#include <bmc050_parameters.hpp>

Inheritance diagram for BMC050Parameters:

Public Types
enum	accel_range { RANGE_2 = 0x03, RANGE_4 = 0x05, RANGE_8 = 0x08, RANGE_16 = 0x0C }
enum	bandwidth { BW_8HZ = 0x08, BW_16HZ = 0x09, BW_31HZ = 0x0A, BW_63HZ = 0x0B, BW_125HZ = 0x0C, BW_250HZ = 0x0D, BW_500HZ = 0x0E, BW_1000HZ = 0x0F }
enum	compass_rate { ODR_10HZ = 0x00, ODR_2HZ = 0x01, ODR_6HZ = 0x02, ODR_8HZ = 0x03, ODR_15HZ = 0x04, ODR_20HZ = 0x05, ODR_25HZ = 0x06, ODR_30HZ = 0x07 }
Public Member Functions
	BMC050Parameters ()
	constructor
uint8_t	getAccelAddress ()
accel_range	getAccelRange ()
	a wrapper function that returns the currently specified accelerometer range.
double	getAccelSensitivity ()
	a wrapper function that returns the currently specified accelerometer sensitivity.
uint8_t	getCompassAddress ()
int *	getFlags ()
int	getFrequency ()
int	getPin ()
interface_protocol	getProtocol ()
void	setAccelBandwidth (bandwidth bw)
	select the bandwidth that the sensor will respond to. See the datasheet for more information.
bool	setAccelPin (uint8_t pin)
	Alert software driver of the physical pin of the hardware interface that the accelerometer's chip-select is connected to.
void	setAccelRange (accel_range new_range)
	Accelerometer-specific.
bool	setCompassPin (uint8_t pin)
	alert software driver of the physical pin of the hardware interface that the compass's chip-select is connected to. This is an SPI-relevant parameter only.
void	setCompassRate (compass_rate rate)
	select the rate at which the compass will output its data.
void	setCSB2 (bool val)
	alert software driver of the harware pin configuration for the CSB2 pin. (aka, is CSB2 connected to VDD or GND ?)
void	setFilter (bool input)
	choose whether or not to use filtered(default) or unfiltered data from the accelerometer.
bool	setFrequency (int frequency)
	change interface protocol frequency to a different frequency.
void	setNumRepetitionsXY (uint16_t num_repetitions)
	select number of repetitions that the compass will sample before outputting its average for the X and Y axes.
void	setNumRepetitionsZ (uint16_t num_repetitions)
	select number of repetitions that the compass will sample before outputting its average for the Z axis.
bool	setPin (uint8_t pin)
	This method must be implemented since it is inheritted from a virtual method in the parameters class.
bool	setProtocol (interface_protocol protocol)
	Change BMC050 protocol parameter to a different protocol.
void	setSDO (bool val)
	alert software driver of the harware pin configuration for the SDO pin. (aka, is SDO connected to VDD or GND ?)
	~BMC050Parameters ()
	destructor
Private Member Functions
bool	setByteOrder (uint8_t value)
	configure the hardware-interface's SPI byte-order by which it will communicate with the sensor.
bool	setSpiMode (uint8_t mode)
	configure the hardware-interface's SPI mode by which it communicates with the sensor.
Private Attributes
bool	accel_is_filtered_
uint8_t	accel_pin_
accel_range	accel_range_
double	accel_sensitivity_
bandwidth	bw_reg_
uint8_t	compass_pin_
compass_rate	compass_rate_
bool	CSB2
uint8_t	repsXY_
uint8_t	repsZ_
bool	SDO
Friends
class	BMC050

Detailed Description

Definition at line 71 of file bmc050_parameters.hpp.

