bmc050_parameters.cpp
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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.
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00046  *********************************************************************/
00047 
00048 //\Author Joshua Vasquez and Philip Roan, Robert  Bosch LLC
00049 
00050 #include "bmc050_driver/bmc050_parameters.hpp"
00051 
00052 BMC050Parameters::BMC050Parameters() :
00053   accel_sensitivity_( 0.00391 ), // units: [g/LSB] // corresponds to RANGE_2
00054   repsXY_( 0 ),
00055   repsZ_( 0 )
00056 {
00057   setFrequency( 400000 );
00058   this->setProtocol( I2C );
00059  
00060   // clear flags:
00061   flags_ = 0;
00062   this->setSpiMode( SPI_MODE_0 );
00063   this->setByteOrder( MSB_FIRST );
00064   this->setAccelPin( 0 );
00065   this->setCompassPin( 1 );
00066  
00067   // default Accel settings:
00068   this->setAccelRange( RANGE_2 );
00069   this->setAccelBandwidth( BW_1000HZ );
00070   this->setFilter( true ); // default: filter accel data.
00071 
00072   // default Compass settings:
00073   this->setCompassRate( ODR_10HZ ); // default: output compass rate is 10 Hz.
00074  
00075   // these parameters can be adjusted if other settings are desired:
00076   this->setCSB2( 0 ); 
00077   this->setSDO( 0 );
00078 }
00079 
00080 
00081 BMC050Parameters::~BMC050Parameters() // Destructor
00082 {
00083 }
00084 
00085 
00086 double BMC050Parameters::getAccelSensitivity()
00087 {
00088   return accel_sensitivity_;
00089 }
00090 
00091 
00092 uint8_t BMC050Parameters::getAccelAddress()
00093 {
00094   // depends on the protocol:
00095   switch( protocol_ )
00096   {
00097   case I2C:
00098     // depends on BOTH SDO and CSB2 pins
00099     if ( (CSB2 == 0) && (SDO == 0) )
00100       return 0x18;
00101     else if ( (CSB2 == 0) && (SDO == 1) )
00102       return 0x19;
00103     else if ( (CSB2 == 1) && (SDO == 0) )
00104       return 0x18;
00105     else
00106       return 0x19;
00107   case SPI:
00108     flags_ = ((0x0F)&flags_) | (accel_pin_ << 4);           // spi flags must be adjusted every time we wish to talk to a different sensor on the BMC050
00109     return accel_pin_;
00110   default:
00111     ROS_ERROR("BMC050Parameters::getAccelAddress(): invalid protocol.");
00112     return 0;
00113   }
00114 }
00115 
00116 
00117 uint8_t BMC050Parameters::getCompassAddress()
00118 {  
00119 // depends on the protocol:
00120   switch( protocol_ )
00121   {
00122   case I2C:
00123     // depends on BOTH SDO and CSB2 pins
00124     if ( (CSB2 == 0) && (SDO == 0) )
00125       return 0x10;
00126     else if ( (CSB2 == 0) && (SDO == 1) )
00127       return 0x11;
00128     else if ( (CSB2 == 1) && (SDO == 0) )
00129       return 0x12;
00130     else
00131       return 0x13;
00132   case SPI:
00133     flags_ = ((0x0F)&flags_) | (compass_pin_ << 4); // spi flags must be adjusted every time we wish to talk to a different sensor on the BMC050
00134     return compass_pin_;
00135   default:
00136     ROS_ERROR("BMC050Parameters::getCompassAddress(): invalid protocol.");
00137     return 0;
00138   }
00139 }
00140 
00141 
00142 bool BMC050Parameters::setProtocol( interface_protocol protocol )
00143 {
00144   switch( protocol )
00145   {
00146   case I2C:
00147     protocol_ = protocol;
00148     break;
00149   case SPI:
00150     protocol_ = protocol;
00151     break;
00152   default:
00153     ROS_ERROR("bma180_parameters:Unsupported protocol.");
00154     return false;
00155   }
00156   return true;
00157 }
00158 
00159 
00160 bool BMC050Parameters::setFrequency( int frequency )
00161 {
00162   frequency_ = frequency;
00163   return true;
00164 }
00165 
00166 
00167 int BMC050Parameters::getFrequency()
00168 {
00169   return frequency_;
00170 }
00171 
00172 
00173 interface_protocol BMC050Parameters::getProtocol()
00174 {
00175   return protocol_;
00176 }
00177 
00178 
00179 bool BMC050Parameters::setPin( uint8_t pin )
00180 {
00181   // adjust pin to desired value:
00182   pin_ = pin;
00183   // adjust the current flags to include the pin value:
00184   flags_ = ((0x0F)&flags_) | (pin_ << 4); 
00185 
00186   return true;
00187 }
00188 
00189 
00190 bool BMC050Parameters::setAccelPin( uint8_t pin )
00191 {
00192   if( pin < 16 ) // pin value must fit in 4 bits of uint8_t flags
00193   {
00194     accel_pin_ = pin;
