Revision 1:b178e785986d, committed 2018-05-22

Comitter:

SES01

Date:

Tue May 22 11:29:05 2018 +0000

Parent:

0:a8e6e26ebe0f

Commit message:

test

Changed in this revision

diff -r a8e6e26ebe0f -r b178e785986d BNO055.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.cpp	Tue May 22 11:29:05 2018 +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(100000);
+    address = BNOAddress;
+    accel_scale = 1.0f;
+    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 = 1.0f;
+        }
+    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);
+        }
+}
\ No newline at end of file

diff -r a8e6e26ebe0f -r b178e785986d BNO055.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Tue May 22 11:29:05 2018 +0000
@@ -0,0 +1,280 @@
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+//
+#define BNOAddress (0x28 << 1)
+//Register definitions
+/* Page id register definition */ 
+#define BNO055_PAGE_ID_ADDR          0x07
+/* PAGE0 REGISTER DEFINITION START*/ 
+#define BNO055_CHIP_ID_ADDR          0x00 
+#define BNO055_ACCEL_REV_ID_ADDR     0x01
+#define BNO055_MAG_REV_ID_ADDR       0x02
+#define BNO055_GYRO_REV_ID_ADDR      0x03
+#define BNO055_SW_REV_ID_LSB_ADDR    0x04
+#define BNO055_SW_REV_ID_MSB_ADDR    0x05
+#define BNO055_BL_REV_ID_ADDR        0x06
+/* Accel data register */ 
+#define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
+#define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
+/* Mag data register */ 
+#define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
+#define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
+#define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
+#define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
+#define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
+#define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
+/* Gyro data registers */ 
+#define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
+#define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
+#define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
+#define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
+#define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
+#define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
+/* Euler data registers */ 
+#define BNO055_EULER_H_LSB_ADDR      0x1A
+#define BNO055_EULER_H_MSB_ADDR      0x1B
+#define BNO055_EULER_R_LSB_ADDR      0x1C
+#define BNO055_EULER_R_MSB_ADDR      0x1D
+#define BNO055_EULER_P_LSB_ADDR      0x1E
+#define BNO055_EULER_P_MSB_ADDR      0x1F
+/* Quaternion data registers */ 
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
+/* Linear acceleration data registers */ 
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
+/* Gravity data registers */ 
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
+/* Temperature data register */ 
+#define BNO055_TEMP_ADDR                    0x34 
+/* Status registers */ 
+#define BNO055_CALIB_STAT_ADDR              0x35 
+#define BNO055_SELFTEST_RESULT_ADDR         0x36 
+#define BNO055_INTR_STAT_ADDR               0x37 
+#define BNO055_SYS_CLK_STAT_ADDR            0x38 
+#define BNO055_SYS_STAT_ADDR                0x39 
+#define BNO055_SYS_ERR_ADDR                 0x3A 
+/* Unit selection register */ 
+#define BNO055_UNIT_SEL_ADDR                0x3B 
+#define BNO055_DATA_SELECT_ADDR             0x3C 
+/* Mode registers */ 
+#define BNO055_OPR_MODE_ADDR                0x3D 
+#define BNO055_PWR_MODE_ADDR                0x3E 
+#define BNO055_SYS_TRIGGER_ADDR             0x3F 
+#define BNO055_TEMP_SOURCE_ADDR             0x40 
+/* Axis remap registers */ 
+#define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
+#define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
+/* Accelerometer Offset registers */ 
+#define ACCEL_OFFSET_X_LSB_ADDR             0x55 
+#define ACCEL_OFFSET_X_MSB_ADDR             0x56 
+#define ACCEL_OFFSET_Y_LSB_ADDR             0x57
+#define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
+#define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
+#define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
+/* Magnetometer Offset registers */ 
+#define MAG_OFFSET_X_LSB_ADDR               0x5B
+#define MAG_OFFSET_X_MSB_ADDR               0x5C
+#define MAG_OFFSET_Y_LSB_ADDR               0x5D
+#define MAG_OFFSET_Y_MSB_ADDR               0x5E
+#define MAG_OFFSET_Z_LSB_ADDR               0x5F
+#define MAG_OFFSET_Z_MSB_ADDR               0x60
+/* Gyroscope Offset registers*/ 
+#define GYRO_OFFSET_X_LSB_ADDR              0x61
+#define GYRO_OFFSET_X_MSB_ADDR              0x62
+#define GYRO_OFFSET_Y_LSB_ADDR              0x63
+#define GYRO_OFFSET_Y_MSB_ADDR              0x64
+#define GYRO_OFFSET_Z_LSB_ADDR              0x65
+#define GYRO_OFFSET_Z_MSB_ADDR              0x66
+/* Radius registers */ 
+#define ACCEL_RADIUS_LSB_ADDR               0x67 
+#define ACCEL_RADIUS_MSB_ADDR               0x68 
+#define MAG_RADIUS_LSB_ADDR                 0x69 
+#define MAG_RADIUS_MSB_ADDR                 0x6A 
+
+/* Page 1 registers */
+#define BNO055_UNIQUE_ID_ADDR               0x50
+
+//Definitions for unit selection
+#define MPERSPERS   0x00
