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/*
* 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;
}
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