Affordable Smart Wheelchair / BNOWrapper

Added BNO080Wheelchair.h

Dependents:   BNO080_program wheelchaircontrol8 Version1-9 BNO080_program

BNO080.h@12:f013530d8358, 2019-08-07 (annotated)

Committer:
t1jain
Date:
Wed Aug 07 18:49:44 2019 +0000
Revision:
12:f013530d8358
Parent:
11:dbe6d8d0ceb1 
Updated Quaternion to TVector4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jamie Smith 1:aac28ffd63ed 1 /*
Jamie Smith 1:aac28ffd63ed 2 * This is USC RPL's ARM MBed BNO080 IMU driver, by Jamie Smith.
Jamie Smith 1:aac28ffd63ed 3 *
Jamie Smith 1:aac28ffd63ed 4 * It is based on SparkFun and Nathan Seidle's Arduino driver for this chip, but is substantially rewritten and adapted.
Jamie Smith 1:aac28ffd63ed 5 * It also supports some extra features, such as setting the mounting orientation and
Jamie Smith 1:aac28ffd63ed 6 * enabling some additional data reports.
Jamie Smith 1:aac28ffd63ed 7 *
Jamie Smith 1:aac28ffd63ed 8 * This driver uses no dynamic allocation, but does allocate a couple hundred bytes of class variables as buffers.
Jamie Smith 1:aac28ffd63ed 9 * This should allow you to monitor its memory usage using MBed's size printout.
Jamie Smith 1:aac28ffd63ed 10 *
Jamie Smith 1:aac28ffd63ed 11 * The BNO080 is a very complex chip; it's capable of monitoring and controlling other sensors and making
Jamie Smith 1:aac28ffd63ed 12 * intelligent decisions and calculations using its data. Accordingly, the protocol for communicating with it
Jamie Smith 1:aac28ffd63ed 13 * is quite complex, and it took me quite a while to wrap my head around it. If you need to modify or debug
Jamie Smith 1:aac28ffd63ed 14 * this driver, look at the CPP file for an overview of the chip's communication protocol.
Jamie Smith 1:aac28ffd63ed 15 *
Jamie Smith 1:aac28ffd63ed 16 * Note: this driver only supports I2C. I attempted to create an SPI version, but as far as I can tell,
Jamie Smith 1:aac28ffd63ed 17 * the BNO's SPI interface has a bug that causes you to be unable to wake the chip from sleep in some conditions.
Jamie Smith 1:aac28ffd63ed 18 * Until this is fixed, SPI on it is virtually unusable.
Jamie Smith 1:aac28ffd63ed 19 */
Jamie Smith 1:aac28ffd63ed 20
Jamie Smith 1:aac28ffd63ed 21 #ifndef HAMSTER_BNO080_H
Jamie Smith 1:aac28ffd63ed 22 #define HAMSTER_BNO080_H
Jamie Smith 1:aac28ffd63ed 23
Jamie Smith 1:aac28ffd63ed 24 #include <mbed.h>
Jamie Smith 1:aac28ffd63ed 25 #include <quaternion.h>
Jamie Smith 1:aac28ffd63ed 26
t1jain 11:dbe6d8d0ceb1 27
Jamie Smith 1:aac28ffd63ed 28 #include "BNO080Constants.h"
Jamie Smith 1:aac28ffd63ed 29
Jamie Smith 1:aac28ffd63ed 30 // useful define when working with orientation quaternions
Jamie Smith 3:197ad972fb7c 31 #define SQRT_2 1.414213562f
Jamie Smith 1:aac28ffd63ed 32
Jamie Smith 1:aac28ffd63ed 33 /**
Jamie Smith 1:aac28ffd63ed 34 Class to drive the BNO080 9-axis IMU.
Jamie Smith 1:aac28ffd63ed 35
Jamie Smith 1:aac28ffd63ed 36 There should be one instance of this class per IMU chip. I2C address and pin assignments are passed in the constructor.
Jamie Smith 1:aac28ffd63ed 37 */
Jamie Smith 1:aac28ffd63ed 38 class BNO080
Jamie Smith 1:aac28ffd63ed 39 {
Jamie Smith 1:aac28ffd63ed 40 /**
Jamie Smith 1:aac28ffd63ed 41 * Serial stream to print debug info to. Used for errors, and debugging output if debugging is enabled.
Jamie Smith 1:aac28ffd63ed 42 */
Jamie Smith 1:aac28ffd63ed 43 Serial * _debugPort;
Jamie Smith 1:aac28ffd63ed 44
Jamie Smith 1:aac28ffd63ed 45 /**
Jamie Smith 1:aac28ffd63ed 46 * I2C port object. Provides physical layer communications with the chip.
Jamie Smith 1:aac28ffd63ed 47 */
t1jain 11:dbe6d8d0ceb1 48
Jamie Smith 1:aac28ffd63ed 49 I2C _i2cPort;
t1jain 11:dbe6d8d0ceb1 50 //SoftI2C _i2cPort;
t1jain 11:dbe6d8d0ceb1 51
Jamie Smith 1:aac28ffd63ed 52 /// user defined port speed
Jamie Smith 1:aac28ffd63ed 53 int _i2cPortSpeed;
Jamie Smith 1:aac28ffd63ed 54
Jamie Smith 1:aac28ffd63ed 55 /// i2c address of IMU (7 bits)
Jamie Smith 1:aac28ffd63ed 56 uint8_t _i2cAddress;
Jamie Smith 1:aac28ffd63ed 57
Jamie Smith 1:aac28ffd63ed 58 /// Interrupt pin -- signals to the host that the IMU has data to send
Jamie Smith 1:aac28ffd63ed 59 DigitalIn _int;
Jamie Smith 1:aac28ffd63ed 60
Jamie Smith 1:aac28ffd63ed 61 // Reset pin -- resets IMU when held low.
Jamie Smith 1:aac28ffd63ed 62 DigitalOut _rst;
Jamie Smith 1:aac28ffd63ed 63
Jamie Smith 1:aac28ffd63ed 64 // packet storage
Jamie Smith 1:aac28ffd63ed 65 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 66
Jamie Smith 1:aac28ffd63ed 67 #define SHTP_HEADER_SIZE 4
Jamie Smith 1:aac28ffd63ed 68
Jamie Smith 3:197ad972fb7c 69 // Arbitrarily chosen, but should hopefully be large enough for all packets we need.
Jamie Smith 3:197ad972fb7c 70 // If you enable lots of sensor reports and get an error, you might need to increase this.
Jamie Smith 1:aac28ffd63ed 71 #define STORED_PACKET_SIZE 128
Jamie Smith 1:aac28ffd63ed 72
Jamie Smith 1:aac28ffd63ed 73 /// Each SHTP packet has a header of 4 uint8_ts
Jamie Smith 1:aac28ffd63ed 74 uint8_t shtpHeader[SHTP_HEADER_SIZE];
Jamie Smith 1:aac28ffd63ed 75
Jamie Smith 1:aac28ffd63ed 76 /// Stores data contained in each packet. Packets can contain an arbitrary amount of data, but
Jamie Smith 1:aac28ffd63ed 77 /// rarely get over a hundred bytes unless you have a million sensor reports enabled.
Jamie Smith 1:aac28ffd63ed 78 /// The only long packets we actually care about are batched sensor data packets.
Jamie Smith 1:aac28ffd63ed 79 uint8_t shtpData[STORED_PACKET_SIZE];
t1jain 11:dbe6d8d0ceb1 80
t1jain 11:dbe6d8d0ceb1 81 #define READ_BUFFER_SIZE 512
t1jain 11:dbe6d8d0ceb1 82 uint8_t readBuffer[READ_BUFFER_SIZE];
Jamie Smith 1:aac28ffd63ed 83
Jamie Smith 1:aac28ffd63ed 84 /// Length of packet that was received into buffer. Does NOT include header bytes.
Jamie Smith 1:aac28ffd63ed 85 uint16_t packetLength;
Jamie Smith 1:aac28ffd63ed 86
Jamie Smith 1:aac28ffd63ed 87 /// Current sequence number for each channel, incremented after transmission.
