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, double, std::string)
	Constructor initializes Sub20 device and BMA180ies.
	Bma180 (double max_acceleration_g, double dBandwidth_Hz, bool bCalibrate, double dRate_Hz, std::string sSub20Serial)
	Constructor initializes Sub20 device and BMA180ies.
void	GetMeasurements (std::list< OneBma180Meas > &)
	Polls one measurement from all BMA180 defined in std::list<OneMultBmaMeas>&.
void	GetMeasurements (std::list< OneBma180Meas > &)
	Polls one measurement from all BMA180 defined in std::list<OneMultBmaMeas>&.
	~Bma180 ()
	Destructor closing all open connections.
	~Bma180 ()
	Destructor closing all open connections.
Private Member Functions
double	bma180data_to_double (char, char, bma180_cmd::eSensorType, int *, double)
	Converts BMA180 formatted data into double.
double	bma180data_to_double (char, char, bma180_cmd::eSensorType, int *, 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.
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 default or user settings.
void	confsens_on_sub20 (OneSub20Config *, char, char)
	Configures specified BMA180 according to the default 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_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	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.
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.
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.
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
int	iCalib_CS
std::string	serial_number
std::string	strSerial
std::list< OneSub20Config >	Sub20Device_list
sub_handle	subhndl

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 135 of file bma180.h.

Constructor & Destructor Documentation

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

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 performs 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
dRate_Hz	Sensor reading rate
sSub20Serial	Requesting desired sub20 to be opened

Definition at line 63 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 184 of file bma180.cpp.

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

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 performs sensor calibration

Parameters:

max_acceleration_g	The maximum acceleration range of the sensor
dBandwidth_Hz	The bandwidth of the sensor front-end
bCalibrate	Requesting sensor calibration
dRate_Hz	Sensor reading rate
sSub20Serial	Requesting desired sub20 to be opened

Bma180::~Bma180 ( )

Destructor closing all open connections.

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

Member Function Documentation

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

Converts BMA180 formatted data into double.

Definition at line 396 of file bma180.cpp.

double Bma180::bma180data_to_double	(	char	,
		char	,
		bma180_cmd::eSensorType	,
		int *	,
		double
	)		`[private]`

Converts BMA180 formatted data into double.

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 444 of file bma180.cpp.

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

Converts BMA180 formatted data into an unsigned int.

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

Configures specified BMA180 according to the default or user settings.

Definition at line 560 of file bma180.cpp.

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

Configures specified BMA180 according to the default or user settings.

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

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

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 201 of file bma180.cpp.

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

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

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

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 662 of file bma180.cpp.

bool Bma180::read_biassettings	(	sub_handle	,
		int	,
		unsigned short *	,
		unsigned short *	,
		unsigned short *
	)		`[private]`

Reads the stored bias settings of the BMA180.

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 468 of file bma180.cpp.

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

Reads a byte from the EEPROM.

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 723 of file bma180.cpp.

bool Bma180::set_biassettings	(	sub_handle	,
		int	,
		unsigned	short,
		unsigned	short,
		unsigned	short,
		bool
	)		`[private]`

Stores estimated biases into the BMA180 image.

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

Sets the calibration status of the object.

Definition at line 811 of file bma180.cpp.

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

Sets the calibration status of the object.

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