Diff: BNO055.cpp

Revision:

0:fe0b400ec8f5

Child:

1:1c4507621cfb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.cpp	Wed Oct 30 08:11:25 2019 +0000
@@ -0,0 +1,280 @@
+#include "BNO055.h"
+#include "mbed.h"
+
+BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
+    //Set I2C fast and bring reset line high
+    _i2c.frequency(400000);
+    address = BNOAddress;
+    accel_scale = 0.001f;
+    rate_scale = 1.0f/16.0f;
+    angle_scale = 1.0f/16.0f;
+    temp_scale = 1;
+    }
+    
+void BNO055::reset(){
+//Perform a power-on-reset
+    readchar(BNO055_SYS_TRIGGER_ADDR);
+    rx = rx | 0x20;
+    writechar(BNO055_SYS_TRIGGER_ADDR,rx);
+//Wait for the system to come back up again (datasheet says 650ms)
+    wait_ms(675);
+}
+    
+bool BNO055::check(){
+//Check we have communication link with the chip
+    readchar(BNO055_CHIP_ID_ADDR);
+    if (rx != 0xA0) return false;
+//Grab the chip ID and software versions
+    tx[0] = BNO055_CHIP_ID_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,7,false); 
+    ID.id = rawdata[0];
+    ID.accel = rawdata[1];
+    ID.mag = rawdata[2];
+    ID.gyro = rawdata[3];
+    ID.sw[0] = rawdata[4];
+    ID.sw[1] = rawdata[5];
+    ID.bootload = rawdata[6];
+    setpage(1);
+    tx[0] = BNO055_UNIQUE_ID_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,ID.serial,16,false); 
+    setpage(0);
+    return true;
+    }
+    
+void BNO055::SetExternalCrystal(bool yn){
+// Read the current status from the device
+    readchar(BNO055_SYS_TRIGGER_ADDR); 
+    if (yn) rx = rx | 0x80;
+    else rx = rx & 0x7F;
+    writechar(BNO055_SYS_TRIGGER_ADDR,rx); 
+}
+
+void BNO055::set_accel_units(char units){
+    readchar(BNO055_UNIT_SEL_ADDR);
+    if(units == MPERSPERS){
+        rx = rx & 0xFE;
+        accel_scale = 0.01f;
+        }
+    else {
+        rx = rx | units;
+        accel_scale = 0.001f;
+        }
+    writechar(BNO055_UNIT_SEL_ADDR,rx);
+}
+
+void BNO055::set_anglerate_units(char units){
+    readchar(BNO055_UNIT_SEL_ADDR);
+    if (units == DEG_PER_SEC){
+        rx = rx & 0xFD;
+        rate_scale = 1.0f/16.0f;
+        }
+    else {
+        rx = rx | units;
+        rate_scale = 1.0f/900.0f;
+        }
+    writechar(BNO055_UNIT_SEL_ADDR,rx);
+}    
+
+void BNO055::set_angle_units(char units){
+    readchar(BNO055_UNIT_SEL_ADDR);
+    if (units == DEGREES){
+        rx = rx & 0xFB;
+        angle_scale = 1.0f/16.0f;
+        }
+    else {
+        rx = rx | units;
+        rate_scale = 1.0f/900.0f;
+        }
+    writechar(BNO055_UNIT_SEL_ADDR,rx);
+}    
+
+void BNO055::set_temp_units(char units){
+    readchar(BNO055_UNIT_SEL_ADDR);
+    if (units == CENTIGRADE){
+        rx = rx & 0xEF;
+        temp_scale = 1;
+        }
+    else {
+        rx = rx | units;
+        temp_scale = 2;
+        }
+    writechar(BNO055_UNIT_SEL_ADDR,rx);
+}    
+
+void BNO055::set_orientation(char units){
+    readchar(BNO055_UNIT_SEL_ADDR);
+    if (units == WINDOWS) rx = rx &0x7F;
+    else rx = rx | units;
+    writechar(BNO055_UNIT_SEL_ADDR,rx);
+}        
+
+void BNO055::setmode(char omode){
+    writechar(BNO055_OPR_MODE_ADDR,omode);
+    op_mode = omode;
+}
+
+void BNO055::setpowermode(char pmode){
+    writechar(BNO055_PWR_MODE_ADDR,pmode);
+    pwr_mode = pmode;
+}
+
+void BNO055::get_accel(void){
+    tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    accel.rawx = (rawdata[1] << 8 | rawdata[0]);
+    accel.rawy = (rawdata[3] << 8 | rawdata[2]);
+    accel.rawz = (rawdata[5] << 8 | rawdata[4]);
+    accel.x = float(accel.rawx)*accel_scale;
+    accel.y = float(accel.rawy)*accel_scale;
+    accel.z = float(accel.rawz)*accel_scale;
+}
+    
+void BNO055::get_gyro(void){
+    tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
+    gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
