Driver the the BMA180 accelerometer. More...

#include <bma180.hpp>

Inheritance diagram for BMA180:

Public Member Functions
	BMA180 (bosch_hardware_interface *hw)
bool	Calibrate ()
bool	changeAccelRange ()
bool	changeBandwidth ()
bool	CoarseCalibrate ()
bool	DisableI2C ()
bool	EnableWriting ()
bool	FullCalibration ()
bool	getAccelData ()
double	getAccelX ()
double	getAccelY ()
double	getAccelZ ()
uint8_t	getDeviceAddress ()
double	getStaticPitch ()
double	getStaticRoll ()
double	getTemperature ()
bool	initialize ()
bool	setEnOffsetBit (uint8_t bit)
bool	softReset ()
bool	takeMeasurement ()
bool	TwoStepCoarseCalibrate ()
	~BMA180 ()
Public Attributes
double	AccelX_
double	AccelY_
double	AccelZ_
double	StaticPitch_
double	StaticRoll_
double	Temperature_
double	TempSlope_
Protected Member Functions
bool	readReg (uint8_t reg, uint8_t *value)
bool	readSensorData (uint8_t reg, uint8_t *value, uint8_t num_bytes)
bool	writeToReg (uint8_t reg, uint8_t value)
bool	writeToRegAndVerify (uint8_t reg, uint8_t value, uint8_t expected_value)
Static Protected Attributes
static const uint8_t	ADDRESS_ACCLX_MSB = 0x03
static const uint8_t	ADDRESS_ACCLXYZ = 0x02
static const uint8_t	ADDRESS_ACCLY_LSB = 0x04
static const uint8_t	ADDRESS_ACCLY_MSB = 0x05
static const uint8_t	ADDRESS_ACCLZ_LSB = 0x06
static const uint8_t	ADDRESS_ACCLZ_MSB = 0x07
static const uint8_t	ADDRESS_BW_TCS = 0x20
	INTEGRATED DIGITAL FILTER:
static const uint8_t	ADDRESS_CD1 = 0x2C
static const uint8_t	ADDRESS_CD2 = 0x2D
static const uint8_t	ADDRESS_CTRL_REG4 = 0x22
static const uint8_t	ADDRESS_CTRLREG0 = 0x0D
static const uint8_t	ADDRESS_CTRLREG1 = 0x0E
static const uint8_t	ADDRESS_CTRLREG2 = 0x0F
static const uint8_t	ADDRESS_EE_CD1 = 0x4C
static const uint8_t	ADDRESS_EE_CD2 = 0x4D
static const uint8_t	ADDRESS_EE_GAIN_T = 0x51
static const uint8_t	ADDRESS_EE_GAIN_X = 0x52
static const uint8_t	ADDRESS_EE_GAIN_Y = 0x53
static const uint8_t	ADDRESS_EE_GAIN_Z = 0x54
static const uint8_t	ADDRESS_EE_OFFSET_LSB1 = 0x55
static const uint8_t	ADDRESS_EE_OFFSET_LSB2 = 0x56
static const uint8_t	ADDRESS_EE_OFFSET_T = 0x57
static const uint8_t	ADDRESS_EE_OFFSET_X = 0x58
static const uint8_t	ADDRESS_EE_OFFSET_Y = 0x59
static const uint8_t	ADDRESS_EE_OFFSET_Z = 0x5A
	Calibration addresses in the EEPROM.
static const uint8_t	ADDRESS_GAIN_T = 0x31
static const uint8_t	ADDRESS_GAIN_X = 0x32
static const uint8_t	ADDRESS_GAIN_Y = 0x33
static const uint8_t	ADDRESS_GAIN_Z = 0x34
static const uint8_t	ADDRESS_HIGH_DUR = 0x27
	Disable-I2C.
static const uint8_t	ADDRESS_OFFSET_LSB1 = 0x35
static const uint8_t	ADDRESS_OFFSET_LSB2 = 0x36
static const uint8_t	ADDRESS_OFFSET_T = 0x37
static const uint8_t	ADDRESS_OFFSET_X = 0x38
static const uint8_t	ADDRESS_OFFSET_Y = 0x39
static const uint8_t	ADDRESS_OFFSET_Z = 0x3A
	Calibration addresses NOT in EEPROM. Deleted every power cycle.
static const uint8_t	ADDRESS_SOFTRESET = 0x10
	Soft-Reset.
static const uint8_t	ADDRESS_STATUS_REG1 = 0x09
static const uint8_t	ADDRESS_STATUS_REG2 = 0x0A
static const uint8_t	ADDRESS_STATUS_REG3 = 0x0B
static const uint8_t	ADDRESS_STATUS_REG4 = 0x0C
static const uint8_t	ADDRESS_TEMPERATURE = 0x08
static const uint8_t	ADDRESS_VER = 0x00
static const uint8_t	bw = 4
static const uint8_t	CMD_DISABLE_I2C = 0x01
static const uint8_t	CMD_SOFTRESET = 0xB6
static const uint8_t	ee_w = 4
	(relevant) BITFLAGS for changing settings:
static const uint8_t	en_offset_x = 7
static const uint8_t	en_offset_y = 6
static const uint8_t	en_offset_z = 5
static const uint8_t	offset_finetuning = 0
static const uint8_t	offset_st_s = 1
static const uint8_t	range = 1
static const uint8_t	SLAVE_ADDRESS0 = 0x40
static const uint8_t	SLAVE_ADDRESS1 = 0x41

