src/main/drivers/accgyro_legacy/accgyro_bma280.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_ACC_BMA280
  27
  28 #include "drivers/bus_i2c.h"
  29
  30 #include "drivers/sensor.h"
  31 #include "drivers/accgyro/accgyro.h"
  32 #include "accgyro_bma280.h"
  33
  34 // BMA280, default I2C address mode 0x18
  35 #define BMA280_ADDRESS     0x18
  36 #define BMA280_ACC_X_LSB   0x02
  37 #define BMA280_PMU_BW      0x10
  38 #define BMA280_PMU_RANGE   0x0F
  39
  40 static void bma280Init(accDev_t *acc)
  41 {
  42     i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
  43     i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
  44
  45     acc->acc_1G = 512 * 8;
  46 }
  47
  48 static bool bma280Read(accDev_t *acc)
  49 {
  50     uint8_t buf[6];
  51
  52     if (!i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_ACC_X_LSB, 6, buf)) {
  53         return false;
  54     }
  55
  56     // Data format is lsb<5:0><crap><new_data_bit> | msb<13:6>
  57     acc->ADCRaw[0] = (int16_t)((buf[0] >> 2) + (buf[1] << 8));
  58     acc->ADCRaw[1] = (int16_t)((buf[2] >> 2) + (buf[3] << 8));
  59     acc->ADCRaw[2] = (int16_t)((buf[4] >> 2) + (buf[5] << 8));
  60
  61     return true;
  62 }
  63
  64 bool bma280Detect(accDev_t *acc)
  65 {
  66     uint8_t sig = 0;
  67     bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
  68
  69     if (!ack || sig != 0xFB)
  70         return false;
  71
  72     acc->initFn = bma280Init;
  73     acc->readFn = bma280Read;
  74     return true;
  75 }
  76 #endif