upm  0.8.0
Sensor/Actuator repository for libmraa (v1.1.1)
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Groups Pages
Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes
BMA250E Class Reference

API for the BMA250E 10 bit Trixial Accelerometer. More...

Detailed Description

The BMA250E is a triaxial, low-g acceleration sensor with digital output for consumer applications. It allows measurements of acceleration in three perpendicular axes. An evaluation circuitry (ASIC) converts the output of a micromechanical acceleration-sensing structure (MEMS) that works according to the differential capacitance principle.

Not all functionality of this chip has been implemented in this driver, however all the pieces are present to add any desired functionality. This driver supports both I2C (default) and SPI operation.

This driver attempts to support verious flavors of this chip, such as the version on the BMX050, BMI050 (chipid 0xfa) and the version on the bmc050 (chipid 0x03). Not all functionality is appropriate, or even present on all chips. Consult the relevant datasheets.

This device requires 3.3v operation.

// Instantiate an BMA250E using default I2C parameters
upm::BMA250E *sensor = new upm::BMA250E();
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMA250E(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor->update();
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor->getTemperature()
<< " C / " << sensor->getTemperature(true) << " F"
<< endl;
cout << endl;
usleep(250000);
}

Public Types

enum  BMA250E_REGS_T : uint8_t {
  REG_CHIP_ID = 0x00, REG_ACCD_X_LSB = 0x02, REG_ACCD_X_MSB = 0x03, REG_ACCD_Y_LSB = 0x04,
  REG_ACCD_Y_MSB = 0x05, REG_ACCD_Z_LSB = 0x06, REG_ACCD_Z_MSB = 0x07, REG_TEMP = 0x08,
  REG_INT_STATUS_0 = 0x09, REG_INT_STATUS_1 = 0x0a, REG_INT_STATUS_2 = 0x0b, REG_INT_STATUS_3 = 0x0c,
  REG_FIFO_STATUS = 0x0e, REG_PMU_RANGE = 0x0f, REG_PMU_BW = 0x10, REG_PMU_LPW = 0x11,
  REG_PMU_LOW_POWER = 0x12, REG_ACC_HBW = 0x13, REG_SOFTRESET = 0x14, REG_INT_EN_0 = 0x16,
  REG_INT_EN_1 = 0x17, REG_INT_EN_2 = 0x18, REG_INT_MAP_0 = 0x19, REG_INT_MAP_1 = 0x1a,
  REG_INT_MAP_2 = 0x1b, REG_INT_SRC = 0x1e, REG_INT_OUT_CTRL = 0x20, REG_INT_RST_LATCH = 0x21,
  REG_INT_0 = 0x22, REG_INT_1 = 0x23, REG_INT_2 = 0x24, REG_INT_3 = 0x25,
  REG_INT_4 = 0x26, REG_INT_5 = 0x27, REG_INT_6 = 0x28, REG_INT_7 = 0x29,
  REG_INT_8 = 0x2a, REG_INT_9 = 0x2b, REG_INT_A = 0x2c, REG_INT_B = 0x2d,
  REG_INT_C = 0x2e, REG_INT_D = 0x2f, REG_FIFO_CONFIG_0 = 0x30, REG_PMU_SELFTEST = 0x32,
  REG_TRIM_NVM_CTRL = 0x33, REG_SPI3_WDT = 0x34, REG_OFC_CTRL = 0x36, REG_OFC_SETTING = 0x37,
  REG_OFC_OFFSET_X = 0x38, REG_OFC_OFFSET_Y = 0x39, REG_OFC_OFFSET_Z = 0x3a, REG_TRIM_GP0 = 0x3b,
  REG_TRIM_GP1 = 0x3c, REG_FIFO_CONFIG_1 = 0x3e, REG_FIFO_DATA = 0x3f
}
 
enum  ACCD10_LSB_BITS_T {
  ACCD10_LSB_NEW_DATA = 0x01, ACCD10_LSB0 = 0x40, ACCD10_LSB1 = 0x80, _ACCD10_LSB_MASK = 3,
  _ACCD10_LSB_SHIFT = 6
}
 
enum  ACCD12_LSB_BITS_T {
  ACCD12_LSB_NEW_DATA = 0x01, ACCD12_LSB0 = 0x10, ACCD12_LSB1 = 0x20, ACCD12_LSB2 = 0x40,
  ACCD12_LSB3 = 0x80, _ACCD12_LSB_MASK = 15, _ACCD12_LSB_SHIFT = 4
}
 
enum  INT_STATUS_0_BITS_T {
  INT_STATUS_0_LOW = 0x01, INT_STATUS_0_HIGH = 0x02, INT_STATUS_0_SLOPE = 0x04, INT_STATUS_0_SLO_NOT_MOT = 0x08,
  INT_STATUS_0_D_TAP = 0x10, INT_STATUS_0_S_TAP = 0x20, INT_STATUS_0_ORIENT = 0x40, INT_STATUS_0_FLAT = 0x80
}
 
enum  INT_STATUS_1_BITS_T { _INT_STATUS_1_RESERVED_BITS = 0x0f | 0x10, INT_STATUS_1_FIFO_FULL = 0x20, INT_STATUS_1_FIFO_WM = 0x40, INT_STATUS_1_DATA = 0x80 }
 
enum  INT_STATUS_2_BITS_T {
  INT_STATUS_2_SLOPE_FIRST_X = 0x01, INT_STATUS_2_SLOPE_FIRST_Y = 0x02, INT_STATUS_2_SLOPE_FIRST_Z = 0x04, INT_STATUS_2_SLOPE_SIGN = 0x08,
  INT_STATUS_2_TAP_FIRST_X = 0x10, INT_STATUS_2_TAP_FIRST_Y = 0x20, INT_STATUS_2_TAP_FIRST_Z = 0x40, INT_STATUS_2_TAP_SIGN = 0x80
}
 