Detailed Description

Driver the the BMA180 accelerometer.

This class provides access to both the acceleration and temperature data. Users can change the sensor's basic settings, such as bandwidth and range; however, the user cannot change modes and cannot directly implement the sensor's built-in slope-detection routines.

Definition at line 71 of file bma180.hpp.

Constructor & Destructor Documentation

BMA180::BMA180 ( bosch_hardware_interface * hw )

Definition at line 63 of file bma180.cpp.

BMA180::~BMA180 ( )

Definition at line 75 of file bma180.cpp.

Member Function Documentation

bool BMA180::Calibrate ( )

Definition at line 321 of file bma180.cpp.

bool BMA180::changeAccelRange ( )

Definition at line 1049 of file bma180.cpp.

bool BMA180::changeBandwidth ( )

Definition at line 1103 of file bma180.cpp.

bool BMA180::CoarseCalibrate ( )

Definition at line 449 of file bma180.cpp.

bool BMA180::DisableI2C ( )

Definition at line 971 of file bma180.cpp.

bool BMA180::EnableWriting ( )

Definition at line 995 of file bma180.cpp.

bool BMA180::FullCalibration ( )

Definition at line 771 of file bma180.cpp.

bool BMA180::getAccelData ( )

Definition at line 204 of file bma180.cpp.

double BMA180::getAccelX ( )

Definition at line 222 of file bma180.cpp.

double BMA180::getAccelY ( )

Definition at line 243 of file bma180.cpp.

double BMA180::getAccelZ ( )

Definition at line 262 of file bma180.cpp.

uint8_t BMA180::getDeviceAddress ( ) [virtual]

Implements bosch_drivers_common::sensor_driver.

Definition at line 82 of file bma180.cpp.

double BMA180::getStaticPitch ( )

Definition at line 184 of file bma180.cpp.

double BMA180::getStaticRoll ( )

Definition at line 194 of file bma180.cpp.

double BMA180::getTemperature ( )

Definition at line 281 of file bma180.cpp.

bool BMA180::initialize ( )

Definition at line 111 of file bma180.cpp.

bool BMA180::readReg	(	uint8_t	reg,
		uint8_t *	value
	)		`[protected]`

Definition at line 1210 of file bma180.cpp.

bool BMA180::readSensorData	(	uint8_t	reg,
		uint8_t *	value,
		uint8_t	num_bytes
	)		`[protected]`

Definition at line 1293 of file bma180.cpp.

bool BMA180::setEnOffsetBit ( uint8_t bit )

Definition at line 1156 of file bma180.cpp.

bool BMA180::softReset ( )

Definition at line 299 of file bma180.cpp.

bool BMA180::takeMeasurement ( )

Definition at line 165 of file bma180.cpp.

bool BMA180::TwoStepCoarseCalibrate ( )

Definition at line 623 of file bma180.cpp.

bool BMA180::writeToReg	(	uint8_t	reg,
		uint8_t	value
	)		`[protected]`

Definition at line 1241 of file bma180.cpp.

bool BMA180::writeToRegAndVerify	(	uint8_t	reg,
		uint8_t	value,
		uint8_t	expected_value
	)		`[protected]`

Definition at line 1272 of file bma180.cpp.

Member Data Documentation

double BMA180::AccelX_

Definition at line 125 of file bma180.hpp.

double BMA180::AccelY_

Definition at line 126 of file bma180.hpp.

double BMA180::AccelZ_

Definition at line 127 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLX_MSB = 0x03 [static, protected]

Definition at line 152 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLXYZ = 0x02 [static, protected]

Definition at line 151 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLY_LSB = 0x04 [static, protected]

Definition at line 153 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLY_MSB = 0x05 [static, protected]

Definition at line 154 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLZ_LSB = 0x06 [static, protected]

Definition at line 155 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_ACCLZ_MSB = 0x07 [static, protected]

Definition at line 156 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_BW_TCS = 0x20 [static, protected]

INTEGRATED DIGITAL FILTER:

Definition at line 200 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CD1 = 0x2C [static, protected]