00195     return true;
00196   }
00197   else
00198     return false;
00199 }
00200 
00201 
00202 bool BMC050Parameters::setCompassPin( uint8_t pin )
00203 {
00204   if( pin < 16 ) // pin value must fit in 4 bits of uint8_t flags
00205   {
00206     compass_pin_ = pin;
00207     return true;
00208   }
00209   else
00210     return false;
00211 }
00212 
00213 
00214 int BMC050Parameters::getPin() // irrelevant      
00215 {
00216   return pin_;
00217 }
00218 
00219 int* BMC050Parameters::getFlags()
00220 {
00221   return &flags_;
00222 }
00223 
00224 
00225 bool BMC050Parameters::setSpiMode( uint8_t mode )
00226 {
00227   switch( mode )
00228   {
00229   case SPI_MODE_3:
00230     break;
00231   case SPI_MODE_0:
00232     break;
00233   case SPI_MODE_1: {}
00234   case SPI_MODE_2: {}
00235   default:
00236     ROS_ERROR("bma180_parameters: SPI_MODE can only be one of four choices");
00237     return false;
00238    
00239   }
00240   // adjust the flags
00241   flags_ = ((0xFC & flags_) | (mode) );
00242   return true;
00243 }
00244 
00245 
00246 bool BMC050Parameters::setByteOrder( uint8_t value )
00247 {
00248   if( value > 1 )
00249   {
00250     ROS_ERROR("bma180_parameters: Byte order must be either LSBFIRST or MSBFIRST");
00251     return false;
00252   }
00253   // adjust the flags
00254   flags_ = ((0xFB & flags_) | (value << 2));
00255   return true;
00256 }
00257 
00258 
00259 void BMC050Parameters::setCSB2( bool val )
00260 {
00261   CSB2 = val;
00262 }
00263 
00264 
00265 void BMC050Parameters::setSDO( bool val )
00266 {
00267   SDO = val;
00268 }  
00269 
00270 
00271 void BMC050Parameters::setAccelRange( accel_range new_range )
00272 {
00273   accel_range_ = new_range;
00274 }
00275 
00276 
00277 BMC050Parameters::accel_range BMC050Parameters::getAccelRange()
00278 {
00279   return accel_range_;
00280 }
00281 
00282 
00283 void BMC050Parameters::setFilter( bool request )
00284 {
00285   accel_is_filtered_ = request;
00286 }
00287 
00288 
00289 void BMC050Parameters::setAccelBandwidth( bandwidth bw )
00290 { 
00291   bw_reg_ = bw;
00292 }
00293 
00294 
00295 void BMC050Parameters::setCompassRate( compass_rate rate )
00296 {
00297   compass_rate_ = rate;
00298 }
00299 
00300 
00301 void BMC050Parameters::setNumRepetitionsXY( uint16_t num_reps )
00302 {
00303   uint16_t actual_reps = num_reps;
00304  
00305   // check if even:
00306   if( num_reps %2 == 0 )
00307   {
00308     ROS_WARN("BMC050Parameters::setNumRepetitionsXY(): Only odd numbers are valid. Value converted to an odd number..");
00309     // make odd:
00310     actual_reps = num_reps + 1;
00311   }
00312  
00313   // only odd numbers from 1 through 511 are valid
00314   if( num_reps > 511 )
00315   {
00316     actual_reps = 511;
00317     ROS_WARN("BMC050Parameters::setNumRepetitionsXY(): Repetititions must be less than 512");
00318   }
00319   else 
00320   {
00321     if( num_reps == 0 )
00322     {
00323       actual_reps = 1;
00324       ROS_WARN("BMC050Parameters::setNumRepetitionsXY(): Repetitions must be greater than zero.");
00325     }
00326   } 
00327   // construct hex code:
00328   actual_reps = (uint8_t)( (actual_reps - 1) / 2); // see datasheet page 78
00329  
00330   // store to class variable:
00331   repsXY_ = actual_reps;
00332  
00333   ROS_INFO("BMC050Parameters::setNumRepetitionsXY(): input: %d  actual: %d", num_reps, actual_reps);
00334 }
00335 
00336 
00337 void BMC050Parameters::setNumRepetitionsZ( uint16_t num_reps )
00338 {
00339   uint16_t actual_reps = num_reps;
00340  
00341   // only integers from 1 through 256 are valid:
00342   if( num_reps > 256 )
00343   {
00344     actual_reps = 256;
00345     ROS_WARN("BMC050Parameters::setNumRepetitionsXY(): Repetititions must be less than 256");
00346   }
00347   else 
00348   {
00349     if( num_reps == 0 )
00350     {
00351       actual_reps = 1;
00352       ROS_WARN("BMC050Parameters::setNumRepetitionsXY(): Repetitions must be greater than zero.");
00353     }
00354   } 
00355   // construct hex code and store to class variable:
00356   repsZ_ = (uint8_t)(actual_reps - 1);                 // see datasheet pg 78
00357  
00358   ROS_INFO("BMC050Parameters::setNumRepetitionsZ(): input: %d  actual: %d", num_reps, actual_reps);
00359 }


bmc050_driver
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Mon Oct 6 2014 10:09:40