enum  INT_STATUS_3_BITS_T {
  INT_STATUS_3_HIGH_FIRST_X = 0x01, INT_STATUS_3_HIGH_FIRST_Y = 0x02, INT_STATUS_3_HIGH_FIRST_Z = 0x04, INT_STATUS_3_HIGH_SIGN = 0x08,
  INT_STATUS_3_ORIENT0 = 0x10, INT_STATUS_3_ORIENT1 = 0x20, INT_STATUS_3_ORIENT2 = 0x40, _INT_STATUS_3_ORIENT_MASK = 7,
  _INT_STATUS_3_ORIENT_SHIFT = 4, INT_STATUS_3_FLAT = 0x80
}
 
enum  ORIENT_T { ORIENT_POTRAIT_UPRIGHT = 0, ORIENT_POTRAIT_UPSIDE_DOWN = 1, ORIENT_LANDSCAPE_LEFT = 2, ORIENT_LANDSCAPE_RIGHT = 3 }
 
enum  FIFO_STATUS_BITS_T {
  FIFO_STATUS_FRAME_COUNTER0 = 0x01, FIFO_STATUS_FRAME_COUNTER1 = 0x02, FIFO_STATUS_FRAME_COUNTER2 = 0x04, FIFO_STATUS_FRAME_COUNTER3 = 0x08,
  FIFO_STATUS_FRAME_COUNTER4 = 0x10, FIFO_STATUS_FRAME_COUNTER5 = 0x20, FIFO_STATUS_FRAME_COUNTER6 = 0x40, _FIFO_STATUS_FRAME_COUNTER_MASK = 127,
  _FIFO_STATUS_FRAME_COUNTER_SHIFT = 0, FIFO_STATUS_FIFO_OVERRUN = 0x80
}
 
enum  PMU_RANGE_BITS_T {
  PMU_RANGE0 = 0x01, PMU_RANGE1 = 0x02, PMU_RANGE2 = 0x04, PMU_RANGE3 = 0x08,
  _PMU_RANGE_MASK = 15, _PMU_RANGE_SHIFT = 0
}
 
enum  RANGE_T { RANGE_2G = 3, RANGE_4G = 5, RANGE_8G = 8, RANGE_16G = 12 }
 
enum  PMU_BW_BITS_T {
  PMU_BW0 = 0x01, PMU_BW1 = 0x02, PMU_BW2 = 0x04, PMU_BW3 = 0x08,
  PMU_BW4 = 0x10, _PMU_BW_MASK = 31, _PMU_BW_SHIFT = 0
}
 
enum  BW_T {
  BW_7_81 = 8, BW_15_63 = 9, BW_31_25 = 10, BW_62_5 = 11,
  BW_125 = 12, BW_250 = 13, BW_500 = 14, BW_1000 = 15
}
 
enum  PMU_LPW_BITS_T {
  _PMU_LPW_RESERVED_MASK = 0x01, PMU_LPW_SLEEP_DUR0 = 0x02, PMU_LPW_SLEEP_DUR1 = 0x04, PMU_LPW_SLEEP_DUR2 = 0x08,
  PMU_LPW_SLEEP_DUR3 = 0x10, _PMU_LPW_SLEEP_MASK = 15, _PMU_LPW_SLEEP_SHIFT = 1, PMU_LPW_POWER_MODE0 = 0x20,
  PMU_LPW_POWER_MODE1 = 0x40, PMU_LPW_POWER_MODE2 = 0x80, _PMU_LPW_POWER_MODE_MASK = 7, _PMU_LPW_POWER_MODE_SHIFT = 5
}
 
enum  SLEEP_DUR_T {
  SLEEP_DUR_0_5 = 0, SLEEP_DUR_1 = 6, SLEEP_DUR_2 = 7, SLEEP_DUR_4 = 8,
  SLEEP_DUR_6 = 9, SLEEP_DUR_10 = 10, SLEEP_DUR_25 = 11, SLEEP_DUR_50 = 12,
  SLEEP_DUR_100 = 13, SLEEP_DUR_500 = 14, SLEEP_DUR_1000 = 15
}
 
enum  POWER_MODE_T { POWER_MODE_NORMAL = 0, POWER_MODE_DEEP_SUSPEND = 1, POWER_MODE_LOW_POWER = 2, POWER_MODE_SUSPEND = 4 }
 
enum  LOW_POWER_BITS_T { _LOW_POWER_RESERVED_BITS = 0x0f | 0x10 | 0x80, LOW_POWER_SLEEPTIMER_MODE = 0x20, LOW_POWER_LOWPOWER_MODE = 0x40 }
 
enum  ACC_HBW_BITS_T { _ACC_HBW_RESERVED_BITS = 0x0f | 0x10 | 0x20, ACC_HBW_SHADOW_DIS = 0x40, ACC_HBW_DATA_HIGH_BW = 0x80 }
 
enum  INT_EN_0_BITS_T {
  _INT_EN_0_RESERVED_BITS = 0x08, INT_EN_0_SLOPE_EN_X = 0x01, INT_EN_0_SLOPE_EN_Y = 0x02, INT_EN_0_SLOPE_EN_Z = 0x04,
  INT_EN_0_D_TAP_EN = 0x10, INT_EN_0_S_TAP_EN = 0x20, INT_EN_0_ORIENT_EN = 0x40, INT_EN_0_FLAT_EN = 0x80
}
 
enum  INT_EN_1_BITS_T {
  _INT_EN_1_RESERVED_BITS = 0x80, INT_EN_1_HIGH_EN_X = 0x01, INT_EN_1_HIGH_EN_Y = 0x02, INT_EN_1_HIGH_EN_Z = 0x04,
  INT_EN_1_LOW_EN = 0x08, INT_EN_1_DATA_EN = 0x10, INT_EN_1_INT_FFULL_EN = 0x20, INT_EN_1_INT_FWM_EN = 0x40
}
 
