Added BNO080Wheelchair.h
Dependents: BNO080_program wheelchaircontrol8 Version1-9 BNO080_program
BNO080.h
- Committer:
- MultipleMonomials
- Date:
- 2018-12-23
- Revision:
- 0:f677e13975d0
- Child:
- 1:aac28ffd63ed
File content as of revision 0:f677e13975d0:
/* * This is USC RPL's ARM MBed BNO080 IMU driver, by Jamie Smith. * * It is based on SparkFun and Nathan Seidle's Arduino driver for this chip, but is substantially rewritten and adapted. * It also supports some extra features, such as setting the mounting orientation and * enabling some additional data reports. * * This driver uses no dynamic allocation, but does allocate a couple hundred bytes of class variables as buffers. * This should allow you to monitor its memory usage using MBed's size printout. * * The BNO080 is a very complex chip; it's capable of monitoring and controlling other sensors and making * intelligent decisions and calculations using its data. Accordingly, the protocol for communicating with it * is quite complex, and it took me quite a while to wrap my head around it. If you need to modify or debug * this driver, look at the CPP file for an overview of the chip's communication protocol. * * Note: this driver only supports I2C. I attempted to create an SPI version, but as far as I can tell, * the BNO's SPI interface has a bug that causes you to be unable to wake the chip from sleep in some conditions. * Until this is fixed, SPI on it is virtually unusable. */ #ifndef HAMSTER_BNO080_H #define HAMSTER_BNO080_H #include <mbed.h> #include <quaternion.h> #include "BNO080Constants.h" class BNO080 { /** * Serial stream to print debug info to. Used for errors, and debugging output if debugging is enabled. */ Serial * _debugPort; /** * I2C port object */ I2C _i2cPort; /// user defined port speed int _i2cPortSpeed; /// i2c address of IMU (7 bits) uint8_t _i2cAddress; DigitalIn _int; DigitalOut _rst; DigitalOut _scope; // packet storage //----------------------------------------------------------------------------------------------------------------- #define SHTP_HEADER_SIZE 4 #define STORED_PACKET_SIZE 128 /// Each packet has a header of 4 uint8_ts uint8_t shtpHeader[SHTP_HEADER_SIZE]; /// Stores data contained in each packet. Packets can contain an arbitrary amount of data, but we shouldn't need to read more than a few hundred bytes of them. /// The only long packets we actually care about are batched sensor data packets, and with how this driver handles batching, we *should* only have to deal /// with at most 9 reports at a time = ~90 bytes + a few bytes of padding uint8_t shtpData[STORED_PACKET_SIZE]; /// Length of packet that was received into buffer. Does NOT include header bytes. uint16_t packetLength; /// There are 6 com channels. Each channel has its own seqnum uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0}; /// Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel uint8_t commandSequenceNumber = 0; // data storage //----------------------------------------------------------------------------------------------------------------- // 1 larger than the largest sensor report ID #define STATUS_ARRAY_LEN 0x1A /// stores status of each sensor, indexed by report ID uint8_t reportStatus[STATUS_ARRAY_LEN] = {}; public: /// List of all sensor reports that the IMU supports. enum class Report : uint8_t { /** * Total acceleration of the IMU in world space. * See BNO datasheet section 2.1.1 */ TOTAL_ACCELERATION = SENSOR_REPORTID_ACCELEROMETER, /** * Acceleration of the IMU not including the acceleration of gravity. * See BNO datasheet section 2.1.1 */ LINEAR_ACCELERATION = SENSOR_REPORTID_LINEAR_ACCELERATION, /** * Acceleration of gravity felt by the IMU. * See BNO datasheet section 2.1.1 */ GRAVITY_ACCELERATION = SENSOR_REPORTID_GRAVITY, /** * (calibrated) gyroscope reading of the rotational speed of the IMU. * See BNO datasheet section 2.1.2 */ GYROSCOPE = SENSOR_REPORTID_GYROSCOPE_CALIBRATED, /** * (calibrated) reading of magnetic field levels. * See BNO datasheet section 2.1.3 */ MAG_FIELD = SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED, /** * Fused reading of the IMU's rotation in space using all three sensors. This is the most accurate reading * of absolute orientation that the IMU can provide. * See BNO datasheet section 2.2.4 */ ROTATION = SENSOR_REPORTID_ROTATION_VECTOR, /** * Fused reading of rotation from accelerometer and magnetometer readings. This report is designed to decrease * power consumption (by turning off the gyroscope) in exchange for reduced responsiveness. */ GEOMAGNETIC_ROTATION = SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR, /** * Fused reading of the IMU's rotation in space. Unlike the regular rotation vector, the Game Rotation Vector * is not referenced against the magnetic field and the "zero yaw" point is