BMA400三轴加速度计开发

Blkhumor

BMA400三轴加速度计开发 [复制链接]

<div class='showpostmsg'><i class="pstatus"> 本帖最后由 Blkhumor 于 2021-3-31 12:19 编辑 </i>

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****正  文****
# BMA400简介
Bosch BMA400三轴加速度计独特地在高性能和超低功耗之间达到了平衡，适用于需要常开电池系统的可穿戴设备和物联网设备。该款加速度计消耗的电流仅为现有加速度计的1/10，荣获CES 2018嵌入式技术类创新奖。BMA400系列具有连续测量功能，除非检测到活动，否则将一直处于具有最低功耗的睡眠模式。这些Bosch加速度计 可以感测倾斜、方向和点击/双击，而即插即用的活动识别步进计数器仅消耗4μA电流。这些三轴加速度计采用12引脚、2.0mmx2.0mmx0.95mm外形，设有低通滤波器，因此非常适合用于超级紧凑的高振动设备。
`支持IIC``支持SPI3``支持SPI4`

链接：[BMA400详细资料页面](https://www.mouser.cn/new/bosch/bosch-sensortec-bma400/)
## 流程图
### 上电

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### 从睡眠模式唤醒

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### 获取数据

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# 硬件原理图
## BMA400连接
BMA400.VCC->接3.3V`注意：接5V电压BMA400可能会被烧`
BMA400.GND->接GND
BMA400.SCL->接IIC.SCL
BMA400.SDA->接IIC.SDA
BMA400.CSB->接VCC`3.3V`
BMA400.INT1->自定义
BMA400.INT2->自定义
## 实物图
![在这里插入图片描述](https://img-blog.csdnimg.cn/20210325100331374.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2JhaWR1XzM5NjAzMjQ3,size_16,color_FFFFFF,t_70)
# CubeMX（或CubeIDE）配置
## 引脚配置

