Bma180 Class Reference

A Class to interface to the BMA180 over SPI. More...

#include <bma180.h>

Classes
struct	OneBma180Config
struct	OneSub20Config
Public Member Functions
	Bma180 (double, double, bool)
	Constructor initializes Sub20 device and BMA180ies.
void	GetMeasurements (std::list< OneBma180Meas > &)
	Polls one measurement from all BMA180 defined in std::list<OneBma180Meas>&.
	~Bma180 ()
	Destructor closing all open connections.
Private Member Functions
double	bma180data_to_double (char, char, bma180_cmd::eSensorType, double)
	Converts BMA180 formatted data into double.
unsigned short	bma180data_to_uint (char, char, bma180_cmd::eSensorType)
	Converts BMA180 formatted data into an unsigned int.
void	confsens_on_sub20 (OneSub20Config *, char, char)
	Configures specified BMA180 according to the deafult or user settings.
bool	read_biassettings (sub_handle, int, unsigned short , unsigned short , unsigned short *)
	Reads the stored bias settings of the BMA180.
bool	read_byte_eeprom_sub20 (char, char *, unsigned short, sub_handle)
	Reads a byte from the EEPROM.
bool	set_biassettings (sub_handle, int, unsigned short, unsigned short, unsigned short, bool)
	Stores estimated biases into the BMA180 image.
void	set_calibstatus (bool bCalibrate)
	Sets the calibration status of the object.
bool	write_bit_eeprom_sub20 (char, unsigned short, unsigned short, char, unsigned short, sub_handle)
	Writes specified bits into the eeprom image.
Private Attributes
bool	bCalibrationCompleted
bool	bExecuteCalibration
bool	bSubDeviceConfigured
bool	bSubDeviceOpen
bma180_calibrate	calib_bma180
char	chBW_selected
char	chMaxAccRange_selected
sub_handle	fd
int	iCalib_CS
std::string	strSerial
std::list< OneSub20Config >	Sub20Device_list

Detailed Description

A Class to interface to the BMA180 over SPI.

This class interfaces with Bosch BMA180 over SPI using an XDIMAX Sub20 interface device. The class allows multiple Sub20 devices to be connected. Each Sub20 device can handle up to 5 BMA 180ies. The class independently detects a BMA180 connected.

Definition at line 116 of file bma180.h.

Constructor & Destructor Documentation

Bma180::Bma180	(	double	dMaxAcc_g,
		double	dBandwidth_Hz,
		bool	bCalibrate
	)

Constructor initializes Sub20 device and BMA180ies.

Detects connected Sub20 devices and BMA180ies. Initializes the Sub20 device and loads configures the BMA180 with the specified bandwidth and max acceleration range. On request it perfroms sensor calibration

Parameters:

	dMaxAcc_g	The maximum acceleration range of the sensor
	dBandwidth_Hz	The bandwidth of the sensor front-end
	bCalibrate	Requesting sensor calibration

Definition at line 39 of file bma180.cpp.

Bma180::~Bma180 ( )

Destructor closing all open connections.

Closes open SPI connections and disables the Sub20 device. Disposes any dynamic structure in the heap.

Definition at line 142 of file bma180.cpp.

Member Function Documentation

double Bma180::bma180data_to_double	(	char	chMSB,
		char	chLSB,
		bma180_cmd::eSensorType	eSensor,
		double	dAccScale
	)			`[private]`

Converts BMA180 formatted data into double.

Definition at line 325 of file bma180.cpp.

unsigned short Bma180::bma180data_to_uint	(	char	chMSB,
		char	chLSB,
		bma180_cmd::eSensorType	eSensor
	)			`[private]`

Converts BMA180 formatted data into an unsigned int.

Definition at line 369 of file bma180.cpp.

void Bma180::confsens_on_sub20	(	OneSub20Config *	pOneSub20Conf,
		char	chFullscale,
		char	chBandwidth
	)			`[private]`

Configures specified BMA180 according to the deafult or user settings.

Definition at line 483 of file bma180.cpp.

void Bma180::GetMeasurements ( std::list< OneBma180Meas > & list_meas )

Polls one measurement from all BMA180 defined in std::list<OneBma180Meas>&.

Iterates through all detected BMA180ies on all connected Sub20 devices and sends a measurement request to the respective sensor. In case of calibration request, any received measurement is used to calibrate the sensor. NOTE: As the EEPROM can only handle a limited amount of write cycles, the calibration routine only allows one Sub20 device to be connected for the calibration mode to be executed successfully.

Parameters:

&list_meas

points onto the std::list containing the connected devices

Definition at line 153 of file bma180.cpp.

bool Bma180::read_biassettings	(	sub_handle	handle_sub20,
		int	iChipSelect,
		unsigned short *	uiBiasX,
		unsigned short *	uiBiasY,
		unsigned short *	uiBiasZ
	)			`[private]`

Reads the stored bias settings of the BMA180.

Definition at line 579 of file bma180.cpp.

bool Bma180::read_byte_eeprom_sub20	(	char	chADR,
		char *	pchREGISTER,
		unsigned short	iChipSelect,
		sub_handle	sub_h
	)			`[private]`

Reads a byte from the EEPROM.

Definition at line 396 of file bma180.cpp.

bool Bma180::set_biassettings	(	sub_handle	handle_sub20,
		int	iChipSelect,
		unsigned short	uiBiasX,
		unsigned short	uiBiasY,
		unsigned short	uiBiasZ,
		bool	bWriteEEPROM
	)			`[private]`

Stores estimated biases into the BMA180 image.

Definition at line 635 of file bma180.cpp.

void Bma180::set_calibstatus ( bool bCalibrate ) [private]

Sets the calibration status of the object.

Definition at line 720 of file bma180.cpp.

bool Bma180::write_bit_eeprom_sub20	(	char	chADR,
		unsigned short	iLSBOfByte,
		unsigned short	iNumOfBits,
		char	chBitSeq,
		unsigned short	iChipSelect,
		sub_handle	sub_h
	)			`[private]`