From 481d3d8c6932bb15bb2799eb0936d4cb0673ae67 Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sun, 4 Sep 2011 21:50:29 +0200 Subject: Read and send accelerometer. --- bma150.h | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 bma150.h (limited to 'bma150.h') diff --git a/bma150.h b/bma150.h new file mode 100644 index 0000000..2e043ff --- /dev/null +++ b/bma150.h @@ -0,0 +1,33 @@ +#ifndef BMA150_H +#define BMA150_H + +#include "i2c.h" + +class BMA150 { + private: + I2C& i2c; + + public: + int16_t x, y, z; + + BMA150(I2C& i2c_bus) : i2c(i2c_bus) { + + } + + void init() { + uint8_t temp; + i2c.read_reg(0x38, 0x14, 1, &temp); + i2c.write_reg(0x38, 0x14, (temp & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth + } + + void update() { + uint8_t buf[6]; + i2c.read_reg(0x38, 0x02, 6, buf); + + x = (buf[1] << 8 | buf[0]) - 0; + y = (buf[3] << 8 | buf[2]) - 0; + z = (buf[5] << 8 | buf[4]) - 0; + } +}; + +#endif -- cgit v1.2.3