enum  INT_EN_2_BITS_T {
  _INT_EN_2_RESERVED_BITS = 0xf0, INT_EN_2_SLO_NO_MOT_EN_X = 0x01, INT_EN_2_SLO_NO_MOT_EN_Y = 0x02, INT_EN_2_SLO_NO_MOT_EN_Z = 0x04,
  INT_EN_2_SLO_NO_MOT_SEL = 0x08
}
 
enum  INT_MAP_0_BITS_T {
  INT_MAP_0_INT1_LOW = 0x01, INT_MAP_0_INT1_HIGH = 0x02, INT_MAP_0_INT1_SLOPE = 0x04, INT_MAP_0_INT1_SLO_NO_MOT = 0x08,
  INT_MAP_0_INT1_D_TAP = 0x10, INT_MAP_0_INT1_S_TAP = 0x20, INT_MAP_0_INT1_ORIENT = 0x40, INT_MAP_0_INT1_FLAT = 0x80
}
 
enum  INT_MAP_1_BITS_T {
  _INT_MAP_1_INT1_RESERVED_BITS = 0x08 | 0x10, INT_MAP_1_INT1_DATA = 0x01, INT_MAP_1_INT1_FWM = 0x02, INT_MAP_1_INT1_FFULL = 0x04,
  INT_MAP_1_INT2_FFULL = 0x20, INT_MAP_1_INT2_FWM = 0x40, INT_MAP_1_INT2_DATA = 0x80
}
 
enum  INT_MAP_2_BITS_T {
  INT_MAP_2_INT2_LOW = 0x01, INT_MAP_2_INT2_HIGH = 0x02, INT_MAP_2_INT2_SLOPE = 0x04, INT_MAP_2_INT2_SLO_NO_MOT = 0x08,
  INT_MAP_2_INT2_D_TAP = 0x10, INT_MAP_2_INT2_S_TAP = 0x20, INT_MAP_2_INT2_ORIENT = 0x40, INT_MAP_2_INT2_FLAT = 0x80
}
 
enum  INT_SRC_BITS_T {
  _INT_SRC_RESERVED_BITS = 0x40 | 0x80, INT_SRC_LOW = 0x01, INT_SRC_HIGH = 0x02, INT_SRC_SLO_NO_MOT = 0x04,
  INT_SRC_SLOPE = 0x08, INT_SRC_TAP = 0x10, INT_SRC_DATA = 0x20
}
 
enum  INT_OUT_CTRL_BITS_T {
  _INT_OUT_CTRL_INT1_RESERVED_BITS = 0xf0, INT_OUT_CTRL_INT1_LVL = 0x01, INT_OUT_CTRL_INT1_OD = 0x02, INT_OUT_CTRL_INT2_LVL = 0x04,
  INT_OUT_CTRL_INT2_OD = 0x08
}
 
enum  INT_RST_LATCH_BITS_T {
  _INT_RST_LATCH_RESERVED_BITS = 0x10 | 0x20 | 0x40, INT_RST_LATCH0 = 0x01, INT_RST_LATCH1 = 0x02, INT_RST_LATCH2 = 0x04,
  INT_RST_LATCH3 = 0x08, _INT_RST_LATCH_MASK = 15, _INT_RST_LATCH_SHIFT = 0, INT_RST_LATCH_RESET_INT = 0x80
}
 
enum  RST_LATCH_T {
  RST_LATCH_NON_LATCHED = 0, RST_LATCH_TEMPORARY_250MS = 1, RST_LATCH_TEMPORARY_500MS = 2, RST_LATCH_TEMPORARY_1S = 3,
  RST_LATCH_TEMPORARY_2S = 4, RST_LATCH_TEMPORARY_4S = 5, RST_LATCH_TEMPORARY_8S = 6, RST_LATCH_LATCHED = 7,
  RST_LATCH_TEMPORARY_250US = 9, RST_LATCH_TEMPORARY_500US = 10, RST_LATCH_TEMPORARY_1MS = 11, RST_LATCH_TEMPORARY_12_5MS = 12,
  RST_LATCH_TEMPORARY_25MS = 13, RST_LATCH_TEMPORARY_50MS = 14
}
 
enum  INT_2_BITS_T {
  INT_2_LOW_HY0 = 0x01, INT_2_LOW_HY1 = 0x02, _INT_2_LOW_HY_MASK = 3, _INT_2_LOW_HY_SHIFT = 0,
  INT_2_LOW_MODE = 0x04, INT_2_HIGH_HY0 = 0x40, INT_2_HIGH_HY1 = 0x80, _INT_2_HIGH_HY_MASK = 3,
  _INT_2_HIGH_HY_SHIFT = 6
}
 
enum  INT_5_BITS_T {
  INT_5_SLOPE_DUR0 = 0x01, INT_5_SLOPE_DUR1 = 0x02, _INT_5_SLOPE_DUR_MASK = 3, _INT_5_SLOPE_DUR_SHIFT = 0,
  INT_5_SLO_NO_MOT_DUR0 = 0x04, INT_5_SLO_NO_MOT_DUR1 = 0x08, INT_5_SLO_NO_MOT_DUR2 = 0x10, INT_5_SLO_NO_MOT_DUR3 = 0x20,
  INT_5_SLO_NO_MOT_DUR4 = 0x40, INT_5_SLO_NO_MOT_DUR5 = 0x80, _INT_5_SLO_NO_MOT_DUR_MASK = 63, _INT_5_SLO_NO_MOT_DUR_SHIFT = 2
}
 
enum  INT_8_BITS_T {
  INT_8_TAP_DUR0 = 0x01, INT_8_TAP_DUR1 = 0x02, INT_8_TAP_DUR2 = 0x04, _INT_8_TAP_DUR_MASK = 7,
  _INT_8_TAP_DUR_SHIFT = 0, INT_8_TAP_SHOCK = 0x40, INT_8_TAP_QUIET = 0x80
}
 