Jamie Smith 2:2269b723d16a 88 uint8_t sequenceNumber[6];
Jamie Smith 1:aac28ffd63ed 89
Jamie Smith 1:aac28ffd63ed 90 /// Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel
Jamie Smith 2:2269b723d16a 91 uint8_t commandSequenceNumber;
Jamie Smith 1:aac28ffd63ed 92
Jamie Smith 1:aac28ffd63ed 93
Jamie Smith 1:aac28ffd63ed 94 // frs metadata
Jamie Smith 1:aac28ffd63ed 95 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 96
Jamie Smith 1:aac28ffd63ed 97 /// Record ID of the metadata record currently stored in the metadataRecord[] buffer.
Jamie Smith 1:aac28ffd63ed 98 /// Used so that we can avoid requerying the FRS record if we need to make multiple metadata reads
Jamie Smith 1:aac28ffd63ed 99 /// in succession.
Jamie Smith 1:aac28ffd63ed 100 uint16_t bufferMetadataRecord;
Jamie Smith 1:aac28ffd63ed 101
Jamie Smith 1:aac28ffd63ed 102 /// currently we only need the first 10 words of the metadata
Jamie Smith 1:aac28ffd63ed 103 #define METADATA_BUFFER_LEN 10
Jamie Smith 1:aac28ffd63ed 104
Jamie Smith 1:aac28ffd63ed 105 /// Buffer for current metadata record.
Jamie Smith 2:2269b723d16a 106 uint32_t metadataRecord[METADATA_BUFFER_LEN];
Jamie Smith 1:aac28ffd63ed 107
Jamie Smith 1:aac28ffd63ed 108 // data storage
Jamie Smith 1:aac28ffd63ed 109 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 110
Jamie Smith 1:aac28ffd63ed 111 // 1 larger than the largest sensor report ID
Jamie Smith 1:aac28ffd63ed 112 #define STATUS_ARRAY_LEN MAX_SENSOR_REPORTID + 1
Jamie Smith 1:aac28ffd63ed 113
Jamie Smith 1:aac28ffd63ed 114 /// stores status of each sensor, indexed by report ID
Jamie Smith 2:2269b723d16a 115 uint8_t reportStatus[STATUS_ARRAY_LEN];
Jamie Smith 1:aac28ffd63ed 116
Jamie Smith 1:aac28ffd63ed 117 /// stores whether a sensor has been updated since the last call to hasNewData()
Jamie Smith 2:2269b723d16a 118 bool reportHasBeenUpdated[STATUS_ARRAY_LEN];
Jamie Smith 1:aac28ffd63ed 119
Jamie Smith 1:aac28ffd63ed 120 public:
Jamie Smith 1:aac28ffd63ed 121
Jamie Smith 1:aac28ffd63ed 122 // list of reports
Jamie Smith 1:aac28ffd63ed 123 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 124
Jamie Smith 1:aac28ffd63ed 125 /// List of all sensor reports that the IMU supports.
Jamie Smith 2:2269b723d16a 126 enum Report
Jamie Smith 1:aac28ffd63ed 127 {
Jamie Smith 1:aac28ffd63ed 128 /**
Jamie Smith 1:aac28ffd63ed 129 * Total acceleration of the IMU in world space.
Jamie Smith 1:aac28ffd63ed 130 * See BNO datasheet section 2.1.1
Jamie Smith 1:aac28ffd63ed 131 */
Jamie Smith 1:aac28ffd63ed 132 TOTAL_ACCELERATION = SENSOR_REPORTID_ACCELEROMETER,
Jamie Smith 1:aac28ffd63ed 133
Jamie Smith 1:aac28ffd63ed 134 /**
Jamie Smith 1:aac28ffd63ed 135 * Acceleration of the IMU not including the acceleration of gravity.
Jamie Smith 1:aac28ffd63ed 136 * See BNO datasheet section 2.1.1
Jamie Smith 1:aac28ffd63ed 137 */
Jamie Smith 1:aac28ffd63ed 138 LINEAR_ACCELERATION = SENSOR_REPORTID_LINEAR_ACCELERATION,
Jamie Smith 1:aac28ffd63ed 139
Jamie Smith 1:aac28ffd63ed 140 /**
Jamie Smith 1:aac28ffd63ed 141 * Acceleration of gravity felt by the IMU.
Jamie Smith 1:aac28ffd63ed 142 * See BNO datasheet section 2.1.1
Jamie Smith 1:aac28ffd63ed 143 */
Jamie Smith 1:aac28ffd63ed 144 GRAVITY_ACCELERATION = SENSOR_REPORTID_GRAVITY,
Jamie Smith 1:aac28ffd63ed 145
Jamie Smith 1:aac28ffd63ed 146 /**
Jamie Smith 1:aac28ffd63ed 147 * (calibrated) gyroscope reading of the rotational speed of the IMU.
Jamie Smith 1:aac28ffd63ed 148 * See BNO datasheet section 2.1.2
Jamie Smith 1:aac28ffd63ed 149 */
Jamie Smith 1:aac28ffd63ed 150 GYROSCOPE = SENSOR_REPORTID_GYROSCOPE_CALIBRATED,
Jamie Smith 1:aac28ffd63ed 151
Jamie Smith 1:aac28ffd63ed 152 /**
Jamie Smith 1:aac28ffd63ed 153 * (calibrated) reading of Earth's magnetic field levels.
Jamie Smith 1:aac28ffd63ed 154 * See BNO datasheet section 2.1.3
Jamie Smith 1:aac28ffd63ed 155 */
Jamie Smith 1:aac28ffd63ed 156 MAG_FIELD = SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED,
Jamie Smith 1:aac28ffd63ed 157
Jamie Smith 1:aac28ffd63ed 158 /**
Jamie Smith 1:aac28ffd63ed 159 * Uncalibrated reading of magnetic field levels, without any hard iron offsets applied
Jamie Smith 1:aac28ffd63ed 160 * See BNO datasheet section 2.1.3
Jamie Smith 1:aac28ffd63ed 161 */
Jamie Smith 1:aac28ffd63ed 162 MAG_FIELD_UNCALIBRATED = SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED,
Jamie Smith 1:aac28ffd63ed 163
Jamie Smith 1:aac28ffd63ed 164 /**
Jamie Smith 1:aac28ffd63ed 165 * Fused reading of the IMU's rotation in space using all three sensors. This is the most accurate reading
Jamie Smith 1:aac28ffd63ed 166 * of absolute orientation that the IMU can provide.
Jamie Smith 1:aac28ffd63ed 167 * See BNO datasheet section 2.2.4
Jamie Smith 1:aac28ffd63ed 168 */
Jamie Smith 1:aac28ffd63ed 169 ROTATION = SENSOR_REPORTID_ROTATION_VECTOR,
Jamie Smith 1:aac28ffd63ed 170
Jamie Smith 1:aac28ffd63ed 171 /**
Jamie Smith 1:aac28ffd63ed 172 * Fused reading of rotation from accelerometer and magnetometer readings. This report is designed to decrease
Jamie Smith 1:aac28ffd63ed 173 * power consumption (by turning off the gyroscope) in exchange for reduced responsiveness.
Jamie Smith 1:aac28ffd63ed 174 */
Jamie Smith 1:aac28ffd63ed 175 GEOMAGNETIC_ROTATION = SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR,
Jamie Smith 1:aac28ffd63ed 176
Jamie Smith 1:aac28ffd63ed 177 /**
Jamie Smith 1:aac28ffd63ed 178 * Fused reading of the IMU's rotation in space. Unlike the regular rotation vector, the Game Rotation Vector
Jamie Smith 1:aac28ffd63ed 179 * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
Jamie Smith 1:aac28ffd63ed 180 * See BNO datasheet section 2.2.2
Jamie Smith 1:aac28ffd63ed 181 */
Jamie Smith 1:aac28ffd63ed 182 GAME_ROTATION = SENSOR_REPORTID_GAME_ROTATION_VECTOR,
Jamie Smith 1:aac28ffd63ed 183
Jamie Smith 1:aac28ffd63ed 184 /**
Jamie Smith 1:aac28ffd63ed 185 * Detects a user tapping on the device containing the IMU.
