;
-    
-    //End of calibration calculated in milliseconds
-    int CalibEnd= GlobalTime.read_ms() + ms;
-    
-    while(GlobalTime.read_ms() < CalibEnd)
-    {    
-        //Read raw data
-        ReadRawData();
-        
-        //Averaging
-        AvgCalibAcc[0]+= (float)RawAcc[0];
-        AvgCalibAcc[1]+= (float)RawAcc[1];
-        AvgCalibAcc[2]+= (float)RawAcc[2];
-        AvgCalibSampels+= 1.0;
-        
-        wait_ms(2);
-    }
-    
-    //Collected enough data now form the average
-    Offset[0]= -((float)(pRaw1g[0]) + AvgCalibAcc[0] / AvgCalibSampels);
-    Offset[1]= -((float)(pRaw1g[1]) + AvgCalibAcc[1] / AvgCalibSampels);
-    Offset[2]= -((float)(pRaw1g[2]) + AvgCalibAcc[2] / AvgCalibSampels);
-}
-void BMA180::userCalibration(short * Raw1g){
-        
-        long media[3] = {0,0,0};
-        
-        int count = 0;
-        
-        int endCal = GlobalTime.read_ms() + 500;
-    
-        while(GlobalTime.read_ms() < endCal){
-                        
-                    media[0] = media[0] + (float)RawAcc[0];
-                    media[1] = media[1] + (float)RawAcc[1];  
-                    media[2] = media[2] + (float)RawAcc[2];    
-                    count++;      
-                }
-        Raw1g[0] = -(media[0]/count);
-        Raw1g[1] = -(media[1]/count);
-        Raw1g[2] = -(media[2]/count);    
- }
+#include "mbed.h"
+#include "BMA180.h"
+
+#define I2CADR_W(ADR)           (ADR<<1&0xFE)
+#define I2CADR_R(ADR)           (ADR<<1|0x01)
+
+//Initialization
+BMA180::BMA180(I2C & I2CBus_, Timer & GlobalTime_)
+    : I2CBus(I2CBus_),
+      GlobalTime(GlobalTime_)
+{}
+
+void BMA180::Init()
+{
+    //Zeroing
+    for(int i= 0; i < 3; i++)
+    {
+        Offset[i]= 0.0;
+        RawAcc[i]= 0;
+        Acc[i]= 0;
+    }
+    
+       
+    //BMA180 initialization
+    char tx[2];
+    char rx[1];
+    
+    //Write on EEPROM enable
+    tx[0]= 0x0D;
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
+    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
+    tx[1]= rx[0] & 0xEF | (0x01<<4);
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
+    
+    //Mode: Low-Noise
+    tx[0]= 0x30;
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
+    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
+    tx[1]= rx[0] & 0xFC | (0x00<<0);
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
+    
+    //Range: +-1.5g
+    // +-1g:0x00 | +-1.5g:0x01 | +-2g:0x02 | +-3g:0x03 |  +-4g:0x04 |  +-8g:0x05 |  +-16g:0x06 | 
+    tx[0]= 0x35;
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
+    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
+    tx[1]= rx[0] & 0xF1 | (0x01<<1);
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
+    
+    //Bandwidth filters: 10Hz    
+    tx[0]= 0x20;
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
+    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 1);
+    tx[1]= rx[0] & 0x0F | (0x00<<4);
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 2);
+      
+    Update();
+}
+
+
+//Read raw data
+void BMA180::ReadRawData()
+{
+    //Read acceleration on all 3 axis
+    char tx[1];
+    char rx[6];
+    
+    tx[0]= 0x02;
+    I2CBus.write(I2CADR_W(BMA180_ADRESS), tx, 1);
+    I2CBus.read (I2CADR_R(BMA180_ADRESS), rx, 6); 
+    
+    //Assemble the individual bytes from the 16-bit value
+    //The last 2 bits must be "cut off" since the values came in 14-bit form
+    RawAcc[0]= (rx[1]<<8|rx[0]) & 0xFFFC;
+    RawAcc[1]= (rx[3]<<8|rx[2]) & 0xFFFC;
+    RawAcc[2]= (rx[5]<<8|rx[4]) & 0xFFFC;
+    RawAcc[0]/= 4;
+    RawAcc[1]/= 4;
+    RawAcc[2]/= 4;
+}
+   
+//Update-Method
+void BMA180::Update()
+{
+    //Read acceleration on all 3 axis
+    ReadRawData();
+    
+    //Conversions
+    Acc[0]= fConvMPSS * ((float)(RawAcc[0]) + Offset[0]);
+    Acc[1]= fConvMPSS * ((float)(RawAcc[1]) + Offset[1]);
+    Acc[2]= fConvMPSS * ((float)(RawAcc[2]) + Offset[2]);
+}
+
