upm
0.4.1
Sensor/Actuator repository for libmraa (v0.8.0)
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API for the BMA220 3-axis Accelerometer. More...
The BMA220 is a low cost, very small 3-axis accelerometer with 6 bits of resolution. It can also detect orientation and tap events.
The BMA220 has a linear acceleration full scale of 2g/4g/8g/16g.
While not all of the functionality of this device is supported initially, methods and register definitions are provided that should allow an end user to implement whatever features are required.
This driver was developed on a DFRobot BMA (Tiny).
Public Types | |
enum | REG_T { REG_CHIPID = 0x00, REG_REVISIONID = 0x02, REG_ACC_X = 0x04, REG_ACC_Y = 0x06, REG_ACC_Z = 0x08, REG_H_HYST_DUR = 0x0a, REG_THRESHOLD = 0x0c, REG_L_HYST_DUR = 0x0e, REG_TAP_CONFIG = 0x10, REG_SLOPE_CONFIG = 0x12, REG_TAP_CONFIG2 = 0x14, REG_INT_STATUS1 = 0x16, REG_INT_STATUS2 = 0x18, REG_ENABLE_CONFIG = 0x1a, REG_ENABLE_CONFIG2 = 0x1c, REG_ENABLE_CONFIG3 = 0x1e, REG_FILTER_CONFIG = 0x20, REG_SBIST_FSL_CONFIG = 0x22, REG_I2C_WATCHDOG = 0x2e, REG_SUSPEND = 0x30, REG_SOFTRESET = 0x32 } |
enum | H_HYST_DUR_HIGH_BITS_T { H_HYST_DUR_HIGH_DUR0 = 0x01, H_HYST_DUR_HIGH_DUR1 = 0x02, H_HYST_DUR_HIGH_DUR2 = 0x04, H_HYST_DUR_HIGH_DUR3 = 0x08, H_HYST_DUR_HIGH_DUR4 = 0x10, H_HYST_DUR_HIGH_DUR5 = 0x20, _H_HYST_DUR_HIGH_DUR_MASK = 63, _H_HYST_DUR_HIGH_DUR_SHIFT = 0, H_HYST_DUR_HIGH_HY1 = 0x40, H_HYST_DUR_HIGH_HY2 = 0x80, _H_HYST_DUR_HIGH_HY_MASK = 3, _H_HYST_DUR_HIGH_HY_SHIFT = 6 } |
enum | THRESHOLD_BITS_T { THRESHOLD_HIGH0 = 0x01, THRESHOLD_HIGH1 = 0x02, THRESHOLD_HIGH2 = 0x04, THRESHOLD_HIGH3 = 0x08, _THRESHOLD_HIGH_MASK = 15, _THRESHOLD_HIGH_SHIFT = 0, THRESHOLD_LOW0 = 0x10, THRESHOLD_LOW1 = 0x20, THRESHOLD_LOW2 = 0x40, THRESHOLD_LOW3 = 0x80, _THRESHOLD_LOW_MASK = 15, _THRESHOLD_LOW_SHIFT = 4 } |
enum | L_HYST_DUR_LOW_BITS_T { L_HYST_DUR_LOW_DUR0 = 0x01, L_HYST_DUR_LOW_DUR1 = 0x02, L_HYST_DUR_LOW_DUR2 = 0x04, L_HYST_DUR_LOW_DUR3 = 0x08, L_HYST_DUR_LOW_DUR4 = 0x10, L_HYST_DUR_LOW_DUR5 = 0x20, _L_HYST_DUR_LOW_DUR_MASK = 63, _L_HYST_DUR_LOW_DUR_SHIFT = 0, L_HYST_DUR_LOW_HY1 = 0x40, L_HYST_DUR_LOW_HY2 = 0x80, _L_HYST_DUR_LOW_HY_MASK = 3, _L_HYST_DUR_LOW_HY_SHIFT = 6 } |
enum | TAP_CONFIG_BITS_T { TAP_CONFIG_DUR0 = 0x01, TAP_CONFIG_DUR1 = 0x02, TAP_CONFIG_DUR2 = 0x04, _TAP_CONFIG_DUR_MASK = 7, _TAP_CONFIG_DUR_SHIFT = 0, TAP_CONFIG_THRESH0 = 0x08, TAP_CONFIG_THRESH1 = 0x10, TAP_CONFIG_THRESH2 = 0x20, TAP_CONFIG_THRESH3 = 0x40, _TAP_CONFIG_THRESH_MASK = 15, _TAP_CONFIG_THRESH_SHIFT = 3, TAP_CONFIG_FILTER = 0x80 } |