Jamie Smith 1:aac28ffd63ed 186 * See BNO datasheet section 2.4.2
Jamie Smith 1:aac28ffd63ed 187 */
Jamie Smith 1:aac28ffd63ed 188 TAP_DETECTOR = SENSOR_REPORTID_TAP_DETECTOR,
Jamie Smith 1:aac28ffd63ed 189
Jamie Smith 1:aac28ffd63ed 190 /**
Jamie Smith 1:aac28ffd63ed 191 * Detects whether the device is on a table, being held stably, or being moved.
Jamie Smith 1:aac28ffd63ed 192 * See BNO datasheet section 2.4.1
Jamie Smith 1:aac28ffd63ed 193 */
Jamie Smith 1:aac28ffd63ed 194 STABILITY_CLASSIFIER = SENSOR_REPORTID_STABILITY_CLASSIFIER,
Jamie Smith 1:aac28ffd63ed 195
Jamie Smith 1:aac28ffd63ed 196 /**
Jamie Smith 1:aac28ffd63ed 197 * Detects a user taking a step with the IMU worn on their person.
Jamie Smith 1:aac28ffd63ed 198 * See BNO datasheet section 2.4.3
Jamie Smith 1:aac28ffd63ed 199 */
Jamie Smith 1:aac28ffd63ed 200 STEP_DETECTOR = SENSOR_REPORTID_STEP_DETECTOR,
Jamie Smith 1:aac28ffd63ed 201
Jamie Smith 1:aac28ffd63ed 202 /**
Jamie Smith 1:aac28ffd63ed 203 * Detects how many steps a user has taken.
Jamie Smith 1:aac28ffd63ed 204 * See BNO datasheet section 2.4.4
Jamie Smith 1:aac28ffd63ed 205 */
Jamie Smith 1:aac28ffd63ed 206 STEP_COUNTER = SENSOR_REPORTID_STEP_COUNTER,
Jamie Smith 1:aac28ffd63ed 207
Jamie Smith 1:aac28ffd63ed 208 /**
Jamie Smith 1:aac28ffd63ed 209 * Detects when the IMU has made a "significant" motion, defined as moving a few steps and/or accelerating significantly.
Jamie Smith 1:aac28ffd63ed 210 *
Jamie Smith 1:aac28ffd63ed 211 * NOTE: this report automatically disables itself after sending a report, so you'll have to reenable it each time a motion i s detected.
Jamie Smith 1:aac28ffd63ed 212 * See BNO datasheet section 2.4.6
Jamie Smith 1:aac28ffd63ed 213 */
Jamie Smith 1:aac28ffd63ed 214 SIGNIFICANT_MOTION = SENSOR_REPORTID_SIGNIFICANT_MOTION,
Jamie Smith 1:aac28ffd63ed 215
Jamie Smith 1:aac28ffd63ed 216 /**
Jamie Smith 1:aac28ffd63ed 217 * Detects when the IMU is being shaken.
Jamie Smith 1:aac28ffd63ed 218 * See BNO datasheet section 2.4.7
Jamie Smith 1:aac28ffd63ed 219 */
Jamie Smith 1:aac28ffd63ed 220 SHAKE_DETECTOR = SENSOR_REPORTID_SHAKE_DETECTOR
Jamie Smith 1:aac28ffd63ed 221 };
Jamie Smith 1:aac28ffd63ed 222
Jamie Smith 1:aac28ffd63ed 223 // data variables to read reports from
Jamie Smith 1:aac28ffd63ed 224 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 225
Jamie Smith 1:aac28ffd63ed 226 // @{
Jamie Smith 1:aac28ffd63ed 227 /// Version info read from the IMU when it starts up
Jamie Smith 1:aac28ffd63ed 228 uint8_t majorSoftwareVersion;
Jamie Smith 1:aac28ffd63ed 229 uint8_t minorSoftwareVersion;
Jamie Smith 1:aac28ffd63ed 230 uint16_t patchSoftwareVersion;
Jamie Smith 1:aac28ffd63ed 231 uint32_t partNumber;
Jamie Smith 1:aac28ffd63ed 232 uint32_t buildNumber;
Jamie Smith 1:aac28ffd63ed 233 // @}
Jamie Smith 1:aac28ffd63ed 234
Jamie Smith 1:aac28ffd63ed 235
Jamie Smith 1:aac28ffd63ed 236 /**
Jamie Smith 1:aac28ffd63ed 237 * Readout from Accleration report.
Jamie Smith 1:aac28ffd63ed 238 * Represents total acceleration in m/s^2 felt by the BNO's accelerometer.
Jamie Smith 1:aac28ffd63ed 239 */
Jamie Smith 1:aac28ffd63ed 240 TVector3 totalAcceleration;
Jamie Smith 1:aac28ffd63ed 241
Jamie Smith 1:aac28ffd63ed 242 /**
Jamie Smith 1:aac28ffd63ed 243 * Readout from Linear Acceleration report.
Jamie Smith 1:aac28ffd63ed 244 * Represents acceleration felt in m/s^2 by the BNO's accelerometer not including the force of gravity.
Jamie Smith 1:aac28ffd63ed 245 */
Jamie Smith 1:aac28ffd63ed 246 TVector3 linearAcceleration;
Jamie Smith 1:aac28ffd63ed 247
Jamie Smith 1:aac28ffd63ed 248 /**
Jamie Smith 1:aac28ffd63ed 249 * Readout from Gravity report.
Jamie Smith 1:aac28ffd63ed 250 * Represents the force of gravity in m/s^2 felt by the BNO's accelerometer.
Jamie Smith 1:aac28ffd63ed 251 */
Jamie Smith 1:aac28ffd63ed 252 TVector3 gravityAcceleration;
Jamie Smith 1:aac28ffd63ed 253
Jamie Smith 1:aac28ffd63ed 254 /**
Jamie Smith 1:aac28ffd63ed 255 * Readout from Calibrated Gyroscope report
Jamie Smith 1:aac28ffd63ed 256 * Represents the angular velocities of the chip in rad/s in the X, Y, and Z axes
Jamie Smith 1:aac28ffd63ed 257 */
Jamie Smith 1:aac28ffd63ed 258 TVector3 gyroRotation;
Jamie Smith 1:aac28ffd63ed 259
Jamie Smith 1:aac28ffd63ed 260 /**
Jamie Smith 1:aac28ffd63ed 261 * Readout from the Magnetic Field Calibrated report.
Jamie Smith 1:aac28ffd63ed 262 * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes
Jamie Smith 1:aac28ffd63ed 263 */
Jamie Smith 1:aac28ffd63ed 264 TVector3 magField;
Jamie Smith 1:aac28ffd63ed 265
Jamie Smith 1:aac28ffd63ed 266 /**
Jamie Smith 1:aac28ffd63ed 267 * Readout from the Magnetic Field Uncalibrated report.
Jamie Smith 1:aac28ffd63ed 268 * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes, without hard iron offsets applied
Jamie Smith 1:aac28ffd63ed 269 */
Jamie Smith 1:aac28ffd63ed 270 TVector3 magFieldUncalibrated;
Jamie Smith 1:aac28ffd63ed 271
Jamie Smith 1:aac28ffd63ed 272 /**
Jamie Smith 1:aac28ffd63ed 273 * Auxiliary readout from the Magnetic Field Uncalibrated report.
Jamie Smith 1:aac28ffd63ed 274 * Represents the hard iron offsets that the chip is using in each axis in uT.
Jamie Smith 1:aac28ffd63ed 275 */
Jamie Smith 1:aac28ffd63ed 276 TVector3 hardIronOffset;
Jamie Smith 1:aac28ffd63ed 277
Jamie Smith 1:aac28ffd63ed 278 /**
Jamie Smith 1:aac28ffd63ed 279 * Readout from the Rotation Vector report.
Jamie Smith 1:aac28ffd63ed 280 * Represents the rotation of the IMU (relative to magnetic north) in radians.