arbitrary. * See BNO datasheet section 2.2.2 */ GAME_ROTATION = SENSOR_REPORTID_GAME_ROTATION_VECTOR, /** * Detects a user tapping on the device containing the IMU. * See BNO datasheet section 2.4.2 */ TAP_DETECTOR = SENSOR_REPORTID_TAP_DETECTOR, /** * Detects whether the device is on a table, being held stably, or being moved. * See BNO datasheet section 2.4.1 */ STABILITY_CLASSIFIER = SENSOR_REPORTID_STABILITY_CLASSIFIER, /** * Detects a user taking a step with the IMU worn on their person. * See BNO datasheet section 2.4.3 */ STEP_DETECTOR = SENSOR_REPORTID_STEP_DETECTOR, /** * Detects how many steps a user has taken. * See BNO datasheet section 2.4.4 */ STEP_COUNTER = SENSOR_REPORTID_STEP_COUNTER, /** * Detects when the IMU has made a "significant" motion, defined as moving a few steps and/or accelerating significantly. * See BNO datasheet section 2.4.6 */ SIGNIFICANT_MOTION = SENSOR_REPORTID_SIGNIFICANT_MOTION, /** * Detects when the IMU is being shaken. * See BNO datasheet section 2.4.7 */ SHAKE_DETECTOR = SENSOR_REPORTID_SHAKE_DETECTOR }; // data variables to read reports from //----------------------------------------------------------------------------------------------------------------- // @{ /// Version info read from the IMU when it starts up uint8_t majorSoftwareVersion; uint8_t minorSoftwareVersion; uint16_t patchSoftwareVersion; uint32_t partNumber; uint32_t buildNumber; // @} /** * Readout from Accleration report. * Represents total acceleration in m/s^2 felt by the BNO's accelerometer. */ TVector3 totalAcceleration; /** * Readout from Linear Acceleration report. * Represents acceleration felt in m/s^2 by the BNO's accelerometer not including the force of gravity. */ TVector3 linearAcceleration; /** * Readout from Gravity report. * Represents the force of gravity in m/s^2 felt by the BNO's accelerometer. */ TVector3 gravityAcceleration; /** * Readout from Calibrated Gyroscope report * Represents the angular velocities of the chip in rad/s in the X, Y, and Z axes */ TVector3 gyroRotation; /** * Readout from the Magnetic Field Calibrated report. * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes */ TVector3 magField; /** * Readout from the Rotation Vector report. * Represents the rotation of the IMU (relative to magnetic north) in radians. */ Quaternion rotationVector; /** * Auxillary accuracy readout from the Rotation Vector report. * Represents the estimated accuracy of the rotation vector in radians. */ float rotationAccuracy; /** * Readout from the Game Rotation Vector report. * Represents the rotation of the IMU in radians. Unlike the regular rotation vector, the Game Rotation Vector * is not referenced against the magnetic field and the "zero yaw" point is arbitrary. */ Quaternion gameRotationVector; /** * Readout from the Geomagnetic Rotation Vector report. * Represents the geomagnetic rotation of the IMU (relative to magnetic north) in radians. */ Quaternion geomagneticRotationVector; /** * Auxillary accuracy readout from the Geomagnetic Rotation Vector report. * Represents the estimated accuracy of the rotation vector in radians. */ float geomagneticRotationAccuracy; /** * Tap readout from the Tap Detector report. This flag is set to true whenever a tap is detected, and you should * manually clear it when you have processed the tap. */ bool tapDetected; /** * Whether the last tap detected was a single or double tap. */ bool doubleTap; // Management functions //----------------------------------------------------------------------------------------------------------------- /** * Construct a BNO080, providing pins and parameters. * * NOTE: while some schematics tell you to connect the BOOTN and WAKEN pins to the processor, this driver does not use or require them. * Just tie them both to VCC per the datasheet. * * @param debugPort Serial port to write output to. Cannot be nullptr. * @param user_SDApin Hardware SPI MOSI pin * @param user_SCLpin Hardware SPI MISO pin * @param user_SCLKPin Hardware SPI SCLK pin * @param user_CSPin SPI CS pin. Can be any IO pin, no restrictions. * @param user_INTPin Input pin connected to HINTN * @param user_RSTPin Output pin connected to NRST * @param i2cPortSpeed SPI frequency. The BNO's max is 3Mhz, we default to 300Khz for safety. */ BNO080(Serial *debugPort, PinName user_SDApin, PinName user_SCLpin, PinName user_INTPin, PinName user_RSTPin, uint8_t i2cAddress=0x4a, int i2cPortSpeed=400000); /** * Resets and connects to the IMU. * * If this function is failing, it would be a good idea to turn on BNO_DEBUG in the cpp file to get detailed output * * @return whether or not initialization was successful */ bool begin(); /** * Tells the IMU to use its current rotation vector as the "zero" rotation vector and to reorient * all outputs accordingly. * * @param zOnly If true, only the rotation