enum | SLOPE_CONFIG_BITS_T { SLOPE_CONFIG_DUR0 = 0x01, SLOPE_CONFIG_DUR1 = 0x02, _SLOPE_CONFIG_DUR_MASK = 3, _SLOPE_CONFIG_DUR_SHIFT = 0, SLOPE_CONFIG_THRESH0 = 0x04, SLOPE_CONFIG_THRESH1 = 0x08, SLOPE_CONFIG_THRESH2 = 0x10, SLOPE_CONFIG_THRESH3 = 0x20, _SLOPE_CONFIG_THRESH_MASK = 15, _SLOPE_CONFIG_THRESH_SHIFT = 2, SLOPE_CONFIG_FILTER = 0x40, SLOPE_CONFIG_ORIENT_EX = 0x80 } |
enum | TAP_CONFIG2_BITS_T { TAP_CONFIG2_SAMP0 = 0x01, TAP_CONFIG2_SAMP1 = 0x02, _TAP_CONFIG2_SAMP_MASK = 3, _TAP_CONFIG2_SAMP_SHIFT = 0, TAP_CONFIG2_ORIENT_BLOCK0 = 0x04, TAP_CONFIG2_ORIENT_BLOCK1 = 0x08, _TAP_CONFIG2_ORIENT_BLOCK_MASK = 3, _TAP_CONFIG2_ORIENT_BLOCK_SHIFT = 2, TAP_CONFIG2_TIP_EN = 0x10 } |
enum | TAP_SAMP_T { TAP_SAMP_2 = 0, TAP_SAMP_4 = 1, TAP_SAMP_8 = 2, TAP_SAMP_16 = 3 } |
enum | TAP_ORIENT_BLOCK_T { TAP_ORIENT_BLOCK_0 = 0, TAP_ORIENT_BLOCK_2 = 1, TAP_ORIENT_BLOCK_3 = 2, TAP_ORIENT_BLOCK_4 = 3 } |
enum | INT_STATUS1_BITS_T { INT_STATUS1_SIGN = 0x01, INT_STATUS1_FIRST_Z = 0x02, INT_STATUS1_FIRST_Y = 0x04, INT_STATUS1_FIRST_X = 0x08, INT_STATUS1_ORIENT0 = 0x10, INT_STATUS1_ORIENT1 = 0x20, INT_STATUS1_ORIENT2 = 0x40, _INT_STATUS1_ORIENT_MASK = 7, _INT_STATUS1_ORIENT_SHIFT = 4, INT_STATUS1_ORIENT_INT = 0x80 } |
enum | CONFIG_ORIENT_T { CONFIG_ORI_UP_PORT_UPRIGHT = 0, CONFIG_ORI_UP_PORT_UPSIDE_DOWN = 1, CONFIG_ORI_UP_LAND_LEFT = 2, CONFIG_ORI_UP_LAND_RIGHT = 3, CONFIG_ORI_DN_PORT_UPRIGHT = 4, CONFIG_ORI_DN_PORT_UPSIDE_DOWN = 5, CONFIG_ORI_DN_LAND_LEFT = 6, CONFIG_ORI_DN_LAND_RIGHT = 7 } |
enum | INT_STATUS2_BITS_T { INT_STATUS2_SLOPE = 0x01, INT_STATUS2_DATA = 0x02, INT_STATUS2_HIGH = 0x04, INT_STATUS2_LOW = 0x08, INT_STATUS2_TAP = 0x10 } |
enum | ENABLE_CONFIG_BITS_T { ENABLE_CONFIG_TT_Z = 0x01, ENABLE_CONFIG_TT_Y = 0x02, ENABLE_CONFIG_TT_X = 0x04, ENABLE_CONFIG_SLOPE_Z = 0x08, ENABLE_CONFIG_SLOPE_Y = 0x10, ENABLE_CONFIG_SLOPE_X = 0x20, ENABLE_CONFIG_ORIENT = 0x40, ENABLE_CONFIG_DATA = 0x80 } |
enum | ENABLE_CONFIG2_BITS_T { ENABLE_CONFIG2_HIGH_Z = 0x01, ENABLE_CONFIG2_HIGH_Y = 0x02, ENABLE_CONFIG2_HIGH_X = 0x04, ENABLE_CONFIG2_LOW = 0x08, ENABLE_CONFIG2_LAT_INT0 = 0x10, ENABLE_CONFIG2_LAT_INT1 = 0x20, ENABLE_CONFIG2_LAT_INT2 = 0x40, _ENABLE_CONFIG2_LAT_INT_MASK = 7, _ENABLE_CONFIG2_LAT_INT_SHIFT = 4, ENABLE_CONFIG2_RESET_INT = 0x80 } |