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## IIC配置

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# 连接

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注意：INT1，为输出配置信号，可以不接
# 代码
### bma400_defs.h
```c
#ifndef BMA400_DEFS_H_
#define BMA400_DEFS_H_

#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif

#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x)           S8_C(x)
#define UINT8_C(x)          U8_C(x)
#endif

#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x)          S16_C(x)
#define UINT16_C(x)           U16_C(x)
#endif

#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x)          S32_C(x)
#define UINT32_C(x)           U32_C(x)
#endif

#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x)          S64_C(x)
#define UINT64_C(x)           U64_C(x)
#endif

/* C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL            0
#else
#define NULL            ((void *) 0)
#endif
#endif

#ifndef TRUE
#define TRUE            UINT8_C(1)
#endif

#ifndef FALSE
#define FALSE             UINT8_C(0)
#endif

/*!
 * BMA400_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system.
 * The default is set to int8_t.
 */
#ifndef BMA400_INTF_RET_TYPE
#define BMA400_INTF_RET_TYPE        int8_t
#endif

/*!
 * BMA400_INTF_RET_SUCCESS is the success return value read/write interface return type which can be
 * overwritten by the build system. The default is set to 0.
 */
#ifndef BMA400_INTF_RET_SUCCESS
#define BMA400_INTF_RET_SUCCESS       INT8_C(0)
#endif

/* API success code */
#define BMA400_OK           INT8_C(0)

/* API error codes */
#define BMA400_E_NULL_PTR         INT8_C(-1)
#define BMA400_E_COM_FAIL         INT8_C(-2)
#define BMA400_E_DEV_NOT_FOUND      INT8_C(-3)
#define BMA400_E_INVALID_CONFIG       INT8_C(-4)

/* API warning codes */
#define BMA400_W_SELF_TEST_FAIL       INT8_C(1)

/* CHIP ID VALUE */
#define BMA400_CHIP_ID          UINT8_C(0x90)

/* BMA400 I2C address macros */
#define BMA400_I2C_ADDRESS_SDO_LOW      UINT8_C(0x14)
#define BMA400_I2C_ADDRESS_SDO_HIGH     UINT8_C(0x15)

/* Power mode configurations */
#define BMA400_MODE_NORMAL        UINT8_C(0x02)
#define BMA400_MODE_SLEEP         UINT8_C(0x00)
#define BMA400_MODE_LOW_POWER       UINT8_C(0x01)

/* Enable / Disable macros */
#define BMA400_DISABLE          UINT8_C(0)
#define BMA400_ENABLE         UINT8_C(1)

/* Data/sensortime selection macros */
#define BMA400_DATA_ONLY        UINT8_C(0x00)
#define BMA400_DATA_SENSOR_TIME       UINT8_C(0x01)

/* ODR configurations*/
#define BMA400_ODR_12_5HZ         UINT8_C(0x05)
#define BMA400_ODR_25HZ         UINT8_C(0x06)
#define BMA400_ODR_50HZ         UINT8_C(0x07)
#define BMA400_ODR_100HZ        UINT8_C(0x08)
#define BMA400_ODR_200HZ        UINT8_C(0x09)
#define BMA400_ODR_400HZ        UINT8_C(0x0A)
#define BMA400_ODR_800HZ        UINT8_C(0x0B)

/* Accel Range configuration */
#define BMA400_RANGE_2G         UINT8_C(0x00)
#define BMA400_RANGE_4G         UINT8_C(0x01)
#define BMA400_RANGE_8G         UINT8_C(0x02)
#define BMA400_RANGE_16G        UINT8_C(0x03)

/* Accel Axes selection settings for
 * DATA SAMPLING, WAKEUP, ORIENTATION CHANGE,
 * GEN1, GEN2 , ACTIVITY CHANGE
 */
#define BMA400_AXIS_X_EN        UINT8_C(0x01)
#define BMA400_AXIS_Y_EN        UINT8_C(0x02)
#define BMA400_AXIS_Z_EN        UINT8_C(0x04)
#define BMA400_AXIS_XYZ_EN        UINT8_C(0x07)

/* Accel filter(data_src_reg) selection settings */
#define BMA400_DATA_SRC_ACCEL_FILT_1    UINT8_C(0x00)
#define BMA400_DATA_SRC_ACCEL_FILT_2    UINT8_C(0x01)
#define BMA400_DATA_SRC_ACCEL_FILT_LP     UINT8_C(0x02)

/* Accel OSR (OSR,OSR_LP) settings */
#define BMA400_ACCEL_OSR_SETTING_0      UINT8_C(0x00)
#define BMA400_ACCEL_OSR_SETTING_1      UINT8_C(0x01)
#define BMA400_ACCEL_OSR_SETTING_2      UINT8_C(0x02)
#define BMA400_ACCEL_OSR_SETTING_3      UINT8_C(0x03)

/* Accel filt1_bw settings */
/* Accel filt1_bw = 0.48 * ODR */
#define BMA400_ACCEL_FILT1_BW_0       UINT8_C(0x00)

/* Accel filt1_bw = 0.24 * ODR */
#define BMA400_ACCEL_FILT1_BW_1       UINT8_C(0x01)

/* Auto wake-up timeout value of 10.24s */
#define BMA400_TIMEOUT_MAX_AUTO_WAKEUP    UINT16_C(0x0FFF)

/* Auto low power timeout value of 10.24s */
#define BMA400_TIMEOUT_MAX_AUTO_LP      UINT16_C(0x0FFF)

/* Reference Update macros */
#define BMA400_UPDATE_MANUAL        UINT8_C(0x00)
#define BMA400_UPDATE_ONE_TIME      UINT8_C(0x01)
#define BMA400_UPDATE_EVERY_TIME      UINT8_C(0x02)
#define BMA400_UPDATE_LP_EVERY_TIME     UINT8_C(0x03)

/* Reference Update macros for orient interrupts */
#define BMA400_ORIENT_REFU_ACC_FILT_2     UINT8_C(0x01)
