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@1:fed25406cc14, 2018-02-13 (annotated)

Committer:
kim1212
Date:
Tue Feb 13 04:13:42 2018 +0000
Revision:
1:fed25406cc14
Parent:
0:c317a0f96763 
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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 1:fed25406cc14 10 bmx.frequency(10000000);
kim1212 0:c317a0f96763 11 bmx.format(8,3);
kim1212 1:fed25406cc14 12 init_acc(RANGE_2G,BW_250);
kim1212 1:fed25406cc14 13 init_gyr(RANGE_250,ODR_BW_2000_230);
kim1212 1:fed25406cc14 14 init_mag(0,0);
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 1:fed25406cc14 43 bool BMX055::read_acc(short *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 1:fed25406cc14 49 if(buf[i]>0x800)acc[i]=(short)-1*((~buf[i]+1)&0xfff);
kim1212 1:fed25406cc14 50 else acc[i]=(short)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 1:fed25406cc14 59 writebyte_acc(0x37,0b01111110);
kim1212 0:c317a0f96763 60
kim1212 1:fed25406cc14 61 wait_ms(10);
kim1212 0:c317a0f96763 62 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 63 writebyte_acc(0x36,0b00100000);
kim1212 0:c317a0f96763 64 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 65 writebyte_acc(0x36,0b01000000);
kim1212 0:c317a0f96763 66 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 67 writebyte_acc(0x36,0b01100000);
kim1212 0:c317a0f96763 68 while(((readbyte_acc(0x36)&0b00010000)>>4)!=1);
kim1212 0:c317a0f96763 69 }
kim1212 0:c317a0f96763 70 void BMX055::init_acc(char range,char bw){
kim1212 0:c317a0f96763 71 accss=1;
kim1212 0:c317a0f96763 72 writebyte_acc(0x14,0xb6);//softwarereset
kim1212 0:c317a0f96763 73
kim1212 0:c317a0f96763 74 writebyte_acc(0x0f,range);
kim1212 0:c317a0f96763 75 writebyte_acc(0x10,bw);
kim1212 0:c317a0f96763 76
kim1212 0:c317a0f96763 77 wait(0.5);
kim1212 0:c317a0f96763 78 calib_acc();
kim1212 0:c317a0f96763 79 }
kim1212 0:c317a0f96763 80
kim1212 0:c317a0f96763 81
kim1212 0:c317a0f96763 82 char BMX055::readbyte_gyr(char adr){
kim1212 0:c317a0f96763 83 gyrss=0;
kim1212 0:c317a0f96763 84 adr=adr|0b10000000;
kim1212 0:c317a0f96763 85 bmx.write(adr);
kim1212 0:c317a0f96763 86 char val=bmx.write(0xFF);
kim1212 0:c317a0f96763 87 gyrss=1;
kim1212 0:c317a0f96763 88 return val;
kim1212 0:c317a0f96763 89 }
kim1212 0:c317a0f96763 90 void BMX055::readnbyte_gyr(char adr,char *data,char num){//numは配列の数
kim1212 0:c317a0f96763 91 gyrss=0;
kim1212 0:c317a0f96763 92 adr=adr|0b10000000;
kim1212 0:c317a0f96763 93 bmx.write(adr);
kim1212 0:c317a0f96763 94 for(int i=0;i<num;i++)data[i]=bmx.write(0xFF);
kim1212 0:c317a0f96763 95 gyrss=1;
kim1212 0:c317a0f96763 96 }
kim1212 0:c317a0f96763 97 void BMX055::writebyte_gyr(char adr,char data){
kim1212 0:c317a0f96763 98 gyrss=0;
kim1212 0:c317a0f96763 99 bmx.write(adr);
kim1212 0:c317a0f96763 100 bmx.write(data);
kim1212 0:c317a0f96763 101 gyrss=1;
kim1212 0:c317a0f96763 102 }
kim1212 1:fed25406cc14 103 bool BMX055::read_gyr(short *gyr){
kim1212 0:c317a0f96763 104 char data[6];
kim1212 0:c317a0f96763 105 readnbyte_gyr(0x02,data,6);
kim1212 0:c317a0f96763 106 short buf[3];
kim1212 0:c317a0f96763 107 for(int i=0;i<3;i++){
kim1212 0:c317a0f96763 108 buf[i]=data[2*i]|(data[2*i+1]<<8);
kim1212 1:fed25406cc14 109 gyr[i]=buf[i];
kim1212 0:c317a0f96763 110 }
kim1212 0:c317a0f96763 111
kim1212 0:c317a0f96763 112 return true;
kim1212 0:c317a0f96763 113 }
kim1212 0:c317a0f96763 114 void BMX055::calib_gyr(){
kim1212 0:c317a0f96763 115 writebyte_gyr(0x32,0b00111111);
kim1212 0:c317a0f96763 116 }
kim1212 0:c317a0f96763 117 void BMX055::init_gyr(char range,char odr_bw){
kim1212 0:c317a0f96763 118
kim1212 0:c317a0f96763 119 gyrss=1;
kim1212 0:c317a0f96763 120 writebyte_gyr(0x14,0xb6);//soft reset
