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#ifdef ENABLE_BMA250_INTERRUPT // *** New data interrupt on INT1, active high *** // INT1 as push-pull, active high accWriteReg(ACC_INT_PIN_BEHAVIOR, ACC_INT1_LVL);
// Map New data interrupt to INT1 accWriteReg(ACC_INT_MAPPING1, ACC_INT1_MAP_DATA);
// Enable new data interrupts ACC_INT_ENABLE(ACC_INT_ENABLE1, ACC_INT_DATA_EN); #endif
acc_initialized = TRUE; } // accInit
/**************************************************************************//** * @fn accStop(void) * * @brief Sets the BMA250 accelerometer in low-power mode. * * @return void ******************************************************************************/ void accStop(void) { if (acc_initialized) { // We cheat and simply turn off power to the accelerometer P2_0 = 0x00; // If init has been run this pin is already output. acc_initialized = FALSE; } }
/**************************************************************************//** * @fn accWriteReg(uint8 reg, uint8 val) * * @brief Write one byte to a sensor register * * @param reg Register address * @param val Value to write * * @return void ******************************************************************************/ void accWriteReg(uint8 reg, uint8 val) { CS = CS_ENABLED; spiWriteByte(reg); // Write address spiWriteByte(val); // Write value CS = CS_DISABLED; }
/**************************************************************************//** * @fn accReadReg(uint8 reg, uint8 *pVal) * * @brief Read one byte from a sensor register * * @param reg Register address * @param val Pointer to destination of read value * * @return void ******************************************************************************/ void accReadReg(uint8 reg, uint8 *pVal) { CS = CS_ENABLED; spiWriteByte(0x80|reg); // Write address spiReadByte(pVal, 0xFF); // Write dummy data and read returned value CS = CS_DISABLED; }
/**************************************************************************//** * @fn accReadAcc(int16 *pXVal, int16 *pYVal, int16 *pZVal) * * @brief Read x, y and z acceleration data in one operation. * * @param pXVal Pointer to destination of read out X acceleration * @param pYVal Pointer to destination of read out Y acceleration * @param pZVal Pointer to destination of read out Z acceleration * * @return void ******************************************************************************/ void accReadAcc(int8 *pXVal, int8 *pYVal, int8 *pZVal) { int8 readout[6] = {0,0,0,0,0,0};
// Read all data from accelerometer CS = CS_ENABLED; spiWriteByte(0x80|ACC_X_LSB); // Write start address for(uint8 i = 0; i<6; i++) { spiReadByte((uint8 *)&readout[i], 0xFF); // Read byte } CS = CS_DISABLED;
// Use only most significant byte of each channel. *pXVal = readout[1]; *pYVal = readout[3]; *pZVal = readout[5];
} // accReadAcc
/**************************************************************************//** * @fn accReadAcc(int16 *pXVal, int16 *pYVal, int16 *pZVal) * * @brief Read x, y and z acceleration data in one operation. * * @param pXVal Pointer to destination of read out X acceleration * @param pYVal Pointer to destination of read out Y acceleration * @param pZVal Pointer to destination of read out Z acceleration * * @return void ******************************************************************************/ void accReadAcc16(int16 *pXVal, int16 *pYVal, int16 *pZVal) { int8 readout[6] = {0,0,0,0,0,0};
// Read all data from accelerometer CS = CS_ENABLED; spiWriteByte(0x80|ACC_X_LSB); // Write start address for(uint8 i = 0; i<6; i++) { spiReadByte((uint8 *)&readout[i], 0xFF); // Read byte } CS = CS_DISABLED;
/**************************************************************************//** * @fn spiWriteByte(uint8 write) * * @brief Write one byte to SPI interface * * @param write Value to write ******************************************************************************/ void spiWriteByte(uint8 write) { U0CSR &= ~0x02; // Clear TX_BYTE U0DBUF = write; while (!(U0CSR & 0x02)); // Wait for TX_BYTE to be set }
/**************************************************************************//** * @fn spiReadByte(uint8 *read, uint8 write) * * @brief Read one byte from SPI interface * * @param read Read out value * @param write Value to write ******************************************************************************/ void spiReadByte(uint8 *read, uint8 write) { U0CSR &= ~0x02; // Clear TX_BYTE U0DBUF = write; // Write address to accelerometer while (!(U0CSR & 0x02)); // Wait for TX_BYTE to be set *read = U0DBUF; // Save returned value }
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