bma180_parameters.hpp
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00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2012, Robert Bosch LLC.
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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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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_


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