Member Enumeration Documentation

enum BMC050Parameters::accel_range

Enumerator:

RANGE_2
RANGE_4
RANGE_8
RANGE_16

Definition at line 76 of file bmc050_parameters.hpp.

enum BMC050Parameters::bandwidth

Enumerator:

BW_8HZ
BW_16HZ
BW_31HZ
BW_63HZ
BW_125HZ
BW_250HZ
BW_500HZ
BW_1000HZ

Definition at line 84 of file bmc050_parameters.hpp.

enum BMC050Parameters::compass_rate

Enumerator:

ODR_10HZ
ODR_2HZ
ODR_6HZ
ODR_8HZ
ODR_15HZ
ODR_20HZ
ODR_25HZ
ODR_30HZ

Definition at line 99 of file bmc050_parameters.hpp.

Constructor & Destructor Documentation

BMC050Parameters::BMC050Parameters ( )

constructor

Definition at line 52 of file bmc050_parameters.cpp.

BMC050Parameters::~BMC050Parameters ( )

destructor

Definition at line 81 of file bmc050_parameters.cpp.

Member Function Documentation

uint8_t BMC050Parameters::getAccelAddress ( )

Definition at line 92 of file bmc050_parameters.cpp.

BMC050Parameters::accel_range BMC050Parameters::getAccelRange ( )

a wrapper function that returns the currently specified accelerometer range.

Returns:: accel_range_

Definition at line 277 of file bmc050_parameters.cpp.

double BMC050Parameters::getAccelSensitivity ( )

a wrapper function that returns the currently specified accelerometer sensitivity.

Note:: this sensitivity is automatically adjusted when the accelerometer range is adjusted.

Returns:: accel_sensitivity_

Definition at line 86 of file bmc050_parameters.cpp.

uint8_t BMC050Parameters::getCompassAddress ( )

Definition at line 117 of file bmc050_parameters.cpp.

int * BMC050Parameters::getFlags ( ) [virtual]

Implements bosch_drivers_common::Parameters.

Definition at line 219 of file bmc050_parameters.cpp.

int BMC050Parameters::getFrequency ( ) [virtual]

Implements bosch_drivers_common::Parameters.

Definition at line 167 of file bmc050_parameters.cpp.

int BMC050Parameters::getPin ( ) [virtual]

Implements bosch_drivers_common::Parameters.

Definition at line 214 of file bmc050_parameters.cpp.

interface_protocol BMC050Parameters::getProtocol ( ) [virtual]

Implements bosch_drivers_common::Parameters.

Definition at line 173 of file bmc050_parameters.cpp.

void BMC050Parameters::setAccelBandwidth ( bandwidth bw )

select the bandwidth that the sensor will respond to. See the datasheet for more information.

Parameters:

bandwidth bw an enumerated datatype specifying one of the available accelerometer bandwidths.

Note:: this user preference is applied upon sensor initialization.

Definition at line 289 of file bmc050_parameters.cpp.

bool BMC050Parameters::setAccelPin ( uint8_t pin )

Alert software driver of the physical pin of the hardware interface that the accelerometer's chip-select is connected to.

This is an SPI-relevant parameter only.

Definition at line 190 of file bmc050_parameters.cpp.

void BMC050Parameters::setAccelRange ( accel_range new_range )

Accelerometer-specific.

Parameters:

accel_range new_range an enumerated datatype specifying one of the sensor's selectable ranges. (Sensor initializes with default range if no range is specified.)

Note:: this user-choice is then applied to the sensor upon initialization.

Definition at line 271 of file bmc050_parameters.cpp.

bool BMC050Parameters::setByteOrder ( uint8_t value ) [private]

configure the hardware-interface's SPI byte-order by which it will communicate with the sensor.

Note:: byte-order arguments are either MSBFIRST or LSBFIRST, both of which are defined in the bosch_drivers_common.; The user should NOT have to change this value from a value different from the value set upon instantiation.; in detail, this method directly manipulates the class flags_ value, which is passed to the hardware interface class.