enum  INT_9_BITS_T {
  INT_9_TAP_TH0 = 0x01, INT_9_TAP_TH1 = 0x02, INT_9_TAP_TH2 = 0x04, INT_9_TAP_TH3 = 0x08,
  INT_9_TAP_TH4 = 0x10, _INT_5_TAP_TH_MASK = 31, _INT_5_TAP_TH_SHIFT = 0, INT_9_TAP_SAMP0 = 0x40,
  INT_9_TAP_SAMP1 = 0x80, INT_9_TAP_SAMP1_MASK = 3, INT_9_TAP_SAMP1_SHIFT = 6
}
 
enum  INT_A_BITS_T {
  INT_A_ORIENT_MODE0 = 0x01, INT_A_ORIENT_MODE1 = 0x02, _INT_A_ORIENT_MODE_MASK = 3, _INT_A_ORIENT_MODE_SHIFT = 0,
  INT_A_ORIENT_BLOCKING0 = 0x04, INT_A_ORIENT_BLOCKING1 = 0x08, _INT_A_ORIENT_BLOCKING_MASK = 3, _INT_A_ORIENT_BLOCKING_SHIFT = 2,
  INT_A_ORIENT_HYST0 = 0x10, INT_A_ORIENT_HYST1 = 0x20, INT_A_ORIENT_HYST2 = 0x40, _INT_A_ORIENT_HYST_MASK = 7,
  _INT_A_ORIENT_HYST_SHIFT = 4
}
 
enum  ORIENT_MODE_T { ORIENT_MODE_SYMETRICAL = 0, ORIENT_MODE_HIGH_ASYMETRICAL = 1, ORIENT_MODE_LOW_ASYMETRICAL = 2 }
 
enum  ORIENT_BLOCKING_T { ORIENT_BLOCKING_NONE = 0, ORIENT_BLOCKING_THETA_ACC_1_5G = 1, ORIENT_BLOCKING_THETA_ACC_0_2G_1_5G = 2, ORIENT_BLOCKING_THETA_ACC_0_4G_1_5G = 3 }
 
enum  INT_B_BITS_T {
  INT_B_ORIENT_THETA0 = 0x01, INT_B_ORIENT_THETA1 = 0x02, INT_B_ORIENT_THETA2 = 0x04, INT_B_ORIENT_THETA3 = 0x08,
  INT_B_ORIENT_THETA4 = 0x10, INT_B_ORIENT_THETA5 = 0x20, _INT_B_ORIENT_THETA_MASK = 63, _INT_B_ORIENT_THETA_SHIFT = 0,
  INT_B_ORIENT_UD_EN = 0x40
}
 
enum  INT_C_BITS_T {
  INT_B_FLAT_THETA0 = 0x01, INT_B_FLAT_THETA1 = 0x02, INT_B_FLAT_THETA2 = 0x04, INT_B_FLAT_THETA3 = 0x08,
  INT_B_FLAT_THETA4 = 0x10, INT_B_FLAT_THETA5 = 0x20, _INT_B_FLAT_THETA_MASK = 63, _INT_B_FLAT_THETA_SHIFT = 0
}
 
enum  INT_D_BITS_T {
  INT_D_FLAT_HY0 = 0x01, INT_D_FLAT_HY1 = 0x02, INT_D_FLAT_HY2 = 0x04, _INT_B_FLAT_HY_MASK = 7,
  _INT_B_FLAT_HY_SHIFT = 0, INT_D_FLAT_HOLD_TIME0 = 0x10, INT_D_FLAT_HOLD_TIME1 = 0x20, _INT_B_FLAT_HOLD_TIME_MASK = 3,
  _INT_B_FLAT_HOLD_TIME_SHIFT = 4
}
 
enum  FIFO_CONFIG_0_BITS_T {
  _FIFO_CONFIG_0_RESERVED_BITS = 0x80 | 0x40, FIFO_CONFIG_0_WATER_MARK0 = 0x01, FIFO_CONFIG_0_WATER_MARK1 = 0x02, FIFO_CONFIG_0_WATER_MARK2 = 0x04,
  FIFO_CONFIG_0_WATER_MARK3 = 0x08, FIFO_CONFIG_0_WATER_MARK4 = 0x10, FIFO_CONFIG_0_WATER_MARK5 = 0x20, _FIFO_CONFIG_0_WATER_MARK_MASK = 63,
  _FIFO_CONFIG_0_WATER_MARK_SHIFT = 0
}
 
enum  PMU_SELFTTEST_BITS_T {
  PMU_SELFTTEST_AXIS0 = 0x01, PMU_SELFTTEST_AXIS1 = 0x02, _PMU_SELFTTEST_AXIS_MASK = 3, _PMU_SELFTTEST_AXIS_SHIFT = 0,
  PMU_SELFTTEST_SIGN = 0x04, PMU_SELFTTEST_AMP = 0x10
}
 
enum  SELFTTEST_AXIS_T { SELFTTEST_AXIS_NONE = 0, SELFTTEST_AXIS_X = 1, SELFTTEST_AXIS_Y = 2, SELFTTEST_AXIS_Z = 3 }
 
enum  TRIM_NVM_CTRL_BITS_T {
  TRIM_NVM_CTRL_NVM_PROG_MODE = 0x01, TRIM_NVM_CTRL_NVM_PROG_TRIG = 0x02, TRIM_NVM_CTRL_NVM_PROG_RDY = 0x04, TRIM_NVM_CTRL_NVM_PROG_LOAD = 0x08,
  TRIM_NVM_CTRL_NVM_REMAIN0 = 0x10, TRIM_NVM_CTRL_NVM_REMAIN1 = 0x20, TRIM_NVM_CTRL_NVM_REMAIN2 = 0x40, TRIM_NVM_CTRL_NVM_REMAIN3 = 0x80,
  _TRIM_NVM_CTRL_NVM_REMAIN_MASK = 15, _TRIM_NVM_CTRL_NVM_REMAIN_SHIFT = 4
}
 
