BMA250獲取三軸加速度數據
bma250.c
#include "bma250.h"
#include "softi2c.h"
void BMA250_Init(void)
{
uint8 bGRange = 0; // g Range;
uint8 bBwd = 0; // Bandwidth
uint8 bSleep = 0; // Sleep phase
// Configure sensor and start to sample data
#if (BMP_AS_RANGE == 2)
bGRange = 0x03;
#elif (BMP_AS_RANGE == 4)
bGRange = 0x05;
#elif (BMP_AS_RANGE == 8)
bGRange = 0x08;
#elif (BMP_AS_RANGE == 16)
bGRange = 0x0C;
#else
// #error "Measurement range not supported"
#endif
#if (BMP_AS_BANDWIDTH == 8)
bBwd = 0x08;
#elif (BMP_AS_BANDWIDTH == 16)
bBwd = 0x09;
#elif (BMP_AS_BANDWIDTH == 31)
bBwd = 0x0A;
#elif (BMP_AS_BANDWIDTH == 63)
bBwd = 0x0B;
#elif (BMP_AS_BANDWIDTH == 125)
bBwd = 0x0C;
#elif (BMP_AS_BANDWIDTH == 250)
bBwd = 0x0D;
#elif (BMP_AS_BANDWIDTH == 500)
bBwd = 0x0E;
#elif (BMP_AS_BANDWIDTH == 1000)
bBwd = 0x0F;
#else
// #error "Sample rate not supported"
#endif
#if (BMP_AS_SLEEPPHASE == 1)
bSleep = 0x4C;
#elif (BMP_AS_SLEEPPHASE == 2)
bSleep = 0x4E;
#elif (BMP_AS_SLEEPPHASE == 4)
bSleep = 0x50;
#elif (BMP_AS_SLEEPPHASE == 6)
bSleep = 0x52;
#elif (BMP_AS_SLEEPPHASE == 10)
bSleep = 0x54;
#elif (BMP_AS_SLEEPPHASE == 25)
bSleep = 0x56;
#elif (BMP_AS_SLEEPPHASE == 50)
bSleep = 0x58;
#else
// #error "Sleep phase duration not supported"
#endif
// write sensor configuration
BMA250_WriteByte(BMA250_Addr, BMP_GRANGE, bGRange); // Set measurement range
BMA250_WriteByte(BMA250_Addr, BMP_BWD, bBwd); // Set filter bandwidth
BMA250_WriteByte(BMA250_Addr, BMP_PM, bSleep); // Set filter bandwidth
#ifndef BMP_AS_FILTERING
BMA250_WriteByte(BMA250_Addr, BMP_SCR, 0x80); // acquire unfiltered acceleration data
#endif
// // configure sensor interrupt
// bmp_as_write_register(BMP_IMR2, 0x01); // map new data interrupt to INT1 pin
// bmp_as_write_register(BMP_ISR2, 0x10); // enable new data interrupt
//
// // enable CC430 interrupt pin for data read out from acceleration sensor
// AS_INT_IFG &= ~AS_INT_PIN; // Reset flag
// AS_INT_IE |= AS_INT_PIN; // Enable interrupt
}
/**
* BMA250 IIC寫一個字節
* I2C_addr BMA250地址
* Reg_addr:寄存器地址
* data: 寫入寄存器地址
* 返回值:0,正常
* 1,錯誤代碼
*/
uint8 BMA250_WriteByte(uint8 I2C_addr,uint8 Reg_addr,uint8 data)
{
start();
iic_write(I2C_addr | 0X00); //WRITE i2c
if (check_ack()==0) {
goto err;
}
iic_write(Reg_addr);
if (check_ack()==0) {
goto err;
}
iic_write(data);
if (check_ack()==0) {
goto err;
}
stop();
return 1;
err:
stop();
return 0;
}
/**
* BMA250 IIC讀一個字節
* I2C_addr BMA250地址
* Reg_addr:寄存器地址
* 返回值:data,正常
* 0,錯誤代碼
*/
uint8 BMA250_ReadByte(uint8 I2C_addr, uint8 Reg_addr)
{
uint8 data;
start();
iic_write(I2C_addr | 0X00); //WRITE i2c
if (check_ack()==0) {
goto err;
}
iic_write(Reg_addr);
if (check_ack()==0) {
goto err;
}
stop();
start();
iic_write(I2C_addr | 0X01); //READ