about the Z axis (the heading) will be tared. */ void tare(bool zOnly = false); /** * Tells the IMU to begin a dynamic sensor calibration. To calibrate the IMU, call this function and move * the IMU according to the instructions in the "BNO080 Sensor Calibration Procedure" app note * (http://www.hillcrestlabs.com/download/59de9014566d0727bd002ae7). * * To tell when the calibration is complete, look at the status bits for Game Rotation Vector (for accel and gyro) * and Magnetic Field (for the magnetometer). * * The gyro and accelerometer should only need to be calibrated once, but the magnetometer will need to be recalibrated * every time the orientation of ferrous metals around the IMU changes (e.g. when it is put into a new enclosure). * * The new calibration will not be saved in flash until you call saveCalibration(). * * @param calibrateAccel Whether to calibrate the accelerometer. * @param calibrateGyro Whether to calibrate the gyro. * @param calibrateMag Whether to calibrate the magnetometer. */ void startCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag); /** * Saves the calibration started with startCalibration() and ends the calibration. * You will want to call this once the status bits read as "accuracy high". * * WARNING: if you paid for a factory calibrated IMU, then this WILL OVERWRITE THE FACTORY CALIBRATION in whatever sensors * are being calibrated. Use with caution! */ void saveCalibration(); // Report functions //----------------------------------------------------------------------------------------------------------------- /** * Checks for new data packets queued on the IMU. * If there are packets queued, receives all of them and updates * the class variables with the results. * * @return true iff new data was received */ bool updateData(); /** * Gets the status of a report as a 2 bit number. * per SH-2 section 6.5.1, this is interpreted as: <br> * 0 - unreliable <br> * 1 - accuracy low <br> * 2 - accuracy medium <br> * 3 - accuracy high <br> * of course, these are only updated if a given report is enabled. * @param report * @return */ uint8_t getReportStatus(Report report); /** * Enable a data report from the IMU. Look at the comments above to see what the reports do. * * @param timeBetweenReports time in milliseconds between data updates. */ void enableReport(Report report, uint16_t timeBetweenReports); private: // internal utility functions //----------------------------------------------------------------------------------------------------------------- /** * Processes the packet currently stored in the buffer, and updates class variables to reflect the data it contains */ void processPacket(); /** * Processes the sensor data packet currently stored in the buffer. * Only called from processPacket() */ void parseSensorDataPacket(); /** * Call to wait for a packet with the given parameters to come in. * * @param channel Channel of the packet * @param reportID Report ID (first data byte) of the packet * @param timeout how long to wait for the packet * @return true if the packet has been received, false if it timed out */ bool waitForPacket(int channel, uint8_t reportID, float timeout = .125f); /** * Given a Q value, converts fixed point floating to regular floating point number. * @param fixedPointValue * @param qPoint * @return */ float qToFloat(int16_t fixedPointValue, uint8_t qPoint); /** * Given a floating point value and a Q point, convert to Q * See https://en.wikipedia.org/wiki/Q_(number_format) * @param qFloat * @param qPoint * @return */ int16_t floatToQ(float qFloat, uint8_t qPoint); /** * Tell the sensor to do a command. * See SH-2 Reference Manual section 6.3.8 page 42, Command request * The caller is expected to set shtpData 3 though 11 prior to calling */ void sendCommand(uint8_t command); /** * Given a sensor's report ID, this tells the BNO080 to begin reporting the values. * * @param reportID * @param timeBetweenReports * @param specificConfig the specific config word. Useful for personal activity classifier. */ void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig = 0); /** * Reads a packet from the IMU and stores it in the class variables. * * @param timeout how long to wait for there to be a packet * * @return whether a packet was recieved. */ bool receivePacket(float timeout=.2f); /** * Sends the current shtpData contents to the BNO. It's a good idea to disable interrupts before you call this. * * @param channelNumber the channel to send on * @param dataLength How many bits of shtpData to send * @return */ bool sendPacket(uint8_t channelNumber, uint8_t dataLength); /** * Prints the current shtp packet stored in the buffer. * @param length */ void printPacket(); /** * Erases the current SHTP packet buffer so new data can be written */ void zeroBuffer(); }; #endif //HAMSTER_BNO080_H