#define BMA400_ORIENT_REFU_ACC_FILT_LP    UINT8_C(0x02)

/* Number of samples needed for Auto-wakeup interrupt evaluation*/
#define BMA400_SAMPLE_COUNT_1       UINT8_C(0x00)
#define BMA400_SAMPLE_COUNT_2       UINT8_C(0x01)
#define BMA400_SAMPLE_COUNT_3       UINT8_C(0x02)
#define BMA400_SAMPLE_COUNT_4       UINT8_C(0x03)
#define BMA400_SAMPLE_COUNT_5       UINT8_C(0x04)
#define BMA400_SAMPLE_COUNT_6       UINT8_C(0x05)
#define BMA400_SAMPLE_COUNT_7       UINT8_C(0x06)
#define BMA400_SAMPLE_COUNT_8       UINT8_C(0x07)

/* Auto low power configurations */
/* Auto low power timeout disabled*/
#define BMA400_AUTO_LP_TIMEOUT_DISABLE    UINT8_C(0x00)

/* Auto low power entered on drdy interrupt */
#define BMA400_AUTO_LP_DRDY_TRIGGER     UINT8_C(0x01)

/* Auto low power entered on GEN1 interrupt */
#define BMA400_AUTO_LP_GEN1_TRIGGER     UINT8_C(0x02)

/* Auto low power entered on timeout of threshold value */
#define BMA400_AUTO_LP_TIMEOUT_EN     UINT8_C(0x04)

/* Auto low power entered on timeout of threshold value
 * but reset on activity detection
 */
#define BMA400_AUTO_LP_TIME_RESET_EN    UINT8_C(0x08)

/*  TAP INTERRUPT CONFIG MACROS */
/* Axes select for TAP interrupt */
#define BMA400_TAP_X_AXIS_EN        UINT8_C(0x02)
#define BMA400_TAP_Y_AXIS_EN        UINT8_C(0x01)
#define BMA400_TAP_Z_AXIS_EN        UINT8_C(0x00)

/* TAP tics_th setting */

/* Maximum time between upper and lower peak of a tap, in data samples
 * this time depends on the mechanics of the device tapped onto
 * default = 12 samples
 */

/* Configures 6 data samples for high-low tap signal change time */
#define BMA400_TICS_TH_6_DATA_SAMPLES     UINT8_C(0x00)

/* Configures 9 data samples for high-low tap signal change time */
#define BMA400_TICS_TH_9_DATA_SAMPLES     UINT8_C(0x01)

/* Configures 12 data samples for high-low tap signal change time */
#define BMA400_TICS_TH_12_DATA_SAMPLES    UINT8_C(0x02)

/* Configures 18 data samples for high-low tap signal change time */
#define BMA400_TICS_TH_18_DATA_SAMPLES    UINT8_C(0x03)

/* TAP Sensitivity setting */
/* It modifies the threshold for minimum TAP amplitude */
/* BMA400_TAP_SENSITIVITY_0 correspond to highest sensitivity */
#define BMA400_TAP_SENSITIVITY_0      UINT8_C(0x00)
#define BMA400_TAP_SENSITIVITY_1      UINT8_C(0x01)
#define BMA400_TAP_SENSITIVITY_2      UINT8_C(0x02)
#define BMA400_TAP_SENSITIVITY_3      UINT8_C(0x03)
#define BMA400_TAP_SENSITIVITY_4      UINT8_C(0x04)
#define BMA400_TAP_SENSITIVITY_5      UINT8_C(0x05)
#define BMA400_TAP_SENSITIVITY_6      UINT8_C(0x06)

/* BMA400_TAP_SENSITIVITY_7 correspond to lowest sensitivity */
#define BMA400_TAP_SENSITIVITY_7      UINT8_C(0x07)

/*BMA400 TAP - quietsettings */

/* Quiet refers to minimum quiet time before and after double tap,
 * in the data samples This time also defines the longest time interval
 * between two taps so that they are considered as double tap
 */

/* Configures 60 data samples quiet time between single or double taps */
#define BMA400_QUIET_60_DATA_SAMPLES    UINT8_C(0x00)

/* Configures 80 data samples quiet time between single or double taps */
#define BMA400_QUIET_80_DATA_SAMPLES    UINT8_C(0x01)

/* Configures 100 data samples quiet time between single or double taps */
#define BMA400_QUIET_100_DATA_SAMPLES     UINT8_C(0x02)

/* Configures 120 data samples quiet time between single or double taps */
#define BMA400_QUIET_120_DATA_SAMPLES     UINT8_C(0x03)

/*BMA400 TAP - quiet_dtsettings */

/* quiet_dt refers to Minimum time between the two taps of a
 * double tap, in data samples
 */

/* Configures 4 data samples minimum time between double taps */
#define BMA400_QUIET_DT_4_DATA_SAMPLES    UINT8_C(0x00)

/* Configures 8 data samples minimum time between double taps */
#define BMA400_QUIET_DT_8_DATA_SAMPLES    UINT8_C(0x01)

/* Configures 12 data samples minimum time between double taps */
#define BMA400_QUIET_DT_12_DATA_SAMPLES   UINT8_C(0x02)

/* Configures 16 data samples minimum time between double taps */
#define BMA400_QUIET_DT_16_DATA_SAMPLES   UINT8_C(0x03)

/*  ACTIVITY CHANGE CONFIG MACROS */
/* Data source for activity change detection */
#define BMA400_DATA_SRC_ACC_FILT1     UINT8_C(0x00)
#define BMA400_DATA_SRC_ACC_FILT2     UINT8_C(0x01)

/* Number of samples to evaluate for activity change detection */
#define BMA400_ACT_CH_SAMPLE_CNT_32     UINT8_C(0x00)
#define BMA400_ACT_CH_SAMPLE_CNT_64     UINT8_C(0x01)
#define BMA400_ACT_CH_SAMPLE_CNT_128    UINT8_C(0x02)
#define BMA400_ACT_CH_SAMPLE_CNT_256    UINT8_C(0x03)
#define BMA400_ACT_CH_SAMPLE_CNT_512    UINT8_C(0x04)