+#define MILLIG      0x01
+#define DEG_PER_SEC 0x00
+#define RAD_PER_SEC 0x02
+#define DEGREES     0x00
+#define RADIANS     0x04
+#define CENTIGRADE  0x00
+#define FAHRENHEIT  0x10
+#define WINDOWS     0x00
+#define ANDROID     0x80
+
+//Definitions for power mode
+#define POWER_MODE_NORMAL   0x00 
+#define POWER_MODE_LOWPOWER 0x01 
+#define POWER_MODE_SUSPEND  0x02 
+
+//Definitions for operating mode
+#define OPERATION_MODE_CONFIG        0x00 
+#define OPERATION_MODE_ACCONLY       0x01 
+#define OPERATION_MODE_MAGONLY       0x02 
+#define OPERATION_MODE_GYRONLY       0x03 
+#define OPERATION_MODE_ACCMAG        0x04 
+#define OPERATION_MODE_ACCGYRO       0x05 
+#define OPERATION_MODE_MAGGYRO       0x06 
+#define OPERATION_MODE_AMG           0x07 
+#define OPERATION_MODE_IMUPLUS       0x08 
+#define OPERATION_MODE_COMPASS       0x09 
+#define OPERATION_MODE_M4G           0x0A 
+#define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
+#define OPERATION_MODE_NDOF          0x0C 
+
+typedef struct values{
+    int16_t rawx,rawy,rawz;
+    float x,y,z;
+    }values;
+    
+typedef struct angles{
+    int16_t rawroll,rawpitch,rawyaw;
+    float roll, pitch, yaw;
+    } angles;
+    
+typedef struct quaternion{
+    int16_t raww,rawx,rawy,rawz;
+    float w,x,y,z;
+    }quaternion;
+
+typedef struct chip{
+    char id;
+    char accel;
+    char gyro;
+    char mag;
+    char sw[2];
+    char bootload;
+    char serial[16];
+    }chip;
+
+/** Class for operating Bosch BNO055 sensor over I2C **/
+class BNO055 
+{ 
+public: 
+
+/** Create BNO055 instance **/
+    BNO055(PinName SDA, PinName SCL); 
+    
+/** Perform a power-on reset of the BNO055 **/
+    void reset();
+/** Check that the BNO055 is connected and download the software details 
+and serial number of chip and store in ID structure **/
+    bool check();
+/** Turn the external timing crystal on/off **/
+    void SetExternalCrystal(bool yn);
+/** Set the operation mode of the sensor **/    
+    void setmode(char mode);
+/** Set the power mode of the sensor **/
+    void setpowermode(char mode);
+    
+/** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
+    void set_accel_units(char units);
+/** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
+    void set_anglerate_units(char units);
+/** Set the output units from the IMU, either DEGREES or RADIANS **/
+    void set_angle_units(char units);
+/** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
+    void set_temp_units(char units);
+/** Set the data output format to either WINDOWS or ANDROID **/    
+    void set_orientation(char units);
+/** Set the mapping of the exes/directions as per page 25 of datasheet
+    range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
+    void set_mapping(char orient);
+    
+/** Get the current values from the accelerometer **/
+    void get_accel(void);
+/** Get the current values from the gyroscope **/
+    void get_gyro(void);
+/** Get the current values from the magnetometer **/
+    void get_mag(void);
+/** Get the corrected linear acceleration **/
+    void get_lia(void);
+/** Get the current gravity vector **/
+    void get_grv(void);
+/** Get the output quaternion **/
+    void get_quat(void);
+/** Get the current Euler angles **/
+    void get_angles(void);
+/** Get the current temperature **/
+    void get_temp(void);
+
+/** Read the calibration status register and store the result in the calib variable **/
+    void get_calib(void);
+/** Read the offset and radius values into the calibration array**/
+    void read_calibration_data(void);
+/** Write the contents of the calibration array into the registers **/    
+    void write_calibration_data(void);
+    
+/** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
+    x,y,z are the scale floating point values and
+    rawx, rawy, rawz are the int16_t values read from the sensors **/
+    values accel,gyro,mag,lia,gravity;
+/** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
+    and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
+    angles euler;
+/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+    registers **/    
+    quaternion quat;
+
+/** Current contents of calibration status register **/
+    char calib;
+/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
+    char calibration[22];
+/** Structure containing sensor numbers, software version and chip UID **/
+    chip ID;
+/** Current temperature **/
+    int temperature;
+    
+    private:
+    
+        I2C _i2c;
+        char rx,tx[2],address;  //I2C variables
+        char rawdata[22]; //Temporary array for input data values
+        char op_mode;
+        char pwr_mode;
+        float accel_scale,rate_scale,angle_scale;
+        int temp_scale;
+        
+void readchar(char location){
+    tx[0] = location;
+    _i2c.write(address,tx,1,true);
+    _i2c.read(address,&rx,1,false);
+}
+
+void writechar(char location, char value){
+    tx[0] = location;
+    tx[1] = value;
+    _i2c.write(address,tx,2);
+}
+
+void setpage(char value){
+    writechar(BNO055_PAGE_ID_ADDR,value);
+}
+    };
+#endif
\ No newline at end of file