enum | CONFIG2_LAT_T { CONFIG2_LAT_UNLATCH = 0, CONFIG2_LAT_0_25 = 1, CONFIG2_LAT_0_5 = 2, CONFIG2_LAT_1 = 3, CONFIG2_LAT_2 = 4, CONFIG2_LAT_4 = 5, CONFIG2_LAT_8 = 6, CONFIG2_LAT_PERM = 7 } |
enum | ENABLE_CONFIG3_BITS_T { ENABLE_CONFIG3_Z_CHAN = 0x01, ENABLE_CONFIG3_Y_CHAN = 0x02, ENABLE_CONFIG3_X_CHAN = 0x04, ENABLE_CONFIG3_SLEEP_DUR0 = 0x08, ENABLE_CONFIG3_SLEEP_DUR1 = 0x10, ENABLE_CONFIG3_SLEEP_DUR2 = 0x20, _ENABLE_CONFIG3_SLEEP_DUR_MASK = 7, _ENABLE_CONFIG3_SLEEP_DUR_SHIFT = 3, ENABLE_CONFIG3_SLEEP_EN = 0x40 } |
enum | SLEEP_DUR_T { SLEEP_DUR_2MS = 0, SLEEP_DUR_10MS = 1, SLEEP_DUR_25MS = 2, SLEEP_DUR_50MS = 3, SLEEP_DUR_100MS = 4, SLEEP_DUR_500MS = 5, SLEEP_DUR_1S = 6, SLEEP_DUR_2S = 7 } |
enum | FILTER_CONFIG_BITS_T { FILTER_CONFIG_FILTER0 = 0x01, FILTER_CONFIG_FILTER1 = 0x02, FILTER_CONFIG_FILTER2 = 0x04, FILTER_CONFIG_FILTER3 = 0x08, _FILTER_CONFIG_FILTER_MASK = 15, _FILTER_CONFIG_FILTER_SHIFT = 0, FILTER_CONFIG_SERIAL_HIGH_BW = 0x80 } |
enum | FILTER_CONFIG_T { FILTER_CONFIG_1KHZ = 0, FILTER_CONFIG_500HZ = 1, FILTER_CONFIG_250HZ = 2, FILTER_CONFIG_125HZ = 3, FILTER_CONFIG_64HZ = 4, FILTER_CONFIG_32HZ = 5 } |
enum | SBIST_FSL_CONFIG_BITS_T { REG_SBIST_FSL_RANGE0 = 0x01, REG_SBIST_FSL_RANGE1 = 0x02, _REG_SBIST_FSL_RANGE_MASK = 3, _REG_SBIST_FSL_RANGE_SHIFT = 0, REG_SBIST_FSL_SBIST0 = 0x04, REG_SBIST_FSL_SBIST1 = 0x08, _REG_SBIST_FSL_SBIST_MASK = 3, _REG_SBIST_FSL_SBIST_SHIFT = 2, REG_SBIST_FSL_SBIST_SIGN = 0x10 } |
enum | FSL_RANGE_T { FSL_RANGE_2G = 0, FSL_RANGE_4G = 1, FSL_RANGE_8G = 2, FSL_RANGE_16G = 3 } |
enum | SBIST_T { SBIST_OFF = 0, SBIST_X = 1, SBIST_Y = 2, SBIST_Z = 3 } |
enum | I2C_WATCHDOG_BITS_T { I2C_WATCHDOG_SPI3 = 0x01, I2C_WATCHDOG_TO_SEL = 0x02, I2C_WATCHDOG_TO_EN = 0x04 } |
Public Member Functions | |
BMA220 (int bus=BMA220_I2C_BUS, uint8_t addr=BMA220_DEFAULT_ADDR) | |
~BMA220 () | |
void | update () |
uint8_t | readReg (uint8_t reg) |
bool | writeReg (uint8_t reg, uint8_t val) |
uint8_t | getChipID () |
uint8_t | getChipRevision () |
bool | setAccelerometerScale (FSL_RANGE_T scale) |
void | getAccelerometer (float *x, float *y, float *z) |
bool | setFilterConfig (FILTER_CONFIG_T filter) |
bool | setSerialHighBW (bool high) |
bool | enableAxes (bool xEn, bool yEn, bool zEn) |
uint8_t | suspend () |
uint8_t | softReset () |
bool | sleep (bool enable) |
bool | setSleepDuration (SLEEP_DUR_T dur) |
bool | setLowGThreshold (uint8_t thresh) |
bool | setHighGThreshold (uint8_t thresh) |
bool | setLowGHysteresis (uint8_t hyst) |
