Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Accelerometer.cpp@7:604a8369b801, 2015-02-17 (annotated)

Committer:
pvaibhav
Date:
Tue Feb 17 16:53:50 2015 +0000
Revision:
7:604a8369b801
Parent:
6:c12cea26842d
Child:
8:cba37530d480
Changed reading method for sensors to avoid high spikes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 1:c279bc3af90c 1 #include "Accelerometer.h"
pvaibhav 1:c279bc3af90c 2 #define DEBUG "BMX055-Acc"
pvaibhav 1:c279bc3af90c 3 #include "Logger.h"
pvaibhav 1:c279bc3af90c 4
pvaibhav 7:604a8369b801 5 Accelerometer::Accelerometer(I2C &i2c) : I2CPeripheral(i2c, 0x18 << 1 /* address */)
pvaibhav 7:604a8369b801 6 {
pvaibhav 7:604a8369b801 7 if (powerOn()) {
pvaibhav 5:b9f2f62a8f90 8 INFO("Bosch Sensortec BMX055-Accel found");
pvaibhav 7:604a8369b801 9 powerOff();
pvaibhav 1:c279bc3af90c 10 } else {
pvaibhav 7:604a8369b801 11 WARN("Bosch Sensortec BMX055-Accel not found");
pvaibhav 1:c279bc3af90c 12 }
pvaibhav 1:c279bc3af90c 13 }
pvaibhav 1:c279bc3af90c 14
pvaibhav 7:604a8369b801 15 bool Accelerometer::powerOn()
pvaibhav 7:604a8369b801 16 {
pvaibhav 5:b9f2f62a8f90 17 write_reg(0x14, 0xB6); // reset
pvaibhav 5:b9f2f62a8f90 18 wait_ms(2); // page 11 says only 1.3ms, nothing for startup time, so assuming 2ms
pvaibhav 5:b9f2f62a8f90 19 write_reg(0x11, 0); // set power normal mode
pvaibhav 7:604a8369b801 20 write_reg(0x10, 15); // set bandwidth = 250 Hz
pvaibhav 7:604a8369b801 21 return read_reg(0x00) == 0xfa; // verify chip ID
pvaibhav 5:b9f2f62a8f90 22 }
pvaibhav 5:b9f2f62a8f90 23
pvaibhav 7:604a8369b801 24 void Accelerometer::powerOff()
pvaibhav 7:604a8369b801 25 {
pvaibhav 5:b9f2f62a8f90 26 write_reg(0x11, 1); // deep suspend mode
pvaibhav 6:c12cea26842d 27 LOG("deep sleep");
pvaibhav 5:b9f2f62a8f90 28 }
pvaibhav 7:604a8369b801 29
pvaibhav 7:604a8369b801 30 void Accelerometer::start()
pvaibhav 7:604a8369b801 31 {
pvaibhav 7:604a8369b801 32 // nothing to do right now except reset the timestamp counter
pvaibhav 7:604a8369b801 33 timer.stop();
pvaibhav 7:604a8369b801 34 timer.reset();
pvaibhav 7:604a8369b801 35 timer.start();
pvaibhav 7:604a8369b801 36 }
pvaibhav 7:604a8369b801 37
pvaibhav 7:604a8369b801 38 void Accelerometer::stop()
pvaibhav 7:604a8369b801 39 {
pvaibhav 7:604a8369b801 40 // nothing to do right now
pvaibhav 7:604a8369b801 41 timer.stop();
pvaibhav 7:604a8369b801 42 }
pvaibhav 7:604a8369b801 43
pvaibhav 7:604a8369b801 44 Sensor::Data Accelerometer::read()
pvaibhav 7:604a8369b801 45 {
pvaibhav 7:604a8369b801 46 Sensor::Data frame;
pvaibhav 7:604a8369b801 47
pvaibhav 7:604a8369b801 48 // Check comments in the read() function of the Gyroscope for more info why we read bytes one by one.
pvaibhav 7:604a8369b801 49 union {
pvaibhav 7:604a8369b801 50 uint8_t bytes[6];
pvaibhav 7:604a8369b801 51 struct {
pvaibhav 7:604a8369b801 52 int16_t x;
pvaibhav 7:604a8369b801 53 int16_t y;
pvaibhav 7:604a8369b801 54 int16_t z;
pvaibhav 7:604a8369b801 55 } values;
pvaibhav 7:604a8369b801 56 } f;
pvaibhav 7:604a8369b801 57
pvaibhav 7:604a8369b801 58 f.bytes[0] = read_reg(0x02) >> 4;
pvaibhav 7:604a8369b801 59 f.bytes[1] = read_reg(0x03);
pvaibhav 7:604a8369b801 60 f.bytes[2] = read_reg(0x04) >> 4;
pvaibhav 7:604a8369b801 61 f.bytes[3] = read_reg(0x05);
pvaibhav 7:604a8369b801 62 f.bytes[4] = read_reg(0x06) >> 4;
pvaibhav 7:604a8369b801 63 f.bytes[5] = read_reg(0x07);
pvaibhav 7:604a8369b801 64
pvaibhav 7:604a8369b801 65 frame.x = f.values.x;
pvaibhav 7:604a8369b801 66 frame.y = f.values.y;
pvaibhav 7:604a8369b801 67 frame.z = f.values.z;
pvaibhav 7:604a8369b801 68
pvaibhav 7:604a8369b801 69 return frame;
pvaibhav 7:604a8369b801 70 }