bma180_parameters.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2012, Robert Bosch LLC.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Robert Bosch nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  *********************************************************************/
00036 
00037 /*********************************************************************
00038  *
00039  * Disclaimer
00040  *
00041  * This source code is not officially released or supported by Bosch Sensortec.
00042  * Please contact the listed authors with bugs or other modifications.
00043  * If you would like the official Bosch Sensortec drivers, please contact:
00044  * contact@bosch-sensortec.com
00045  *
00046  *********************************************************************/
00047 
00048 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC
00049 
00050 #include "bma180_driver/bma180_parameters.hpp"
00051 
00052 
00053 /**********************************************************************/
00054 /**********************************************************************/
00055 BMA180Parameters::BMA180Parameters() // Constructor
00056 {
00057   // set defaults:
00061   flags_ = 0;       
00062   this->setFrequency( 400000 );   
00063   this->setProtocol( I2C );
00064   this->setAccelRange( RANGE_2 ); // default: ±2 [g]
00065   this->setBandwidth( BW_150 ); // default
00066   this->setSlaveAddressBit( 0 ); // default: SDO connected to VSS
00067  
00068   this->setPin( 10 ); // default: SPI Chip select pin.
00069   this->setSpiMode( SPI_MODE_3 ); // default: flags adjusted. These settings don't need to be tweaked to read the bma180 via SPI.
00070   this->setByteOrder( MSB_FIRST ); // default: flags adjusted.
00071 }
00072 
00073 /**********************************************************************/
00074 /**********************************************************************/
00075 BMA180Parameters::~BMA180Parameters() // Destructor
00076 {
00077 }
00078 
00079 
00080 /**********************************************************************/
00081 /**********************************************************************/
00082 bool BMA180Parameters::setProtocol( interface_protocol protocol )
00083 {
00084   switch( protocol )
00085   {
00086   case I2C:
00087     protocol_ = protocol;
00088     break;
00089   case SPI:
00090     protocol_ = protocol;
00091     break;
00092   default:
00093     ROS_ERROR( "bma180_parameters:Unsupported protocol." );
00094     return false;
00095   }
00096   return true;
00097 }
00098 
00099 
00100 /**********************************************************************/
00101 /**********************************************************************/
00102 bool BMA180Parameters::setFrequency( int frequency )
00103 {
00104   frequency_ = frequency;
00105   return true;
00106 }
00107 
00108 
00109 /**********************************************************************/
00110 /**********************************************************************/
00111 interface_protocol BMA180Parameters::getProtocol()
00112 {
00113   return protocol_;
00114 }
00115 
00116 
00117 /**********************************************************************/
00118 /**********************************************************************/
00119 int BMA180Parameters::getFrequency()
00120 {
00121   return frequency_;
00122 }
00123 
00124 
00125 /**********************************************************************/
00126 /**********************************************************************/
00127 bool BMA180Parameters::setPin( uint8_t pin )
00128 {
00129   // adjust pin to desired value:
00130   pin_ = pin;
00131   // adjust the current flags to include the pin value:
00132   flags_ = ( (0x0F)&flags_ ) | (pin_ << 4); // is this correct??
00133 
00134   return true;
00135 }
00136 
00137 
00138 /**********************************************************************/
00139 /**********************************************************************/
00140 int BMA180Parameters::getPin()
00141 {
00142   return pin_;
00143 }
00144 
00145 
00146 /**********************************************************************/
00147 /**********************************************************************/
00148 int* BMA180Parameters::getFlags()
00149 {
00150   return &flags_;
00151 }
00152 
00153 
00154 /**********************************************************************/
00155 /**********************************************************************/
00156 bool BMA180Parameters::setSlaveAddressBit( bool choice )
00157 {
00158   slave_address_bit_ = choice;
00159   return true;
00160 }
00161 
00162 
00163 /**********************************************************************/
00164 /**********************************************************************/
00165 uint8_t BMA180Parameters::getSlaveAddressBit()
00166 {
00167   return slave_address_bit_;
00168 }
00169 
00170 
00171 /**********************************************************************/
00172 /**********************************************************************/
00173 bool BMA180Parameters::setByteOrder( uint8_t value )
00174 {
00175   // adjust the flags
00176   flags_ = ( (0xFB & flags_) | (value << 2) );
00177   if( value > 1 )
00178   {
00179     ROS_ERROR("bma180_parameters: Byte order must be either LSB_FIRST or MSB_FIRST");
00180     return false;
00181   }
00182   return true;
00183  
00184 }
00185 
00186 
00187 /**********************************************************************/
00188 /**********************************************************************/
00189 bool BMA180Parameters::setSpiMode( uint8_t mode )
00190 {
00191   // adjust the flags
00192   flags_ = ( (0xFC & flags_) | (mode) ); // 111111xx, where xx is the mode.
00193  
00194   switch( mode )
00195   {
00196   case SPI_MODE_3: {}
00197     return true;
00198   case SPI_MODE_0: {}
00199   case SPI_MODE_1: {}
00200   case SPI_MODE_2: {}
00201   default:
00202     ROS_ERROR( "bma180_parameters: bma180 can only be read in SPI_MODE_3" );
00203     return false;
00204   }
00205 }
00206 
00207 
00208 /**********************************************************************/
00209 /**********************************************************************/
00210 bool BMA180Parameters::setAccelRange( accel_range new_range )
00211 {
00212   // reassign the class's new range:
00213   accel_range_ = new_range;
00214  
00215   // adjust the sensitivity accordingly:
00216   switch( new_range )
00217   {
00218   case RANGE_1:
00219     sensitivity_ = 0.00013;
00220     break;
00221   case RANGE_1_5:
00222     sensitivity_ = 0.00019;
00223     break;
00224   case RANGE_2:
00225     sensitivity_ = 0.00025;
00226     break;
00227   case RANGE_3:
00228     sensitivity_ = 0.00038;
00229     break;
00230   case RANGE_4:
00231     sensitivity_ = 0.00050;
00232     break;
00233   case RANGE_8:
00234     sensitivity_ = 0.00099;
00235     break;
00236   case RANGE_16:
00237     sensitivity_ = 0.00198;
00238     break;
00239   default: // shouldn't happen because input argument is only an accel_range data type.
00240     ROS_ERROR( "bma180_parameters: invalid range setting." );
00241     return false;
00242   }
00243   return true;
00244  
00245   // NOTE: bma180::changeAccelRange() must be called after this method so that the sensor's range is adjusted as well!
00246 }
00247 
00248 
00249 /**********************************************************************/
00250 /**********************************************************************/
00251 void BMA180Parameters::setBandwidth( bandwidth bw )
00252 { 
00253   bandwidth_ = bw;
00254 }
00255 
00256 
00257 /**********************************************************************/
00258 /**********************************************************************/
00259 double BMA180Parameters::getSensitivity()
00260 {
00261   return sensitivity_;
00262 }
00263 
00264 
00265 /**********************************************************************/
00266 /**********************************************************************/
00267 void BMA180Parameters::setPreCalOffsets( bool choice )
00268 {
00269   offsetsEnabled_ = choice;
00270 }


bma180_driver
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Mon Oct 6 2014 10:10:00