Accelerometer test
Fork of BMA180 by
BMA180.cpp
- Committer:
- tedparrott6
- Date:
- 2017-11-16
- Revision:
- 1:76ba09761dbe
- Parent:
- 0:ff755cb08068
File content as of revision 1:76ba09761dbe:
#include "mbed.h" #include "BMA180.h" //Serial pc(USBTX, USBRX); // tx, rx BMA180::BMA180(PinName sdi, PinName sdo, PinName sck, PinName csb, PinName interrupt) : _csb(csb), _interrupt(interrupt), spi(sdi, sdo, sck){ // mosi, miso, sclk _csb = 1; _interrupt = 0; } int BMA180::validate(char id, char ver) { char readID; int value = 0; readID = readReg(id); if(readID == 3) { value = 1; } else { //pc.printf("Lost Connection"); value = -1; } return value; } void BMA180::initBMA180(void) { char readVersion, readID; char byte; readID = readReg(CHIPID); readVersion = readReg(VERSION); if(readID == 3) { //pc.printf("Connected to BMA180\n\r"); //pc.printf("BMA180 Version: %d\n\r", readVersion); reset(); byte = readReg(CTRL_REG0); byte |= 0x10; // Set bit4 to 1 to enable self test and unlock image writing writeReg(CTRL_REG0, byte); byte = readReg(DIS_I2C); // Read register //pc.printf("\n\rDisable I2C Before: %0.3X ", byte); byte |= 0x01; // Set bit0 to 1 for only SPI writeReg(DIS_I2C, byte); // Set SPI and disable I2C as per pg 31 of datasheet byte = readReg(RANGE); //pc.printf("After: %0.3X", byte); byte = readReg(RANGE); // Read register //pc.printf("\n\rRange Before: %0.3X ", byte); byte &= 0xFB; // Set bit3,2,1 to 010 for 2g byte |= 0x02; writeReg(RANGE, byte); byte = readReg(RANGE); //pc.printf("After: %0.3X", byte); byte = readReg(CTRL_REG3); //pc.printf("\n\rRegister 3 Before: %0.3X ", byte); byte |= 0x02; // Set bit1 to 1 to enable new data interrupts byte |= 0x40; // Set bit6 to 1 to enable slope mode byte |= 0x80; // Set bit6 to 1 to enable slope alert writeReg(CTRL_REG3, byte); //pc.printf("After: %0.3X", byte); //pc.printf("Interrupt is enabled."); byte = readReg(CTRL_REG0); byte &= 0xEF; // Set bit4 to 0 to disable self test and lock image writing writeReg(CTRL_REG0, byte); //pc.printf("\n\rBMA initialization complete.\n\r"); } else { //pc.printf("Not connected to BMA180! ReadVersion: %d ReadID: %d\n\r", readVersion, readID); } } void BMA180::reset(void) { writeReg(RESET, 0xB6); wait_ms(10); //pc.printf("Soft Reset, EEPROM Copied\n\r"); } void BMA180::readAxis(void) { int x_msb, y_msb, z_msb; char x_lsb, y_lsb, z_lsb; short ax, ay, az; float afx, afy, afz; x_lsb = readReg(ACCXLSB); // Read X LSB register x_msb = readReg(ACCXMSB); // Read X MSB register ax = (x_msb << 8) | x_lsb; // Concatinate X MSB and LSB ax = ax >> 2; // Remove unused first 2 LSB (16 bits to 14 bits) afx = (float)ax*3/16384; y_lsb = readReg(ACCYLSB); // Read Y LSB register y_msb = readReg(ACCYMSB); // Read Y MSB register ay = (y_msb << 8) | y_lsb; // Concatinate Y MSB and LSB ay = ay >> 2; // Remove unused first 2 LSB afy = (float)ay*3/16384; z_lsb = readReg(ACCZLSB); // Read Z LSB register z_msb = readReg(ACCZMSB); // Read Z MSB register az = (z_msb << 8) | z_lsb; // Concatinate Z MSB and LSB az = az >> 2; // Remove unused first 2 LSB afz = (float)az*3/16384; //pc.printf("\n\rX: %05f Y: %05f Z: %05f", afx, afy, afz); } void BMA180::writeReg(uint8_t address, char data) { address &= 0x7F; // Set bit7 to 0 for write mode _csb = 0; // Select the device wait_us(2); spi.write(address); // Send to data register location wait_us(2); spi.write(data); // Send value to register wait_us(2); _csb = 1; // Deselect the device } char BMA180::readReg(uint8_t address) { char byte; address |= 0x80; // Set bit7 to 1 for read mode _csb = 0; // Select the device wait_us(2); spi.write(address); // Send to data register location wait_us(2); byte = spi.write(address); // Get data wait_us(2); _csb = 1; // Deselect the device wait_us(2); return byte; } void BMA180::disInt(void) { char byte; byte = readReg(CTRL_REG0); byte |= 0x10; // Set bit4 to 1 to enable self test and unlock image writing writeReg(CTRL_REG0, byte); byte = readReg(CTRL_REG3); // Unlock image writing byte &= 0xFD; // Set bit1 to 0 to disable interrupt writeReg(CTRL_REG3, byte); byte = readReg(CTRL_REG0); byte &= 0xEF; // Set bit4 to 0 to disable self test and lock image writing writeReg(CTRL_REG0, byte); }