Definition at line 162 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CD2 = 0x2D [static, protected]

Definition at line 163 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CTRL_REG4 = 0x22 [static, protected]

Definition at line 173 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CTRLREG0 = 0x0D [static, protected]

Definition at line 170 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CTRLREG1 = 0x0E [static, protected]

Definition at line 171 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_CTRLREG2 = 0x0F [static, protected]

Definition at line 172 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_CD1 = 0x4C [static, protected]

Definition at line 160 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_CD2 = 0x4D [static, protected]

Definition at line 161 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_GAIN_T = 0x51 [static, protected]

Definition at line 185 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_GAIN_X = 0x52 [static, protected]

Definition at line 184 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_GAIN_Y = 0x53 [static, protected]

Definition at line 183 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_GAIN_Z = 0x54 [static, protected]

Definition at line 182 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_LSB1 = 0x55 [static, protected]

Definition at line 181 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_LSB2 = 0x56 [static, protected]

Definition at line 180 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_T = 0x57 [static, protected]

Definition at line 179 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_X = 0x58 [static, protected]

Definition at line 178 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_Y = 0x59 [static, protected]

Definition at line 177 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_EE_OFFSET_Z = 0x5A [static, protected]

Calibration addresses in the EEPROM.

Definition at line 176 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_GAIN_T = 0x31 [static, protected]

Definition at line 197 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_GAIN_X = 0x32 [static, protected]

Definition at line 196 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_GAIN_Y = 0x33 [static, protected]

Definition at line 195 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_GAIN_Z = 0x34 [static, protected]

Definition at line 194 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_HIGH_DUR = 0x27 [static, protected]

Disable-I2C.

Definition at line 207 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_LSB1 = 0x35 [static, protected]

Definition at line 193 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_LSB2 = 0x36 [static, protected]

Definition at line 192 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_T = 0x37 [static, protected]

Definition at line 191 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_X = 0x38 [static, protected]

Definition at line 190 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_Y = 0x39 [static, protected]

Definition at line 189 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_OFFSET_Z = 0x3A [static, protected]

Calibration addresses NOT in EEPROM. Deleted every power cycle.

Definition at line 188 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_SOFTRESET = 0x10 [static, protected]

Soft-Reset.

Definition at line 203 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_STATUS_REG1 = 0x09 [static, protected]

Definition at line 166 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_STATUS_REG2 = 0x0A [static, protected]

Definition at line 167 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_STATUS_REG3 = 0x0B [static, protected]

Definition at line 168 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_STATUS_REG4 = 0x0C [static, protected]

Definition at line 169 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_TEMPERATURE = 0x08 [static, protected]

Definition at line 157 of file bma180.hpp.

const uint8_t BMA180::ADDRESS_VER = 0x00 [static, protected]

Definition at line 165 of file bma180.hpp.

const uint8_t BMA180::bw = 4 [static, protected]

Definition at line 222 of file bma180.hpp.

const uint8_t BMA180::CMD_DISABLE_I2C = 0x01 [static, protected]

Definition at line 208 of file bma180.hpp.

const uint8_t BMA180::CMD_SOFTRESET = 0xB6 [static, protected]

Definition at line 204 of file bma180.hpp.

const uint8_t BMA180::ee_w = 4 [static, protected]

(relevant) BITFLAGS for changing settings:

Definition at line 214 of file bma180.hpp.

const uint8_t BMA180::en_offset_x = 7 [static, protected]

Definition at line 226 of file bma180.hpp.

const uint8_t BMA180::en_offset_y = 6 [static, protected]

Definition at line 227 of file bma180.hpp.

const uint8_t BMA180::en_offset_z = 5 [static, protected]

Definition at line 228 of file bma180.hpp.

const uint8_t BMA180::offset_finetuning = 0 [static, protected]

Definition at line 236 of file bma180.hpp.

const uint8_t BMA180::offset_st_s = 1 [static, protected]

Definition at line 232 of file bma180.hpp.

const uint8_t BMA180::range = 1 [static, protected]

Definition at line 218 of file bma180.hpp.

const uint8_t BMA180::SLAVE_ADDRESS0 = 0x40 [static, protected]

Note:: an optional i2c address; used if SDO is connected to VSS

Definition at line 142 of file bma180.hpp.

const uint8_t BMA180::SLAVE_ADDRESS1 = 0x41 [static, protected]

Note:: an optional i2c address; if SDO is connected to VDDIO

Definition at line 148 of file bma180.hpp.

double BMA180::StaticPitch_

Definition at line 129 of file bma180.hpp.

double BMA180::StaticRoll_

Definition at line 130 of file bma180.hpp.

double BMA180::Temperature_

Definition at line 128 of file bma180.hpp.

double BMA180::TempSlope_

Definition at line 132 of file bma180.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation