forked from Archive/PX4-Autopilot
Checkpoint: Operational BMA180 driver
This commit is contained in:
Lorenz Meier
parent
63485b91b2
commit
5f131e8c11
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@ -32,7 +32,8 @@
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****************************************************************************/
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/**
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* @file Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI.
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* @file bma180.cpp
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* Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI.
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*/
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#include <nuttx/config.h>
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@ -81,6 +82,9 @@ static const int ERROR = -1;
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#define ADDR_ACC_Z_LSB 0x06
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#define ADDR_TEMPERATURE 0x08
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#define ADDR_CTRL_REG0 0x0D
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#define REG0_WRITE_ENABLE 0x10
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#define ADDR_RESET 0x10
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#define SOFT_RESET 0xB6
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@ -295,8 +299,11 @@ BMA180::init()
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/* perform soft reset (p48) */
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write_reg(ADDR_RESET, SOFT_RESET);
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/* wait 10us (p49) */
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usleep(10);
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/* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */
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usleep(10000);
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/* enable writing to chip config */
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modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
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/* disable I2C interface */
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modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
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@ -310,10 +317,17 @@ BMA180::init()
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/* disable shadow-disable mode */
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modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
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set_range(2);
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set_lowpass(75);
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/* disable writing to chip config */
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modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
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ret = OK;
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if (set_range(4)) warnx("Failed setting range");
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if (set_lowpass(75)) warnx("Failed setting lowpass");
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if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
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ret = OK;
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} else {
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ret = ERROR;
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}
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out:
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return ret;
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}
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@ -538,11 +552,11 @@ BMA180::set_range(unsigned max_g)
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if (max_g > 16)
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return -ERANGE;
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if (max_g <= 1) {
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_current_range = 1;
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rangebits = OFFSET_LSB1_RANGE_2G;
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} else if (max_g <= 2) {
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if (max_g <= 2) {
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_current_range = 2;
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rangebits = OFFSET_LSB1_RANGE_2G;
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} else if (max_g <= 3) {
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_current_range = 3;
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rangebits = OFFSET_LSB1_RANGE_3G;
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} else if (max_g <= 4) {
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_current_range = 4;
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@ -561,10 +575,18 @@ BMA180::set_range(unsigned max_g)
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_accel_range_m_s2 = _current_range * 9.80665f;
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_accel_range_scale = _accel_range_m_s2 / 8192.0f;
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/* enable writing to chip config */
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modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
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/* adjust sensor configuration */
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modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
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return OK;
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/* block writing to chip config */
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modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
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/* check if wanted value is now in register */
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return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
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(OFFSET_LSB1_RANGE_MASK & rangebits));
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}
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int
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@ -600,10 +622,18 @@ BMA180::set_lowpass(unsigned frequency)
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bwbits = BW_TCS_BW_10HZ;
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}
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/* enable writing to chip config */
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modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
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/* adjust sensor configuration */
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modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits);
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return OK;
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/* block writing to chip config */
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modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
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/* check if wanted value is now in register */
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return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) ==
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(BW_TCS_BW_MASK & bwbits));
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}
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void
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@ -657,7 +687,7 @@ BMA180::measure()
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* starting from the X LSB.
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*/
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raw_report.cmd = ADDR_ACC_X_LSB;
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transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
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// XXX PX4DEV transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
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/*
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* Adjust and scale results to SI units.
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@ -668,10 +698,23 @@ BMA180::measure()
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* measurement flow without using the external interrupt.
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*/
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_reports[_next_report].timestamp = hrt_absolute_time();
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/* XXX adjust for sensor alignment to board here */
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report->x_raw = raw_report.x;
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report->y_raw = raw_report.y;
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report->z_raw = raw_report.z;
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/*
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* y of board is x of sensor and x of board is -y of sensor
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* perform only the axis assignment here.
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* The y axis is inverted four lines down from y to -y
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* Two non-value bits are discarded directly
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*/
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report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+1)) << 8) | (read_reg(ADDR_ACC_X_LSB));// XXX PX4DEV raw_report.x;
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report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+3)) << 8) | (read_reg(ADDR_ACC_X_LSB+2));// XXX PX4DEV raw_report.y;
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report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+5)) << 8) | (read_reg(ADDR_ACC_X_LSB+4));// XXX PX4DEV raw_report.z;
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/* discard two non-value bits in the 16 measurement */
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report->x_raw = (report->x_raw >> 2);
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report->y_raw = (report->y_raw >> 2);
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report->z_raw = (report->z_raw >> 2);
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/* invert y axis, watching the int16 overflow */
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report->y_raw = (report->y_raw == INT16_MIN) ? INT16_MAX : -report->y_raw;
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report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
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report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
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