+    gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
+    gyro.x = float(gyro.rawx)*rate_scale;
+    gyro.y = float(gyro.rawy)*rate_scale;
+    gyro.z = float(gyro.rawz)*rate_scale;
+}
+
+void BNO055::get_mag(void){
+    tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    mag.rawx = (rawdata[1] << 8 | rawdata[0]);
+    mag.rawy = (rawdata[3] << 8 | rawdata[2]);
+    mag.rawz = (rawdata[5] << 8 | rawdata[4]);
+    mag.x = float(mag.rawx);
+    mag.y = float(mag.rawy);
+    mag.z = float(mag.rawz);
+}
+
+void BNO055::get_lia(void){
+    tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    lia.rawx = (rawdata[1] << 8 | rawdata[0]);
+    lia.rawy = (rawdata[3] << 8 | rawdata[2]);
+    lia.rawz = (rawdata[5] << 8 | rawdata[4]);
+    lia.x = float(lia.rawx)*accel_scale;
+    lia.y = float(lia.rawy)*accel_scale;
+    lia.z = float(lia.rawz)*accel_scale;
+}
+
+void BNO055::get_grv(void){
+    tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
+    gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
+    gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
+    gravity.x = float(gravity.rawx)*accel_scale;
+    gravity.y = float(gravity.rawy)*accel_scale;
+    gravity.z = float(gravity.rawz)*accel_scale;
+}
+
+void BNO055::get_quat(void){
+    tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,8,0); 
+    quat.raww = (rawdata[1] << 8 | rawdata[0]);
+    quat.rawx = (rawdata[3] << 8 | rawdata[2]);
+    quat.rawy = (rawdata[5] << 8 | rawdata[4]);
+    quat.rawz = (rawdata[7] << 8 | rawdata[6]);
+    quat.w = float(quat.raww)/16384.0f;
+    quat.x = float(quat.rawx)/16384.0f;
+    quat.y = float(quat.rawy)/16384.0f;
+    quat.z = float(quat.rawz)/16384.0f;
+}
+
+void BNO055::get_angles(void){
+    tx[0] = BNO055_EULER_H_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
+    euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
+    euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
+    euler.yaw = float(euler.rawyaw)*angle_scale;
+    euler.roll = float(euler.rawroll)*angle_scale;
+    euler.pitch = float(euler.rawpitch)*angle_scale;
+}
+
+
+void BNO055::get_temp(void){
+    readchar(BNO055_TEMP_ADDR);
+    temperature = rx / temp_scale;
+}
+
+void BNO055::get_calib(void){
+     readchar(BNO055_CALIB_STAT_ADDR);
+     calib = rx;
+}
+
+void BNO055::read_calibration_data(void){
+    char tempmode = op_mode;
+    setmode(OPERATION_MODE_CONFIG);
+    wait_ms(20);
+    tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address,calibration,22,false); 
+    setmode(tempmode);
+    wait_ms(10);
+}
+
+void BNO055::write_calibration_data(void){
+    char tempmode = op_mode;
+    setmode(OPERATION_MODE_CONFIG);
+    wait_ms(20);
+    tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.write(address,calibration,22,false); 
+    setmode(tempmode);
+    wait_ms(10);
+}
+
+void BNO055::set_mapping(char orient){
+    switch (orient){
+        case 0: 
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
+            break;
+        case 1:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
+            break;
+        case 2:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
+            break;
+        case 3:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
+            break;
+        case 4:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
+            break;
+        case 5:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
+            break;
+        case 6:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
+            break;
+        case 7:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
+            break;
+        default:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
+        }
+}
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