Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Accelerometer.cpp@8:cba37530d480, 2015-02-18 (annotated)

Committer:
pvaibhav
Date:
Wed Feb 18 15:13:41 2015 +0000
Revision:
8:cba37530d480
Parent:
7:604a8369b801
Child:
9:a0ae9e68f95d
Use Vector3 instead of Sensor::Data

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 8:cba37530d480 5 #include "Vector3.h"
pvaibhav 8:cba37530d480 6
pvaibhav 7:604a8369b801 7 Accelerometer::Accelerometer(I2C &i2c) : I2CPeripheral(i2c, 0x18 << 1 /* address */)
pvaibhav 7:604a8369b801 8 {
pvaibhav 7:604a8369b801 9 if (powerOn()) {
pvaibhav 5:b9f2f62a8f90 10 INFO("Bosch Sensortec BMX055-Accel found");
pvaibhav 7:604a8369b801 11 powerOff();
pvaibhav 1:c279bc3af90c 12 } else {
pvaibhav 7:604a8369b801 13 WARN("Bosch Sensortec BMX055-Accel not found");
pvaibhav 1:c279bc3af90c 14 }
pvaibhav 1:c279bc3af90c 15 }
pvaibhav 1:c279bc3af90c 16
pvaibhav 7:604a8369b801 17 bool Accelerometer::powerOn()
pvaibhav 7:604a8369b801 18 {
pvaibhav 5:b9f2f62a8f90 19 write_reg(0x14, 0xB6); // reset
pvaibhav 5:b9f2f62a8f90 20 wait_ms(2); // page 11 says only 1.3ms, nothing for startup time, so assuming 2ms
pvaibhav 5:b9f2f62a8f90 21 write_reg(0x11, 0); // set power normal mode
pvaibhav 7:604a8369b801 22 write_reg(0x10, 15); // set bandwidth = 250 Hz
pvaibhav 7:604a8369b801 23 return read_reg(0x00) == 0xfa; // verify chip ID
pvaibhav 5:b9f2f62a8f90 24 }
pvaibhav 5:b9f2f62a8f90 25
pvaibhav 7:604a8369b801 26 void Accelerometer::powerOff()
pvaibhav 7:604a8369b801 27 {
pvaibhav 5:b9f2f62a8f90 28 write_reg(0x11, 1); // deep suspend mode
pvaibhav 6:c12cea26842d 29 LOG("deep sleep");
pvaibhav 5:b9f2f62a8f90 30 }
pvaibhav 7:604a8369b801 31
pvaibhav 7:604a8369b801 32 void Accelerometer::start()
pvaibhav 7:604a8369b801 33 {
pvaibhav 8:cba37530d480 34 // nothing to do right now
pvaibhav 7:604a8369b801 35 }
pvaibhav 7:604a8369b801 36
pvaibhav 7:604a8369b801 37 void Accelerometer::stop()
pvaibhav 7:604a8369b801 38 {
pvaibhav 7:604a8369b801 39 // nothing to do right now
pvaibhav 7:604a8369b801 40 }
pvaibhav 7:604a8369b801 41
pvaibhav 8:cba37530d480 42 Vector3 Accelerometer::read()
pvaibhav 7:604a8369b801 43 {
pvaibhav 7:604a8369b801 44 // Check comments in the read() function of the Gyroscope for more info why we read bytes one by one.
pvaibhav 7:604a8369b801 45 union {
pvaibhav 7:604a8369b801 46 uint8_t bytes[6];
pvaibhav 7:604a8369b801 47 struct {
pvaibhav 7:604a8369b801 48 int16_t x;
pvaibhav 7:604a8369b801 49 int16_t y;
pvaibhav 7:604a8369b801 50 int16_t z;
pvaibhav 7:604a8369b801 51 } values;
pvaibhav 7:604a8369b801 52 } f;
pvaibhav 7:604a8369b801 53
pvaibhav 7:604a8369b801 54 f.bytes[0] = read_reg(0x02) >> 4;
pvaibhav 7:604a8369b801 55 f.bytes[1] = read_reg(0x03);
pvaibhav 7:604a8369b801 56 f.bytes[2] = read_reg(0x04) >> 4;
pvaibhav 7:604a8369b801 57 f.bytes[3] = read_reg(0x05);
pvaibhav 7:604a8369b801 58 f.bytes[4] = read_reg(0x06) >> 4;
pvaibhav 7:604a8369b801 59 f.bytes[5] = read_reg(0x07);
pvaibhav 7:604a8369b801 60
pvaibhav 8:cba37530d480 61 const float accel_resolution = 0.0009765625;
pvaibhav 8:cba37530d480 62
pvaibhav 8:cba37530d480 63 return Vector3(f.values.x, f.values.y, f.values.z) * accel_resolution;
pvaibhav 7:604a8369b801 64 }