bool | setLowGDuration (uint8_t dur) |
bool | setHighGHysteresis (uint8_t hyst) |
bool | setHighGDuration (uint8_t dur) |
bool | setTapDuration (uint8_t dur) |
bool | setTapThreshold (uint8_t thresh) |
bool | enableTapFilter (bool filt) |
bool | setSlopeDuration (uint8_t dur) |
bool | setSlopeThreshold (uint8_t thresh) |
bool | enableSlopeFilter (bool filt) |
uint8_t | getInterruptStatus1 () |
CONFIG_ORIENT_T | getOrient () |
uint8_t | getInterruptStatus2 () |
bool | setInterruptEnables1 (uint8_t bits) |
uint8_t | getInterruptEnables1 () |
bool | setInterruptEnables2 (uint8_t bits) |
uint8_t | getInterruptEnables2 () |
bool | setInterruptLatch (CONFIG2_LAT_T lat) |
bool | resetInterrupts () |
void | installISR (int gpio, mraa::Edge level, void(*isr)(void *), void *arg) |
void | uninstallISR () |
Protected Attributes | |
mraa::I2c | m_i2c |
mraa::Gpio * | m_gpioIntr |
uint8_t | m_addr |
float | m_accelX |
float | m_accelY |
float | m_accelZ |
float | m_accelScale |
BMA220 | ( | int | bus = BMA220_I2C_BUS , |
uint8_t | addr = BMA220_DEFAULT_ADDR |
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) |
BMA220 constructor
bus | i2c bus to use |
address | the address for this device |
void update | ( | void | ) |
update the accelerometer values
uint8_t readReg | ( | uint8_t | reg | ) |
read a register
dev | the device to access (XM or G) |
reg | the register to read |
bool writeReg | ( | uint8_t | reg, |
uint8_t | val | ||
) |
write to a register
dev | the device to access (XM or G) |
reg | the register to write to |
val | the value to write |
uint8_t getChipID | ( | ) |
return the chip ID
uint8_t getChipRevision | ( | ) |
return the chip revision
bool setAccelerometerScale | ( | FSL_RANGE_T | scale | ) |
set the scaling mode of the accelerometer (2g/4g/8g/16g)
scale | one of the FSL_RANGE_T values |
void getAccelerometer | ( | float * | x, |
float * | y, | ||
float * | z | ||
) |
get the accelerometer values in gravities
x | the returned x value, if arg is non-NULL |
y | the returned y value, if arg is non-NULL |
z | the returned z value, if arg is non-NULL |
bool setFilterConfig | ( | FILTER_CONFIG_T | filter | ) |
set the filtering configuration
filter | one of the FILTER_CONFIG_T values |
bool setSerialHighBW | ( | bool | high | ) |
enable or disable high bandwidth serial access (1Khz). This essentially disables filtering and makes the raw unfiltered data available in the axis registers.