enum  SPI3_WDT_BITS_T { _SPI3_WDT_RESERVED_BITS = 0xf0 | 0x08, SPI3_WDT_SPI3 = 0x01, SPI3_WDT_I2C_WDT_SEL = 0x02, SPI3_WDT_I2C_WDT_EN = 0x04 }
 
enum  OFC_CTRL_BITS_T {
  OFC_CTRL_HP_X_EN = 0x01, OFC_CTRL_HP_Y_EN = 0x02, OFC_CTRL_HP_Z_EN = 0x04, OFC_CTRL_CAL_RDY = 0x10,
  OFC_CTRL_CAL_TRIGGER0 = 0x20, OFC_CTRL_CAL_TRIGGER1 = 0x40, _OFC_CTRL_CAL_TRIGGER_MASK = 3, _OFC_CTRL_CAL_TRIGGER_SHIFT = 5,
  OFC_CTRL_OFFSET_RESET = 0x80
}
 
enum  CAL_TRIGGER_T { CAL_TRIGGER_NONE = 0, CAL_TRIGGER_X = 1, CAL_TRIGGER_Y = 2, CAL_TRIGGER_Z = 3 }
 
enum  OFC_SETTING_BITS_T {
  OFC_SETTING_CUT_OFF = 0x01, OFC_SETTING_OFFSET_TARGET_X0 = 0x02, OFC_SETTING_OFFSET_TARGET_X1 = 0x04, _OFC_SETTING_OFFSET_TARGET_X_MASK = 3,
  _OFC_SETTING_OFFSET_TARGET_X_SHIFT = 1, OFC_SETTING_OFFSET_TARGET_Y0 = 0x08, OFC_SETTING_OFFSET_TARGET_Y1 = 0x10, _OFC_SETTING_OFFSET_TARGET_Y_MASK = 3,
  _OFC_SETTING_OFFSET_TARGET_Y_SHIFT = 3, OFC_SETTING_OFFSET_TARGET_Z0 = 0x20, OFC_SETTING_OFFSET_TARGET_Z1 = 0x40, _OFC_SETTING_OFFSET_TARGET_Z_MASK = 3,
  _OFC_SETTING_OFFSET_TARGET_Z_SHIFT = 5
}
 
enum  OFFSET_TARGET_T { OFFSET_TARGET_0G = 0, OFFSET_TARGET_PLUS_1G = 1, OFFSET_TARGET_MINUS_1G = 2 }
 
enum  FIFO_CONFIG_1_BITS_T {
  FIFO_CONFIG_1_FIFO_DATA_SEL0 = 0x01, FIFO_CONFIG_1_FIFO_DATA_SEL1 = 0x02, _FIFO_CONFIG_1_FIFO_DATA_SEL = 3, _FIFO_CONFIG_1_FIFO_DATA_SHIFT = 0,
  FIFO_CONFIG_1_FIFO_MODE0 = 0x40, FIFO_CONFIG_1_FIFO_MODE1 = 0x80, _FIFO_CONFIG_1_FIFO_MODE_MASK = 3, _FIFO_CONFIG_1_FIFO_MODE_SHIFT = 5
}
 
enum  FIFO_DATA_SEL_T { FIFO_DATA_SEL_XYZ = 0, FIFO_DATA_SEL_X = 1, FIFO_DATA_SEL_Y = 2, FIFO_DATA_SEL_Z = 3 }
 
enum  FIFO_MODE_T { FIFO_MODE_BYPASS = 0, FIFO_MODE_FIFO = 1, FIFO_MODE_STREAM = 2 }
 
enum  INTERRUPT_PINS_T { INTERRUPT_INT1, INTERRUPT_INT2 }
 
enum  RESOLUTION_T { RESOLUTION_10BITS, RESOLUTION_12BITS }
 

Public Member Functions

 BMA250E (int bus=BMA250E_I2C_BUS, int addr=BMA250E_DEFAULT_ADDR, int cs=-1)
 
 ~BMA250E ()
 
void update ()
 
uint8_t getChipID ()
 
void getAccelerometer (float *x, float *y, float *z)
 
float * getAccelerometer ()
 
float getTemperature (bool fahrenheit=false)
 
void init (POWER_MODE_T pwr=POWER_MODE_NORMAL, RANGE_T range=RANGE_2G, BW_T bw=BW_250)
 
void reset ()
 
void setRange (RANGE_T range)
 
void setBandwidth (BW_T bw)
 
void setPowerMode (POWER_MODE_T power)
 
void enableFIFO (bool useFIFO)
 
void fifoSetWatermark (int wm)
 
void fifoConfig (FIFO_MODE_T mode, FIFO_DATA_SEL_T axes)
 
void setSelfTest (bool sign, bool amp, SELFTTEST_AXIS_T axis)
 
uint8_t getInterruptEnable0 ()
 
void setInterruptEnable0 (uint8_t bits)
 
uint8_t getInterruptEnable1 ()
 
void setInterruptEnable1 (uint8_t bits)
 
uint8_t getInterruptEnable2 ()
 
void setInterruptEnable2 (uint8_t bits)
 
uint8_t getInterruptMap0 ()
 
void setInterruptMap0 (uint8_t bits)
 
uint8_t getInterruptMap1 ()
 
void setInterruptMap1 (uint8_t bits)
 
uint8_t getInterruptMap2 ()
 
void setInterruptMap2 (uint8_t bits)
 
uint8_t getInterruptSrc ()
 
void setInterruptSrc (uint8_t bits)
 
uint8_t getInterruptOutputControl ()
 
void setInterruptOutputControl (uint8_t bits)
 
void clearInterruptLatches ()
 
