API for the BMA220 3-axis Accelerometer. More...

Detailed Description

ID: bma220
Name: Digital Triaxial Acceleration Sensor
Category: accelerometer
Manufacturer: bosch dfrobot
Connection: i2c gpio
Link: http://www.dfrobot.com/index.php?route=product/product&product_id=1085

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).

    // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
    upm::BMA220 sensor;
    // Output data every half second until interrupted
    while (shouldRun) {
        sensor.update();
        float x, y, z;
        sensor.getAccelerometer(&x, &y, &z);
        cout << "Accelerometer: ";
        cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
        upm_delay_us(500000);
    }

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)

std::vector< float >	getAccelerometer ()

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 ()

mraa::Gpio *	get_gpioIntr ()

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

Member Enumeration Documentation

enum REG_T

BMA220 Accelerometer registers

enum H_HYST_DUR_HIGH_BITS_T

REG_H_HYST_DUR bits

enum THRESHOLD_BITS_T

REG_THRESHOLD bits

enum L_HYST_DUR_LOW_BITS_T

REG_L_HYST_DUR bits

enum TAP_CONFIG_BITS_T

REG_TAP_CONFIG bits

enum SLOPE_CONFIG_BITS_T

REG_SLOPE_CONFIG bits

enum TAP_CONFIG2_BITS_T

REG_TAP_CONFIG2 bits

enum TAP_SAMP_T

TAP_CONFIG2_SAMP values

enum TAP_ORIENT_BLOCK_T

TAP_CONFIG2_ORIENT_BLOCK values

enum INT_STATUS1_BITS_T

REG_INT_STATUS1 bits

enum CONFIG_ORIENT_T

INT_STATUS1_ORIENT values

These are values reported by the device if orientation detection is enabled.

enum INT_STATUS2_BITS_T

REG_INT_STATUS2 bits

enum ENABLE_CONFIG_BITS_T

REG_ENABLE_CONFIG bits

enum ENABLE_CONFIG2_BITS_T

REG_ENABLE_CONFIG2 bits

enum CONFIG2_LAT_T

ENABLE_CONFIG2_LAT values

These are values that define the interrupt latching behavior

enum ENABLE_CONFIG3_BITS_T

REG_ENABLE_CONFIG3 bits

enum SLEEP_DUR_T

ENABLE_CONFIG3_SLEEP_DUR values

These are values that define the length of time the device sleeps before sampling when in sleep mode.

enum FILTER_CONFIG_BITS_T

REG_FILTER_CONFIG bits

enum FILTER_CONFIG_T

FILTER_CONFIG_FILTER values

These are values that define the digital filtering frequency

enum SBIST_FSL_CONFIG_BITS_T

REG_SBIST_FSL_CONFIG bits

enum FSL_RANGE_T

REG_SBIST_FSL_RANGE values

These are values that define the Full Scale configuration

enum SBIST_T

REG_SBIST_FSL_SBIST values

These are values that enable self test mode

enum I2C_WATCHDOG_BITS_T

REG_I2C_WATCHDOG bits

Constructor & Destructor Documentation

BMA220	(	int	bus = `BMA220_I2C_BUS`,
		uint8_t	addr = `BMA220_DEFAULT_ADDR`
	)

BMA220 constructor

Parameters

bus	i2c bus to use
addr	the address for this device

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~BMA220 ( )

BMA220 Destructor

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Member Function Documentation

void update ( void )

update the accelerometer values

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uint8_t readReg ( uint8_t reg )

read a register

Parameters

reg	the register to read

Returns: the value of the register

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bool writeReg	(	uint8_t	reg,
		uint8_t	val
	)

write to a register

Parameters

reg	the register to write to
val	the value to write

Returns: true if successful, false otherwise

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uint8_t getChipID ( )

return the chip ID

Returns: the chip ID (usually 0xdd)

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uint8_t getChipRevision ( )

return the chip revision

Returns: the chip revision (usually 0x00)

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bool setAccelerometerScale ( FSL_RANGE_T scale )

set the scaling mode of the accelerometer (2g/4g/8g/16g)

Parameters

scale one of the FSL_RANGE_T values

Returns: true if successful, false otherwise

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void getAccelerometer	(	float *	x,
		float *	y,
		float *	z
	)

get the accelerometer values in gravities

Parameters

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

std::vector< float > getAccelerometer ( )

get the accelerometer values in gravities

Returns: std::vector containing X, Y, Z acceleration values

bool setFilterConfig ( FILTER_CONFIG_T filter )

set the filtering configuration

Parameters

filter one of the FILTER_CONFIG_T values

Returns: true if successful

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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.