Jamie Smith 1:aac28ffd63ed 281 */
Jamie Smith 1:aac28ffd63ed 282 Quaternion rotationVector;
Jamie Smith 1:aac28ffd63ed 283
Jamie Smith 1:aac28ffd63ed 284 /**
Jamie Smith 1:aac28ffd63ed 285 * Auxiliary accuracy readout from the Rotation Vector report.
Jamie Smith 1:aac28ffd63ed 286 * Represents the estimated accuracy of the rotation vector in radians.
Jamie Smith 1:aac28ffd63ed 287 */
Jamie Smith 1:aac28ffd63ed 288 float rotationAccuracy;
Jamie Smith 1:aac28ffd63ed 289
Jamie Smith 1:aac28ffd63ed 290 /**
Jamie Smith 1:aac28ffd63ed 291 * Readout from the Game Rotation Vector report.
Jamie Smith 1:aac28ffd63ed 292 * Represents the rotation of the IMU in radians. Unlike the regular rotation vector, the Game Rotation Vector
Jamie Smith 1:aac28ffd63ed 293 * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
Jamie Smith 1:aac28ffd63ed 294 */
Jamie Smith 1:aac28ffd63ed 295 Quaternion gameRotationVector;
Jamie Smith 1:aac28ffd63ed 296
Jamie Smith 1:aac28ffd63ed 297 /**
Jamie Smith 1:aac28ffd63ed 298 * Readout from the Geomagnetic Rotation Vector report.
Jamie Smith 1:aac28ffd63ed 299 * Represents the geomagnetic rotation of the IMU (relative to magnetic north) in radians.
Jamie Smith 1:aac28ffd63ed 300 */
Jamie Smith 1:aac28ffd63ed 301 Quaternion geomagneticRotationVector;
Jamie Smith 1:aac28ffd63ed 302
Jamie Smith 1:aac28ffd63ed 303 /**
Jamie Smith 1:aac28ffd63ed 304 * Auxiliary accuracy readout from the Geomagnetic Rotation Vector report.
Jamie Smith 1:aac28ffd63ed 305 * Represents the estimated accuracy of the rotation vector in radians.
Jamie Smith 1:aac28ffd63ed 306 */
Jamie Smith 1:aac28ffd63ed 307 float geomagneticRotationAccuracy;
Jamie Smith 1:aac28ffd63ed 308
Jamie Smith 1:aac28ffd63ed 309 /**
Jamie Smith 1:aac28ffd63ed 310 * Tap readout from the Tap Detector report. This flag is set to true whenever a tap is detected, and you should
Jamie Smith 1:aac28ffd63ed 311 * manually clear it when you have processed the tap.
Jamie Smith 1:aac28ffd63ed 312 */
Jamie Smith 1:aac28ffd63ed 313 bool tapDetected;
Jamie Smith 1:aac28ffd63ed 314
Jamie Smith 1:aac28ffd63ed 315 /**
Jamie Smith 1:aac28ffd63ed 316 * Whether the last tap detected was a single or double tap.
Jamie Smith 1:aac28ffd63ed 317 */
Jamie Smith 1:aac28ffd63ed 318 bool doubleTap;
Jamie Smith 1:aac28ffd63ed 319
Jamie Smith 1:aac28ffd63ed 320 /**
Jamie Smith 1:aac28ffd63ed 321 * Enum to represent the different stability types.
Jamie Smith 1:aac28ffd63ed 322 *
Jamie Smith 1:aac28ffd63ed 323 * See BNO datasheet section 2.4.1 and SH-2 section 6.5.31.2 for details.
Jamie Smith 1:aac28ffd63ed 324 */
Jamie Smith 2:2269b723d16a 325 enum Stability
Jamie Smith 1:aac28ffd63ed 326 {
Jamie Smith 1:aac28ffd63ed 327 /// Unknown stability type.
Jamie Smith 1:aac28ffd63ed 328 UNKNOWN = 0,
Jamie Smith 1:aac28ffd63ed 329
Jamie Smith 1:aac28ffd63ed 330 /// At rest on a stable surface with very little motion
Jamie Smith 1:aac28ffd63ed 331 ON_TABLE = 1,
Jamie Smith 1:aac28ffd63ed 332
Jamie Smith 1:aac28ffd63ed 333 /// Motion is stable, but the duration requirement for stability has not been met.
Jamie Smith 1:aac28ffd63ed 334 /// Can only occur during gyroscope calibration (why? beats me!)
Jamie Smith 1:aac28ffd63ed 335 STATIONARY = 2,
Jamie Smith 1:aac28ffd63ed 336
Jamie Smith 1:aac28ffd63ed 337 /// Stable (has been below the acceleration threshold for the required duration)
Jamie Smith 1:aac28ffd63ed 338 STABLE = 3,
Jamie Smith 1:aac28ffd63ed 339
Jamie Smith 1:aac28ffd63ed 340 /// IMU is moving.
Jamie Smith 1:aac28ffd63ed 341 MOTION = 4
Jamie Smith 1:aac28ffd63ed 342 };
Jamie Smith 1:aac28ffd63ed 343
Jamie Smith 1:aac28ffd63ed 344 /**
Jamie Smith 1:aac28ffd63ed 345 * Readout from the stability classifier.
Jamie Smith 1:aac28ffd63ed 346 * Current stability status of the IMU.
Jamie Smith 1:aac28ffd63ed 347 */
Jamie Smith 2:2269b723d16a 348 Stability stability;
Jamie Smith 1:aac28ffd63ed 349
Jamie Smith 1:aac28ffd63ed 350 /**
Jamie Smith 1:aac28ffd63ed 351 * Readout from the Step Detector report. This flag is set to true whenever a step is detected, and you should
Jamie Smith 1:aac28ffd63ed 352 * manually clear it when you have processed the step.
Jamie Smith 1:aac28ffd63ed 353 */
Jamie Smith 2:2269b723d16a 354 bool stepDetected;
Jamie Smith 1:aac28ffd63ed 355
Jamie Smith 1:aac28ffd63ed 356 /**
Jamie Smith 1:aac28ffd63ed 357 * Readout from the Step Counter report. This count increases as the user takes steps, but can also decrease
Jamie Smith 1:aac28ffd63ed 358 * if the IMU decides that a motion was not a step.
Jamie Smith 1:aac28ffd63ed 359 */
Jamie Smith 1:aac28ffd63ed 360 uint16_t stepCount;
Jamie Smith 1:aac28ffd63ed 361
Jamie Smith 1:aac28ffd63ed 362 /**
Jamie Smith 1:aac28ffd63ed 363 * Readout from the Significant Motion Detector report. This flag is set to true whenever significant motion is detected, and you should
Jamie Smith 1:aac28ffd63ed 364 * manually clear it when you have processed the event.
Jamie Smith 1:aac28ffd63ed 365 */
Jamie Smith 2:2269b723d16a 366 bool significantMotionDetected;
Jamie Smith 1:aac28ffd63ed 367
Jamie Smith 1:aac28ffd63ed 368 /**
Jamie Smith 1:aac28ffd63ed 369 * Readout from the Shake Detector report. This flag is set to true whenever shaking is detected, and you should
Jamie Smith 1:aac28ffd63ed 370 * manually clear it when you have processed the event.
Jamie Smith 1:aac28ffd63ed 371 */
Jamie Smith 2:2269b723d16a 372 bool shakeDetected;
Jamie Smith 1:aac28ffd63ed 373
Jamie Smith 1:aac28ffd63ed 374 // @{
Jamie Smith 1:aac28ffd63ed 375 /// The axis/axes that shaking was detected in in the latest shaking report.
Jamie Smith 2:2269b723d16a 376 bool xAxisShake;
Jamie Smith 2:2269b723d16a 377 bool yAxisShake;
Jamie Smith 2:2269b723d16a 378 bool zAxisShake;
Jamie Smith 1:aac28ffd63ed 379 // @}
Jamie Smith 1:aac28ffd63ed 380
Jamie Smith 1:aac28ffd63ed 381 // Management functions
Jamie Smith 1:aac28ffd63ed 382 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 383
Jamie Smith 1:aac28ffd63ed 384 /**
Jamie Smith 1:aac28ffd63ed 385 * Construct a BNO080, providing pins and parameters.