/* Interrupt pin configuration macros */
#define BMA400_INT_PUSH_PULL_ACTIVE_0     UINT8_C(0x00)
#define BMA400_INT_PUSH_PULL_ACTIVE_1     UINT8_C(0x01)
#define BMA400_INT_OPEN_DRIVE_ACTIVE_0    UINT8_C(0x02)
#define BMA400_INT_OPEN_DRIVE_ACTIVE_1    UINT8_C(0x03)

/* Interrupt Assertion status macros */
#define BMA400_ASSERTED_WAKEUP_INT      UINT16_C(0x0001)
#define BMA400_ASSERTED_ORIENT_CH     UINT16_C(0x0002)
#define BMA400_ASSERTED_GEN1_INT      UINT16_C(0x0004)
#define BMA400_ASSERTED_GEN2_INT      UINT16_C(0x0008)
#define BMA400_ASSERTED_INT_OVERRUN     UINT16_C(0x0010)
#define BMA400_ASSERTED_FIFO_FULL_INT     UINT16_C(0x0020)
#define BMA400_ASSERTED_FIFO_WM_INT     UINT16_C(0x0040)
#define BMA400_ASSERTED_DRDY_INT      UINT16_C(0x0080)
#define BMA400_ASSERTED_STEP_INT      UINT16_C(0x0300)
#define BMA400_ASSERTED_S_TAP_INT     UINT16_C(0x0400)
#define BMA400_ASSERTED_D_TAP_INT     UINT16_C(0x0800)
#define BMA400_ASSERTED_ACT_CH_X      UINT16_C(0x2000)
#define BMA400_ASSERTED_ACT_CH_Y      UINT16_C(0x4000)
#define BMA400_ASSERTED_ACT_CH_Z      UINT16_C(0x8000)

/* Generic interrupt criterion_sel configuration macros */
#define BMA400_ACTIVITY_INT       UINT8_C(0x01)
#define BMA400_INACTIVITY_INT       UINT8_C(0x00)

/* Generic interrupt axes evaluation logic configuration macros */
#define BMA400_ALL_AXES_INT       UINT8_C(0x01)
#define BMA400_ANY_AXES_INT       UINT8_C(0x00)

/* Generic interrupt hysteresis configuration macros */
#define BMA400_HYST_0_MG        UINT8_C(0x00)
#define BMA400_HYST_24_MG         UINT8_C(0x01)
#define BMA400_HYST_48_MG         UINT8_C(0x02)
#define BMA400_HYST_96_MG         UINT8_C(0x03)

/* BMA400 Register Address */
#define BMA400_REG_CHIP_ID        UINT8_C(0x00)
#define BMA400_REG_STATUS         UINT8_C(0x03)
#define BMA400_REG_ACCEL_DATA       UINT8_C(0x04)
#define BMA400_REG_INT_STAT0        UINT8_C(0x0E)
#define BMA400_REG_TEMP_DATA        UINT8_C(0x11)
#define BMA400_REG_FIFO_LENGTH      UINT8_C(0x12)
#define BMA400_REG_FIFO_DATA        UINT8_C(0x14)
#define BMA400_REG_STEP_CNT_0       UINT8_C(0x15)
#define BMA400_REG_ACCEL_CONFIG_0     UINT8_C(0x19)
#define BMA400_REG_ACCEL_CONFIG_1     UINT8_C(0x1A)
#define BMA400_REG_ACCEL_CONFIG_2     UINT8_C(0x1B)
#define BMA400_REG_INT_CONF_0       UINT8_C(0x1F)
#define BMA400_REG_INT_12_IO_CTRL     UINT8_C(0x24)
#define BMA400_REG_INT_MAP        UINT8_C(0x21)
#define BMA400_REG_FIFO_CONFIG_0      UINT8_C(0x26)
#define BMA400_REG_FIFO_READ_EN       UINT8_C(0x29)
#define BMA400_REG_AUTO_LOW_POW_0     UINT8_C(0x2A)
#define BMA400_REG_AUTO_LOW_POW_1     UINT8_C(0x2B)
#define BMA400_REG_AUTOWAKEUP_0       UINT8_C(0x2C)
#define BMA400_REG_AUTOWAKEUP_1       UINT8_C(0x2D)
#define BMA400_REG_WAKEUP_INT_CONF_0    UINT8_C(0x2F)
#define BMA400_REG_ORIENTCH_INT_CONFIG    UINT8_C(0x35)
#define BMA400_REG_GEN1_INT_CONFIG      UINT8_C(0x3F)
#define BMA400_REG_GEN2_INT_CONFIG      UINT8_C(0x4A)
#define BMA400_REG_ACT_CH_CONFIG_0      UINT8_C(0x55)
#define BMA400_REG_TAP_CONFIG       UINT8_C(0x57)
#define BMA400_REG_SELF_TEST        UINT8_C(0x7D)
#define BMA400_REG_COMMAND        UINT8_C(0x7E)

/* BMA400 Command register */
#define BMA400_SOFT_RESET_CMD       UINT8_C(0xB6)
#define BMA400_FIFO_FLUSH_CMD       UINT8_C(0xB0)

/* BMA400 Delay definitions */
#define BMA400_DELAY_US_SOFT_RESET      UINT8_C(5000)
#define BMA400_DELAY_US_SELF_TEST     UINT8_C(7000)
#define BMA400_DELAY_US_SELF_TEST_DATA_READ   UINT8_C(50000)

/* Interface selection macro */
#define BMA400_SPI_WR_MASK        UINT8_C(0x7F)
#define BMA400_SPI_RD_MASK        UINT8_C(0x80)

/* UTILITY MACROS */
#define BMA400_SET_LOW_BYTE       UINT16_C(0x00FF)
#define BMA400_SET_HIGH_BYTE        UINT16_C(0xFF00)

/* Interrupt mapping selection */
#define BMA400_DATA_READY_INT_MAP     UINT8_C(0x01)
#define BMA400_FIFO_WM_INT_MAP      UINT8_C(0x02)
#define BMA400_FIFO_FULL_INT_MAP      UINT8_C(0x03)
#define BMA400_GEN2_INT_MAP       UINT8_C(0x04)
#define BMA400_GEN1_INT_MAP       UINT8_C(0x05)
#define BMA400_ORIENT_CH_INT_MAP      UINT8_C(0x06)
#define BMA400_WAKEUP_INT_MAP       UINT8_C(0x07)
#define BMA400_ACT_CH_INT_MAP       UINT8_C(0x08)
#define BMA400_TAP_INT_MAP        UINT8_C(0x09)
#define BMA400_STEP_INT_MAP       UINT8_C(0x0A)
#define BMA400_INT_OVERRUN_MAP      UINT8_C(0x0B)

/* BMA400 FIFO configurations */
#define BMA400_FIFO_AUTO_FLUSH      UINT8_C(0x01)
#define BMA400_FIFO_STOP_ON_FULL      UINT8_C(0x02)
#define BMA400_FIFO_TIME_EN       UINT8_C(0x04)
#define BMA400_FIFO_DATA_SRC        UINT8_C(0x08)
#define BMA400_FIFO_8_BIT_EN        UINT8_C(0x10)
#define BMA400_FIFO_X_EN        UINT8_C(0x20)
