Bosch_BMM150_registers.hpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Bosch_BMM150_registers.hpp
*
* Bosch BMM150 registers.
*
*/
#pragma once
#include <cstdint>
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
namespace Bosch_BMM150
{
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x10;
static constexpr uint8_t chip_identification_number = 0x32;
static constexpr int16_t OVERFLOW_XYAXES = -4096;
static constexpr int16_t OVERFLOW_ZAXIS = -16384;
enum class Register : uint8_t {
CHIP_ID = 0x40, // magnetometer chip identification number
DATAX_LSB = 0x42, // 5-bit LSB of x-axis magnetic field data
DATAX_MSB = 0x43, // 8-bit MSB of x-axis magnetic field data
DATAY_LSB = 0x44, // 5-bit LSB of y-axis magnetic field data
DATAY_MSB = 0x45, // 8-bit MSB of y-axis magnetic field data
DATAZ_LSB = 0x46, // 7-bit LSB of z-axis magnetic field data
DATAZ_MSB = 0x47, // 8-bit MSB of z-axis magnetic field data
RHALL_LSB = 0x48, // 6-bit LSB of hall resistance
RHALL_MSB = 0x49, // 8-bit MSB of hall resistance
STATUS = 0x4A, // Status register
POWER_CONTROL = 0x4B, // power control, soft reset and interface SPI mode selection
OP_MODE = 0x4C, // operation mode, output data rate and self-test
REPXY = 0x51, // number of repetitions for x/y-axis
REPZ = 0x52, // number of repetitions for z-axis
DIG_X1 = 0x5D,
DIG_Z4_LSB = 0x62,
DIG_Z2_LSB = 0x68,
};
// POWER_CONTROL
enum POWER_CONTROL_BIT : uint8_t {
SoftReset = Bit7 | Bit1, // soft reset trigger bits.
PowerControl = Bit0, // When set to “0”, suspend mode is selected
};
// OP_MODE
enum OP_MODE_BIT : uint8_t {
// 5:3 Data rate control
ODR_20Hz = Bit5 | Bit3, // ODR 20 Hz
// 2:1 Operation mode control
Opmode_Sleep = Bit2 | Bit1, // Sleep mode
Self_Test = Bit0,
};
// STATUS
enum STATUS_BIT : uint8_t {
Overflow = Bit6, // one or more axes exceeded maximum range of the device
};
// REPXY
enum REPXY_BIT : uint8_t {
// high accurary preset nXY = 47, REPXY = 0x17 = 0b0001'0111
XY_HA_SET = Bit4 | Bit2 | Bit1 | Bit0,
XY_HA_CLEAR = Bit7 | Bit6 | Bit5 | Bit3,
};
// REPZ
enum REPZ_BIT : uint8_t {
// high accurary preset nZ = 83, REPZ = 0x52 = 0b0101'0010
Z_HA_SET = Bit6 | Bit4 | Bit1,
Z_HA_CLEAR = Bit7 | Bit5 | Bit3 | Bit2 | Bit0,
};
} // namespace Bosch_BMM150