Jamie Smith 1:aac28ffd63ed 386 *
Jamie Smith 1:aac28ffd63ed 387 * This doesn't actally initialize the chip, you will need to call begin() for that.
Jamie Smith 1:aac28ffd63ed 388 *
Jamie Smith 1:aac28ffd63ed 389 * NOTE: while some schematics tell you to connect the BOOTN pin to the processor, this driver does not use or require it.
Jamie Smith 1:aac28ffd63ed 390 * Just tie it to VCC per the datasheet.
Jamie Smith 1:aac28ffd63ed 391 *
Jamie Smith 1:aac28ffd63ed 392 * @param debugPort Serial port to write output to. Cannot be nullptr.
Jamie Smith 1:aac28ffd63ed 393 * @param user_SDApin Hardware I2C SDA pin connected to the IMU
Jamie Smith 1:aac28ffd63ed 394 * @param user_SCLpin Hardware I2C SCL pin connected to the IMU
Jamie Smith 1:aac28ffd63ed 395 * @param user_INTPin Input pin connected to HINTN
Jamie Smith 1:aac28ffd63ed 396 * @param user_RSTPin Output pin connected to NRST
Jamie Smith 1:aac28ffd63ed 397 * @param i2cAddress I2C address. The BNO defaults to 0x4a, but can also be set to 0x4b via a pin.
Jamie Smith 1:aac28ffd63ed 398 * @param i2cPortSpeed I2C frequency. The BNO's max is 400kHz.
Jamie Smith 1:aac28ffd63ed 399 */
Jamie Smith 1:aac28ffd63ed 400 BNO080(Serial *debugPort,
Jamie Smith 1:aac28ffd63ed 401 PinName user_SDApin,
Jamie Smith 1:aac28ffd63ed 402 PinName user_SCLpin,
Jamie Smith 1:aac28ffd63ed 403 PinName user_INTPin,
Jamie Smith 1:aac28ffd63ed 404 PinName user_RSTPin,
Jamie Smith 1:aac28ffd63ed 405 uint8_t i2cAddress=0x4a,
Jamie Smith 3:197ad972fb7c 406 int i2cPortSpeed=100000);
Jamie Smith 1:aac28ffd63ed 407
Jamie Smith 1:aac28ffd63ed 408 /**
Jamie Smith 1:aac28ffd63ed 409 * Resets and connects to the IMU. Verifies that it's connected, and reads out its version
Jamie Smith 1:aac28ffd63ed 410 * info into the class variables above.
Jamie Smith 1:aac28ffd63ed 411 *
Jamie Smith 1:aac28ffd63ed 412 * If this function is failing, it would be a good idea to turn on BNO_DEBUG in the cpp file to get detailed output.
Jamie Smith 1:aac28ffd63ed 413 *
Jamie Smith 1:aac28ffd63ed 414 * @return whether or not initialization was successful
Jamie Smith 1:aac28ffd63ed 415 */
Jamie Smith 1:aac28ffd63ed 416 bool begin();
Jamie Smith 1:aac28ffd63ed 417
Jamie Smith 1:aac28ffd63ed 418 /**
Jamie Smith 1:aac28ffd63ed 419 * Tells the IMU to use its current rotation vector as the "zero" rotation vector and to reorient
Jamie Smith 1:aac28ffd63ed 420 * all outputs accordingly.
Jamie Smith 1:aac28ffd63ed 421 *
Jamie Smith 1:aac28ffd63ed 422 * @param zOnly If true, only the rotation about the Z axis (the heading) will be tared.
Jamie Smith 1:aac28ffd63ed 423 */
Jamie Smith 1:aac28ffd63ed 424 void tare(bool zOnly = false);
Jamie Smith 1:aac28ffd63ed 425
Jamie Smith 1:aac28ffd63ed 426 /**
Jamie Smith 1:aac28ffd63ed 427 * Tells the IMU to begin a dynamic sensor calibration. To calibrate the IMU, call this function and move
Jamie Smith 1:aac28ffd63ed 428 * the IMU according to the instructions in the "BNO080 Sensor Calibration Procedure" app note
Jamie Smith 1:aac28ffd63ed 429 * (http://www.hillcrestlabs.com/download/59de9014566d0727bd002ae7).
Jamie Smith 1:aac28ffd63ed 430 *
Jamie Smith 1:aac28ffd63ed 431 * To tell when the calibration is complete, look at the status bits for Game Rotation Vector (for accel and gyro)
Jamie Smith 1:aac28ffd63ed 432 * and Magnetic Field (for the magnetometer).
Jamie Smith 1:aac28ffd63ed 433 *
Jamie Smith 1:aac28ffd63ed 434 * The gyro and accelerometer should only need to be calibrated once, but the magnetometer will need to be recalibrated
Jamie Smith 1:aac28ffd63ed 435 * every time the orientation of ferrous metals around the IMU changes (e.g. when it is put into a new enclosure).
Jamie Smith 1:aac28ffd63ed 436 *
Jamie Smith 1:aac28ffd63ed 437 * The new calibration will not be saved in flash until you call saveCalibration().
Jamie Smith 1:aac28ffd63ed 438 *
Jamie Smith 1:aac28ffd63ed 439 * NOTE: calling this with all false values will cancel any calibration in progress. However, the calibration data being created will
Jamie Smith 1:aac28ffd63ed 440 * remain in use until the next chip reset (I think!)
Jamie Smith 1:aac28ffd63ed 441 *
Jamie Smith 1:aac28ffd63ed 442 * @param calibrateAccel Whether to calibrate the accelerometer.
Jamie Smith 1:aac28ffd63ed 443 * @param calibrateGyro Whether to calibrate the gyro.
Jamie Smith 1:aac28ffd63ed 444 * @param calibrateMag Whether to calibrate the magnetometer.
Jamie Smith 1:aac28ffd63ed 445 *
Jamie Smith 1:aac28ffd63ed 446 * @return whether the operation succeeded
Jamie Smith 1:aac28ffd63ed 447 */
Jamie Smith 1:aac28ffd63ed 448 bool enableCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag);
Jamie Smith 1:aac28ffd63ed 449
Jamie Smith 1:aac28ffd63ed 450 /**
Jamie Smith 1:aac28ffd63ed 451 * Saves the calibration started with startCalibration() and ends the calibration.
Jamie Smith 1:aac28ffd63ed 452 * You will want to call this once the status bits read as "accuracy high".
Jamie Smith 1:aac28ffd63ed 453 *
Jamie Smith 1:aac28ffd63ed 454 * WARNING: if you paid for a factory calibrated IMU, then this WILL OVERWRITE THE FACTORY CALIBRATION in whatever sensors
Jamie Smith 1:aac28ffd63ed 455 * are being calibrated. Use with caution!
Jamie Smith 1:aac28ffd63ed 456 *
Jamie Smith 1:aac28ffd63ed 457 * @return whether the operation succeeded
Jamie Smith 1:aac28ffd63ed 458 */
Jamie Smith 1:aac28ffd63ed 459 bool saveCalibration();
Jamie Smith 1:aac28ffd63ed 460
Jamie Smith 1:aac28ffd63ed 461 /**
Jamie Smith 1:aac28ffd63ed 462 * Sets the orientation quaternion, telling the sensor how it's mounted
Jamie Smith 1:aac28ffd63ed 463 * in relation to world space.
Jamie Smith 1:aac28ffd63ed 464 * See page 40 of the BNO080 datasheet.
Jamie Smith 1:aac28ffd63ed 465 *
Jamie Smith 1:aac28ffd63ed 466 * NOTE: this driver provides the macro SQRT_2 to help with entering values from that table.
Jamie Smith 1:aac28ffd63ed 467 *
Jamie Smith 1:aac28ffd63ed 468 * NOTE 2: this setting does not persist and will have to be re-applied every time the chip is reset.
Jamie Smith 3:197ad972fb7c 469 * Use setPermanentOrientation() for that.