#define BMA400_FIFO_Y_EN        UINT8_C(0x40)
#define BMA400_FIFO_Z_EN        UINT8_C(0x80)

/* BMA400 FIFO data configurations */
#define BMA400_FIFO_EN_X        UINT8_C(0x01)
#define BMA400_FIFO_EN_Y        UINT8_C(0x02)
#define BMA400_FIFO_EN_Z        UINT8_C(0x04)
#define BMA400_FIFO_EN_XY         UINT8_C(0x03)
#define BMA400_FIFO_EN_YZ         UINT8_C(0x06)
#define BMA400_FIFO_EN_XZ         UINT8_C(0x05)
#define BMA400_FIFO_EN_XYZ        UINT8_C(0x07)

/* BMA400 Self test configurations */
#define BMA400_SELF_TEST_DISABLE      UINT8_C(0x00)
#define BMA400_SELF_TEST_ENABLE_POSITIVE    UINT8_C(0x07)
#define BMA400_SELF_TEST_ENABLE_NEGATIVE    UINT8_C(0x0F)

/* BMA400 FIFO data masks */
#define BMA400_FIFO_HEADER_MASK       UINT8_C(0x3E)
#define BMA400_FIFO_BYTES_OVERREAD      UINT8_C(25)
#define BMA400_AWIDTH_MASK        UINT8_C(0xEF)
#define BMA400_FIFO_DATA_EN_MASK      UINT8_C(0x0E)

/* BMA400 Step status field - Activity status */
#define BMA400_STILL_ACT        UINT8_C(0x00)
#define BMA400_WALK_ACT         UINT8_C(0x01)
#define BMA400_RUN_ACT          UINT8_C(0x02)

/* It is inserted when FIFO_CONFIG0.fifo_data_src
 * is changed during the FIFO read
 */
#define BMA400_FIFO_CONF0_CHANGE      UINT8_C(0x01)

/* It is inserted when ACC_CONFIG0.filt1_bw
 * is changed during the FIFO read
 */
#define BMA400_ACCEL_CONF0_CHANGE     UINT8_C(0x02)

/* It is inserted when ACC_CONFIG1.acc_range
 * acc_odr or osr is changed during the FIFO read
 */
#define BMA400_ACCEL_CONF1_CHANGE     UINT8_C(0x04)

/* Accel width setting either 12/8 bit mode */
#define BMA400_12_BIT_FIFO_DATA       UINT8_C(0x01)
#define BMA400_8_BIT_FIFO_DATA      UINT8_C(0x00)

/* BMA400 FIFO header configurations */
#define BMA400_FIFO_SENSOR_TIME       UINT8_C(0xA0)
#define BMA400_FIFO_EMPTY_FRAME       UINT8_C(0x80)
#define BMA400_FIFO_CONTROL_FRAME     UINT8_C(0x48)
#define BMA400_FIFO_XYZ_ENABLE      UINT8_C(0x8E)
#define BMA400_FIFO_X_ENABLE        UINT8_C(0x82)
#define BMA400_FIFO_Y_ENABLE        UINT8_C(0x84)
#define BMA400_FIFO_Z_ENABLE        UINT8_C(0x88)
#define BMA400_FIFO_XY_ENABLE       UINT8_C(0x86)
#define BMA400_FIFO_YZ_ENABLE       UINT8_C(0x8C)
#define BMA400_FIFO_XZ_ENABLE       UINT8_C(0x8A)

/* BMA400 bit mask definitions */
#define BMA400_POWER_MODE_STATUS_MSK    UINT8_C(0x06)
#define BMA400_POWER_MODE_STATUS_POS    UINT8_C(1)

#define BMA400_POWER_MODE_MSK       UINT8_C(0x03)

#define BMA400_ACCEL_ODR_MSK        UINT8_C(0x0F)

#define BMA400_ACCEL_RANGE_MSK      UINT8_C(0xC0)
#define BMA400_ACCEL_RANGE_POS      UINT8_C(6)

#define BMA400_DATA_FILTER_MSK      UINT8_C(0x0C)
#define BMA400_DATA_FILTER_POS      UINT8_C(2)

#define BMA400_OSR_MSK          UINT8_C(0x30)
#define BMA400_OSR_POS          UINT8_C(4)

#define BMA400_OSR_LP_MSK         UINT8_C(0x60)
#define BMA400_OSR_LP_POS         UINT8_C(5)

#define BMA400_FILT_1_BW_MSK        UINT8_C(0x80)
#define BMA400_FILT_1_BW_POS        UINT8_C(7)

#define BMA400_WAKEUP_TIMEOUT_MSK     UINT8_C(0x04)
#define BMA400_WAKEUP_TIMEOUT_POS     UINT8_C(2)

#define BMA400_WAKEUP_THRES_LSB_MSK     UINT16_C(0x000F)

#define BMA400_WAKEUP_THRES_MSB_MSK     UINT16_C(0x0FF0)
#define BMA400_WAKEUP_THRES_MSB_POS     UINT8_C(4)

#define BMA400_WAKEUP_TIMEOUT_THRES_MSK   UINT8_C(0xF0)
#define BMA400_WAKEUP_TIMEOUT_THRES_POS   UINT8_C(4)

#define BMA400_WAKEUP_INTERRUPT_MSK     UINT8_C(0x02)
#define BMA400_WAKEUP_INTERRUPT_POS     UINT8_C(1)

#define BMA400_AUTO_LOW_POW_MSK       UINT8_C(0x0F)

#define BMA400_AUTO_LP_THRES_MSK      UINT16_C(0x0FF0)
#define BMA400_AUTO_LP_THRES_POS      UINT8_C(4)

#define BMA400_AUTO_LP_THRES_LSB_MSK    UINT16_C(0x000F)

#define BMA400_WKUP_REF_UPDATE_MSK      UINT8_C(0x03)

#define BMA400_AUTO_LP_TIMEOUT_LSB_MSK    UINT8_C(0xF0)
#define BMA400_AUTO_LP_TIMEOUT_LSB_POS    UINT8_C(4)

#define BMA400_SAMPLE_COUNT_MSK       UINT8_C(0x1C)
#define BMA400_SAMPLE_COUNT_POS       UINT8_C(2)

#define BMA400_WAKEUP_EN_AXES_MSK     UINT8_C(0xE0)
#define BMA400_WAKEUP_EN_AXES_POS     UINT8_C(5)

#define BMA400_TAP_AXES_EN_MSK      UINT8_C(0x18)
#define BMA400_TAP_AXES_EN_POS      UINT8_C(3)

#define BMA400_TAP_QUIET_DT_MSK       UINT8_C(0x30)
#define BMA400_TAP_QUIET_DT_POS       UINT8_C(4)

#define BMA400_TAP_QUIET_MSK        UINT8_C(0x0C)
#define BMA400_TAP_QUIET_POS        UINT8_C(2)

#define BMA400_TAP_TICS_TH_MSK      UINT8_C(0x03)

#define BMA400_TAP_SENSITIVITY_MSK      UINT8_C(0X07)

#define BMA400_ACT_CH_AXES_EN_MSK     UINT8_C(0xE0)
#define BMA400_ACT_CH_AXES_EN_POS     UINT8_C(5)

#define BMA400_ACT_CH_DATA_SRC_MSK      UINT8_C(0x10)
