yuki kimura / BMX055

BMX055に4線式SPIモードで接続するためのライブラリです

Dependents:   SensorManager

BMX055.cpp@0:c317a0f96763, 2016-11-28 (annotated)

Committer:
kim1212
Date:
Mon Nov 28 10:48:59 2016 +0000
Revision:
0:c317a0f96763
Child:
1:fed25406cc14
Child:
2:e25b321f54ba
library for BMX055 (4-wire SPI mode)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kim1212 0:c317a0f96763 1
kim1212 0:c317a0f96763 2 #include "BMX055.h"
kim1212 0:c317a0f96763 3
kim1212 0:c317a0f96763 4 BMX055::BMX055(PinName mosi,PinName miso,PinName sck,PinName _accss,PinName _gyrss,PinName _magss):bmx(mosi,miso,sck),accss(_accss),gyrss(_gyrss),magss(_magss)
kim1212 0:c317a0f96763 5 {
kim1212 0:c317a0f96763 6 accss=1;
kim1212 0:c317a0f96763 7 gyrss=1;
kim1212 0:c317a0f96763 8 magss=1;
kim1212 0:c317a0f96763 9 wait(0.1);
kim1212 0:c317a0f96763 10 bmx.frequency(1000000);
kim1212 0:c317a0f96763 11 bmx.format(8,3);
kim1212 0:c317a0f96763 12 init_acc(RANGE_2G,BW_1000);
kim1212 0:c317a0f96763 13 init_gyr(RANGE_250,ODR_BW_2000_523);
kim1212 0:c317a0f96763 14 init_mag();
kim1212 0:c317a0f96763 15
kim1212 0:c317a0f96763 16
kim1212 0:c317a0f96763 17
kim1212 0:c317a0f96763 18 }
kim1212 0:c317a0f96763 19
kim1212 0:c317a0f96763 20 char BMX055::readbyte_acc(char adr){
kim1212 0:c317a0f96763 21 accss=0;
kim1212 0:c317a0f96763 22 adr=adr|0b10000000;
kim1212 0:c317a0f96763 23 bmx.write(adr);
kim1212 0:c317a0f96763 24 char val=bmx.write(0xFF);
kim1212 0:c317a0f96763 25 accss=1;
kim1212 0:c317a0f96763 26 return val;
kim1212 0:c317a0f96763 27
kim1212 0:c317a0f96763 28 }
kim1212 0:c317a0f96763 29
kim1212 0:c317a0f96763 30 void BMX055::readnbyte_acc(char adr,char *data,char num){//numは配列の数
kim1212 0:c317a0f96763 31 accss=0;
kim1212 0:c317a0f96763 32 adr=adr|0b10000000;
kim1212 0:c317a0f96763 33 bmx.write(adr);
kim1212 0:c317a0f96763 34 for(int i=0;i<num;i++)data[i]=bmx.write(0xFF);
kim1212 0:c317a0f96763 35 accss=1;
kim1212 0:c317a0f96763 36 }
kim1212 0:c317a0f96763 37 void BMX055::writebyte_acc(char adr,char data){
kim1212 0:c317a0f96763 38 accss=0;
kim1212 0:c317a0f96763 39 bmx.write(adr);
kim1212 0:c317a0f96763 40 bmx.write(data);
kim1212 0:c317a0f96763 41 accss=1;
kim1212 0:c317a0f96763 42 }
kim1212 0:c317a0f96763 43 bool BMX055::read_acc(float *acc){
kim1212 0:c317a0f96763 44 char data[6];
kim1212 0:c317a0f96763 45 readnbyte_acc(0x02,data,6);
kim1212 0:c317a0f96763 46 unsigned short buf[3];
kim1212 0:c317a0f96763 47 for(int i=0;i<3;i++){
kim1212 0:c317a0f96763 48 buf[i]=(data[2*i]>>4)|(data[2*i+1]<<4);
kim1212 0:c317a0f96763 49 if(buf[i]>0x800)acc[i]=(float)-1*((~buf[i]+1)&0xfff);
kim1212 0:c317a0f96763 50 else acc[i]=(float)buf[i];
kim1212 0:c317a0f96763 51 }
kim1212 0:c317a0f96763 52 return true;
kim1212 0:c317a0f96763 53 }
kim1212 0:c317a0f96763 54 char BMX055::read_temp(){
kim1212 0:c317a0f96763 55 return readbyte_acc(0x08);
kim1212 0:c317a0f96763 56 }
kim1212 0:c317a0f96763 57 void BMX055::calib_acc(){
kim1212 0:c317a0f96763 58 //sensor offset
kim1212 0:c317a0f96763 59 writebyte_acc(0x37,0b00100000);