Jamie Smith 1:aac28ffd63ed 470 *
Jamie Smith 1:aac28ffd63ed 471 * @param orientation quaternion mapping from IMU space to world space.
Jamie Smith 1:aac28ffd63ed 472 */
Jamie Smith 1:aac28ffd63ed 473 void setSensorOrientation(Quaternion orientation);
Jamie Smith 1:aac28ffd63ed 474
Jamie Smith 3:197ad972fb7c 475 /**
Jamie Smith 3:197ad972fb7c 476 * Sets the orientation quaternion, telling the sensor how it's mounted
Jamie Smith 3:197ad972fb7c 477 * in relation to world space. See page 40 of the BNO080 datasheet.
Jamie Smith 3:197ad972fb7c 478 *
Jamie Smith 3:197ad972fb7c 479 * Unlike setSensorOrientation(), this setting will persist across sensor restarts.
Jamie Smith 3:197ad972fb7c 480 * However, it will also take a few hundred milliseconds to write.
Jamie Smith 3:197ad972fb7c 481 *
Jamie Smith 3:197ad972fb7c 482 * @param orientation quaternion mapping from IMU space to world space.
Jamie Smith 3:197ad972fb7c 483 *
Jamie Smith 3:197ad972fb7c 484 * @return true if the operation succeeded, false if it failed.
Jamie Smith 3:197ad972fb7c 485 */
Jamie Smith 3:197ad972fb7c 486 bool setPermanentOrientation(Quaternion orientation);
Jamie Smith 3:197ad972fb7c 487
Jamie Smith 1:aac28ffd63ed 488 // Report functions
Jamie Smith 1:aac28ffd63ed 489 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 490
Jamie Smith 1:aac28ffd63ed 491 /**
Jamie Smith 1:aac28ffd63ed 492 * Checks for new data packets queued on the IMU.
Jamie Smith 1:aac28ffd63ed 493 * If there are packets queued, receives all of them and updates
Jamie Smith 1:aac28ffd63ed 494 * the class variables with the results.
Jamie Smith 1:aac28ffd63ed 495 *
Jamie Smith 1:aac28ffd63ed 496 * @return True iff new data packets of any kind were received. If you need more fine-grained data change reporting,
Jamie Smith 1:aac28ffd63ed 497 * check out hasNewData().
Jamie Smith 1:aac28ffd63ed 498 */
Jamie Smith 1:aac28ffd63ed 499 bool updateData();
Jamie Smith 1:aac28ffd63ed 500
Jamie Smith 1:aac28ffd63ed 501
Jamie Smith 1:aac28ffd63ed 502 /**
Jamie Smith 1:aac28ffd63ed 503 * Gets the status of a report as a 2 bit number.
Jamie Smith 1:aac28ffd63ed 504 * per SH-2 section 6.5.1, this is interpreted as: <br>
Jamie Smith 1:aac28ffd63ed 505 * 0 - unreliable <br>
Jamie Smith 1:aac28ffd63ed 506 * 1 - accuracy low <br>
Jamie Smith 1:aac28ffd63ed 507 * 2 - accuracy medium <br>
Jamie Smith 1:aac28ffd63ed 508 * 3 - accuracy high <br>
Jamie Smith 1:aac28ffd63ed 509 * of course, these are only updated if a given report is enabled.
Jamie Smith 1:aac28ffd63ed 510 * @param report
Jamie Smith 1:aac28ffd63ed 511 * @return
Jamie Smith 1:aac28ffd63ed 512 */
Jamie Smith 1:aac28ffd63ed 513 uint8_t getReportStatus(Report report);
Jamie Smith 1:aac28ffd63ed 514
Jamie Smith 1:aac28ffd63ed 515 /**
Jamie Smith 1:aac28ffd63ed 516 * Get a string for printout describing the status of a sensor.
Jamie Smith 1:aac28ffd63ed 517 * @return
Jamie Smith 1:aac28ffd63ed 518 */
Jamie Smith 1:aac28ffd63ed 519 const char* getReportStatusString(Report report);
Jamie Smith 1:aac28ffd63ed 520
Jamie Smith 1:aac28ffd63ed 521 /**
Jamie Smith 1:aac28ffd63ed 522 * Checks if a specific report has gotten new data since the last call to this function.
Jamie Smith 1:aac28ffd63ed 523 * @param report The report to check.
Jamie Smith 1:aac28ffd63ed 524 * @return Whether the report has received new data.
Jamie Smith 1:aac28ffd63ed 525 */
Jamie Smith 1:aac28ffd63ed 526 bool hasNewData(Report report);
Jamie Smith 1:aac28ffd63ed 527
Jamie Smith 1:aac28ffd63ed 528 /**
Jamie Smith 1:aac28ffd63ed 529 * Enable a data report from the IMU. Look at the comments above to see what the reports do.
Jamie Smith 1:aac28ffd63ed 530 * This function checks your polling period against the report's max speed in the IMU's metadata,
Jamie Smith 1:aac28ffd63ed 531 * and reports an error if you're trying to poll too fast.
Jamie Smith 1:aac28ffd63ed 532 *
Jamie Smith 1:aac28ffd63ed 533 * @param timeBetweenReports time in milliseconds between data updates.
Jamie Smith 1:aac28ffd63ed 534 */
Jamie Smith 1:aac28ffd63ed 535 void enableReport(Report report, uint16_t timeBetweenReports);
Jamie Smith 1:aac28ffd63ed 536
Jamie Smith 1:aac28ffd63ed 537 /**
Jamie Smith 1:aac28ffd63ed 538 * Disable a data report from the IMU.
Jamie Smith 1:aac28ffd63ed 539 *
Jamie Smith 1:aac28ffd63ed 540 * @param report The report to disable.
Jamie Smith 1:aac28ffd63ed 541 */
Jamie Smith 1:aac28ffd63ed 542 void disableReport(Report report);
Jamie Smith 1:aac28ffd63ed 543
Jamie Smith 1:aac28ffd63ed 544 /**
Jamie Smith 1:aac28ffd63ed 545 * Gets the serial number (used to uniquely identify each individual device).
Jamie Smith 1:aac28ffd63ed 546 *
Jamie Smith 1:aac28ffd63ed 547 * NOTE: this function should work according to the datasheet, but the device I was testing with appears to have
Jamie Smith 1:aac28ffd63ed 548 * an empty serial number record as shipped, and I could never get anything out of it. Your mileage may vary.
Jamie Smith 1:aac28ffd63ed 549 *
Jamie Smith 1:aac28ffd63ed 550 * @return The serial number, or 0 on error.
Jamie Smith 1:aac28ffd63ed 551 */
Jamie Smith 1:aac28ffd63ed 552 uint32_t getSerialNumber();
Jamie Smith 1:aac28ffd63ed 553
Jamie Smith 1:aac28ffd63ed 554 // Metadata functions
Jamie Smith 1:aac28ffd63ed 555 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 556
Jamie Smith 1:aac28ffd63ed 557 /**
Jamie Smith 1:aac28ffd63ed 558 * Gets the range of a report as reported by the IMU. Units are the same as the report's output data.
Jamie Smith 1:aac28ffd63ed 559 * @return
Jamie Smith 1:aac28ffd63ed 560 */
Jamie Smith 1:aac28ffd63ed 561 float getRange(Report report);
Jamie Smith 1:aac28ffd63ed 562
Jamie Smith 1:aac28ffd63ed 563 /**
Jamie Smith 1:aac28ffd63ed 564 * Gets the resolution of a report as reported by the IMU. Units are the same as the report's output data.
Jamie Smith 1:aac28ffd63ed 565 * @param report
Jamie Smith 1:aac28ffd63ed 566 * @return
Jamie Smith 1:aac28ffd63ed 567 */
Jamie Smith 1:aac28ffd63ed 568 float getResolution(Report report);
Jamie Smith 1:aac28ffd63ed 569
Jamie Smith 1:aac28ffd63ed 570 /**
Jamie Smith 1:aac28ffd63ed 571 * Get the power used by a report when it's operating, according to the IMU.