diff -r a8e6e26ebe0f -r b178e785986d BNO055.lib
--- a/BNO055.lib	Sun May 31 07:23:02 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/StressedDave/code/BNO055/#1db1628eb8b2

diff -r a8e6e26ebe0f -r b178e785986d main.cpp
--- a/main.cpp	Sun May 31 07:23:02 2015 +0000
+++ b/main.cpp	Tue May 22 11:29:05 2018 +0000
@@ -1,40 +1,356 @@
 #include "mbed.h"
+#include <math.h>
+
 #include "BNO055.h"
 
+#define DIGITS 8
+//円周率
+#define PI 3.14159265358979
+//モータードライバ
+#define HF_MOTRE 0x01
+#define HB_MOTRE 0x02
+#define MF_MOTRE 0x03
+#define MB_MOTRE 0x04
+#define ARM_UD 0x05
+#define ARM_OC 0x06
+#define RERAY 0x07
+#define R1          0x0A
+//モータードライバへの命令
+#define STOP 0
+#define CW 1
+#define CCW -1
+#define bSTOP 10
+#define bCW 11
+#define bCCW -11
+
+#define sCW 21
+#define sCCW -21
+#define shCW 31
+#define shCCW -31
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+//DigitalOut ledx(LED4);
+Serial serial(P0_15, P0_1);
+Serial s485(P0_26, P0_16);
+DigitalOut DE(P0_27);
+
+AnalogIn test(P0_4);
+
+//Serial serial2(p28, p27);
+I2C md_i2c_tx(P0_11, P0_10);
+Ticker timer;
 Serial pc(USBTX, USBRX);
-BNO055 imu(I2C_SDA,I2C_SCL);
-DigitalOut led(LED1);
+
+BNO055 imu(dp15, dp25);
+double yaw, roll, pitch;
+
+
+int cnt_now = -1;
+volatile unsigned char dualshock_cmd_getflag = 0;
+volatile unsigned char dualshock_data[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number = 0;
+
+uint16_t cnt1 = 0;
+volatile unsigned char dualshock_cmd_getflag1 = 0;
+volatile unsigned char dualshock_data1[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number1 = 0;
+
+uint16_t cnt2 = 0;
+volatile unsigned char dualshock_cmd_getflag2 = 0;
+volatile unsigned char dualshock_data2[9] = {0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80};
+volatile unsigned char dualshock_data_number2 = 0;
+char str[20];
+char usart_rx = 0;
+double lx, ly, lraw_rad, lclearance, ldistance, langle;
+double rx, ry, rraw_rad, rclearance, rdistance, rangle;
+
+void cv2bin( unsigned char n ) {
+    int i;
+
+    for( i = DIGITS-1; i >= 0; i-- ) {
+        printf( "%d", ( n >> i ) & 1 );
+    }
+    printf( "\n" );
+}
+
+void joy_cal() {
+    //以下ジョイスティック計算
+    rx = -(128-dualshock_data[3])*2;
+    ry = (128-dualshock_data[4])*2;
+    if (rx >= 255) rx = 255;
+    if (rx <= -255) rx = -255;
+    if (ry >= 255) ry = 255;
+    if (ry <= -255) ry = -255;
+    rraw_rad = atan2(ry, rx)/PI;
+    rdistance = hypot(rx, ry) - rclearance;
+    rdistance *= (255 / (255 - rclearance));
+    if (rdistance < 0) rdistance = 0;
+    if (rdistance >= 255) rdistance = 255;
+    rangle = (rraw_rad < 0 ? 2 + rraw_rad : rraw_rad) * 180;
+    rangle = rdistance == 0 ? 0 : rangle;
+
+    if (rx > 0) {
+        rx -= rclearance;
+        if (rx < 0) rx = 0;
+    } else if (rx < 0) {
+        rx += rclearance;
+        if (rx > 0) rx = 0;
+    }
+    rx *= (255 / (255 - rclearance));
+    
+    lx = -(128-dualshock_data[5])*2;
+    ly = (128-dualshock_data[6])*2;
+    if (lx >= 255) lx = 255;
