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
BMC050.cpp
- Committer:
- kenjiArai
- Date:
- 2014-07-20
- Revision:
- 0:8de5e2fd5c48
- Child:
- 1:b022f8d7884d
File content as of revision 0:8de5e2fd5c48:
/* * 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); }