kim1212 0:c317a0f96763 60
kim1212 0:c317a0f96763 61 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 62 writebyte_acc(0x36,0b00100000);
kim1212 0:c317a0f96763 63 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 64 writebyte_acc(0x36,0b01000000);
kim1212 0:c317a0f96763 65 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 66 writebyte_acc(0x36,0b01100000);
kim1212 0:c317a0f96763 67 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 68 }
kim1212 0:c317a0f96763 69 void BMX055::init_acc(char range,char bw){
kim1212 0:c317a0f96763 70 accss=1;
kim1212 0:c317a0f96763 71 writebyte_acc(0x14,0xb6);//softwarereset
kim1212 0:c317a0f96763 72
kim1212 0:c317a0f96763 73 writebyte_acc(0x0f,range);
kim1212 0:c317a0f96763 74 writebyte_acc(0x10,bw);
kim1212 0:c317a0f96763 75
kim1212 0:c317a0f96763 76 wait(0.5);
kim1212 0:c317a0f96763 77 calib_acc();
kim1212 0:c317a0f96763 78 }
kim1212 0:c317a0f96763 79
kim1212 0:c317a0f96763 80
kim1212 0:c317a0f96763 81 char BMX055::readbyte_gyr(char adr){
kim1212 0:c317a0f96763 82 gyrss=0;
kim1212 0:c317a0f96763 83 adr=adr|0b10000000;
kim1212 0:c317a0f96763 84 bmx.write(adr);
kim1212 0:c317a0f96763 85 char val=bmx.write(0xFF);
kim1212 0:c317a0f96763 86 gyrss=1;
kim1212 0:c317a0f96763 87 return val;
kim1212 0:c317a0f96763 88 }
kim1212 0:c317a0f96763 89 void BMX055::readnbyte_gyr(char adr,char *data,char num){//numは配列の数
kim1212 0:c317a0f96763 90 gyrss=0;
kim1212 0:c317a0f96763 91 adr=adr|0b10000000;
kim1212 0:c317a0f96763 92 bmx.write(adr);
kim1212 0:c317a0f96763 93 for(int i=0;i<num;i++)data[i]=bmx.write(0xFF);
kim1212 0:c317a0f96763 94 gyrss=1;
kim1212 0:c317a0f96763 95 }
kim1212 0:c317a0f96763 96 void BMX055::writebyte_gyr(char adr,char data){
kim1212 0:c317a0f96763 97 gyrss=0;
kim1212 0:c317a0f96763 98 bmx.write(adr);
kim1212 0:c317a0f96763 99 bmx.write(data);
kim1212 0:c317a0f96763 100 gyrss=1;
kim1212 0:c317a0f96763 101 }
kim1212 0:c317a0f96763 102 bool BMX055::read_gyr(float *gyr){
kim1212 0:c317a0f96763 103 char data[6];
kim1212 0:c317a0f96763 104 readnbyte_gyr(0x02,data,6);
kim1212 0:c317a0f96763 105 short buf[3];
kim1212 0:c317a0f96763 106 for(int i=0;i<3;i++){
kim1212 0:c317a0f96763 107 buf[i]=data[2*i]|(data[2*i+1]<<8);
kim1212 0:c317a0f96763 108 gyr[i]=(float)buf[i];
kim1212 0:c317a0f96763 109 }
kim1212 0:c317a0f96763 110
kim1212 0:c317a0f96763 111 return true;
kim1212 0:c317a0f96763 112 }
kim1212 0:c317a0f96763 113 void BMX055::calib_gyr(){
kim1212 0:c317a0f96763 114 writebyte_gyr(0x32,0b00111111);
kim1212 0:c317a0f96763 115 }
kim1212 0:c317a0f96763 116 void BMX055::init_gyr(char range,char odr_bw){
kim1212 0:c317a0f96763 117
kim1212 0:c317a0f96763 118 gyrss=1;
kim1212 0:c317a0f96763 119 writebyte_gyr(0x14,0xb6);//soft reset
kim1212 0:c317a0f96763 120 writebyte_gyr(0x0f,range);
kim1212 0:c317a0f96763 121 writebyte_gyr(0x10,odr_bw);//bandwidth&ODR
kim1212 0:c317a0f96763 122 calib_gyr();
kim1212 0:c317a0f96763 123 }
kim1212 0:c317a0f96763 124
kim1212 0:c317a0f96763 125 char BMX055::readbyte_mag(char adr){
