Inheritance diagram for BMA180:

Collaboration diagram for BMA180:

Public Member Functions
	BMA180 (int bus, uint32_t device)

virtual	~BMA180 ()

virtual int	init ()

virtual ssize_t	read (struct file filp, char buffer, size_t buflen)

virtual int	ioctl (struct file *filp, int cmd, unsigned long arg)

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	start ()
	Start automatic measurement. More...

void	stop ()
	Stop automatic measurement. More...

void	Run () override

void	measure ()
	Fetch measurements from the sensor and update the report ring. More...

uint8_t	read_reg (unsigned reg)
	Read a register from the BMA180. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the BMA180. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the BMA180. More...

int	set_range (unsigned max_g)
	Set the BMA180 measurement range. More...

int	set_lowpass (unsigned frequency)
	Set the BMA180 internal lowpass filter frequency. More...

Private Attributes
unsigned	_call_interval

ringbuffer::RingBuffer *	_reports

struct accel_calibration_s	_accel_scale

float	_accel_range_scale

float	_accel_range_m_s2

orb_advert_t	_accel_topic

int	_class_instance

unsigned	_current_lowpass

unsigned	_current_range

perf_counter_t	_sample_perf

Detailed Description

Definition at line 125 of file bma180.cpp.

Constructor & Destructor Documentation

◆ BMA180()

BMA180::BMA180	(	int	bus,
		uint32_t	device
	)

Definition at line 224 of file bma180.cpp.

References _accel_scale, DRV_ACC_DEVTYPE_BMA180, accel_calibration_s::x_offset, accel_calibration_s::x_scale, accel_calibration_s::y_offset, accel_calibration_s::y_scale, accel_calibration_s::z_offset, and accel_calibration_s::z_scale.

Referenced by bma180::start().

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◆ ~BMA180()

BMA180::~BMA180 ( )

virtual

Definition at line 248 of file bma180.cpp.

References _reports, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ init()

int BMA180::init ( )

virtual

Definition at line 263 of file bma180.cpp.

References _accel_topic, _class_instance, _reports, ACCEL_DEVICE_PATH, ADDR_CHIP_ID, ADDR_CTRL_REG0, ADDR_GAIN_Y, ADDR_HIGH_DUR, ADDR_OFFSET_T, ADDR_RESET, ADDR_TCO_Z, CHIP_ID, CLASS_DEVICE_PRIMARY, GAIN_Y_SHADOW_DIS, HIGH_DUR_DIS_I2C, ToneAlarmInterface::init(), measure(), modify_reg(), OFFSET_T_READOUT_12BIT, OK, orb_advertise(), ORB_ID, read_reg(), REG0_WRITE_ENABLE, set_lowpass(), set_range(), SOFT_RESET, TCO_Z_MODE_MASK, warnx, and write_reg().

Referenced by bma180::start().

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◆ ioctl()

int BMA180::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 388 of file bma180.cpp.

References _accel_scale, _call_interval, ACCELIOCSSCALE, OK, SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, and start().

Referenced by bma180::reset(), and bma180::start().

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◆ measure()

void BMA180::measure ( )

private

Fetch measurements from the sensor and update the report ring.

Definition at line 606 of file bma180.cpp.

References _accel_range_scale, _accel_scale, _accel_topic, _reports, _sample_perf, ADDR_ACC_X_LSB, sensor_accel_s::error_count, hrt_absolute_time(), ORB_ID, orb_publish(), perf_begin(), perf_end(), read_reg(), sensor_accel_s::scaling, sensor_accel_s::timestamp, sensor_accel_s::x, accel_calibration_s::x_offset, sensor_accel_s::x_raw, accel_calibration_s::x_scale, sensor_accel_s::y, accel_calibration_s::y_offset, sensor_accel_s::y_raw, accel_calibration_s::y_scale, sensor_accel_s::z, accel_calibration_s::z_offset, sensor_accel_s::z_raw, and accel_calibration_s::z_scale.

Referenced by init(), read(), and Run().

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◆ modify_reg()

void BMA180::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMA180.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 467 of file bma180.cpp.

References read_reg(), and write_reg().

Referenced by init(), set_lowpass(), and set_range().

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◆ print_info()

void BMA180::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 680 of file bma180.cpp.

References _reports, _sample_perf, and perf_print_counter().

Referenced by bma180::info().

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◆ probe()

int BMA180::probe ( )

protectedvirtual

Definition at line 332 of file bma180.cpp.

References ADDR_CHIP_ID, CHIP_ID, OK, and read_reg().

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◆ read()

ssize_t BMA180::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

virtual

Definition at line 345 of file bma180.cpp.

References _call_interval, _reports, and measure().

Referenced by bma180::test().

