exploringBB::BMA180 Class Reference

A class to control a BMA180 accelerometer (untested) More...

#include <BMA180.hxx>

Public Member Functions
	BMA180 (BusDevice *device)
void	displayMode (int iterations)
int	readFullSensorState ()
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 ()
int	getAccelerationY ()
int	getAccelerationZ ()
float	getPitch ()
float	getRoll ()
virtual	~BMA180 ()

Detailed Description

A class to control a BMA180 accelerometer (untested)

Constructor & Destructor Documentation

exploringBB::BMA180::BMA180

(

BusDevice *

device

)

                                {
        this->device = device;
        readFullSensorState();
}

virtual exploringBB::BMA180::~BMA180 ( )

virtual

Member Function Documentation

void exploringBB::BMA180::displayMode

(

int

iterations

)

                                      {
        for(int i=0; i<iterations; i++){
                this->readFullSensorState();
                printf("Rotation (%d, %d, %d)", accelerationX, accelerationY, accelerationZ);
        }
}

int exploringBB::BMA180::getAccelerationX ( )

inline

{ return accelerationX; }

int exploringBB::BMA180::getAccelerationY ( )

inline

{ return accelerationY; }

int exploringBB::BMA180::getAccelerationZ ( )

inline

{ return accelerationZ; }

BMA180::BANDWIDTH exploringBB::BMA180::getBandwidth

(

)

                                    {
        this->readFullSensorState();
        char temp = *(registers+BMA_BANDWIDTH);   //bits 7->4
        //char temp = this->readI2CDeviceByte(BANDWIDTH);  //bits 7,6,5,4
//      cout << "The value of bandwidth returned is: " << (int)temp << endl;
        temp = temp & 0b11110000;
        temp = temp>>4;
//      cout << "The current bandwidth is: " << (int)temp << endl;
        this->bandwidth = (BMA180::BANDWIDTH) temp;
        return this->bandwidth;
}

BMA180::MODECONFIG exploringBB::BMA180::getModeConfig

(

)

                                      {
        //char temp = dataBuffer[MODE_CONFIG];   //bits 1,0
        //char temp = this->readI2CDeviceByte(MODE_CONFIG);  //bits 1,0
        this->readFullSensorState();
    char temp = *(registers+MODE_CONFIG);
        temp = temp & 0b00000011;
        this->modeConfig = (BMA180::MODECONFIG) temp;
        return this->modeConfig;
}

float exploringBB::BMA180::getPitch ( )

inline

{ return pitch; }  // in degrees

BMA180::RANGE exploringBB::BMA180::getRange

(

)

                            {
        this->readFullSensorState();
        char temp = *(registers+BMA_RANGE);
        //char temp = this->readI2CDeviceByte(RANGE);  //bits 3,2,1
        temp = temp & 0b00001110;
        temp = temp>>1;
        //cout << "The current range is: " << (int)temp << endl;
        this->range = (BMA180::RANGE) temp;
        return this->range;
}

float exploringBB::BMA180::getRoll ( )

inline

{ return roll; }  // in degrees

float exploringBB::BMA180::getTemperature

(

)

                            {

        int offset = -40;  // -40 degrees C
        this->readFullSensorState();
        char temp = *(registers+BMA_TEMP);   // = -80C 0b10000000  0b00000010; = +25C
        //char temp = this->readI2CDeviceByte(TEMP);
        //this->readFullSensorState();
    //char temp = dataBuffer[TEMP];
        int temperature;
        if(temp&0x80)   {
                temp = ~temp + 0b00000001;
                temperature = 128 - temp;
        }
        else {
                temperature = 128 + temp;
        }
        this->temperature = offset + ((float)temperature*0.5f);
        //cout << "The temperature is " << this->temperature << endl;
        //int temp_off = dataBuffer[0x37]>>1;
        //cout << "Temperature offset raw value is: " << temp_off << endl;
        return this->temperature;
}

int exploringBB::BMA180::readFullSensorState

(

)

                               {
        this->registers = this->device->readRegisters(BUFFER_SIZE, 0x00);
        if(*this->registers!=0x03){
                perror("BMA180: Failure Condition - Sensor ID not Verified");
                return -1;
        }
    this->accelerationX = convertAcceleration(ACC_X_MSB, ACC_X_LSB);
    this->accelerationY = convertAcceleration(ACC_Y_MSB, ACC_Y_LSB);
    this->accelerationZ = convertAcceleration(ACC_Z_MSB, ACC_Z_LSB);
    this->calculatePitchAndRoll();
    //cout << "Pitch:" << this->getPitch() << "   Roll:" << this->getRoll() <<  endl;
    return 0;
}

int exploringBB::BMA180::setBandwidth

(

BMA180::BANDWIDTH

bandwidth

)

                                                 {
        this->readFullSensorState();
    char current = *(registers+BMA_BANDWIDTH);  //bits 7->4
        char temp = bandwidth << 4; //move value into bits 7,6,5,4
        current = current & 0b00001111; //clear the current bits 7,6,5,4
        temp = current | temp;
        if(this->device->writeRegister(BMA_BANDWIDTH,temp)!=0){
                perror("Failure to update BANDWIDTH value\n");
                return 1;
        }
        return 0;
}

int exploringBB::BMA180::setModeConfig

(

BMA180::MODECONFIG

mode

)

int exploringBB::BMA180::setRange

(

BMA180::RANGE

range

)

                                     {
        //char current = this->readI2CDeviceByte(RANGE);  //bits 3,2,1
        this->readFullSensorState();
        char current = *(registers+BMA_RANGE);
        char temp = range << 1; //move value into bits 3,2,1
        current = current & 0b11110001; //clear the current bits 3,2,1
        temp = current | temp;
        if(this->device->writeRegister(BMA_RANGE,temp)!=0){
                perror("Failure to update RANGE value\n");
                return 1;
        }
        return 0;
}

---

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

• /home/molloyd/exploringBB/library/sensor/BMA180.hxx
• /home/molloyd/exploringBB/library/sensor/BMA180.cxx