Jamie Smith 1:aac28ffd63ed 572 * @param report
Jamie Smith 1:aac28ffd63ed 573 * @return Power used in mA.
Jamie Smith 1:aac28ffd63ed 574 */
Jamie Smith 1:aac28ffd63ed 575 float getPower(Report report);
Jamie Smith 1:aac28ffd63ed 576
Jamie Smith 1:aac28ffd63ed 577 /**
Jamie Smith 1:aac28ffd63ed 578 * Gets the smallest polling period that a report supports.
Jamie Smith 1:aac28ffd63ed 579 * @return Period in seconds.
Jamie Smith 1:aac28ffd63ed 580 */
Jamie Smith 1:aac28ffd63ed 581 float getMinPeriod(Report report);
Jamie Smith 1:aac28ffd63ed 582
Jamie Smith 1:aac28ffd63ed 583 /**
Jamie Smith 1:aac28ffd63ed 584 * Gets the larges polling period that a report supports.
Jamie Smith 1:aac28ffd63ed 585 * Some reports don't have a max period, in which case this function will return -1.0.
Jamie Smith 1:aac28ffd63ed 586 *
Jamie Smith 1:aac28ffd63ed 587 * @return Period in seconds, or -1.0 on error.
Jamie Smith 1:aac28ffd63ed 588 */
Jamie Smith 1:aac28ffd63ed 589 float getMaxPeriod(Report report);
Jamie Smith 1:aac28ffd63ed 590
Jamie Smith 1:aac28ffd63ed 591 /**
Jamie Smith 1:aac28ffd63ed 592 * Prints a summary of a report's metadata to the
Jamie Smith 1:aac28ffd63ed 593 * debug stream. Should be useful for debugging and setting up reports since lots of this data
Jamie Smith 1:aac28ffd63ed 594 * isn't given in the datasheets.
Jamie Smith 1:aac28ffd63ed 595 *
Jamie Smith 1:aac28ffd63ed 596 * Note: to save string constant space, this function is only available when BNO_DEBUG is 1.
Jamie Smith 1:aac28ffd63ed 597 */
Jamie Smith 1:aac28ffd63ed 598 void printMetadataSummary(Report report);
Jamie Smith 1:aac28ffd63ed 599
Jamie Smith 1:aac28ffd63ed 600 private:
Jamie Smith 1:aac28ffd63ed 601
Jamie Smith 1:aac28ffd63ed 602 // Internal metadata functions
Jamie Smith 1:aac28ffd63ed 603 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 604
Jamie Smith 1:aac28ffd63ed 605 /**
Jamie Smith 1:aac28ffd63ed 606 * Gets the version of the metadata stored in the buffer.
Jamie Smith 1:aac28ffd63ed 607 * We might see version 3 and 4 records, and they have different layouts.
Jamie Smith 1:aac28ffd63ed 608 * @return
Jamie Smith 1:aac28ffd63ed 609 */
Jamie Smith 1:aac28ffd63ed 610 uint16_t getMetaVersion() {return static_cast<uint16_t>(metadataRecord[3] >> 16);}
Jamie Smith 1:aac28ffd63ed 611
Jamie Smith 1:aac28ffd63ed 612 // @{
Jamie Smith 1:aac28ffd63ed 613 /**
Jamie Smith 1:aac28ffd63ed 614 * Gets the Q point from a report's metadata, which essentially defines where the decimal point goes in the sensor's output.
Jamie Smith 1:aac28ffd63ed 615 * The 1/2/3 Q values are used in different places in the metadata, see SH-2 section 5.1 for details.
Jamie Smith 1:aac28ffd63ed 616 * @param report
Jamie Smith 1:aac28ffd63ed 617 * @return
Jamie Smith 1:aac28ffd63ed 618 */
Jamie Smith 1:aac28ffd63ed 619 int16_t getQ1(Report report);
Jamie Smith 1:aac28ffd63ed 620 int16_t getQ2(Report report);
Jamie Smith 1:aac28ffd63ed 621 int16_t getQ3(Report report);
Jamie Smith 1:aac28ffd63ed 622 // @}
Jamie Smith 1:aac28ffd63ed 623
Jamie Smith 1:aac28ffd63ed 624 // internal utility functions
Jamie Smith 1:aac28ffd63ed 625 //-----------------------------------------------------------------------------------------------------------------
Jamie Smith 1:aac28ffd63ed 626
Jamie Smith 1:aac28ffd63ed 627 /**
Jamie Smith 1:aac28ffd63ed 628 * Processes the packet currently stored in the buffer, and updates class variables to reflect the data it contains
Jamie Smith 1:aac28ffd63ed 629 */
Jamie Smith 1:aac28ffd63ed 630 void processPacket();
Jamie Smith 1:aac28ffd63ed 631
Jamie Smith 1:aac28ffd63ed 632 /**
Jamie Smith 1:aac28ffd63ed 633 * Processes the sensor data packet currently stored in the buffer.
Jamie Smith 1:aac28ffd63ed 634 * Only called from processPacket()
Jamie Smith 1:aac28ffd63ed 635 */
Jamie Smith 1:aac28ffd63ed 636 void parseSensorDataPacket();
Jamie Smith 1:aac28ffd63ed 637
Jamie Smith 1:aac28ffd63ed 638 /**
Jamie Smith 1:aac28ffd63ed 639 * Call to wait for a packet with the given parameters to come in.
Jamie Smith 1:aac28ffd63ed 640 *
Jamie Smith 1:aac28ffd63ed 641 * @param channel Channel of the packet
Jamie Smith 1:aac28ffd63ed 642 * @param reportID Report ID (first data byte) of the packet
Jamie Smith 1:aac28ffd63ed 643 * @param timeout how long to wait for the packet
Jamie Smith 1:aac28ffd63ed 644 * @return true if the packet has been received, false if it timed out
Jamie Smith 1:aac28ffd63ed 645 */
Jamie Smith 1:aac28ffd63ed 646 bool waitForPacket(int channel, uint8_t reportID, float timeout = .125f);
Jamie Smith 1:aac28ffd63ed 647
Jamie Smith 1:aac28ffd63ed 648 /**
Jamie Smith 1:aac28ffd63ed 649 * Given a Q value, converts fixed point floating to regular floating point number.
Jamie Smith 1:aac28ffd63ed 650 * @param fixedPointValue
Jamie Smith 1:aac28ffd63ed 651 * @param qPoint
Jamie Smith 1:aac28ffd63ed 652 * @return
Jamie Smith 1:aac28ffd63ed 653 */
Jamie Smith 1:aac28ffd63ed 654 float qToFloat(int16_t fixedPointValue, uint8_t qPoint);
Jamie Smith 1:aac28ffd63ed 655
Jamie Smith 1:aac28ffd63ed 656 /**
Jamie Smith 1:aac28ffd63ed 657 * Given a Q value, converts fixed point floating to regular floating point number.
Jamie Smith 1:aac28ffd63ed 658 * This version is used for the unsigned 32-bit values in metadata records.
Jamie Smith 1:aac28ffd63ed 659 * @param fixedPointValue
Jamie Smith 1:aac28ffd63ed 660 * @param qPoint
Jamie Smith 1:aac28ffd63ed 661 * @return
Jamie Smith 1:aac28ffd63ed 662 */
Jamie Smith 1:aac28ffd63ed 663 float qToFloat_dword(uint32_t fixedPointValue, int16_t qPoint);
Jamie Smith 1:aac28ffd63ed 664
Jamie Smith 1:aac28ffd63ed 665 /**
Jamie Smith 1:aac28ffd63ed 666 * Given a floating point value and a Q point, convert to Q
Jamie Smith 1:aac28ffd63ed 667 * See https://en.wikipedia.org/wiki/Q_(number_format)
Jamie Smith 1:aac28ffd63ed 668 * @param qFloat
Jamie Smith 1:aac28ffd63ed 669 * @param qPoint
Jamie Smith 1:aac28ffd63ed 670 * @return
Jamie Smith 1:aac28ffd63ed 671 */
Jamie Smith 1:aac28ffd63ed 672 int16_t floatToQ(float qFloat, uint8_t qPoint);
Jamie Smith 1:aac28ffd63ed 673
Jamie Smith 1:aac28ffd63ed 674 /**
Jamie Smith 3:197ad972fb7c 675 * Given a floating point value and a Q point, convert to Q
Jamie Smith 3:197ad972fb7c 676 * See https://en.wikipedia.org/wiki/Q_(number_format)
Jamie Smith 3:197ad972fb7c 677 *
Jamie Smith 3:197ad972fb7c 678 * This version is used for the signed 32-bit values in metadata records.
