BMA180.hxx

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/*
 * BMA180.h  Created on: 2 Jul 2014
 * Copyright (c) 2014 Derek Molloy (www.derekmolloy.ie)
 * Made available for the book "Exploring BeagleBone" 
 * See: www.exploringbeaglebone.com
 * Licensed under the EUPL V.1.1
 *
 * This Software is provided to You under the terms of the European 
 * Union Public License (the "EUPL") version 1.1 as published by the 
 * European Union. Any use of this Software, other than as authorized 
 * under this License is strictly prohibited (to the extent such use 
 * is covered by a right of the copyright holder of this Software).
 * 
 * This Software is provided under the License on an "AS IS" basis and 
 * without warranties of any kind concerning the Software, including 
 * without limitation merchantability, fitness for a particular purpose, 
 * absence of defects or errors, accuracy, and non-infringement of 
 * intellectual property rights other than copyright. This disclaimer 
 * of warranty is an essential part of the License and a condition for 
 * the grant of any rights to this Software.
 * 
 * For more details, see http://www.derekmolloy.ie/
 */

#ifndef BMA180_H_
#define BMA180_H_
#include "../bus/BusDevice.h"
#define BUFFER_SIZE 0x80

namespace exploringBB {

class BMA180 {

        enum RANGE {
                PLUSMINUS_1_G           = 0,
                PLUSMINUS_1POINT5_G = 1,
                PLUSMINUS_2G            = 2,
                PLUSMINUS_3G            = 3,
                PLUSMINUS_4G            = 4,
                PLUSMINUS_8G            = 5,
                PLUSMINUS_16G           = 6
        };

        enum BANDWIDTH {
                BW_10HZ         = 0,
                BW_20HZ         = 1,
                BW_40HZ         = 2,
                BW_75HZ         = 3,
                BW_150HZ        = 4,
                BW_300HZ        = 5,
                BW_600HZ        = 6,
                BW_12OOHZ       = 7,
                BW_HIGHPASS = 8,
                BW_BANDPASS = 9
        };

        enum MODECONFIG {
                MODE_LOW_NOISE = 0,
                MODE_LOW_POWER = 3
        };


private:
        BusDevice *device;
        unsigned char *registers;

        int accelerationX;
        int accelerationY;
        int accelerationZ;

        double pitch;  //in degrees
        double roll;   //in degrees

        float temperature; //accurate to 0.5C
        BMA180::RANGE range;
        BMA180::BANDWIDTH bandwidth;
        BMA180::MODECONFIG modeConfig;

        int  convertAcceleration(int msb_addr, int lsb_addr);
        void calculatePitchAndRoll();

public:
        BMA180(BusDevice *device);
        void displayMode(int iterations);

        int  readFullSensorState();
        // The following do physical reads and writes of the sensors
        int setRange(BMA180::RANGE range);
        BMA180::RANGE getRange();
        int setBandwidth(BMA180::BANDWIDTH bandwidth);
        BMA180::BANDWIDTH getBandwidth();
        int setModeConfig(BMA180::MODECONFIG mode);
        BMA180::MODECONFIG getModeConfig();
        float getTemperature();

        int getAccelerationX() { return accelerationX; }
        int getAccelerationY() { return accelerationY; }
        int getAccelerationZ() { return accelerationZ; }

        float getPitch() { return pitch; }  // in degrees
        float getRoll() { return roll; }  // in degrees

        virtual ~BMA180();
};

} /* namespace exploringBB */

#endif /* BMA180_H_ */