bmc050_parameters.hpp
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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.
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00045  *
00046  *********************************************************************/
00047 
00048 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC
00049 
00050 /*
00051  * This class contains a set of parameters that are specific to the 
00052  * BMC050 sensor.  The class inherits from a generic parent class of 
00053  * parameters.  I have listed the inherited parameters as comments
00054  * below.
00055  * The sensor parameters are stored as members of the class and 
00056  * accessible to other classes through methods such as 
00057  * "getProtocol()."
00058  */
00059 
00060 #ifndef BMC050_PARAMETERS_H_
00061 #define BMC050_PARAMETERS_H_
00062 
00063 // ROS debugging output
00064 #include <ros/console.h>
00065 
00066 #include <bosch_drivers_parameters.hpp>
00067 #include <bosch_drivers_hardware_interface.hpp>
00068 
00069 using namespace bosch_drivers_common;
00070 
00071 class BMC050Parameters: public Parameters
00072 {
00073 public:
00074   friend class BMC050;
00075 
00076   enum accel_range
00077   {
00078     RANGE_2  = 0x03, // ±2.0 g   3.91  [mg/LSB]
00079     RANGE_4  = 0x05, // ±4 g    7.81 [mg/LSB]
00080     RANGE_8  = 0x08, // ±8 g    15.62 [mg/LSB]
00081     RANGE_16 = 0x0C  // ±16 g    31.25 [mg/LSB]
00082   };
00083 
00084   enum bandwidth
00085   {
00086     BW_8HZ    = 0x08, // 7.81  [Hz]
00087     BW_16HZ   = 0x09, // 15.63 [Hz]
00088     BW_31HZ   = 0x0A, // 31.25 [Hz]
00089     BW_63HZ   = 0x0B, // 62.5 [Hz]
00090     BW_125HZ  = 0x0C, // 125  [Hz]
00091     BW_250HZ  = 0x0D, // 250  [Hz]
00092     BW_500HZ  = 0x0E, // 500  [Hz]
00093     BW_1000HZ = 0x0F  // 1000 [Hz]
00094   };
00095 
00096 
00097   // Compass Output Data Rate: 
00098   // write to 0x4C
00099   enum compass_rate 
00100   {
00101     ODR_10HZ = 0x00, // 000b  default   
00102     ODR_2HZ  = 0x01, // 001b
00103     ODR_6HZ  = 0x02, // 010b
00104     ODR_8HZ  = 0x03, // 011b
00105     ODR_15HZ = 0x04, // 100b
00106     ODR_20HZ = 0x05, // 101b
00107     ODR_25HZ = 0x06, // 110b
00108     ODR_30HZ = 0x07  // 111b
00109   };
00110  
00114   BMC050Parameters();
00115 
00119   ~BMC050Parameters();
00120   
00127   bool setProtocol( interface_protocol protocol );
00128   
00129   
00137   bool setFrequency( int frequency );
00138 
00148   bool setPin( uint8_t pin ); // always false... Needed because of inheritance
00149 
00157   bool setAccelPin( uint8_t pin );
00158   
00164   bool setCompassPin( uint8_t pin );
00165 
00167 
00174   void setAccelRange( accel_range new_range );
00175 
00184   void setFilter(bool input);        
00185 
00194   void setAccelBandwidth( bandwidth bw ); // sets bandwidth register according to desired bandwidth
00195   
00196   // compass-specific
00204   void setCompassRate( compass_rate rate ); 
00205 
00213   void setNumRepetitionsXY( uint16_t num_repetitions );
00214   
00221   void setNumRepetitionsZ( uint16_t num_repetitions );
00222   
00223   // These pins determine Accel and Compass addresses:
00234   void setCSB2( bool val );
00235 
00246   void setSDO( bool val );
00247   
00254   accel_range getAccelRange();
00255   
00256   // FIXME: change level of access on these methods:  
00257   uint8_t getAccelAddress(); // return the i2c addresses based on
00258   uint8_t getCompassAddress(); // settings in the two previous methods.
00259   
00268   double getAccelSensitivity();
00269 
00270   interface_protocol getProtocol();
00271   int getFrequency();
00272   int* getFlags();
00273   int getPin(); // valid for SPI only
00274 
00275 
00276 private:
00277   accel_range accel_range_;
00278   bool accel_is_filtered_;  
00279   double accel_sensitivity_;
00280   bandwidth bw_reg_;
00281   compass_rate  compass_rate_;
00282   uint8_t repsXY_;
00283   uint8_t repsZ_;
00284   
00285   bool CSB2;
00286   bool SDO;
00287   uint8_t accel_pin_;
00288   uint8_t compass_pin_;
00289 
00303   bool setSpiMode( uint8_t mode );
00304 
00316   bool setByteOrder( uint8_t value ); // MSB_FIRST or LSB_FIRST
00317 
00318 };
00319 
00320 #endif // BMC050_PARAMETERS_H_


bmc050_driver
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Sat Dec 28 2013 16:48:51