#define BMA400_ACT_CH_DATA_SRC_POS      UINT8_C(4)

#define BMA400_ACT_CH_NPTS_MSK      UINT8_C(0x0F)

#define BMA400_INT_AXES_EN_MSK      UINT8_C(0xE0)
#define BMA400_INT_AXES_EN_POS      UINT8_C(5)

#define BMA400_INT_DATA_SRC_MSK       UINT8_C(0x10)
#define BMA400_INT_DATA_SRC_POS       UINT8_C(4)

#define BMA400_INT_REFU_MSK       UINT8_C(0x0C)
#define BMA400_INT_REFU_POS       UINT8_C(2)

#define BMA400_INT_HYST_MSK       UINT8_C(0x03)

#define BMA400_GEN_INT_COMB_MSK       UINT8_C(0x01)

#define BMA400_GEN_INT_CRITERION_MSK    UINT8_C(0x02)
#define BMA400_GEN_INT_CRITERION_POS    UINT8_C(0x01)

#define BMA400_INT_PIN1_CONF_MSK      UINT8_C(0x06)
#define BMA400_INT_PIN1_CONF_POS      UINT8_C(1)

#define BMA400_INT_PIN2_CONF_MSK      UINT8_C(0x60)
#define BMA400_INT_PIN2_CONF_POS      UINT8_C(5)

#define BMA400_INT_STATUS_MSK       UINT8_C(0xE0)
#define BMA400_INT_STATUS_POS       UINT8_C(5)

#define BMA400_EN_DRDY_MSK        UINT8_C(0x80)
#define BMA400_EN_DRDY_POS        UINT8_C(7)

#define BMA400_EN_FIFO_WM_MSK       UINT8_C(0x40)
#define BMA400_EN_FIFO_WM_POS       UINT8_C(6)

#define BMA400_EN_FIFO_FULL_MSK       UINT8_C(0x20)
#define BMA400_EN_FIFO_FULL_POS       UINT8_C(5)

#define BMA400_EN_INT_OVERRUN_MSK     UINT8_C(0x10)
#define BMA400_EN_INT_OVERRUN_POS     UINT8_C(4)

#define BMA400_EN_GEN2_MSK        UINT8_C(0x08)
#define BMA400_EN_GEN2_POS        UINT8_C(3)

#define BMA400_EN_GEN1_MSK        UINT8_C(0x04)
#define BMA400_EN_GEN1_POS        UINT8_C(2)

#define BMA400_EN_ORIENT_CH_MSK       UINT8_C(0x02)
#define BMA400_EN_ORIENT_CH_POS       UINT8_C(1)

#define BMA400_EN_LATCH_MSK       UINT8_C(0x80)
#define BMA400_EN_LATCH_POS       UINT8_C(7)

#define BMA400_EN_ACTCH_MSK       UINT8_C(0x10)
#define BMA400_EN_ACTCH_POS       UINT8_C(4)

#define BMA400_EN_D_TAP_MSK       UINT8_C(0x08)
#define BMA400_EN_D_TAP_POS       UINT8_C(3)

#define BMA400_EN_S_TAP_MSK       UINT8_C(0x04)
#define BMA400_EN_S_TAP_POS       UINT8_C(2)

#define BMA400_EN_STEP_INT_MSK      UINT8_C(0x01)

#define BMA400_STEP_MAP_INT2_MSK      UINT8_C(0x10)
#define BMA400_STEP_MAP_INT2_POS      UINT8_C(4)

#define BMA400_EN_WAKEUP_INT_MSK      UINT8_C(0x01)

#define BMA400_TAP_MAP_INT1_MSK       UINT8_C(0x04)
#define BMA400_TAP_MAP_INT1_POS       UINT8_C(2)

#define BMA400_TAP_MAP_INT2_MSK       UINT8_C(0x40)
#define BMA400_TAP_MAP_INT2_POS       UINT8_C(6)

#define BMA400_ACTCH_MAP_INT1_MSK     UINT8_C(0x08)
#define BMA400_ACTCH_MAP_INT1_POS     UINT8_C(3)

#define BMA400_ACTCH_MAP_INT2_MSK     UINT8_C(0x80)
#define BMA400_ACTCH_MAP_INT2_POS     UINT8_C(7)

#define BMA400_FIFO_BYTES_CNT_MSK     UINT8_C(0x07)

#define BMA400_FIFO_TIME_EN_MSK       UINT8_C(0x04)
#define BMA400_FIFO_TIME_EN_POS       UINT8_C(2)

#define BMA400_FIFO_AXES_EN_MSK       UINT8_C(0xE0)
#define BMA400_FIFO_AXES_EN_POS       UINT8_C(5)

#define BMA400_FIFO_8_BIT_EN_MSK      UINT8_C(0x10)
#define BMA400_FIFO_8_BIT_EN_POS      UINT8_C(4)

/* Macro to SET and GET BITS of a register */
#define BMA400_SET_BITS(reg_data, bitname, data) \
  ((reg_data & ~(bitname##_MSK)) | \
 ((data << bitname##_POS) & bitname##_MSK))

#define BMA400_GET_BITS(reg_data, bitname)  ((reg_data & (bitname##_MSK)) >> \
                 (bitname##_POS))

#define BMA400_SET_BITS_POS_0(reg_data, bitname, data) \
  ((reg_data & ~(bitname##_MSK)) |   \
 (data & bitname##_MSK))

#define BMA400_GET_BITS_POS_0(reg_data, bitname)(reg_data & (bitname##_MSK))

#define BMA400_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))

#define BMA400_GET_LSB(var)       (uint8_t)(var & BMA400_SET_LOW_BYTE)
#define BMA400_GET_MSB(var)       (uint8_t)((var & BMA400_SET_HIGH_BYTE) >> 8)

/* Macros used for Self test */

/*
 * Derivation of values obtained by :
 * Signal_Diff = ( (LSB/g value based on Accel Range) * (Minimum difference signal value) ) / 1000
 */

/* Self-test: Resulting minimum difference signal for BMA400 with Range 4G */

#define BMA400_ST_ACC_X_AXIS_SIGNAL_DIFF    UINT16_C(768)
#define BMA400_ST_ACC_Y_AXIS_SIGNAL_DIFF    UINT16_C(614)
#define BMA400_ST_ACC_Z_AXIS_SIGNAL_DIFF    UINT16_C(128)
```
### myBMA400.h
```c
#ifndef __MYBMA400_H
#define __MYBMA400_H
#include "stm32l1xx_hal.h"
#include "bma400_defs.h"

//BMA400读写地址。BMA400_I2C_ADDRESS_SDO_LOW已经在bma400_defs.h中定义好了
//#define MPU_READ  (BMA400_I2C_ADDRESS_SDO_LOW<<1+1)
//#define MPU_WRITE (BMA400_I2C_ADDRESS_SDO_LOW<<1+0)
#define MPU_READ  0x29
#define MPU_WRITE 0x28

uint8_t MPU_Init(void);
uint8_t MPU_Read_Byte(uint8_t reg);
uint8_t MPU_Write_Byte(uint8_t reg,uint8_t data);
uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz);

#endif