RST_LATCH_T getInterruptLatchBehavior ()
 
void setInterruptLatchBehavior (RST_LATCH_T latch)
 
uint8_t getInterruptStatus0 ()
 
uint8_t getInterruptStatus1 ()
 
uint8_t getInterruptStatus2 ()
 
uint8_t getInterruptStatus3Bits ()
 
ORIENT_T getInterruptStatus3Orientation ()
 
void enableRegisterShadowing (bool shadow)
 
void enableOutputFiltering (bool filter)
 
void setLowPowerMode2 ()
 
void installISR (INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(*isr)(void *), void *arg)
 
void uninstallISR (INTERRUPT_PINS_T intr)
 
uint8_t readReg (uint8_t reg)
 
int readRegs (uint8_t reg, uint8_t *buffer, int len)
 
void writeReg (uint8_t reg, uint8_t val)
 

Static Public Attributes

static const uint8_t BMA250E_RESET_BYTE = 0xb6
 

Protected Member Functions

void csOn ()
 
void csOff ()
 

Protected Attributes

mraa::I2c * m_i2c
 
mraa::Spi * m_spi
 
mraa::Gpio * m_gpioCS
 
mraa::Gpio * m_gpioIntr1
 
mraa::Gpio * m_gpioIntr2
 
uint8_t m_addr
 
RESOLUTION_T m_resolution
 
bool m_fifoAvailable
 
float m_accX
 
float m_accY
 
float m_accZ
 
float m_accScale
 
float m_temperature
 

Member Enumeration Documentation

enum BMA250E_REGS_T : uint8_t

BMA250E registers

enum ACCD10_LSB_BITS_T

REG_ACCD_*_LSB bits - handle X, Y, and Z LSB regs, for 10 bit resolution

enum ACCD12_LSB_BITS_T

REG_ACCD_*_LSB bits - handle X, Y, and Z LSB regs, for 12 bit resolution

enum INT_STATUS_0_BITS_T

REG_INT_STATUS_0 bits

enum INT_STATUS_1_BITS_T

REG_INT_STATUS_1 bits

enum INT_STATUS_2_BITS_T

REG_INT_STATUS_2 bits

enum INT_STATUS_3_BITS_T

REG_INT_STATUS_3 bits

enum ORIENT_T

INT_STATUS_3_ORIENT values

enum FIFO_STATUS_BITS_T

REG_FIFO_STATUS bits

enum PMU_RANGE_BITS_T

REG_PMU_RANGE bits

enum RANGE_T

PMU_RANGE (accelerometer g-range) values

enum PMU_BW_BITS_T

REG_PMU_BW bits

enum BW_T

PMU_BW (accelerometer filter bandwidth) values

enum PMU_LPW_BITS_T

REG_PMU_LPW bits

enum SLEEP_DUR_T

SLEEP_DUR values

enum POWER_MODE_T

POWER_MODE values

enum LOW_POWER_BITS_T

REG_PMU_LOW_POWER bits

enum ACC_HBW_BITS_T

REG_ACC_HBW bits

enum INT_EN_0_BITS_T

REG_INT_EN_0 bits

enum INT_EN_1_BITS_T

REG_INT_EN_1 bits

enum INT_EN_2_BITS_T

REG_INT_EN_2 bits

enum INT_MAP_0_BITS_T

REG_INT_MAP_0 bits

enum INT_MAP_1_BITS_T

REG_INT_MAP_1 bits

enum INT_MAP_2_BITS_T

REG_INT_MAP_2 bits

enum INT_SRC_BITS_T

REG_INT_SRC bits

enum INT_OUT_CTRL_BITS_T

REG_INT_OUT_CTRL bits

enum INT_RST_LATCH_BITS_T

REG_INT_RST_LATCH bits

enum RST_LATCH_T

RST_LATCH values

enum INT_2_BITS_T

REG_INT_2 bits

enum INT_5_BITS_T

REG_INT_5 bits

enum INT_8_BITS_T

REG_INT_8 bits

enum INT_9_BITS_T

REG_INT_9 bits

enum INT_A_BITS_T

REG_INT_A bits

enum ORIENT_MODE_T

INT_A_ORIENT_MODE values

enum ORIENT_BLOCKING_T

INT_A_ORIENT_BLOCKING values

enum INT_B_BITS_T

REG_INT_B bits

enum INT_C_BITS_T

REG_INT_C bits

enum INT_D_BITS_T

REG_INT_D bits

enum FIFO_CONFIG_0_BITS_T

REG_FIFO_CONFIG_0 bits

enum PMU_SELFTTEST_BITS_T

REG_PMU_SELFTTEST bits

enum SELFTTEST_AXIS_T

PMU_SELFTTEST_AXIS values

enum TRIM_NVM_CTRL_BITS_T

REG_TRIM_NVM_CTRL bits

enum SPI3_WDT_BITS_T

REG_SPI3_WDT bits

enum OFC_CTRL_BITS_T

REG_OFC_CTRL bits

enum CAL_TRIGGER_T

OFC_CTRL_CAL_TRIGGER values

enum OFC_SETTING_BITS_T

REG_OFC_SETTING bits

enum OFFSET_TARGET_T

OFC_SETTING_OFFSET_TARGET (for X, Y and Z axis) values

enum FIFO_CONFIG_1_BITS_T

REG_FIFO_CONFIG_1 bits

enum FIFO_DATA_SEL_T

FIFO_DATA_SEL values

enum FIFO_MODE_T

FIFO_MODE values

Constructor & Destructor Documentation

BMA250E ( int  bus = BMA250E_I2C_BUS,
int  addr = BMA250E_DEFAULT_ADDR,
int  cs = -1 
)

BMA250E constructor.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters
busI2C or SPI bus to use.
addrThe address for this device. -1 for SPI.
csThe gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.

Here is the call graph for this function:

~BMA250E ( )

BMA250E Destructor.

Here is the call graph for this function:

Member Function Documentation

void update ( void  )

Update the internal stored values from sensor data.

