diff options
Diffstat (limited to 'apps/px4/sensors_bringup/bma180.c')
| -rw-r--r-- | apps/px4/sensors_bringup/bma180.c | 209 |
1 files changed, 209 insertions, 0 deletions
diff --git a/apps/px4/sensors_bringup/bma180.c b/apps/px4/sensors_bringup/bma180.c new file mode 100644 index 000000000..6c4b9d483 --- /dev/null +++ b/apps/px4/sensors_bringup/bma180.c @@ -0,0 +1,209 @@ +/* + * Operations for the Bosch BMA180 3D Accelerometer + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> + +#include <nuttx/spi.h> + +#include "sensors.h" + +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + +#define ADDR_CHIP_ID 0x00 +#define CHIP_ID 0x03 +#define ADDR_VERSION 0x01 + +#define ADDR_CTRL_REG0 0x0D +#define ADDR_CTRL_REG1 0x0E +#define ADDR_CTRL_REG2 0x0F +#define ADDR_BWTCS 0x20 +#define ADDR_CTRL_REG3 0x21 +#define ADDR_CTRL_REG4 0x22 +#define ADDR_OLSB1 0x35 + +#define ADDR_ACC_X_LSB 0x02 +#define ADDR_ACC_Z_MSB 0x07 +#define ADDR_TEMPERATURE 0x08 + +#define ADDR_STATUS_REG1 0x09 +#define ADDR_STATUS_REG2 0x0A +#define ADDR_STATUS_REG3 0x0B +#define ADDR_STATUS_REG4 0x0C + +#define ADDR_RESET 0x10 +#define SOFT_RESET 0xB6 + +#define ADDR_DIS_I2C 0x27 + +#define REG0_WRITE_ENABLE 0x10 + +#define BWTCS_LP_10HZ (0<<4) +#define BWTCS_LP_20HZ (1<<4) +#define BWTCS_LP_40HZ (2<<4) +#define BWTCS_LP_75HZ (3<<4) +#define BWTCS_LP_150HZ (4<<4) +#define BWTCS_LP_300HZ (5<<4) +#define BWTCS_LP_600HZ (6<<4) +#define BWTCS_LP_1200HZ (7<<4) + +#define RANGE_1G (0<<1) +#define RANGE_1_5G (1<<1) +#define RANGE_2G (2<<1) +#define RANGE_3G (3<<1) +#define RANGE_4G (4<<1) +#define RANGE_8G (5<<1) +#define RANGE_16G (6<<1) + +#define RANGEMASK 0x0E +#define BWMASK 0xF0 + + +static void +write_reg(struct spi_dev_s *spi, uint8_t address, uint8_t data) +{ + uint8_t cmd[2] = { address | DIR_WRITE, data }; + + SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true); + SPI_SNDBLOCK(spi, &cmd, sizeof(cmd)); + SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false); +} + +static uint8_t +read_reg(struct spi_dev_s *spi, uint8_t address) +{ + uint8_t cmd[2] = {address | DIR_READ, 0}; + uint8_t data[2]; + + SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true); + SPI_EXCHANGE(spi, cmd, data, sizeof(cmd)); + SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false); + + return data[1]; +} + +int +bma180_test_configure(struct spi_dev_s *spi) +{ + uint8_t id; + + id = read_reg(spi, ADDR_CHIP_ID); + uint8_t version = read_reg(spi, 0x01); + + if (id == CHIP_ID) + { + message("BMA180 SUCCESS: 0x%02x, version: %d\n", id, version); + } + else + { + message("BMA180 FAIL: 0x%02x\n", id); + } + //message("got id 0x%02x, expected ID 0x03\n", id); + + write_reg(spi, ADDR_RESET, SOFT_RESET); // page 48 + usleep(12000); // wait 10 ms, see page 49 + + // Configuring the BMA180 + + /* enable writing to chip config */ + uint8_t ctrl0 = read_reg(spi, ADDR_CTRL_REG0); + ctrl0 |= REG0_WRITE_ENABLE; + write_reg(spi, ADDR_CTRL_REG0, ctrl0); + + uint8_t disi2c = read_reg(spi, ADDR_DIS_I2C); // read + disi2c |= 0x01; // set bit0 to 1, SPI only + write_reg(spi, ADDR_DIS_I2C, disi2c); // Set spi, disable i2c, page 31 + + /* set bandwidth */ + uint8_t bwtcs = read_reg(spi, ADDR_BWTCS); + printf("bwtcs: %d\n", bwtcs); + bwtcs &= (~BWMASK); + bwtcs |= (BWTCS_LP_600HZ);// & BWMASK); + write_reg(spi, ADDR_BWTCS, bwtcs); + + /* set range */ + uint8_t olsb1 = read_reg(spi, ADDR_OLSB1); + printf("olsb1: %d\n", olsb1); + olsb1 &= (~RANGEMASK); + olsb1 |= (RANGE_4G);// & RANGEMASK); + write_reg(spi, ADDR_OLSB1, olsb1); + +// uint8_t reg3 = read_reg(spi, ADDR_CTRL_REG3); +// //reg3 &= 0xFD; // REset bit 1 enable interrupt +// //reg3 |= 0x02; // enable +// write_reg(spi, ADDR_CTRL_REG3, reg3); // + + /* block writing to chip config */ + ctrl0 = read_reg(spi, ADDR_CTRL_REG0); + ctrl0 &= (~REG0_WRITE_ENABLE); + printf("ctrl0: %d\n", ctrl0); + write_reg(spi, ADDR_CTRL_REG0, ctrl0); + + return 0; +} + +int +bma180_test_read(struct spi_dev_s *spi) +{ + + + + struct { /* status register and data as read back from the device */ + uint8_t cmd; + int16_t x; + int16_t y; + int16_t z; + uint8_t temp; + } __attribute__((packed)) report; + + report.x = 0; + report.y = 0; + report.z = 0; + +// uint8_t temp; +// uint8_t status1; +// uint8_t status2; +// uint8_t status3; +// uint8_t status4; + + report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT; + + //SPI_LOCK(spi, true); + //SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true); + //SPI_EXCHANGE(spi, &report, &report, sizeof(report)); + //SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false); + //SPI_LOCK(spi, false); + + report.x = read_reg(spi, ADDR_ACC_X_LSB); + report.x |= (read_reg(spi, ADDR_ACC_X_LSB+1) << 8); + report.y = read_reg(spi, ADDR_ACC_X_LSB+2); + report.y |= (read_reg(spi, ADDR_ACC_X_LSB+3) << 8); + report.z = read_reg(spi, ADDR_ACC_X_LSB+4); + report.z |= (read_reg(spi, ADDR_ACC_X_LSB+5) << 8); + report.temp = read_reg(spi, ADDR_ACC_X_LSB+6); + + // Collect status and remove two top bits + + uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01); + report.x = (report.x >> 2); + report.y = (report.y >> 2); + report.z = (report.z >> 2); + + message("ACC: x: %d\ty: %d\tz: %d\ttemp: %d new: %d\n", report.x, report.y, report.z, report.temp, new_data); + usleep(2000); + + return 0; +} |