```
### myBMA400.c
```c
#include "myBMA400.h"
#include "stdio.h"
uint8_t MPU_Cheak_State(void);
//初始化BMA400
//返回值:0,成功
//  其他,错误代码
uint8_t MPU_Init(void)
{ 
uint8_t res;
extern I2C_HandleTypeDef hi2c1;
HAL_I2C_Init(&hi2c1);
MPU_Write_Byte(BMA400_REG_COMMAND,0xB6);    //复位BMA4003
    HAL_Delay(5);

res=MPU_Read_Byte(BMA400_REG_CHIP_ID);
    printf("\r\nBMA400:0x%2x\r\n",res);
    
if(res==BMA400_CHIP_ID)//器件ID正确
{
        printf("\r\nBMA400 is right\r\n");
        
        res=MPU_Cheak_State();
        printf("\r\n State:0x%2x\r\n",res);
        
        if((res>>1&0x03)==0x00)
        {
            printf("\r\n Switch to nomal mode\r\n");
            MPU_Write_Byte(BMA400_REG_ACCEL_CONFIG_0,0x02);    //进入到标准模式
            HAL_Delay(10);            
            MPU_Write_Byte(BMA400_REG_ACCEL_CONFIG_1,0x38);    //配置range=2g;osr=3,acc_odr=100Hz
            MPU_Write_Byte(BMA400_REG_ACCEL_CONFIG_2,0x04);    //配置acc_filt2
            MPU_Write_Byte(BMA400_REG_INT_CONF_0,0x80);            //启用数据就绪data ready intereupt中断
            MPU_Write_Byte(BMA400_REG_INT_MAP,0x80);                //将数据就绪中断映射到INT1引脚
        }
}else 
        return 1;
return 0;
}
//IIC连续读
//addr:器件地址
//reg:要读取的寄存器地址
//len:要读取的长度
//buf:读取到的数据存储区
//返回值:0,正常
//  其他,错误代码
uint8_t MPU_Read_Len(uint8_t reg,uint8_t len,uint8_t *buf)
{ 
extern I2C_HandleTypeDef hi2c1;
HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 0xfff);
HAL_Delay(100);

return 0;    
}
//得到陀螺仪值(原始值)
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
//返回值:0,成功
//  其他,错误代码
uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
uint8_t buf[6],res;
    res=MPU_Read_Len(BMA400_REG_ACCEL_DATA,6,buf);
    if(res==0)
    {
        *gx=((uint16_t)buf[1]<<8)|buf[0];
        *gy=((uint16_t)buf[3]<<8)|buf[2];
        *gz=((uint16_t)buf[5]<<8)|buf[4];
    }     
  return res;
}
//检查BMA400状态
uint8_t MPU_Cheak_State(void)
{
    uint8_t res;
    res=MPU_Read_Byte(BMA400_REG_INT_STAT0);
    switch(res>>1&0x03)
    {
        case 0x00:printf(" Sleep mode");break;
        case 0x01:printf("Low-pw mode");break;
  case 0x02:printf("Normal mode");break;
        default:break;
    }
    return res;
}
//IIC写一个字节 
//reg:寄存器地址
//data:数据
//返回值:0,正常
//  其他,错误代码
uint8_t MPU_Write_Byte(uint8_t reg,uint8_t data)                
{ 
extern I2C_HandleTypeDef hi2c1;
unsigned char W_Data=0;

W_Data = data;
HAL_I2C_Mem_Write(&hi2c1, MPU_WRITE, reg, I2C_MEMADD_SIZE_8BIT, &W_Data, 1, 0xfff);
HAL_Delay(100);

return 0;
}

//IIC读一个字节 
//reg:寄存器地址 
//返回值:读到的数据
uint8_t MPU_Read_Byte(uint8_t reg)
{
extern I2C_HandleTypeDef hi2c1;
unsigned char R_Data=0;

HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, &R_Data, 1, 0xfff);
HAL_Delay(100);

return R_Data;        
}