Here is the call graph for this function:

Here is the caller graph for this function:

uint8_t getChipID ( )

Return the chip ID.

Returns
The chip ID (BMA250E_CHIPID).

Here is the call graph for this function:

Here is the caller graph for this function:

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

Return accelerometer data in gravities. update() must have been called prior to calling this method.

Parameters
xPointer to a floating point value that will have the current x component placed into it.
yPointer to a floating point value that will have the current y component placed into it.
zPointer to a floating point value that will have the current z component placed into it.

Here is the caller graph for this function:

float * getAccelerometer ( )

Return accelerometer data in gravities in the form of a floating point array. The pointer returned by this function is statically allocated and will be rewritten on each call. update() must have been called prior to calling this method.

Returns
A floating point array containing x, y, and z in that order.
float getTemperature ( bool  fahrenheit = false)

Return the current measured temperature. Note, this is not ambient temperature. update() must have been called prior to calling this method.

Parameters
fahrenheittrue to return data in Fahrenheit, false for Celicus. Celsius is the default.
Returns
The temperature in degrees Celsius or Fahrenheit.
void init ( POWER_MODE_T  pwr = POWER_MODE_NORMAL,
RANGE_T  range = RANGE_2G,
BW_T  bw = BW_250 
)

Initialize the device and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset.

Parameters
pwrOne of the POWER_MODE_T values. The default is POWER_MODE_NORMAL.
rangeOne of the RANGE_T values. The default is RANGE_2G.
bwOne of the filtering BW_T values. The default is BW_250.

Here is the call graph for this function:

Here is the caller graph for this function:

void reset ( )

Reset the device as if during a power on reset. All configured values are lost when this happens. You should call init() afterwards, or at least perform the same initialization init() does before continuing.

Here is the call graph for this function:

void setRange ( RANGE_T  range)

Set the acceleration scaling range. This device supports 2, 4, 8, and 16g ranges.

Parameters
rangeOne of the RANGE_T values.

Here is the call graph for this function:

Here is the caller graph for this function:

void setBandwidth ( BW_T  bw)

Set the output filtering bandwidth of the device.

Parameters
bwOne of the BW_T values.

Here is the call graph for this function:

Here is the caller graph for this function:

void setPowerMode ( POWER_MODE_T  power)

Set the power mode of the device. Care must be taken when setting a low power or suspend mode. By default init() calls setLowPowerMode2() to ensure that if any of these modes are entered we can still talk to the device. The default low power mode is LPM1, which requires slowing down register writes, which we cannot support. setLowPowerMode2() enables LPM2 which keeps the digital interface operational in low power or suspend modes. See the datasheet for details.

So if you reset your device and don't call init() or setLowPowerMode2(), you could lose control of the device by calling this function with anything other than POWER_MODE_NORMAL. You've been warned :)

Parameters
powerOne of the POWER_MODE_T values.

Here is the call graph for this function:

Here is the caller graph for this function:

void enableFIFO ( bool  useFIFO)

Enable update() to read from the FIFO rather than the acceleration axis registers directly. init() enables this mode by default if the chip variant supports a FIFO. An advantage to this mode that all axis data is sampled from the same timeslice. When reading directly from the acceleration output registers, it's possible for one axis to be updated while another is being read, causing a temporal anomaly that even Captain Picard can't resolve. If there is no FIFO present, this call is ignored.

Using the FIFO removes this problem.

Parameters
useFIFOtrue to enable update() to read from the FIFO. When false, update will read from the acceleration output registers directly.

Here is the caller graph for this function:

void fifoSetWatermark ( int  wm)

Set the FIFO watermark. When the watermark is reached an interrupt (if enabled) will be generated. If there is no FIFO present, this call is ignored.

Parameters
wmThe FIFO watermark to use. The maximum value is 63.

Here is the call graph for this function:

void fifoConfig ( FIFO_MODE_T  mode,
FIFO_DATA_SEL_T  axes 
)

Set the FIFO configuration. init() uses the FIFO_MODE_BYPASS mode with axes set to FIFO_DATA_SEL_XYZ by default. If there is no FIFO present, this call is ignored.

Parameters
modeOne of the FIFO_MODE_T values.
axesOne of the FIFO_DATA_SEL_T values.

Here is the call graph for this function:

Here is the caller graph for this function:

void setSelfTest ( bool  sign,
bool  amp,
SELFTTEST_AXIS_T  axis 
)

Enable, disable, and configure the built in self test on a per axis basis. See the datasheet for details.

Parameters
signtrue for a positive deflection, false for negative
amptrue for a high deflection, false for a low deflection
axisOne of the SELFTTEST_AXIS_T values. Note, only one axis at a time can be tested. Accelerometer output for other axes should be ignored.

Here is the call graph for this function:

uint8_t getInterruptEnable0 ( )

Return the Interrupt Enables 0 register. These resgisters allow you to enable various interrupt conditions. See the datasheet for details.

Returns
A bitmask of INT_EN_0_BITS_T bits.

Here is the call graph for this function:

void setInterruptEnable0 ( uint8_t  bits)

Set the Interrupt Enables 0 register. See the datasheet for details.

Parameters
bitsA bitmask of INT_EN_0_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptEnable1 ( )

Return the Interrupt Enables 1 register. See the datasheet for details.

Returns
A bitmask of INT_EN_1_BITS_T bits.

Here is the call graph for this function:

void setInterruptEnable1 ( uint8_t  bits)

Set the Interrupt Enables 1 register. See the datasheet for details.

Parameters
bitsA bitmask of INT_EN_1_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptEnable2 ( )

Return the Interrupt Enables 2 register. See the datasheet for details.

Returns
A bitmask of INT_EN_2_BITS_T bits.

Here is the call graph for this function:

void setInterruptEnable2 ( uint8_t  bits)

Set the Interrupt Enables 2 register. See the datasheet for details.