+    if (lx <= -255) lx = -255;
+    if (ly >= 255) ly = 255;
+    if (ly <= -255) ly = -255;
+    lraw_rad = atan2(ly, lx)/PI;
+    ldistance = hypot(lx, ly) - lclearance;
+    ldistance *= (255 / (255 - lclearance));
+    if (ldistance < 0) ldistance = 0;
+    if (ldistance >= 255) ldistance = 255;
+    langle = (lraw_rad < 0 ? 2 + lraw_rad : lraw_rad) * 180;
+    langle = ldistance == 0 ? 0 : langle;
+}
+
+//タイマ割り込み
+void time() {
+    
+    if (dualshock_cmd_getflag & 0x02) {
+        dualshock_cmd_getflag = 0;
+        dualshock_data[1] = 0x00;
+        dualshock_data[2] = 0x00;
+        dualshock_data[3] = 0x80;
+        dualshock_data[4] = 0x80;
+        dualshock_data[5] = 0x80;
+        dualshock_data[6] = 0x80;
+        led2 = 0;
+    }
+    else
+        dualshock_cmd_getflag |= 0x02;
+}
+
+
+void usart(){
+    unsigned char rxdata;
+
+    rxdata = serial.getc();
+    serial.putc(dualshock_data_number);
+    if (dualshock_data_number == 0 && rxdata == 'S')
+        dualshock_data_number++;
+    else if(dualshock_data_number >= 1 && dualshock_data_number <= 6) {
+        if (dualshock_data_number <= 2)
+            dualshock_data[dualshock_data_number] = ~rxdata;
+        else
+            dualshock_data[dualshock_data_number] = rxdata;
+        dualshock_data_number++;
+    }
+    else if (dualshock_data_number == 7 && rxdata == 'E') {
+        dualshock_cmd_getflag = 0x01;
+        dualshock_data_number = 0;
+        led2 = 1;
+        joy_cal();
+    }
+    //ledx = !ledx;
+}
+
+void ics() {
+    wait_ms(1);
+    led3 = 0;
+    //EN_IN = 0;
+}
+
+
+//i2c通信
+void md_setoutput(unsigned char address, int rotate, int duty) {
+    char val;
+    char data[2];
+
+        /* H30新型：処理最適化 */
+        switch (rotate) {
+            case CW:    data[0] = 'F'; break;// 電圧比例制御モード（PWMがLの区間はフリー）
+            case CCW:   data[0] = 'R'; break;
+            case STOP:  data[0] = 'S'; break;
+
+            case bCW:   data[0] = 'f'; break; // 電圧比例制御モード（PWMがLの区間はブレーキ）
+            case bCCW:  data[0] = 'r'; break;
+            case bSTOP: data[0] = 's'; break;
+            
+            case sCW:   data[0] = 'A'; break; // 速度比例制御モード
+            case sCCW:  data[0] = 'B'; break;
+            
+            case shCW:   data[0] = 'a'; break; // 速度比例制御モード（命令パケット最上位ビットに指令値9ビット目を入れることで分解能2倍）
+            case shCCW:  data[0] = 'b'; break;
+        }
+            
+    data[1] = duty & 0xFF;
+    
+    val = md_i2c_tx.write(address << 1, data, 2); //duty送信
+}
+
+void set_pos(int id, float angle) {
+    float pos = 0;
+    int data = 0; //3500～11500
+    angle += 135;
+    pos = (8000 / 270) * angle;
+    data = (int)(pos > 0.5 ? pos + 0.5 : pos - 0.5);
+    data += 3500;
+    
+    //int CMD = 0b10000000 + id;
+    //char pos_H = (uint16_t)((data & 0b11111110000000) >> 7);
+    //char pos_L = (uint16_t)(data & 0b00000001111111);
+    
+
+    led3 = 1;
+    //EN_IN = 1;
+    //servo.putc(CMD);
+    //servo.putc(pos_H);
+    //servo.putc(pos_L);
+}
 