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◆ read_reg()

uint8_t BMA180::read_reg ( unsigned reg )

private

Read a register from the BMA180.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 444 of file bma180.cpp.

References DIR_READ.

Referenced by init(), measure(), modify_reg(), probe(), set_lowpass(), and set_range().

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◆ Run()

void BMA180::Run ( )

overrideprivate

Definition at line 599 of file bma180.cpp.

References measure().

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◆ set_lowpass()

int BMA180::set_lowpass ( unsigned frequency )

private

Set the BMA180 internal lowpass filter frequency.

Parameters

frequency The internal lowpass filter frequency is set to a value equal or greater to this. Zero selects the highest frequency supported.

Returns: OK if the value can be supported.

Definition at line 533 of file bma180.cpp.

References ADDR_BW_TCS, ADDR_CTRL_REG0, BW_TCS_BW_10HZ, BW_TCS_BW_1200HZ, BW_TCS_BW_150HZ, BW_TCS_BW_20HZ, BW_TCS_BW_300HZ, BW_TCS_BW_40HZ, BW_TCS_BW_600HZ, BW_TCS_BW_75HZ, BW_TCS_BW_MASK, modify_reg(), read_reg(), and REG0_WRITE_ENABLE.

Referenced by init().

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◆ set_range()

int BMA180::set_range ( unsigned max_g )

private

Set the BMA180 measurement range.

Parameters

max_g The maximum G value the range must support.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 478 of file bma180.cpp.

References _accel_range_m_s2, _accel_range_scale, _current_range, ADDR_CTRL_REG0, ADDR_OFFSET_LSB1, CONSTANTS_ONE_G, modify_reg(), OFFSET_LSB1_RANGE_16G, OFFSET_LSB1_RANGE_2G, OFFSET_LSB1_RANGE_3G, OFFSET_LSB1_RANGE_4G, OFFSET_LSB1_RANGE_8G, OFFSET_LSB1_RANGE_MASK, read_reg(), and REG0_WRITE_ENABLE.

Referenced by init().

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◆ start()

void BMA180::start ( )

private

Start automatic measurement.

Definition at line 580 of file bma180.cpp.

References _call_interval, _reports, and stop().

Referenced by ioctl().

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◆ stop()

void BMA180::stop ( )

private

Stop automatic measurement.

Definition at line 593 of file bma180.cpp.

Referenced by start(), and ~BMA180().

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◆ write_reg()

void BMA180::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMA180.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 456 of file bma180.cpp.

References DIR_WRITE.

Referenced by init(), and modify_reg().

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Member Data Documentation

◆ _accel_range_m_s2

float BMA180::_accel_range_m_s2

private

Definition at line 152 of file bma180.cpp.

Referenced by set_range().

◆ _accel_range_scale

float BMA180::_accel_range_scale

private

Definition at line 151 of file bma180.cpp.

Referenced by measure(), and set_range().

◆ _accel_scale

struct accel_calibration_s BMA180::_accel_scale

private

Definition at line 150 of file bma180.cpp.

Referenced by BMA180(), ioctl(), and measure().

◆ _accel_topic

orb_advert_t BMA180::_accel_topic

private

Definition at line 153 of file bma180.cpp.

Referenced by init(), and measure().

◆ _call_interval

unsigned BMA180::_call_interval

private

Definition at line 146 of file bma180.cpp.

Referenced by ioctl(), read(), and start().

◆ _class_instance

int BMA180::_class_instance

private

Definition at line 154 of file bma180.cpp.

Referenced by init().

◆ _current_lowpass

unsigned BMA180::_current_lowpass

private

Definition at line 156 of file bma180.cpp.

◆ _current_range

unsigned BMA180::_current_range

private

Definition at line 157 of file bma180.cpp.

Referenced by set_range().

◆ _reports

ringbuffer::RingBuffer* BMA180::_reports

private

Definition at line 148 of file bma180.cpp.

Referenced by init(), measure(), print_info(), read(), start(), and ~BMA180().

◆ _sample_perf

perf_counter_t BMA180::_sample_perf

private

Definition at line 159 of file bma180.cpp.

Referenced by measure(), print_info(), and ~BMA180().

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

src/drivers/imu/bma180/bma180.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BMA180()

◆ ~BMA180()

Member Function Documentation

◆ init()

◆ ioctl()

◆ measure()

◆ modify_reg()

◆ print_info()

◆ probe()

◆ read()

◆ read_reg()

◆ Run()

◆ set_lowpass()

◆ set_range()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _accel_range_m_s2

◆ _accel_range_scale

◆ _accel_scale

◆ _accel_topic

◆ _call_interval

◆ _class_instance

◆ _current_lowpass

◆ _current_range

◆ _reports

◆ _sample_perf