if (check_ack()==0) {
goto err;
}
data = iic_read();
send_noack();
stop();
return data;
err:
stop();
return 0;
}
//讀1個字節，ack=1時，發送ACK，ack=0，發送nACK
uint8 BMA250_IIC_Read_Byte(uint8 ack)
{
uint8 data;
data = iic_read();
if(ack) send_ack();
else send_noack();
return data;
}
/**
* BMA250 IIC連續讀len個字節
* I2C_addr: BMA250地址
* Reg_addr:寄存器地址
* len:要讀取的長度
* buff:讀取到的數據存儲區
* 返回值:0,正常
* 其他,錯誤代碼
*/
uint8 BMA250_Read_LenBytes(uint8 I2C_addr, uint8 Reg_addr, uint8 len, uint8 *buff)
{
start();
iic_write(I2C_addr | 0X00); //WRITE i2c
if (check_ack()==0) {
goto err;
}
iic_write(Reg_addr);
if (check_ack()==0) {
goto err;
}
stop();
start();
iic_write(I2C_addr | 0X01); //READ
if (check_ack()==0) {
goto err;
}
while(len)
{
if(len==1) *buff=BMA250_IIC_Read_Byte(0); //讀數據,發送nACK
else *buff=BMA250_IIC_Read_Byte(1); //讀數據,發送ACK
len--;
buff++;
}
stop();
return 0;
err:
stop();
return 1;
}
uint8 Check_BMA250_ID(void)
{
return (BMA250_ReadByte(BMA250_Addr, 0x00));
}
//得到加速度值(原始值)
//gx,gy,gz:陀螺儀x,y,z軸的原始讀數(帶符號)
void BMA250_Get_Acceleration(short *gx, short *gy, short *gz)
{
*(gx+0) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_X_LSB);
*(gx+1) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_X_MSB);
*(gy+0) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_Y_LSB);
*(gy+1) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_Y_MSB);
*(gz+0) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_Z_LSB);
*(gz+1) = BMA250_ReadByte(BMA250_Addr, BMP_ACC_Z_MSB);
}
bma250.h
#ifndef BMA250_H_
#define BMA250_H_
#include "common.h"
#define BMA250_Addr (0x18<<1) //SD0 Low 0x18; SD0 High 0x19;
#define BMP_CHIPID 0x00
#define BMP_ACC_X_LSB 0x02
#define BMP_ACC_X_MSB 0x03
#define BMP_ACC_Y_LSB 0x04
#define BMP_ACC_Y_MSB 0x05
#define BMP_ACC_Z_LSB 0x06
#define BMP_ACC_Z_MSB 0x07
#define BMP_GRANGE 0x0F // g Range
#define BMP_BWD 0x10 // Bandwidth
#define BMP_PM 0x11 // Power modes
#define BMP_SCR 0x13 // Special Control Register
#define BMP_RESET 0x14 // Soft reset register writing 0xB6 causes reset
#define BMP_ISR1 0x16 // Interrupt settings register 1
#define BMP_ISR2 0x17 // Interrupt settings register 2
#define BMP_IMR1 0x19 // Interrupt mapping register 1
#define BMP_IMR2 0x1A // Interrupt mapping register 2
#define BMP_IMR3 0x1B // Interrupt mapping register 3
void BMA250_Init(void);
uint8 BMA250_WriteByte(uint8 I2C_addr,uint8 Reg_addr,uint8 data);
uint8 BMA250_ReadByte(uint8 I2C_addr, uint8 Reg_addr);
uint8 BMA250_IIC_Read_Byte(uint8 ack);
uint8 BMA250_Read_LenBytes(uint8 I2C_addr, uint8 Reg_addr, uint8 len, uint8 *buff);
uint8 Check_BMA250_ID(void);
void BMA250_Get_Acceleration(short *gx, short *gy, short *gz);
#endif
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