 int main() {
-    pc.baud(115200);
-    pc.printf("BNO055 Hello World\r\n\r\n");
-    led = 1;
-// Reset the BNO055
+    wait_ms(10);
+    unsigned char stick_gain = 4;
+    //led1 = 1;
+    led2 = 0;
+    led3 = 0;
+    //ledx = 1;
+    serial.baud(19200);//シリアル通信
+    s485.baud(19200);
+
+
+    //serial2.baud(19200);//シリアル通信
+    pc.baud(230400);
+
+    md_i2c_tx.frequency(20000000UL/(16 + 2 * 2 * 16)/2);//I2C通信
+    timer.attach_us(time, 100000); //タイマ割り込み
+    serial.attach(&usart, Serial::RxIrq); //受信割り込み
+    //serial2.attach(&usart2, Serial::RxIrq); //受信割り込み
+
+    //EN_IN = 0;
+    //servo.baud(115200);
+    //servo.format(8, Serial::Even, 1);
+    //servo.attach(&ics, Serial::TxIrq);
+
+    
     imu.reset();
-// Check that the BNO055 is connected and flash LED if not
-    if (!imu.check())
-        while (true){
-            led = !led;
-            wait(0.1);
+    imu.check();
+
+
+    // テスト用回転モード切り替え記録
+    int Mcw = CW;
+    int Mccw = CCW;
+    int Mstop = STOP;
+    
+    lclearance = 60; //平行移動
+    rclearance = 90; //旋回
+    float power_up = 0;
+    while (1) {
+        DE = 1;
+        s485.printf("S");
+        //DE = 0;
+        //led1 = EMS_STATE;
+        //set_pos(0, -65);
+        //CS = 0;
+        //isoSPI.write(165);
+        //CS = 1;
+        /********************以下速度アップ処理********************/
+        if (dualshock_data[2] & 0x04) power_up = 1;
+        else power_up = 0.8;
+        /********************以下メカナムメイン処理********************/
+        if (rx > 0) {
+            ////////////////////頭を右方向に旋回
+            md_setoutput(HF_MOTRE,Mcw,rx*power_up);
+            md_setoutput(HB_MOTRE,Mcw,rx*power_up);
+            md_setoutput(MF_MOTRE,Mcw,rx*power_up);
+            md_setoutput(MB_MOTRE,Mcw,rx*power_up);
+        } else if (rx < 0) {
+            ////////////////////頭を左方向に旋回
+            md_setoutput(HF_MOTRE,Mccw,-rx*power_up);
+            md_setoutput(HB_MOTRE,Mccw,-rx*power_up);
+            md_setoutput(MF_MOTRE,Mccw,-rx*power_up);
+            md_setoutput(MB_MOTRE,Mccw,-rx*power_up);
+        } else {
+            ////////////////////旋回をしない場合平行移動を行う
+            //
+            if ((ldistance != 0) && ((langle < 45) || (langle >= 315))){ //右
+                md_setoutput(HF_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(HB_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(MF_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(MB_MOTRE,Mccw,ldistance*power_up);
+            } else if ((ldistance != 0) && (langle < 135)) { //前
+                md_setoutput(HF_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(HB_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(MF_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(MB_MOTRE,Mcw,ldistance*power_up);
+            } else if ((ldistance != 0) && (langle < 225)) { //左
+                md_setoutput(HF_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(HB_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(MF_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(MB_MOTRE,Mcw,ldistance*power_up);