Definition at line 246 of file bmc050_parameters.cpp.

bool BMC050Parameters::setCompassPin ( uint8_t pin )

alert software driver of the physical pin of the hardware interface that the compass's chip-select is connected to. This is an SPI-relevant parameter only.

Definition at line 202 of file bmc050_parameters.cpp.

void BMC050Parameters::setCompassRate ( compass_rate rate )

select the rate at which the compass will output its data.

Parameters:

compass_rate rate an enumerated dataype specifying one of the available compass data rates.

Note:: this user preference is applied upon sensor initialization.

Definition at line 295 of file bmc050_parameters.cpp.

void BMC050Parameters::setCSB2 ( bool val )

alert software driver of the harware pin configuration for the CSB2 pin. (aka, is CSB2 connected to VDD or GND ?)

Parameters:

bool	val true indicates that CSB2 is connected to VDD. false indicates that CSB2 is connected to GND.

Note:: the value of both CSB2 and SDO will determine the i2c addresses of both two sensors: compass and accelerometer; thise settings are only important in i2c mode.

Definition at line 259 of file bmc050_parameters.cpp.

void BMC050Parameters::setFilter ( bool input )

choose whether or not to use filtered(default) or unfiltered data from the accelerometer.

Parameters:

bool	input true indicates filtered data; false indicates unfiltered data.

Note:: this user preference is applied upon sensor initialization.

Definition at line 283 of file bmc050_parameters.cpp.

bool BMC050Parameters::setFrequency ( int frequency ) [virtual]

change interface protocol frequency to a different frequency.

User should not need to change this value. The frequency set upon instantiation is functional.

Implements bosch_drivers_common::Parameters.

Definition at line 160 of file bmc050_parameters.cpp.

void BMC050Parameters::setNumRepetitionsXY ( uint16_t num_repetitions )

select number of repetitions that the compass will sample before outputting its average for the X and Y axes.

Parameters:

an	unsigned integer from 0 through 511.

Note:: only odd values are valid

Definition at line 301 of file bmc050_parameters.cpp.

void BMC050Parameters::setNumRepetitionsZ ( uint16_t num_repetitions )

select number of repetitions that the compass will sample before outputting its average for the Z axis.

Parameters:

an	unsigned integer from 0 through 256.

Definition at line 337 of file bmc050_parameters.cpp.

bool BMC050Parameters::setPin ( uint8_t pin ) [virtual]

This method must be implemented since it is inheritted from a virtual method in the parameters class.

Since the BMC050 is actually two sensors, it has two separate chip-select pins.

Returns:: pin_, which has no effect on this class

Implements bosch_drivers_common::Parameters.

Definition at line 179 of file bmc050_parameters.cpp.

bool BMC050Parameters::setProtocol ( interface_protocol protocol )

Change BMC050 protocol parameter to a different protocol.

The protocol depends on the physical hardware configuration of the sensor.

Definition at line 142 of file bmc050_parameters.cpp.

void BMC050Parameters::setSDO ( bool val )

alert software driver of the harware pin configuration for the SDO pin. (aka, is SDO connected to VDD or GND ?)

Parameters:

bool	val true indicates that SDO is connected to VDD. false indicates that SDO is connected to GND.

Note:: the value of both CSB2 and SDO will determine the i2c addresses of both two sensors: compass and accelerometer; these settings are only important in i2c mode.

Definition at line 265 of file bmc050_parameters.cpp.

bool BMC050Parameters::setSpiMode ( uint8_t mode ) [private]

configure the hardware-interface's SPI mode by which it communicates with the sensor.

Parameters:

mode	the SPI mode of the sensor. Valid modes: SPI_MODE0, SPI_MODE1, SPI_MODE2, SPI_MODE3.

Note:: see the wikipedia article on SPI for more information on the corresponding CPOL and CPHA settings.; valid modes are defined in the bosch_drivers_common.; The user should NOT have to change this value from a value different from the value set upon instantiation.