kim1212 0:c317a0f96763 121 writebyte_gyr(0x0f,range);
kim1212 0:c317a0f96763 122 writebyte_gyr(0x10,odr_bw);//bandwidth&ODR
kim1212 0:c317a0f96763 123 calib_gyr();
kim1212 0:c317a0f96763 124 }
kim1212 0:c317a0f96763 125
kim1212 0:c317a0f96763 126 char BMX055::readbyte_mag(char adr){
kim1212 0:c317a0f96763 127 magss=0;
kim1212 0:c317a0f96763 128 adr=adr|0b10000000;
kim1212 0:c317a0f96763 129 bmx.write(adr);
kim1212 0:c317a0f96763 130 char val=bmx.write(0xFF);
kim1212 0:c317a0f96763 131 magss=1;
kim1212 0:c317a0f96763 132 return val;
kim1212 0:c317a0f96763 133 }
kim1212 0:c317a0f96763 134 void BMX055::writebyte_mag(char adr,char data){
kim1212 0:c317a0f96763 135 magss=0;
kim1212 0:c317a0f96763 136 bmx.write(adr);
kim1212 0:c317a0f96763 137 bmx.write(data);
kim1212 0:c317a0f96763 138 magss=1;
kim1212 0:c317a0f96763 139 }
kim1212 0:c317a0f96763 140 void BMX055::readnbyte_mag(char adr,char *data,char num){//numは配列の数
kim1212 0:c317a0f96763 141 magss=0;
kim1212 0:c317a0f96763 142 adr=adr|0b10000000;
kim1212 0:c317a0f96763 143 bmx.write(adr);
kim1212 0:c317a0f96763 144 for(int i=0;i<num;i++)data[i]=bmx.write(0xFF);
kim1212 0:c317a0f96763 145 magss=1;
kim1212 0:c317a0f96763 146 }
kim1212 1:fed25406cc14 147 bool BMX055::read_mag(short *mag){
kim1212 0:c317a0f96763 148 if((readbyte_mag(0x48)&0x01)==1){
kim1212 0:c317a0f96763 149 char data[8];
kim1212 0:c317a0f96763 150 readnbyte_mag(0x42,data,8);
kim1212 0:c317a0f96763 151 short buf[4];
kim1212 0:c317a0f96763 152
kim1212 0:c317a0f96763 153 buf[0]=(data[0]>>3)|(data[1]<<5);
kim1212 1:fed25406cc14 154 if(buf[0]>0x1000)mag[0]=-1*((~buf[0]+1)&0xfff);
kim1212 1:fed25406cc14 155 else mag[0]=buf[0];
kim1212 0:c317a0f96763 156
kim1212 0:c317a0f96763 157 buf[1]=(data[2]>>3)|(data[3]<<5);
kim1212 1:fed25406cc14 158 if(buf[1]>0x1000)mag[1]=-1*((~buf[1]+1)&0xfff);
kim1212 1:fed25406cc14 159 else mag[1]=buf[1];
kim1212 0:c317a0f96763 160
kim1212 0:c317a0f96763 161 buf[2]=((short)data[4]>>1)|((short)data[5]<<7);
kim1212 1:fed25406cc14 162 if(buf[2]>0x4000)mag[2]=-1*((~buf[2]+1)&0x7fff);
kim1212 1:fed25406cc14 163 else mag[2]=buf[2];
kim1212 0:c317a0f96763 164
kim1212 0:c317a0f96763 165 buf[3]=((short)data[6]>>2)|((short)data[7]<<6);
kim1212 1:fed25406cc14 166 if(buf[3]>0x2000)mag[3]=-1*((~buf[3]+1)&0x3fff);
kim1212 1:fed25406cc14 167 else mag[3]=buf[3];
kim1212 1:fed25406cc14 168
kim1212 1:fed25406cc14 169 writebyte_mag(0x4c,0b00000010);//forced mode trigger
kim1212 1:fed25406cc14 170
kim1212 0:c317a0f96763 171
kim1212 0:c317a0f96763 172 return true;
kim1212 0:c317a0f96763 173
kim1212 0:c317a0f96763 174 }else return false;
kim1212 0:c317a0f96763 175 }
kim1212 1:fed25406cc14 176 void BMX055::init_mag(unsigned char REPXY,unsigned char REPZ){
kim1212 0:c317a0f96763 177 magss=1;
kim1212 1:fed25406cc14 178 writebyte_mag(0x4b,0b00000001);//go sleep mode
kim1212 1:fed25406cc14 179 wait_ms(50);
kim1212 1:fed25406cc14 180 writebyte_mag(0x4b,0b10000011);//soft reset&go sleep mode
kim1212 0:c317a0f96763 181 wait_ms(50);
kim1212 1:fed25406cc14 182
kim1212 1:fed25406cc14 183 writebyte_mag(0x51,REPXY);//set REPXY
kim1212 1:fed25406cc14 184 //1+REPXY
kim1212 1:fed25406cc14 185 wait_ms(50);
kim1212 1:fed25406cc14 186
kim1212 1:fed25406cc14 187 writebyte_mag(0x52,REPZ);//set REPZ
kim1212 1:fed25406cc14 188 //1+REPZ
kim1212 1:fed25406cc14 189 wait_ms(50);
kim1212 1:fed25406cc14 190
kim1212 1:fed25406cc14 191 writebyte_mag(0x4c,0b00000010);//forced modetrigger
kim1212 0:c317a0f96763 192 }
kim1212 0:c317a0f96763 193
kim1212 0:c317a0f96763 194
kim1212 0:c317a0f96763 195
kim1212 0:c317a0f96763 196 void BMX055::offset(){
kim1212 0:c317a0f96763 197 calib_acc();
kim1212 0:c317a0f96763 198 calib_gyr();
kim1212 0:c317a0f96763 199 }
kim1212 0:c317a0f96763 200