high | true to enable high bw access, false otherwise |
bool enableAxes | ( | bool | xEn, |
bool | yEn, | ||
bool | zEn | ||
) |
enable or disable axis channels
xEn | true to enable the axis, false otherwise |
yEn | true to enable the axis, false otherwise |
zEn | true to enable the axis, false otherwise |
uint8_t suspend | ( | ) |
place the device into, or take the device out of suspend mode
uint8_t softReset | ( | ) |
place the device into, or take the device out of soft reset mode
bool sleep | ( | bool | enable | ) |
place the device into, or take the device out of low power mode. See the datasheet for information on how low power mode is implemented on this device.
enable | true to set low power mode, false otherwise |
bool setSleepDuration | ( | SLEEP_DUR_T | dur | ) |
when in low power (sleep) mode, specify how often the device wakes up to acquire samples.
dur | one of the SLEEP_DUR_T values |
bool setLowGThreshold | ( | uint8_t | thresh | ) |
specify the threshold for low G detection
thresh | see the datasheet |
bool setHighGThreshold | ( | uint8_t | thresh | ) |
specify the threshold for high G detection
thresh | see the datasheet |
bool setLowGHysteresis | ( | uint8_t | hyst | ) |
specify the hysteresis for low G detection
hyst | 2 bit hysteresis value |
bool setLowGDuration | ( | uint8_t | dur | ) |
specify the sample duration for low G detection
dur | the number of samples (depends on bandwidth) |
bool setHighGHysteresis | ( | uint8_t | hyst | ) |
specify the hysteresis for high G detection
hyst | 2 bit hysteresis value |
bool setHighGDuration | ( | uint8_t | dur | ) |
specify the sample duration for high G detection
dur | the number of samples (depends on bandwidth) |
bool setTapDuration | ( | uint8_t | dur | ) |
specify the sample duration for tap detection
dur | the number of samples (depends on bandwidth) |
bool setTapThreshold | ( | uint8_t | thresh | ) |
specify the threshold for tap detection
thresh | see the datasheet |
bool enableTapFilter | ( | bool | filt | ) |
unable to disable tap filtering
filt | true to enable, false otherwise |
bool setSlopeDuration | ( | uint8_t | dur | ) |
specify the sample duration for slope detection
dur | the number of samples (depends on bandwidth) |
bool setSlopeThreshold | ( | uint8_t | thresh | ) |
specify the threshold for slope detection
thresh | see the datasheet |
bool enableSlopeFilter | ( | bool | filt | ) |
enable or disable slope filtering
filt | true to enable filtering, false otherwise |
uint8_t getInterruptStatus1 | ( | ) |
return a bitmask of the interrupt status 1 register
BMA220::CONFIG_ORIENT_T getOrient | ( | ) |
return the orient value from the interrupt status 1 register
uint8_t getInterruptStatus2 | ( | ) |
return a bitmask of the interrupt status 2 register
bool setInterruptEnables1 | ( | uint8_t | bits | ) |
enable interrupts for events in interrupt config register 1
bits | bitmask of ENABLE_CONFIG_BITS_T values |
uint8_t getInterruptEnables1 | ( | ) |
return the enabled interrupts for events in interrupt config register 1
bool setInterruptEnables2 | ( | uint8_t | bits | ) |
enable interrupts for events in interrupt config register 2
bits | bitmask of ENABLE_CONFIG2_BITS_T values |
uint8_t getInterruptEnables2 | ( | ) |
return the enabled interrupts for events in interrupt config register 2
bool setInterruptLatch | ( | CONFIG2_LAT_T | lat | ) |
configure interrupt latching behavior
lat | one of the CONFIG2_LAT_T values |
bool resetInterrupts | ( | ) |
reset the interrupt controller. This should be called after any changes are made to interrupt configuration, or to reset interrupts if latched interrupts have been enabled and an interrupt has occurred..
void installISR | ( | int | gpio, |
mraa::Edge | level, | ||
void(*)(void *) | isr, | ||
void * | arg | ||
) |
install an interrupt handler.
gpio | gpio pin to use as interrupt pin |
level | the interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose. |
isr | the interrupt handler, accepting a void * argument |
arg | the argument to pass the the interrupt handler |
void uninstallISR | ( | ) |
uninstall a previously installed interrupt handler