```
### main.c
```c
/* USER CODE BEGIN Header */

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "myBMA400.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
//重映射fputc函数
int fputc(int ch, FILE *f)
{
ITM_SendChar(ch);//打印信息通过STlink调试器输出
return ch;
}

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
void my_bma400_init(void);
short x;
short y;
short z;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
* @briefThe application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/* MCU Configuration--------------------------------------------------------*/

/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();

/* USER CODE BEGIN Init */

/* USER CODE END Init */

/* Configure the system clock */
SystemClock_Config();

/* USER CODE BEGIN SysInit */

/* USER CODE END SysInit */

/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
    
    printf("bma400_init begin");
    MPU_Init();

/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
  /* USER CODE END WHILE */

/* USER CODE BEGIN 3 */
        HAL_Delay(50);
        MPU_Get_Gyroscope(&x,&y,&z);
        //printf("x=%6x,y=%6x,z=%x6f\r\n",x,y,z);
        x=x>2047?x-4096:x;
        y=y>2047?y-4096:y;
        z=z>2047?z-4096:z;
        printf("x=%6d,y=%6d,z=%6d\r\n",x,y,z);
        
}
/* USER CODE END 3 */
}

```
# 测试
### 逻辑分析仪

<ignore_js_op>

<a href="javascript:;" onclick="showWindow(this.id, this.getAttribute('url'), 'get', 0);" id="savephoto_530916" url="home.php?mod=spacecp&ac=album&op=saveforumphoto&aid=530916&handlekey=savephoto_530916">保存到相册</a>

</p>

</div>
<div class="tip_horn"></div>
</div>

</ignore_js_op>

### 实物连接

<ignore_js_op>

<a href="javascript:;" onclick="showWindow(this.id, this.getAttribute('url'), 'get', 0);" id="savephoto_530917" url="home.php?mod=spacecp&ac=album&op=saveforumphoto&aid=530917&handlekey=savephoto_530917">保存到相册</a>

</p>

</div>
<div class="tip_horn"></div>
</div>

</ignore_js_op>

<ignore_js_op>

<a href="javascript:;" onclick="showWindow(this.id, this.getAttribute('url'), 'get', 0);" id="savephoto_530921" url="home.php?mod=spacecp&ac=album&op=saveforumphoto&aid=530921&handlekey=savephoto_530921">保存到相册</a>

</p>

</div>
<div class="tip_horn"></div>
</div>

</ignore_js_op>

# 最后
如有疑问，请在电子工程世界私信我，或联系blkhumor@qq.com

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太白金星

第一次在EEWORLD看到这种目录，你是弄出来的？

Blkhumor

太白金星发表于 2021-3-31 14:49 第一次在EEWORLD看到这种目录，你是弄出来的？

论坛上支持Markdown富文本编辑。

okhxyyo

Blkhumor 发表于 2021-3-31 15:16 论坛上支持Markdown富文本编辑。

你这个布局很好看。

freebsder

内容详实，谢谢分享

huo_hu

不错不错

bqgup

markdown编辑器太好用了，赞赞赞

bqgup

SDO引脚接地和接VCC的地址读出来会不一样吧

Blkhumor

本帖最后由 Blkhumor 于 2021-4-8 15:07 编辑

bqgup 发表于 2021-4-7 14:46 SDO引脚接地和接VCC的地址读出来会不一样吧

不一样，在bma400_defs.h文件中已经定义了地址，如下所示

/* BMA400 I2C address macros */
#define BMA400_I2C_ADDRESS_SDO_LOW                UINT8_C(0x14)
#define BMA400_I2C_ADDRESS_SDO_HIGH               UINT8_C(0x15)

如果SDO接VCC，相应的需要在myBMA400.h文件中修改I2C地址

#define MPU_READ    0x2B
//0x15<<1+1=0x2B
#define MPU_WRITE   0x2A
//0x15<<1+0=0x2A

Albert.G

请问楼主，这个和mpu6050比有什么优势啊？--来自小白的疑问

Albert.G

还有就是用markdown的布局就是好看。

w494143467

目录这个功能应该好好开发，用的地方还不少呢！

machinnneee

很详细的介绍，点赞

青阳泽

好厉害的样子

BMA400三轴加速度计开发 [复制链接]

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