Diff: BNO080Constants.h

Revision:

1:aac28ffd63ed

Child:

3:197ad972fb7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO080Constants.h	Sat Dec 29 03:31:00 2018 -0800
@@ -0,0 +1,106 @@
+//
+// Constants used in communication with the BNO080
+//
+
+#ifndef HAMSTER_BNO080CONSTANTS_H
+#define HAMSTER_BNO080CONSTANTS_H
+
+
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//Registers
+#define CHANNEL_COMMAND 0
+#define CHANNEL_EXECUTABLE 1
+#define CHANNEL_CONTROL 2
+#define CHANNEL_REPORTS 3
+#define CHANNEL_WAKE_REPORTS 4
+#define CHANNEL_GYRO 5
+
+// Report IDs on the command channel.
+// Unlike the other constants, these come from the Sensor Hub Transport Protocol datasheet, section 5.1
+#define COMMAND_REPORTID_ADVERTISEMENT 0x0
+#define COMMAND_REPORTID_ERRORLIST 0x1
+
+//All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual
+//These are used for low level communication with the sensor, on channel 2
+#define SHTP_REPORT_COMMAND_RESPONSE 0xF1
+#define SHTP_REPORT_COMMAND_REQUEST 0xF2
+#define SHTP_REPORT_FRS_READ_RESPONSE 0xF3
+#define SHTP_REPORT_FRS_READ_REQUEST 0xF4
+#define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8
+#define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9
+#define SHTP_REPORT_BASE_TIMESTAMP 0xFB
+#define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD
+#define SHTP_REPORT_GET_FEATURE_RESPONSE 0xFC
+
+//All the different sensors and features we can get reports from
+//These are used when enabling a given sensor
+#define SENSOR_REPORTID_TIMESTAMP_REBASE 0xFA
+#define SENSOR_REPORTID_ACCELEROMETER 0x01
+#define SENSOR_REPORTID_GYROSCOPE_CALIBRATED 0x02
+#define SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED 0x03
+#define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04
+#define SENSOR_REPORTID_ROTATION_VECTOR 0x05
+#define SENSOR_REPORTID_GRAVITY 0x06
+#define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08
+#define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09
+#define SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED 0x0F
+#define SENSOR_REPORTID_TAP_DETECTOR 0x10
+#define SENSOR_REPORTID_STEP_COUNTER 0x11
+#define SENSOR_REPORTID_SIGNIFICANT_MOTION 0x12
+#define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13
+#define SENSOR_REPORTID_STEP_DETECTOR 0x18
+#define SENSOR_REPORTID_SHAKE_DETECTOR 0x19
+
+// sensor report ID with the largest numeric value
+#define MAX_SENSOR_REPORTID SENSOR_REPORTID_SHAKE_DETECTOR
+
+// Q points for various sensor data elements
+#define ACCELEROMETER_Q_POINT 8 // for accelerometer based data
+#define GYRO_Q_POINT 9 // for gyroscope data
+#define MAGNETOMETER_Q_POINT 4 // for magnetometer data
+#define ROTATION_Q_POINT 14 // for rotation data
+#define ROTATION_ACCURACY_Q_POINT 12 // for rotation accuracy data
+#define POWER_Q_POINT 10 // for power information in the metadata
+#define ORIENTATION_QUAT_Q_POINT 14 // for the set orientation command
+
+// Report IDs on the Executable channel
+// See Figure 1-27 in the BNO080 datasheet
+#define EXECUTABLE_REPORTID_RESET 0x1
+
+//Record IDs from SH-2 figure 28
+//These are used to read and set various configuration options
+#define FRS_RECORDID_SERIAL_NUMBER 0x4B4B
+
+//Record IDs from SH-2 figure 29
+//These are used to read the metadata for each sensor type
+#define FRS_RECORDID_ACCELEROMETER 0xE302
+#define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306
+#define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309
+#define FRS_RECORDID_ROTATION_VECTOR 0xE30B
+
+//Command IDs from section 6.4, page 42
+//These are used to calibrate, initialize, set orientation, tare etc the sensor
+#define COMMAND_ERRORS 1
+#define COMMAND_COUNTER 2
+#define COMMAND_TARE 3
+#define COMMAND_INITIALIZE 4
+#define COMMAND_SAVE_DCD 6
+#define COMMAND_ME_CALIBRATE 7
+#define COMMAND_DCD_PERIOD_SAVE 9
+#define COMMAND_OSCILLATOR 10
+#define COMMAND_CLEAR_DCD 11
+#define COMMAND_UNSOLICITED_INITIALIZE 0x84
+
+#define CALIBRATE_ACCEL 0
+#define CALIBRATE_GYRO 1
+#define CALIBRATE_MAG 2
+#define CALIBRATE_PLANAR_ACCEL 3
+#define CALIBRATE_ACCEL_GYRO_MAG 4
+#define CALIBRATE_STOP 5
+
+// timing for reset
+// per my measurement, reset takes about 90ms, so let's take twice that
+#define BNO080_RESET_TIMEOUT .18f
+
+#endif //HAMSTER_BNO080CONSTANTS_H