+            } else if ((ldistance != 0) && (langle < 315)) { //後
+                md_setoutput(HF_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(HB_MOTRE,Mccw,ldistance*power_up);
+                md_setoutput(MF_MOTRE,Mcw,ldistance*power_up);
+                md_setoutput(MB_MOTRE,Mccw,ldistance*power_up);
+            } else { //停止
+                md_setoutput(HF_MOTRE,Mstop,0);
+                md_setoutput(HB_MOTRE,Mstop,0);
+                md_setoutput(MF_MOTRE,Mstop,0);
+                md_setoutput(MB_MOTRE,Mstop,0);
             }
-// Display sensor information
-    pc.printf("BNO055 found\r\n\r\n");
-    pc.printf("Chip          ID: %0z\r\n",imu.ID.id);
-    pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
-    pc.printf("Gyroscope     ID: %0z\r\n",imu.ID.gyro);
-    pc.printf("Magnetometer  ID: %0z\r\n\r\n",imu.ID.mag);
-    pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
-    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
-// Display chip serial number
-    for (int i = 0; i<4; i++){
-        pc.printf("%0z.%0z.%0z.%0z\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
+        }
+
+        /* 回転モード設定（テスト用） */
+        if (dualshock_data[2] & 0x40) { //通常フリー
+            Mcw = CW;
+            Mccw = CCW;
+            Mstop = STOP;
+            led1 = 0;
+        } else if (dualshock_data[2] & 0x20) { //通常ブレーキ
+            Mcw = bCW;
+            Mccw = bCCW;
+            Mstop = bSTOP;
+            led1 = 1;
+        } else if (dualshock_data[2] & 0x10) { //速調
+            Mcw = sCW;
+            Mccw = sCCW;
+            Mstop = bSTOP;
+            led1 = 1;
+        }
+        {
+            imu.setmode(OPERATION_MODE_IMUPLUS);
+            imu.get_calib();
+            imu.get_angles();
+            imu.get_quat();
+        
+            double q1, q2, q3, q4;
+            q1 = imu.quat.w;
+            q2 = imu.quat.x;
+            q3 = imu.quat.y;
+            q4 = imu.quat.z;
+
+            double q3q3 = q3 * q3;
+  
+            double m1 = +2.0 * (q1 * q2 + q3 * q4);
+            double m2 = +1.0 - 2.0 * (q2 * q2 + q3q3);
+            //roll = atan2(m1, m2) * 57.2957795131;
+
+            m1 = +2.0 * (q1 * q3 - q4 * q2);
+            m1 = (m1 > 1.0)? 1.0 : m1;
+            m1 = (m1 < -1.0)? -1.0 : m1;
+            //pitch = asin(m1) * 57.2957795131;
+  
+            m1 = +2.0 * (q1 * q4 + q2 * q3);
+            m2 = +1.0 - 2.0 * (q3q3 + q4 * q4);
+            //yaw = atan2(m1, m2) * 57.2957795131;
+        
+            //pc.printf("yaw\t = %05d, roll\t = %05d, pitch\t = %05d\r\n", (int)yaw, (int)roll, (int)pitch);
+            pc.printf("%05d\r\n", test.read_u16());
+        }
+        
+        wait_ms(10);
     }
-    pc.printf("\r\n");
-    while (true) {
-        imu.setmode(OPERATION_MODE_NDOF);
-        imu.get_calib();
-        imu.get_angles();
-        pc.printf("%0z %5.1d %5.1d %5.1d\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
-        wait(1.0);
-    }
-}
+}
\ No newline at end of file