Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Accelerometer.cpp@31:d65576185bdf, 2015-04-28 (annotated)

Committer:
pvaibhav
Date:
Tue Apr 28 09:08:03 2015 +0000
Revision:
31:d65576185bdf
Parent:
15:4488660e1a3b
Child:
32:d37447aec6b4
- Gyro doesn't disable interrupt anymore (fix for SML2 v0.95); - Accelerometer frequency reduced to 125 Hz

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 31:d65576185bdf 22 write_reg(0x10, 12); // set bandwidth = 125 Hz (earlier comment was incorrect)
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 12:1632d7391453 45 uint8_t buffer[6];
pvaibhav 12:1632d7391453 46
pvaibhav 12:1632d7391453 47 for (size_t i = 0; i < 6; i++)
pvaibhav 12:1632d7391453 48 buffer[i] = read_reg(0x02 + i);
pvaibhav 12:1632d7391453 49
pvaibhav 12:1632d7391453 50 const int16_t x = *(reinterpret_cast<const int16_t*>(buffer + 0)) / 16;
pvaibhav 12:1632d7391453 51 const int16_t y = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 16;
pvaibhav 12:1632d7391453 52 const int16_t z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 16;
pvaibhav 12:1632d7391453 53
pvaibhav 8:cba37530d480 54 const float accel_resolution = 0.0009765625;
pvaibhav 12:1632d7391453 55
pvaibhav 15:4488660e1a3b 56 return Vector3(x, y, z) * accel_resolution;
pvaibhav 7:604a8369b801 57 }