Jamie Smith 3:197ad972fb7c 679 *
Jamie Smith 3:197ad972fb7c 680 * @param qFloat
Jamie Smith 3:197ad972fb7c 681 * @param qPoint
Jamie Smith 3:197ad972fb7c 682 * @return
Jamie Smith 3:197ad972fb7c 683 */
Jamie Smith 3:197ad972fb7c 684 int32_t floatToQ_dword(float qFloat, uint16_t qPoint);
Jamie Smith 3:197ad972fb7c 685
Jamie Smith 3:197ad972fb7c 686 /**
Jamie Smith 1:aac28ffd63ed 687 * Tell the sensor to do a command.
Jamie Smith 1:aac28ffd63ed 688 * See SH-2 Reference Manual section 6.3.8 page 42, Command request
Jamie Smith 1:aac28ffd63ed 689 * The caller is expected to set shtpData 3 though 11 prior to calling
Jamie Smith 1:aac28ffd63ed 690 */
Jamie Smith 1:aac28ffd63ed 691 void sendCommand(uint8_t command);
Jamie Smith 1:aac28ffd63ed 692
Jamie Smith 1:aac28ffd63ed 693 /**
Jamie Smith 1:aac28ffd63ed 694 * Given a sensor's report ID, this tells the BNO080 to begin reporting the values.
Jamie Smith 1:aac28ffd63ed 695 *
Jamie Smith 1:aac28ffd63ed 696 * @param reportID
Jamie Smith 1:aac28ffd63ed 697 * @param timeBetweenReports
Jamie Smith 1:aac28ffd63ed 698 * @param specificConfig the specific config word. Useful for personal activity classifier.
Jamie Smith 1:aac28ffd63ed 699 */
Jamie Smith 1:aac28ffd63ed 700 void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig = 0);
Jamie Smith 1:aac28ffd63ed 701
Jamie Smith 1:aac28ffd63ed 702 /**
Jamie Smith 1:aac28ffd63ed 703 * Read a record from the FRS (Flash Record System) on the IMU. FRS records are composed of 32-bit words,
Jamie Smith 1:aac28ffd63ed 704 * with the size of each record determined by the record type.
Jamie Smith 1:aac28ffd63ed 705 *
Jamie Smith 1:aac28ffd63ed 706 * Will block until the entire record has been read.
Jamie Smith 1:aac28ffd63ed 707 * @param recordID Record ID to read. See SH-2 figures 28 and 29 for a list of these. Sometimes also called
Jamie Smith 1:aac28ffd63ed 708 * the "FRS Type" by the datasheet (???).
Jamie Smith 1:aac28ffd63ed 709 * @param readBuffer Buffer to read data into.
Jamie Smith 1:aac28ffd63ed 710 * @param readLength Amount of words to read from the record. Must be <= the length of the record.
Jamie Smith 1:aac28ffd63ed 711 *
Jamie Smith 1:aac28ffd63ed 712 * @return whether the request succeeded
Jamie Smith 1:aac28ffd63ed 713 */
Jamie Smith 1:aac28ffd63ed 714 bool readFRSRecord(uint16_t recordID, uint32_t* readBuffer, uint16_t readLength);
Jamie Smith 1:aac28ffd63ed 715
Jamie Smith 1:aac28ffd63ed 716 /**
Jamie Smith 3:197ad972fb7c 717 * Write a record to the FRS (Flash Record System) on the IMU. FRS records are composed of 32-bit words,
Jamie Smith 3:197ad972fb7c 718 * with the size of each record determined by the record type.
Jamie Smith 3:197ad972fb7c 719 *
Jamie Smith 3:197ad972fb7c 720 * Will block until the entire record has been written.
Jamie Smith 3:197ad972fb7c 721 * @param recordID Record ID to write. See SH-2 figures 28 and 29 for a list of these. Sometimes also called
Jamie Smith 3:197ad972fb7c 722 * the "FRS Type" by the datasheet (???).
Jamie Smith 3:197ad972fb7c 723 * @param buffer Buffer to write data into.
Jamie Smith 3:197ad972fb7c 724 * @param length Amount of words to write to the record. Must be <= the length of the record.
Jamie Smith 3:197ad972fb7c 725 *
Jamie Smith 3:197ad972fb7c 726 * @return whether the request succeeded
Jamie Smith 3:197ad972fb7c 727 */
Jamie Smith 3:197ad972fb7c 728 bool writeFRSRecord(uint16_t recordID, uint32_t* buffer, uint16_t length);
Jamie Smith 3:197ad972fb7c 729
Jamie Smith 3:197ad972fb7c 730 /**
Jamie Smith 1:aac28ffd63ed 731 * Reads a packet from the IMU and stores it in the class variables.
Jamie Smith 1:aac28ffd63ed 732 *
Jamie Smith 1:aac28ffd63ed 733 * @param timeout how long to wait for there to be a packet
Jamie Smith 1:aac28ffd63ed 734 *
Jamie Smith 1:aac28ffd63ed 735 * @return whether a packet was recieved.
Jamie Smith 1:aac28ffd63ed 736 */
Jamie Smith 1:aac28ffd63ed 737 bool receivePacket(float timeout=.2f);
Jamie Smith 1:aac28ffd63ed 738
Jamie Smith 1:aac28ffd63ed 739 /**
Jamie Smith 1:aac28ffd63ed 740 * Sends the current shtpData contents to the BNO. It's a good idea to disable interrupts before you call this.
Jamie Smith 1:aac28ffd63ed 741 *
Jamie Smith 1:aac28ffd63ed 742 * @param channelNumber the channel to send on
Jamie Smith 1:aac28ffd63ed 743 * @param dataLength How many bits of shtpData to send
Jamie Smith 1:aac28ffd63ed 744 * @return
Jamie Smith 1:aac28ffd63ed 745 */
Jamie Smith 1:aac28ffd63ed 746 bool sendPacket(uint8_t channelNumber, uint8_t dataLength);
Jamie Smith 1:aac28ffd63ed 747
Jamie Smith 1:aac28ffd63ed 748 /**
Jamie Smith 1:aac28ffd63ed 749 * Prints the current shtp packet stored in the buffer.
Jamie Smith 1:aac28ffd63ed 750 * @param length
Jamie Smith 1:aac28ffd63ed 751 */
Jamie Smith 1:aac28ffd63ed 752 void printPacket();
Jamie Smith 1:aac28ffd63ed 753
Jamie Smith 1:aac28ffd63ed 754 /**
Jamie Smith 1:aac28ffd63ed 755 * Erases the current SHTP packet buffer so new data can be written
Jamie Smith 1:aac28ffd63ed 756 */
Jamie Smith 1:aac28ffd63ed 757 void zeroBuffer();
Jamie Smith 1:aac28ffd63ed 758
Jamie Smith 1:aac28ffd63ed 759 /**
Jamie Smith 1:aac28ffd63ed 760 * Loads the metadata for this report into the metadata buffer.
Jamie Smith 1:aac28ffd63ed 761 * @param report
Jamie Smith 1:aac28ffd63ed 762 * @return Whether the operation succeeded.
Jamie Smith 1:aac28ffd63ed 763 */
Jamie Smith 1:aac28ffd63ed 764 bool loadReportMetadata(Report report);
Jamie Smith 1:aac28ffd63ed 765
Jamie Smith 1:aac28ffd63ed 766 };
Jamie Smith 1:aac28ffd63ed 767
Jamie Smith 1:aac28ffd63ed 768
Jamie Smith 1:aac28ffd63ed 769 #endif //HAMSTER_BNO080_H