Parameters
bitsA bitmask of INT_EN_2_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptMap0 ( )

Return the Interrupt Map 0 register. These registers allow you to map specific interrupts to the interrupt 1 or interrupt 2 pin. See the datasheet for details.

Returns
A bitmask of INT_MAP_0_BITS_T bits.

Here is the call graph for this function:

void setInterruptMap0 ( uint8_t  bits)

Set the Interrupt Map 0 register. These registers allow you to map specific interrupts to the interrupt 1 or interrupt 2 pin. See the datasheet for details.

Parameters
Abitmask of INT_MAP_0_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptMap1 ( )

Return the Interrupt Map 1 register. See the datasheet for details.

Returns
A bitmask of INT_MAP_1_BITS_T bits.

Here is the call graph for this function:

void setInterruptMap1 ( uint8_t  bits)

Set the Interrupt Map 1 register. See the datasheet for details.

Parameters
Abitmask of INT_MAP_1_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptMap2 ( )

Return the Interrupt Map 2 register. See the datasheet for details.

Returns
A bitmask of INT_MAP_2_BITS_T bits.

Here is the call graph for this function:

void setInterruptMap2 ( uint8_t  bits)

Set the Interrupt Map 2 register. See the datasheet for details.

Parameters
Abitmask of INT_MAP_2_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptSrc ( )

Return the Interrupt source register. This register allows determining where data comes from (filtered/unfiltered) for those interrupt sources where this is selectable. See the datasheet for details.

Returns
A bitmask of INT_SRC_BITS_T bits.

Here is the call graph for this function:

void setInterruptSrc ( uint8_t  bits)

Set the Interrupt source register. This register allows determining where data comes from (filtered/unfiltered) for those interrupt sources where this is selectable. See the datasheet for details.

Parameters
bitsA bitmask of INT_SRC_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptOutputControl ( )

Return the Interrupt output control register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering). See the datasheet for details.

Returns
A bitmask of INT_OUT_CTRL_BITS_T bits.

Here is the call graph for this function:

void setInterruptOutputControl ( uint8_t  bits)

Set the Interrupt output control register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering). See the datasheet for details.

Parameters
bitsA bitmask of INT_OUT_CTRL_BITS_T bits.

Here is the call graph for this function:

void clearInterruptLatches ( )

Clear all latched interrupts. See the datasheet for details.

Here is the call graph for this function:

BMA250E::RST_LATCH_T getInterruptLatchBehavior ( )

Return the current interrupt latching behavior. See the datasheet for details.

Returns
One of the RST_LATCH_T values.

Here is the call graph for this function:

void setInterruptLatchBehavior ( RST_LATCH_T  latch)

Set the current interrupt latching behavior. See the datasheet for details.

Parameters
latchOne of the RST_LATCH_T values.

Here is the call graph for this function:

uint8_t getInterruptStatus0 ( )

Return the interrupt status 0 register. These registers indicate which interrupts have been triggered. See the datasheet for details.

Returns
a bitmask of INT_STATUS_0_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus1 ( )

Return the interrupt status 1 register. See the datasheet for details.

Returns
a bitmask of INT_STATUS_1_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus2 ( )

Return the interrupt status 2 register. See the datasheet for details.

Returns
a bitmask of INT_STATUS_2_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus3Bits ( )

Return the interrupt status 3 register bitfields. See the datasheet for details. The Orientation value is not returned by this function, see getInterruptStatus3Orientation() for that information.

Returns
a bitmask of INT_STATUS_3_BITS_T bits ONLY.

Here is the call graph for this function:

BMA250E::ORIENT_T getInterruptStatus3Orientation ( )

Return the interrupt status 3 register Orientation value. See the datasheet for details.

Returns
one of the ORIENT_T values.

Here is the call graph for this function:

void enableRegisterShadowing ( bool  shadow)

Enable shadowing of the accelerometer output registers. When enabled, a read of an axis LSB register automatically locks the MSB register of that axis until it has been read. This is usually a good thing to have enabled. init() enables this by default. If disabled, then it becomes possible for part of an axis value to change while another part is being read, causing inconsistent data.

Parameters
shadowtrue to enable axis register shadowing, false otherwise.

Here is the call graph for this function:

Here is the caller graph for this function:

void enableOutputFiltering ( bool  filter)

Enable filtering of the accelerometer axis data. init() enables this by default. If disabled, then accelerometer data that is read will be raw and unfiltered (rated R). See the datasheet for details.

Parameters
filtertrue to enable filtering, false to disable.

Here is the call graph for this function:

Here is the caller graph for this function:

void setLowPowerMode2 ( )

Make sure low power mode config (LPM2) is set in case we later go into the low power or suspend power modes. LPM1 mode (the default) requires drastically slowed register writes which we cannot handle.

Here is the call graph for this function:

Here is the caller graph for this function:

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

install an interrupt handler.

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin you are installing.
gpiogpio pin to use as interrupt pin
levelthe interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isrthe interrupt handler, accepting a void * argument
argthe argument to pass the the interrupt handler

Here is the call graph for this function:

void uninstallISR ( INTERRUPT_PINS_T  intr)

uninstall a previously installed interrupt handler

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin you are removing.

Here is the caller graph for this function:

uint8_t readReg ( uint8_t  reg)

Read a register.

Parameters
regThe register to read.
Returns
The value of the register.

Here is the caller graph for this function:

int readRegs ( uint8_t  reg,
uint8_t *  buffer,
int  len 
)

Read contiguous registers into a buffer.

Parameters
bufferThe buffer to store the results.
lenThe number of registers to read.
Returns
The number of bytes read.

Here is the caller graph for this function:

void writeReg ( uint8_t  reg,
uint8_t  val 
)

Write to a register

Parameters
regThe register to write to.
valThe value to write.

Here is the caller graph for this function:

The documentation for this class was generated from the following files:
Generated on Fri Oct 28 2016 05:04:15 for upm by   doxygen 1.8.6