Parameters

high	true to enable high bw access, false otherwise

Returns: true if successful

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bool enableAxes	(	bool	xEn,
		bool	yEn,
		bool	zEn
	)

enable or disable axis channels

Parameters

xEn	true to enable the axis, false otherwise
yEn	true to enable the axis, false otherwise
zEn	true to enable the axis, false otherwise

Returns: true if successful

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uint8_t suspend ( )

place the device into, or take the device out of suspend mode

Returns: 0x00 if the device was in active mode, 0xff if the device was in suspend mode

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uint8_t softReset ( )

place the device into, or take the device out of soft reset mode

Returns: 0x00 if the device was in active mode, 0xff if the device was in soft reset mode

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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.

Parameters

enable true to set low power mode, false otherwise

Returns: true if successful

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bool setSleepDuration ( SLEEP_DUR_T dur )

when in low power (sleep) mode, specify how often the device wakes up to acquire samples.

Parameters

dur	one of the SLEEP_DUR_T values

Returns: true if successful

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bool setLowGThreshold ( uint8_t thresh )

specify the threshold for low G detection

Parameters

thresh see the datasheet

Returns: true if successful

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bool setHighGThreshold ( uint8_t thresh )

specify the threshold for high G detection

Parameters

thresh see the datasheet

Returns: true if successful

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bool setLowGHysteresis ( uint8_t hyst )

specify the hysteresis for low G detection

Parameters

hyst	2 bit hysteresis value

Returns: true if successful

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bool setLowGDuration ( uint8_t dur )

specify the sample duration for low G detection

Parameters

dur	the number of samples (depends on bandwidth)

Returns: true if successful

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bool setHighGHysteresis ( uint8_t hyst )

specify the hysteresis for high G detection

Parameters

hyst	2 bit hysteresis value

Returns: true if successful

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bool setHighGDuration ( uint8_t dur )

specify the sample duration for high G detection

Parameters

dur	the number of samples (depends on bandwidth)

Returns: true if successful

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bool setTapDuration ( uint8_t dur )

specify the sample duration for tap detection

Parameters

dur	the number of samples (depends on bandwidth)

Returns: true if successful

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bool setTapThreshold ( uint8_t thresh )

specify the threshold for tap detection

Parameters

thresh see the datasheet

Returns: true if successful

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bool enableTapFilter ( bool filt )

unable to disable tap filtering

Parameters

filt	true to enable, false otherwise

Returns: true if successful

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bool setSlopeDuration ( uint8_t dur )

specify the sample duration for slope detection

Parameters

dur	the number of samples (depends on bandwidth)

Returns: true if successful

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bool setSlopeThreshold ( uint8_t thresh )

specify the threshold for slope detection

Parameters

thresh see the datasheet

Returns: true if successful

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bool enableSlopeFilter ( bool filt )

enable or disable slope filtering

Parameters

filt	true to enable filtering, false otherwise

Returns: true if successful

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uint8_t getInterruptStatus1 ( )

return a bitmask of the interrupt status 1 register

Returns: bitmask of INT_STATUS1_BITS_T bits (minus the orient value)

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BMA220::CONFIG_ORIENT_T getOrient ( )

return the orient value from the interrupt status 1 register

Returns: one of the CONFIG_ORIENT_T values

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uint8_t getInterruptStatus2 ( )

return a bitmask of the interrupt status 2 register

Returns: bitmask of INT_STATUS2_BITS_T bits

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bool setInterruptEnables1 ( uint8_t bits )

enable interrupts for events in interrupt config register 1

Parameters

bits	bitmask of ENABLE_CONFIG_BITS_T values

Returns: true if successful

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uint8_t getInterruptEnables1 ( )

return the enabled interrupts for events in interrupt config register 1

Returns: bitmask of ENABLE_CONFIG_BITS_T values

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bool setInterruptEnables2 ( uint8_t bits )

enable interrupts for events in interrupt config register 2

Parameters

bits	bitmask of ENABLE_CONFIG2_BITS_T values

Returns: true if successful

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uint8_t getInterruptEnables2 ( )

return the enabled interrupts for events in interrupt config register 2

Returns: bitmask of ENABLE_CONFIG2_BITS_T values

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bool setInterruptLatch ( CONFIG2_LAT_T lat )

configure interrupt latching behavior

Parameters

lat	one of the CONFIG2_LAT_T values

Returns: true if successful

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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..

Returns: true if successful

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void installISR	(	int	gpio,
		mraa::Edge	level,
		void()(void )	isr,
		void *	arg
	)

install an interrupt handler.

Parameters

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

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void uninstallISR ( )

uninstall a previously installed interrupt handler

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The documentation for this class was generated from the following files:

src/bma220/bma220.hpp
src/bma220/bma220.cxx

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation