PQ_Hybrid_Electrical_Equipment_Team / BNO055_lib

クオータニオンを出力してくれる9軸センサ，BNO055のライブラリ

Dependents:   SWAN_IZU2019_v1

BNO055_lib.h@0:4c82133c291f, 2019-01-22 (annotated)

Committer:
Sigma884
Date:
Tue Jan 22 11:47:28 2019 +0000
Revision:
0:4c82133c291f
Child:
1:6de1be86a23f
minimum function was mounted

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sigma884 0:4c82133c291f 1 #ifndef BNO055_LIB_
Sigma884 0:4c82133c291f 2 #define BNO055_LIB_
Sigma884 0:4c82133c291f 3
Sigma884 0:4c82133c291f 4 #define BNO055_ADDR_LOW 0x28
Sigma884 0:4c82133c291f 5 #define BNO055_ADDR_HIGH 0x29
Sigma884 0:4c82133c291f 6
Sigma884 0:4c82133c291f 7 #define BNO055_CHIP_ID 0x00
Sigma884 0:4c82133c291f 8 #define BNO055_PAGE_ID 0x07
Sigma884 0:4c82133c291f 9
Sigma884 0:4c82133c291f 10 ///////////////////////PAGE 0
Sigma884 0:4c82133c291f 11 #define BNO055_ACC_DATA 0x08
Sigma884 0:4c82133c291f 12 #define BNO055_MAG_DATA 0x0E
Sigma884 0:4c82133c291f 13 #define BNO055_GYR_DATA 0x14
Sigma884 0:4c82133c291f 14 #define BNO055_EUL_DATA 0x1A
Sigma884 0:4c82133c291f 15 #define BNO055_QUA_DATA 0x20
Sigma884 0:4c82133c291f 16 #define BNO055_LIA_DATA 0x28
Sigma884 0:4c82133c291f 17 #define BNO055_GRV_DATA 0x2E
Sigma884 0:4c82133c291f 18
Sigma884 0:4c82133c291f 19 #define BNO055_CALIB_STAT 0x35
Sigma884 0:4c82133c291f 20
Sigma884 0:4c82133c291f 21 #define BNO055_OPR_MODE 0x3D
Sigma884 0:4c82133c291f 22 #define BNO055_PWR_MODE 0x3E
Sigma884 0:4c82133c291f 23
Sigma884 0:4c82133c291f 24 ///////////////////////PAGE 1
Sigma884 0:4c82133c291f 25 #define BNO055_ACC_CONFIG 0x08
Sigma884 0:4c82133c291f 26
Sigma884 0:4c82133c291f 27 class BNO055_lib{
Sigma884 0:4c82133c291f 28
Sigma884 0:4c82133c291f 29 public:
Sigma884 0:4c82133c291f 30
Sigma884 0:4c82133c291f 31 typedef enum{
Sigma884 0:4c82133c291f 32 AD0_LOW = BNO055_ADDR_LOW,
Sigma884 0:4c82133c291f 33 AD0_HIGH = BNO055_ADDR_HIGH
Sigma884 0:4c82133c291f 34 }AD0;
Sigma884 0:4c82133c291f 35
Sigma884 0:4c82133c291f 36 typedef enum{
Sigma884 0:4c82133c291f 37 _2G = 0x00,
Sigma884 0:4c82133c291f 38 _4G = 0x01,
Sigma884 0:4c82133c291f 39 _8G = 0x02,
Sigma884 0:4c82133c291f 40 _16G = 0x03
Sigma884 0:4c82133c291f 41 }ACC_RANGE;
Sigma884 0:4c82133c291f 42
Sigma884 0:4c82133c291f 43 typedef enum{
Sigma884 0:4c82133c291f 44 CONFIG = 0x00,
Sigma884 0:4c82133c291f 45 ACCONLY = 0x01,
Sigma884 0:4c82133c291f 46 MAGONLY = 0x02,
Sigma884 0:4c82133c291f 47 GYROONLY = 0x03,
Sigma884 0:4c82133c291f 48 ACCMAG = 0x04,
Sigma884 0:4c82133c291f 49 ACCGYRO = 0x05,
Sigma884 0:4c82133c291f 50 MAGGYRO = 0x06,
Sigma884 0:4c82133c291f 51 AMG = 0x07,
Sigma884 0:4c82133c291f 52 IMU = 0x08,
Sigma884 0:4c82133c291f 53 COMPASS = 0x09,
Sigma884 0:4c82133c291f 54 M4G = 0x0A,
Sigma884 0:4c82133c291f 55 NDOF_FMC_OFF = 0x0B,
Sigma884 0:4c82133c291f 56 NDOF = 0x0C
Sigma884 0:4c82133c291f 57 }OPERATION_MODE;
Sigma884 0:4c82133c291f 58
Sigma884 0:4c82133c291f 59 BNO055_lib(I2C &user_i2c, AD0 ad0);
Sigma884 0:4c82133c291f 60 int connectCheck();
Sigma884 0:4c82133c291f 61 void setAccRange(ACC_RANGE range);
Sigma884 0:4c82133c291f 62 void setOperationMode(OPERATION_MODE mode);
Sigma884 0:4c82133c291f 63
Sigma884 0:4c82133c291f 64 void getAcc(float *acc);
Sigma884 0:4c82133c291f 65 void getAcc(double *acc);
Sigma884 0:4c82133c291f 66 void getMag(float *mag);
Sigma884 0:4c82133c291f 67 void getMag(double *mag);
Sigma884 0:4c82133c291f 68 void getGyro(float *gyro);
Sigma884 0:4c82133c291f 69 void getGyro(double *gyro);
Sigma884 0:4c82133c291f 70 void getAMG(float *amg);
Sigma884 0:4c82133c291f 71 void getAMG(double *amg);
Sigma884 0:4c82133c291f 72
Sigma884 0:4c82133c291f 73 void getEuler(float *euler);
Sigma884 0:4c82133c291f 74 void getEuler(double *euler);
Sigma884 0:4c82133c291f 75 void getQuart(float *quart);
Sigma884 0:4c82133c291f 76 void getQuart(double *quart);
Sigma884 0:4c82133c291f 77 void getEulerFromQ(float *euler);
Sigma884 0:4c82133c291f 78 void getEulerFromQ(double *euler);
Sigma884 0:4c82133c291f 79 void getLinearAcc(float *lia);
Sigma884 0:4c82133c291f 80 void getLinearAcc(double *lia);
Sigma884 0:4c82133c291f 81 void getGravity(float *grv);
Sigma884 0:4c82133c291f 82 void getGravity(double *grv);
Sigma884 0:4c82133c291f 83
Sigma884 0:4c82133c291f 84
Sigma884 0:4c82133c291f 85 private:
Sigma884 0:4c82133c291f 86
Sigma884 0:4c82133c291f 87 char slave;
Sigma884 0:4c82133c291f 88 I2C *i2c;
Sigma884 0:4c82133c291f 89
Sigma884 0:4c82133c291f 90 char cmd[2];
Sigma884 0:4c82133c291f 91 char buff[18];
Sigma884 0:4c82133c291f 92 short data[4];
Sigma884 0:4c82133c291f 93
Sigma884 0:4c82133c291f 94 double data_d[4];
Sigma884 0:4c82133c291f 95 double t0, t1, yy;
Sigma884 0:4c82133c291f 96 };
Sigma884 0:4c82133c291f 97
Sigma884 0:4c82133c291f 98
Sigma884 0:4c82133c291f 99 #endif