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 00051 #ifndef BMA180_PARAMETERS_H_ 00052 #define BMA180_PARAMETERS_H_ 00053 00054 // ROS headers for debugging output 00055 #include <ros/console.h> 00056 00057 #include <bosch_drivers_parameters.hpp> 00058 #include <bosch_drivers_hardware_interface.hpp> 00059 00060 using namespace bosch_drivers_common; 00061 00062 class BMA180Parameters: public Parameters 00063 { 00064 public: 00065 00069 enum accel_range 00070 { 00072 RANGE_1 = 0x00, 00074 RANGE_1_5 = 0x01, 00076 RANGE_2 = 0x02, 00078 RANGE_3 = 0x03, 00080 RANGE_4 = 0x04, 00082 RANGE_8 = 0x05, 00084 RANGE_16 = 0x06 00085 }; 00086 00090 enum bandwidth 00091 { 00092 BW_10, 00093 BW_20, 00094 BW_40, 00095 BW_75, 00096 BW_150, 00097 BW_300, 00098 BW_600, 00099 BW_1200, 00100 BW_HIGH_PASS, 00101 BW_BAND_PASS 00102 }; 00103 00104 BMA180Parameters(); 00105 ~BMA180Parameters(); 00106 00107 bool setProtocol( interface_protocol protocol ); 00108 bool setFrequency( int frequency ); 00109 bool setPin( uint8_t pin ); 00110 00114 bool setSlaveAddressBit( bool choice ); 00115 00119 bool setAccelRange( accel_range new_range ); 00120 00124 void setBandwidth( bandwidth bw ); 00125 void setPreCalOffsets( bool choice ); 00126 00127 00128 double getSensitivity(); // returns sensitivity 00129 interface_protocol getProtocol(); 00130 int getFrequency(); 00131 int* getFlags(); 00132 int getPin(); // SPI, GPIO only 00133 uint8_t getSlaveAddressBit(); 00134 00135 00136 protected: 00140 bool setByteOrder( uint8_t value ); 00144 bool setSpiMode( uint8_t mode ); 00145 00146 // int frequency_; 00147 // int pin_; 00148 // int flags_; 00149 uint8_t slave_address_bit_; 00150 double sensitivity_; 00151 accel_range accel_range_; 00152 bandwidth bandwidth_; 00153 bool useFilter_; 00154 bool offsetsEnabled_; 00155 }; 00156 00157 #endif // BMA180_PARAMETERS_H_