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@1:6de1be86a23f, 2019-02-19 (annotated)

Committer:
Sigma884
Date:
Tue Feb 19 14:57:28 2019 +0000
Revision:
1:6de1be86a23f
Parent:
0:4c82133c291f 
MODE -> BNO_MODE

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 1:6de1be86a23f 4 /*******************************************************************************
Sigma884 1:6de1be86a23f 5 付け加える予定の機能（未実装）
Sigma884 1:6de1be86a23f 6 ・単位の変更
Sigma884 1:6de1be86a23f 7 ・オフセットの回り
Sigma884 1:6de1be86a23f 8 *******************************************************************************/
Sigma884 1:6de1be86a23f 9
Sigma884 0:4c82133c291f 10 #define BNO055_ADDR_LOW 0x28
Sigma884 0:4c82133c291f 11 #define BNO055_ADDR_HIGH 0x29
Sigma884 0:4c82133c291f 12
Sigma884 0:4c82133c291f 13 #define BNO055_CHIP_ID 0x00
Sigma884 0:4c82133c291f 14 #define BNO055_PAGE_ID 0x07
Sigma884 0:4c82133c291f 15
Sigma884 0:4c82133c291f 16 ///////////////////////PAGE 0
Sigma884 0:4c82133c291f 17 #define BNO055_ACC_DATA 0x08
Sigma884 0:4c82133c291f 18 #define BNO055_MAG_DATA 0x0E
Sigma884 0:4c82133c291f 19 #define BNO055_GYR_DATA 0x14
Sigma884 0:4c82133c291f 20 #define BNO055_EUL_DATA 0x1A
Sigma884 0:4c82133c291f 21 #define BNO055_QUA_DATA 0x20
Sigma884 0:4c82133c291f 22 #define BNO055_LIA_DATA 0x28
Sigma884 0:4c82133c291f 23 #define BNO055_GRV_DATA 0x2E
Sigma884 0:4c82133c291f 24
Sigma884 0:4c82133c291f 25 #define BNO055_CALIB_STAT 0x35
Sigma884 0:4c82133c291f 26
Sigma884 0:4c82133c291f 27 #define BNO055_OPR_MODE 0x3D
Sigma884 0:4c82133c291f 28 #define BNO055_PWR_MODE 0x3E
Sigma884 0:4c82133c291f 29
Sigma884 1:6de1be86a23f 30 #define BNO055_AXIS_MAP_CONFIG 0x41
Sigma884 1:6de1be86a23f 31 #define BNO055_AXIS_MAP_SIGN 0x42
Sigma884 1:6de1be86a23f 32
Sigma884 0:4c82133c291f 33 ///////////////////////PAGE 1
Sigma884 0:4c82133c291f 34 #define BNO055_ACC_CONFIG 0x08
Sigma884 0:4c82133c291f 35
Sigma884 0:4c82133c291f 36 class BNO055_lib{
Sigma884 0:4c82133c291f 37
Sigma884 0:4c82133c291f 38 public:
Sigma884 0:4c82133c291f 39
Sigma884 0:4c82133c291f 40 typedef enum{
Sigma884 0:4c82133c291f 41 AD0_LOW = BNO055_ADDR_LOW,
Sigma884 0:4c82133c291f 42 AD0_HIGH = BNO055_ADDR_HIGH
Sigma884 0:4c82133c291f 43 }AD0;
Sigma884 0:4c82133c291f 44
Sigma884 0:4c82133c291f 45 typedef enum{
Sigma884 0:4c82133c291f 46 _2G = 0x00,
Sigma884 0:4c82133c291f 47 _4G = 0x01,
Sigma884 0:4c82133c291f 48 _8G = 0x02,
Sigma884 0:4c82133c291f 49 _16G = 0x03
Sigma884 0:4c82133c291f 50 }ACC_RANGE;
Sigma884 0:4c82133c291f 51
Sigma884 0:4c82133c291f 52 typedef enum{
Sigma884 0:4c82133c291f 53 CONFIG = 0x00,
Sigma884 0:4c82133c291f 54 ACCONLY = 0x01,
Sigma884 0:4c82133c291f 55 MAGONLY = 0x02,
Sigma884 0:4c82133c291f 56 GYROONLY = 0x03,
