eCompass (6-axes electronic compass) / Electronic Compass with Three-axis Magnetic Field Sensor and Three-axis Accelerometer by Bosch Sensortech
Dependents: BLE_EddystoneBeacon_w_ACC_TY51822
Diff: BMC050.cpp
- Revision:
- 0:8de5e2fd5c48
- Child:
- 1:b022f8d7884d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMC050.cpp Sun Jul 20 13:16:25 2014 +0000 @@ -0,0 +1,293 @@ +/* + * mbed library program + * BMC050 COMPASS 6 AXIS, made by Bosch Sensortec + * http://jp.bosch-sensortec.com/content/language1/html/5033.htm + * + * Copyright (c) 2014 Kenji Arai / JH1PJL + * http://www.page.sannet.ne.jp/kenjia/index.html + * http://mbed.org/users/kenjiArai/ + * Created: July 19th, 2014 + * Revised: July 20th, 2014 + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, + * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "BMC050.h" + +BMC050::BMC050 (PinName p_sda, PinName p_scl, + const BMC050ACC_TypeDef *acc_parameter, const BMC050MAG_TypeDef *mag_parameter) : + i2c(p_sda, p_scl) { + initialize (acc_parameter, mag_parameter); +} + +BMC050::BMC050 (I2C& p_i2c, + const BMC050ACC_TypeDef *acc_parameter, const BMC050MAG_TypeDef *mag_parameter) : i2c(p_i2c) { + initialize (acc_parameter, mag_parameter); +} + +void BMC050::initialize (const BMC050ACC_TypeDef *acc_parameter, + const BMC050MAG_TypeDef *mag_parameter) { + /////////////// Magnetometer Configuration ///////////////// + // after power-on, mag chip is keeping "Suspend mode"!! + // -> Need to go "Normal mode" via "Sleep mode" + // step 1/start + mag_addr = mag_parameter->addr; + dbf[0] = BMC050_M_POWER_MODE; + dbf[1] = 0x01; // Power control bit on + i2c_write_n_bytes(mag_addr, dbf, 2); + dbf[0] = BMC050_M_OPERATION; + dbf[1] = 0; + i2c_write_n_bytes(mag_addr, dbf, 2); + /////////////// Accelerometer configuration //////////////// + // Check acc chip is available of not + // step 1/start + acc_addr = acc_parameter->addr; + dbf[0] = BMC050_A_WHO_AM_I; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + if (dbf[0] == I_AM_BMC050_ACC){ acc_ready = 1; + } else { acc_ready = 0; } + /////////////// Magnetometer Configuration ///////////////// + // after power-on, mag chip is keeping "Suspend mode"!! + // -> Need to go "Normal mode" via "Sleep mode" + // step 2 + i2c_write_n_bytes(mag_addr, dbf, 2); + dbf[0] = BMC050_M_OPERATION; + dbf[1] = 0; + i2c_write_n_bytes(mag_addr, dbf, 2); + /////////////// Accelerometer configuration //////////////// + // step 2/last + if ( acc_ready == 1){ + // set g-range + dbf[0] = BMC050_A_G_RANGE; + dbf[1] = acc_parameter->g_range; + switch (dbf[1]){ + case BMC050_FS_2G: + fs_factor_acc = 256; + break; + case BMC050_FS_4G: + fs_factor_acc = 128; + break; + case BMC050_FS_8G: + fs_factor_acc = 64; + break; + case BMC050_FS_16G: + fs_factor_acc = 32; + break; + default: + fs_factor_acc = 256; + dbf[1] = BMC050_FS_2G; + } + i2c_write_n_bytes(acc_addr, dbf, 2); + // set bandwidth + dbf[1] = acc_parameter->bandwith; + if (dbf[1] == BMC050_NOT_FILTERED){ + dbf[0] = BMC050_A_FILTER; + dbf[1] = 0x80; + } else { + dbf[0] = BMC050_A_BANDWIDTH; + } + i2c_write_n_bytes(acc_addr, dbf, 2); + } + /////////////// Magnetometer Configuration ///////////////// + // Check mag chip is available of not + // step 3/last + dbf[0] = BMC050_M_WHO_AM_I; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + if (dbf[0] == I_AM_BMC050_MAG){ mag_ready = 1; + } else { mag_ready = 0; } + if ( mag_ready == 1){ + // set output data rate + dbf[0] = BMC050_M_OPERATION; + dbf[1] = mag_parameter->data_rate; + i2c_write_n_bytes(mag_addr, dbf, 2); + } +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +void BMC050::read_data_acc(float *dt) { +char data[6]; + + if (acc_ready == 0){ + dt[0] = dt[1] = dt[2] = 0; + return; + } + // X + dbf[0] = BMC050_A_OUT_X_L; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[0] = dbf[0]; + dbf[0] = BMC050_A_OUT_X_H ; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[1] = dbf[0]; + // Y + dbf[0] = BMC050_A_OUT_Y_L; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[2] = dbf[0]; + dbf[0] = BMC050_A_OUT_Y_H; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[3] = dbf[0]; + // Z + dbf[0] = BMC050_A_OUT_Z_L; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[4] = dbf[0]; + dbf[0] = BMC050_A_OUT_Z_H; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + data[5] = dbf[0]; + // change data type + dt[0] = float((short(data[1] << 8 | data[0] & 0xc0))>> 6) * GRAVITY / fs_factor_acc; + dt[1] = float((short(data[3] << 8 | data[2] & 0xc0))>> 6) * GRAVITY / fs_factor_acc; + dt[2] = float((short(data[5] << 8 | data[4] & 0xc0))>> 6) * GRAVITY / fs_factor_acc; +} + +/////////////// Magnetometer /////////////////////////////////////////////////////// +void BMC050::read_data_mag(float *dt) { +char data[6]; + + if (mag_ready == 0){ + dt[0] = dt[1] = dt[2] = 0; + return; + } + // X + dbf[0] = BMC050_M_OUT_X_L; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[0] = dbf[0]; + dbf[0] = BMC050_M_OUT_X_H ; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[1] = dbf[0]; + // Y + dbf[0] = BMC050_M_OUT_Y_L; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[2] = dbf[0]; + dbf[0] = BMC050_M_OUT_Y_H; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[3] = dbf[0]; + // Z + dbf[0] = BMC050_M_OUT_Z_L; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[4] = dbf[0]; + dbf[0] = BMC050_M_OUT_Z_H; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + data[5] = dbf[0]; + // change data type + dt[0] = float((short(data[1] << 8 | data[0] & 0xf8))>> 3); + dt[1] = float((short(data[3] << 8 | data[2] & 0xf8))>> 3); + dt[2] = float((short(data[5] << 8 | data[4] & 0xfe))>> 1); +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +float BMC050::read_temp() { + dbf[0] = BMC050_A_OUT_TEMP; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + return ((float)dbf[0] * 0.5 + 24.0); +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +uint8_t BMC050::read_id_acc() { + dbf[0] = BMC050_A_WHO_AM_I; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + return (uint8_t)dbf[0]; +} + +/////////////// Magnetometer /////////////////////////////////////////////////////// +uint8_t BMC050::read_id_mag() { + dbf[0] = BMC050_M_WHO_AM_I; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + return (uint8_t)dbf[0]; +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +uint8_t BMC050::data_ready_acc() { + if (acc_ready == 1){ + dbf[0] = BMC050_A_OUT_X_L; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + if (!(dbf[0] & 0x01)){ + return 0; + } + } + return 1; +} + +/////////////// Magnetometer /////////////////////////////////////////////////////// +uint8_t BMC050::data_ready_mag() { + if (mag_ready == 1){ + dbf[0] = BMC050_M_HALL_L; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + if (!(dbf[0] & 0x01)){ + return 0; + } + } + return 1; +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +uint8_t BMC050::read_reg_acc(uint8_t addr) { + if (acc_ready == 1){ + dbf[0] = addr; + i2c_write_n_bytes(acc_addr, dbf, 1); + i2c_read_n_bytes(acc_addr, dbf, 1); + } else { + dbf[0] = 0xff; + } + return (uint8_t)dbf[0]; +} + +/////////////// Magnetometer /////////////////////////////////////////////////////// +uint8_t BMC050::read_reg_mag(uint8_t addr) { + if (mag_ready == 1){ + dbf[0] = addr; + i2c_write_n_bytes(mag_addr, dbf, 1); + i2c_read_n_bytes(mag_addr, dbf, 1); + } else { + dbf[0] = 0xff; + } + return (uint8_t)dbf[0]; +} + +/////////////// Accelerometer ////////////////////////////////////////////////////// +void BMC050::write_reg_acc(uint8_t addr, uint8_t data) { + if (acc_ready == 1){ + dbf[0] = addr; + dbf[1] = data; + i2c_write_n_bytes(acc_addr, dbf, 2); + } +} + +/////////////// Magnetometer /////////////////////////////////////////////////////// +void BMC050::write_reg_mag(uint8_t addr, uint8_t data) { + if (mag_ready == 1){ + dbf[0] = addr; + dbf[1] = data; + i2c_write_n_bytes(mag_addr, dbf, 2); + } +} + +/////////////// Low level interface //////////////////////////////////////////////// +void BMC050::i2c_read_n_bytes (int addr, char* dbf, int n) { + i2c.read(addr, dbf, n); +} + +void BMC050::i2c_write_n_bytes (int addr, char* dbf, int n) { + i2c.write(addr, dbf, n); +}