+//Calibration
+void BMA180::Calibrate(int ms, const short * pRaw1g)
+{
+    float AvgCalibAcc[3]= {0.0, 0.0, 0.0};    
+    float AvgCalibSampels= 0.0;
+    
+    //End of calibration calculated in milliseconds
+    int CalibEnd= GlobalTime.read_ms() + ms;
+    
+    while(GlobalTime.read_ms() < CalibEnd)
+    {    
+        //Read raw data
+        ReadRawData();
+        
+        //Averaging
+        AvgCalibAcc[0]+= (float)RawAcc[0];
+        AvgCalibAcc[1]+= (float)RawAcc[1];
+        AvgCalibAcc[2]+= (float)RawAcc[2];
+        AvgCalibSampels+= 1.0;
+        
+        wait_ms(2);
+    }
+    
+    //Collected enough data now form the average
+    Offset[0]= -((float)(pRaw1g[0]) + AvgCalibAcc[0] / AvgCalibSampels);
+    Offset[1]= -((float)(pRaw1g[1]) + AvgCalibAcc[1] / AvgCalibSampels);
+    Offset[2]= -((float)(pRaw1g[2]) + AvgCalibAcc[2] / AvgCalibSampels);
+}
+void BMA180::userCalibration(short * Raw1g){
+        
+        long media[3] = {0,0,0};
+        
+        int count = 0;
+        
+        int endCal = GlobalTime.read_ms() + 500;
+    
+        while(GlobalTime.read_ms() < endCal){
+                        
+                    media[0] = media[0] + (float)RawAcc[0];
+                    media[1] = media[1] + (float)RawAcc[1];  
+                    media[2] = media[2] + (float)RawAcc[2];    
+                    count++;      
+                }
+        Raw1g[0] = -(media[0]/count);
+        Raw1g[1] = -(media[1]/count);
+        Raw1g[2] = -(media[2]/count);    
+ }

diff -r cd2316c8a187 -r c7eb9f15e026 BMA180.h
--- a/BMA180.h	Wed Aug 15 01:33:49 2012 +0000
+++ b/BMA180.h	Wed Aug 15 22:17:27 2012 +0000
@@ -1,47 +1,47 @@
-#pragma once
-
-//I2C address, either 0x40 or 0x41, depending on pin VDDIO
-#define BMA180_ADRESS 0x40
-
-//Convert acceleration to meters per second squared
-//This value depends on the Range you are using, i.e. +-1g, +-3g, etc.
-//fConvMPSS= (acc of gravitation) / Sensitivity
-
-const float fConvMPSS= 1.7919037e-3;
-
-class BMA180
-{
-private:
-    I2C & I2CBus;
-    Timer & GlobalTime;
-    
-    //Offset
-    float Offset[3];
-    
-public:
-    //Acceleration on all three axes
-    short RawAcc[3];        //Raw Data
-    float Acc[3];           //Calibrated raw data in m/s^2
-    
-    
-    //Initialization
-    BMA180(I2C & I2CBus_, Timer & GlobalTime_);
-    void Init();
-
-public:    
-    //Read raw Data
-    void ReadRawData();
-    
-public:
-    //Update Method
-    //Get current information from the sensor
-    //Calculate the offset
-    //Converts other units
-    void Update();
-    
-    //Calibration
-    //pRaw1g: short array [3] provides the best raw data for approximately 1g = {0, 0, -2870}
-    void Calibrate(int ms, const short * pRaw1g);
-    
-    void userCalibration(short * Raw1g);
-};
+#pragma once
+
+//I2C address, either 0x40 or 0x41, depending on pin VDDIO
+#define BMA180_ADRESS 0x40
+
+//Convert acceleration to meters per second squared
+//This value depends on the Range you are using, i.e. +-1g, +-3g, etc.
+//fConvMPSS= (acc of gravitation) / Sensitivity
+
+const float fConvMPSS= 1.7919037e-3;
+
+class BMA180
+{
+private:
+    I2C & I2CBus;
+    Timer & GlobalTime;
+    
+    //Offset
+    float Offset[3];
+    
+public:
+    //Acceleration on all three axes
+    short RawAcc[3];        //Raw Data
+    float Acc[3];           //Calibrated raw data in m/s^2
+    
+    
+    //Initialization
+    BMA180(I2C & I2CBus_, Timer & GlobalTime_);
+    void Init();
+
+public:    
+    //Read raw Data
+    void ReadRawData();
+    
+public:
+    //Update Method
+    //Get current information from the sensor
+    //Calculate the offset
+    //Converts other units
+    void Update();
+    
+    //Calibration
+    //pRaw1g: short array [3] provides the best raw data for approximately 1g = {0, 0, -2870}
+    void Calibrate(int ms, const short * pRaw1g);
+    
+    void userCalibration(short * Raw1g);
+};