kim1212 0:c317a0f96763 126 magss=0;
kim1212 0:c317a0f96763 127 adr=adr|0b10000000;
kim1212 0:c317a0f96763 128 bmx.write(adr);
kim1212 0:c317a0f96763 129 char val=bmx.write(0xFF);
kim1212 0:c317a0f96763 130 magss=1;
kim1212 0:c317a0f96763 131 return val;
kim1212 0:c317a0f96763 132 }
kim1212 0:c317a0f96763 133 void BMX055::writebyte_mag(char adr,char data){
kim1212 0:c317a0f96763 134 magss=0;
kim1212 0:c317a0f96763 135 bmx.write(adr);
kim1212 0:c317a0f96763 136 bmx.write(data);
kim1212 0:c317a0f96763 137 magss=1;
kim1212 0:c317a0f96763 138 }
kim1212 0:c317a0f96763 139 void BMX055::readnbyte_mag(char adr,char *data,char num){//numは配列の数
kim1212 0:c317a0f96763 140 magss=0;
kim1212 0:c317a0f96763 141 adr=adr|0b10000000;
kim1212 0:c317a0f96763 142 bmx.write(adr);
kim1212 0:c317a0f96763 143 for(int i=0;i<num;i++)data[i]=bmx.write(0xFF);
kim1212 0:c317a0f96763 144 magss=1;
kim1212 0:c317a0f96763 145 }
kim1212 0:c317a0f96763 146 bool BMX055::read_mag(float *mag){
kim1212 0:c317a0f96763 147 if((readbyte_mag(0x48)&0x01)==1){
kim1212 0:c317a0f96763 148 char data[8];
kim1212 0:c317a0f96763 149 readnbyte_mag(0x42,data,8);
kim1212 0:c317a0f96763 150 short buf[4];
kim1212 0:c317a0f96763 151
kim1212 0:c317a0f96763 152 buf[0]=(data[0]>>3)|(data[1]<<5);
kim1212 0:c317a0f96763 153 if(buf[0]>0x1000)mag[0]=(float)-1*((~buf[0]+1)&0xfff);
kim1212 0:c317a0f96763 154 else mag[0]=(float)buf[0];
kim1212 0:c317a0f96763 155
kim1212 0:c317a0f96763 156 buf[1]=(data[2]>>3)|(data[3]<<5);
kim1212 0:c317a0f96763 157 if(buf[1]>0x1000)mag[1]=(float)-1*((~buf[1]+1)&0xfff);
kim1212 0:c317a0f96763 158 else mag[1]=(float)buf[1];
kim1212 0:c317a0f96763 159
kim1212 0:c317a0f96763 160 buf[2]=((short)data[4]>>1)|((short)data[5]<<7);
kim1212 0:c317a0f96763 161 if(buf[2]>0x4000)mag[2]=(float)-1*((~buf[2]+1)&0x7fff);
kim1212 0:c317a0f96763 162 else mag[2]=(float)buf[2];
kim1212 0:c317a0f96763 163
kim1212 0:c317a0f96763 164 buf[3]=((short)data[6]>>2)|((short)data[7]<<6);
kim1212 0:c317a0f96763 165 if(buf[3]>0x2000)mag[3]=(float)-1*((~buf[3]+1)&0x3fff);
kim1212 0:c317a0f96763 166 else mag[3]=(float)buf[3];
kim1212 0:c317a0f96763 167
kim1212 0:c317a0f96763 168 return true;
kim1212 0:c317a0f96763 169
kim1212 0:c317a0f96763 170 }else return false;
kim1212 0:c317a0f96763 171 }
kim1212 0:c317a0f96763 172 void BMX055::init_mag(){
kim1212 0:c317a0f96763 173 magss=1;
kim1212 0:c317a0f96763 174 writebyte_mag(0x4b,0b10000000);//soft reset
kim1212 0:c317a0f96763 175 writebyte_mag(0x4b,0b00000001);//power mode
kim1212 0:c317a0f96763 176 wait_ms(50);
kim1212 0:c317a0f96763 177 //printf("id is %d\r\n",readbyte_mag(0x40));
kim1212 0:c317a0f96763 178 writebyte_mag(0x4c,0b00111000);//data enable
kim1212 0:c317a0f96763 179 }
kim1212 0:c317a0f96763 180
kim1212 0:c317a0f96763 181
kim1212 0:c317a0f96763 182
kim1212 0:c317a0f96763 183 void BMX055::offset(){
kim1212 0:c317a0f96763 184 calib_acc();
kim1212 0:c317a0f96763 185 calib_gyr();
kim1212 0:c317a0f96763 186 }
kim1212 0:c317a0f96763 187