Sigma884 0:4c82133c291f 57 ACCMAG = 0x04,
Sigma884 0:4c82133c291f 58 ACCGYRO = 0x05,
Sigma884 0:4c82133c291f 59 MAGGYRO = 0x06,
Sigma884 0:4c82133c291f 60 AMG = 0x07,
Sigma884 0:4c82133c291f 61 IMU = 0x08,
Sigma884 0:4c82133c291f 62 COMPASS = 0x09,
Sigma884 0:4c82133c291f 63 M4G = 0x0A,
Sigma884 0:4c82133c291f 64 NDOF_FMC_OFF = 0x0B,
Sigma884 0:4c82133c291f 65 NDOF = 0x0C
Sigma884 0:4c82133c291f 66 }OPERATION_MODE;
Sigma884 0:4c82133c291f 67
Sigma884 1:6de1be86a23f 68 typedef enum{
Sigma884 1:6de1be86a23f 69 X = 0x00,
Sigma884 1:6de1be86a23f 70 Y = 0x01,
Sigma884 1:6de1be86a23f 71 Z = 0x02
Sigma884 1:6de1be86a23f 72 }AXIS;
Sigma884 1:6de1be86a23f 73
Sigma884 0:4c82133c291f 74 BNO055_lib(I2C &user_i2c, AD0 ad0);
Sigma884 0:4c82133c291f 75 int connectCheck();
Sigma884 0:4c82133c291f 76 void setAccRange(ACC_RANGE range);
Sigma884 0:4c82133c291f 77 void setOperationMode(OPERATION_MODE mode);
Sigma884 1:6de1be86a23f 78 void setAxis(AXIS x, AXIS y, AXIS z);
Sigma884 1:6de1be86a23f 79 void setAxisPM(int x_pm, int y_pm, int z_pm);
Sigma884 0:4c82133c291f 80
Sigma884 0:4c82133c291f 81 void getAcc(float *acc);
Sigma884 0:4c82133c291f 82 void getAcc(double *acc);
Sigma884 0:4c82133c291f 83 void getMag(float *mag);
Sigma884 0:4c82133c291f 84 void getMag(double *mag);
Sigma884 0:4c82133c291f 85 void getGyro(float *gyro);
Sigma884 0:4c82133c291f 86 void getGyro(double *gyro);
Sigma884 0:4c82133c291f 87 void getAMG(float *amg);
Sigma884 0:4c82133c291f 88 void getAMG(double *amg);
Sigma884 0:4c82133c291f 89
Sigma884 0:4c82133c291f 90 void getEuler(float *euler);
Sigma884 0:4c82133c291f 91 void getEuler(double *euler);
Sigma884 0:4c82133c291f 92 void getQuart(float *quart);
Sigma884 0:4c82133c291f 93 void getQuart(double *quart);
Sigma884 0:4c82133c291f 94 void getEulerFromQ(float *euler);
Sigma884 0:4c82133c291f 95 void getEulerFromQ(double *euler);
Sigma884 0:4c82133c291f 96 void getLinearAcc(float *lia);
Sigma884 0:4c82133c291f 97 void getLinearAcc(double *lia);
Sigma884 0:4c82133c291f 98 void getGravity(float *grv);
Sigma884 0:4c82133c291f 99 void getGravity(double *grv);
Sigma884 0:4c82133c291f 100
Sigma884 0:4c82133c291f 101
Sigma884 0:4c82133c291f 102 private:
Sigma884 0:4c82133c291f 103
Sigma884 0:4c82133c291f 104 char slave;
Sigma884 0:4c82133c291f 105 I2C *i2c;
Sigma884 0:4c82133c291f 106
Sigma884 0:4c82133c291f 107 char cmd[2];
Sigma884 0:4c82133c291f 108 char buff[18];
Sigma884 0:4c82133c291f 109 short data[4];
Sigma884 0:4c82133c291f 110
Sigma884 0:4c82133c291f 111 double data_d[4];
Sigma884 0:4c82133c291f 112 double t0, t1, yy;
Sigma884 0:4c82133c291f 113 };
Sigma884 0:4c82133c291f 114
Sigma884 0:4c82133c291f 115
Sigma884 0:4c82133c291f 116 #endif