flight/pios/inc/pios_bma180.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_BMA180 BMA180 Functions
   6  * @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
   7  * @{
   8  *
   9  * @file       pios_bma180.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  11  * @brief      PiOS BMA180 digital accelerometer driver.
  12  *                 - Driver for the BMA180 digital accelerometer on the SPI bus.
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_BMA180_H
  33 #define PIOS_BMA180_H
  34
  35 #include "fifo_buffer.h"
  36
  37 #include <pios.h>
  38
  39 /* BMA180 Addresses */
  40 #define BMA_CHIPID_ADDR  0x00
  41 #define BMA_VERSION_ADDR 0x00
  42 #define BMA_X_LSB_ADDR   0x02
  43 #define BMA_Y_LSB_ADDR   0x04
  44 #define BMA_Z_LSB_ADDR   0x06
  45 #define BMA_WE_ADDR      0x0D
  46 #define BMA_RESET        0x10
  47 #define BMA_BW_ADDR      0x20
  48 #define BMA_RANGE_ADDR   0x35
  49 #define BMA_OFFSET_LSB1  0x35
  50 #define BMA_GAIN_Y       0x33
  51 #define BMA_CTRREG3      0x21
  52 #define BMA_CTRREG0      0x0D
  53
  54 #define BMA_RESET_CODE   0x6B
  55
  56 /* Accel range  */
  57 #define BMA_RANGE_MASK   0x0E
  58 #define BMA_RANGE_SHIFT  1
  59 enum bma180_range { BMA_RANGE_1G   = 0x00,
  60                     BMA_RANGE_1_5G = 0x01,
  61                     BMA_RANGE_2G   = 0x02,
  62                     BMA_RANGE_3G   = 0x03,
  63                     BMA_RANGE_4G   = 0x04,
  64                     BMA_RANGE_8G   = 0x05,
  65                     BMA_RANGE_16G  = 0x06 };
  66
  67 /* Measurement bandwidth */
  68 #define BMA_BW_MASK  0xF0
  69 #define BMA_BW_SHIFT 4
  70 enum bma180_bandwidth { BMA_BW_10HZ      = 0x00,
  71                         BMA_BW_20HZ      = 0x01,
  72                         BMA_BW_40HZ      = 0x02,
  73                         BMA_BW_75HZ      = 0x03,
  74                         BMA_BW_150HZ     = 0x04,
  75                         BMA_BW_300HZ     = 0x05,
  76                         BMA_BW_600HZ     = 0x06,
  77                         BMA_BW_1200HZ    = 0x07,
  78                         BMA_BW_HP1HZ     = 0x08,    // High-pass, 1 Hz
  79                         BMA_BW_BP0_300HZ = 0x09 // Band-pass, 0.3Hz-300Hz
  80 };
  81
  82 #define BMA_NEW_DAT_INT 0x02
  83
  84 struct pios_bma180_data {
  85     int16_t x;
  86     int16_t y;
  87     int16_t z;
  88     int8_t  temperature;
  89 };
  90
  91
  92 struct pios_bma180_cfg {
  93     const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
  94     enum bma180_bandwidth bandwidth;
  95     enum bma180_range range;
  96 };
  97
  98 /* Public Functions */
  99 extern int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg *cfg);
 100 extern void PIOS_BMA180_Attach(uint32_t spi_id);
 101 extern float PIOS_BMA180_GetScale();
 102 extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data *buffer);
 103 extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data *data);
 104 extern int32_t PIOS_BMA180_Test();
 105 extern bool PIOS_BMA180_IRQHandler();
 106
 107 #endif /* PIOS_BMA180_H */
 108
 109 /**
 110  * @}
 111  * @}
 112  */