bma180s.h

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/*
 * Copyright (c) 2011, Robert Bosch LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Robert Bosch LLC nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
 * If you would like the official Bosch Sensortec drivers, please contact:
 * contact@bosch-sensortec.com
 *
 *********************************************************************/

/*
 * bma180.h
 *
 *  Created on: Jul 26, 2011
 *      Author: Lucas Marti, Robert Bosch LLC |
 *      Editor: Nikhil Deshpande, Robert Bosch LLC |
 */

#ifndef BMA180_H_
#define BMA180_H_

#include "bma180/bma180meas.h"
#include "bma180/bma180err.h"
#include "bma180/bma180_calibrate.h"
#include <list>
#include <libsub.h> // sub20 device

//Define BMA180 specifics
namespace bma180_cmd
{
  const char FLAG_R             = {0x80};
  //Define BMA180 commands
  const char    ADDRESS_ACCLXYZ        = {0x02};  //read accel data
  const char    ADDRESS_VER            = {0x00};  //read version data
  const char    ADDRESS_STATREG1       = {0x09};
  const char    ADDRESS_STATREG2       = {0x0A};
  const char    ADDRESS_STATREG3       = {0x0B};
  const char    ADDRESS_STATREG4       = {0x0C};
  const char    ADDRESS_CTRLREG0       = {0x0D};
  const char    ADDRESS_CTRLREG1       = {0x0E};
  const char    ADDRESS_CTRLREG2       = {0x0F};
  const char    ADDRESS_SOFTRESET      = {0x10};
  const char    ADDRESS_EE_OFFSET_Z    = {0x5A};  // |
  const char    ADDRESS_EE_OFFSET_Y    = {0x59};  // |
  const char    ADDRESS_EE_OFFSET_X    = {0x58};  // |-> THIS IS THE EEPROM
  const char    ADDRESS_EE_OFFSET_T    = {0x57};  // |
  const char    ADDRESS_EE_OFFSET_LSB2 = {0x56};  // |
  const char    ADDRESS_EE_OFFSET_LSB1 = {0x55};  // |
  const char    ADDRESS_OFFSET_Z       = {0x3A};
  const char    ADDRESS_OFFSET_Y       = {0x39};
  const char    ADDRESS_OFFSET_X       = {0x38};
  const char    ADDRESS_OFFSET_T       = {0x37};
  const char    ADDRESS_OFFSET_LSB2    = {0x36};
  const char    ADDRESS_OFFSET_LSB1    = {0x35};
  const char    ADDRESS_EE_GAIN_Z      = {0x54};
  //-----------------------------------
  const char    ADDRESS_BWTCS          = {0x20};
  const char    ADDRESS_RANGE          = {0x35};
  //-----------------------------------
  const double  dFULLRANGELOOKUP[] = {1.0, 1.5, 2.0, 3.0, 4.0, 8.0, 16.0};
  const char    COMMAND_FULLSCALE_G[] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06};
  //-----------------------------------
  const double  dBWLOOKUP[] = {10, 20, 40, 75, 150, 300, 600, 1200};
  const char    COMMAND_BANDWIDTH_HZ[] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
  //-----------------------------------
  const char    COMMAND_SOFTRESET = {0xB6};
  const char    COMMAND_SET_EEW   = {0x01};
  //-----------------------------------
  enum eSensorType {eACCEL, eTEMP, eBIAS_X, eBIAS_Y, eBIAS_Z};
  //-----------------------------------
  const unsigned short MAX_NUM_SENSORS = 5;          //Defined by the Xdimax Unit (which supports 5 sensors per box)
  //-----------------------------------
  const double  dDEFAULT_MAXACC_g     = 16.0;
  const std::string     sSUB20SERIAL("0651");
  const double  dDEFAULT_BANDWIDTH_Hz = 300;
  const double  dDEFAULT_RATE_Hz      = 500;
  const bool    bDEFAULT_CALIBRATE    = false;
  const double  dCALIB_ACCURACY       = 0.05;
  //-----------------------------------
  const unsigned short uSERIALNUMLENGTH = 20;
  //-----------------------------------
  const short   iDEFAULT_CALIBCHIPSELECT= 0;            //this is out of range and ensures that no calibration is executed in case of error
}

//Define measurement output
struct OneBma180Meas
{
  bool        bMeasAvailable; //indicates true if a valid measurement is available
  int         iNumAccels;
  double      dAccX[bma180_cmd::MAX_NUM_SENSORS];
  double      dAccY[bma180_cmd::MAX_NUM_SENSORS];
  double      dAccZ[bma180_cmd::MAX_NUM_SENSORS];
  double      dTemp;
  ros::Time   dtomeas; //time tag measurement immediately in case of other delays
  std::string serial_number;
  int         chip_select[bma180_cmd::MAX_NUM_SENSORS];
};



class Bma180
{
public:

  Bma180( double max_acceleration_g, double dBandwidth_Hz, bool bCalibrate, double dRate_Hz, std::string sSub20Serial );
  

  ~Bma180();


  void GetMeasurements( std::list<OneBma180Meas>& );

private:

  // structure for one bma180 configuration
  struct OneBma180Config
  {
    double         dFullScaleRange;
    double         dSensorBandwidth;
    bool           bConfigured;
    unsigned short uiBiasImageX;
    unsigned short uiBiasImageY;
    unsigned short uiBiasImageZ;
    double         iNumOfCalibMeas;
  };
  
// structure for one Sub20 device configuration
  struct OneSub20Config
  {
    std::string     strSub20Serial;
    sub_handle      handle_subdev;
    sub_device      subdev;
    bool            bSubSPIConfigured;
    OneBma180Config Bma180Cluster[bma180_cmd::MAX_NUM_SENSORS];
  };
  std::list<OneSub20Config>   Sub20Device_list;

  // internal calibration flags
  bool              bExecuteCalibration;
  bool              bCalibrationCompleted;
  bma180_calibrate  calib_bma180;
  
  // internal selected accelerometer range and bandwidth
  char              chMaxAccRange_selected;
  char              chBW_selected;
  int               iCalib_CS;
  
  // internal Sub20 device data
  sub_handle        subhndl;              //handle for Sub20 device
  bool              bSubDeviceOpen;       //initialization flag
  bool              bSubDeviceConfigured; //verify if subdevice is configured
  std::string       serial_number;        //Serial number of Sub20 device
  
  double bma180data_to_double( char, char, bma180_cmd::eSensorType, int *,  double );
  
  unsigned short bma180data_to_uint( char, char, bma180_cmd::eSensorType );
  
  bool read_biassettings( sub_handle, int, unsigned short*, unsigned short*, unsigned short* );
  
  bool set_biassettings( sub_handle, int, unsigned short, unsigned short, unsigned short, bool );
  
  bool read_byte_eeprom_sub20( char, char*, unsigned short, sub_handle );
  
  bool write_bit_eeprom_sub20( char, unsigned short, unsigned short, char, unsigned short, sub_handle );
  
  void confsens_on_sub20( OneSub20Config*, char, char );
  
  void set_calibstatus( bool bCalibrate );
};

#endif /* MULT_BMA180_H_ */