BNO library commit with fork
Dependents: ES456_Labs MadPulseCntrl MadPulseIMU MadPulse_Controller_ros
Fork of BNO055_fusion by
Diff: BNO055.h
- Revision:
- 5:a44318a8bad4
- Parent:
- 4:9e6fead1e93e
diff -r 9e6fead1e93e -r a44318a8bad4 BNO055.h --- a/BNO055.h Thu Apr 16 10:47:40 2015 +0000 +++ b/BNO055.h Wed Aug 17 20:30:46 2016 +0000 @@ -1,538 +1,284 @@ -/* - * mbed library program - * BNO055 Intelligent 9-axis absolute orientation sensor - * by Bosch Sensortec - * - * Copyright (c) 2015 Kenji Arai / JH1PJL - * http://www.page.sannet.ne.jp/kenjia/index.html - * http://mbed.org/users/kenjiArai/ - * Created: March 30th, 2015 - * Revised: April 16th, 2015 - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, - * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE - * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - */ -/* - *---------------- REFERENCE ---------------------------------------------------------------------- - * Original Information - * https://www.bosch-sensortec.com/en/homepage/products_3/sensor_hubs/iot_solutions/bno055_1/bno055_4 - * Intelligent 9-axis absolute orientation sensor / Data Sheet BST_BNO055_DS000_12 Nov. 2014 rev.1.2 - * Sample software https://github.com/BoschSensortec/BNO055_driver - * Sensor board - * https://www.rutronik24.com/product/bosch+se/bno055+shuttle+board+mems/6431291.html - * http://microcontrollershop.com/product_info.php?products_id=7140&osCsid=10645k86db2crld4tfi0vol5g5 - */ - #ifndef BNO055_H #define BNO055_H #include "mbed.h" - -// BNO055 -// 7bit address = 0b010100x(0x28 or 0x29 depends on COM3) -#define BNO055_G_CHIP_ADDR (0x28 << 1) // COM3 = GND -#define BNO055_V_CHIP_ADDR (0x29 << 1) // COM3 = Vdd - -// Fusion mode -#define CONFIGMODE 0x00 -#define MODE_IMU 0x08 -#define MODE_COMPASS 0x09 -#define MODE_M4G 0x0a -#define MODE_NDOF_FMC_OFF 0x0b -#define MODE_NDOF 0x0c - -// UNIT -#define UNIT_ACC_MSS 0x00 // acc m/s2 -#define UNIT_ACC_MG 0x01 // acc mg -#define UNIT_GYR_DPS 0x00 // gyro Dps -#define UNIT_GYR_RPS 0x02 // gyro Rps -#define UNIT_EULER_DEG 0x00 // euler Degrees -#define UNIT_EULER_RAD 0x04 // euler Radians -#define UNIT_TEMP_C 0x00 // temperature degC -#define UNIT_TEMP_F 0x10 // temperature degF -#define UNIT_ORI_WIN 0x00 // Windows orientation -#define UNIT_ORI_ANDROID 0x80 // Android orientation - -// ID's -#define I_AM_BNO055_CHIP 0xa0 // CHIP ID -#define I_AM_BNO055_ACC 0xfb // ACC ID -#define I_AM_BNO055_MAG 0x32 // MAG ID -#define I_AM_BNO055_GYR 0x0f // GYR ID - -////////////// DATA TYPE DEFINITION /////////////////////// -typedef struct { - uint8_t chip_id; - uint8_t acc_id; - uint8_t mag_id; - uint8_t gyr_id; - uint8_t bootldr_rev_id; - uint16_t sw_rev_id; -} BNO055_ID_INF_TypeDef; - -typedef struct { - double h; - double r; - double p; -} BNO055_EULER_TypeDef; - -typedef struct { - int16_t x; - int16_t y; - int16_t z; - int16_t w; -} BNO055_QUATERNION_TypeDef; - -typedef struct { - double x; - double y; - double z; -} BNO055_LIN_ACC_TypeDef; - -typedef struct { - double x; - double y; - double z; -} BNO055_GRAVITY_TypeDef; - -typedef struct { - int8_t acc_chip; - int8_t gyr_chip; -} BNO055_TEMPERATURE_TypeDef; - -enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7}; - -/** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor - * Chip: BNO055 - * - * @code - * #include "mbed.h" - * #include "BNO055.h" - * - * Serial pc(USBTX,USBRX); - * I2C i2c(PB_9, PB_8); // SDA, SCL - * BNO055 imu(i2c, PA_8); // Reset - * - * BNO055_ID_INF_TypeDef bno055_id_inf; - * BNO055_EULER_TypeDef euler_angles; - * - * int main() { - * pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); - * if (imu.chip_ready() == 0){ - * pc.printf("Bosch BNO055 is NOT avirable!!\r\n"); - * } - * imu.read_id_inf(&bno055_id_inf); - * pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n", - * bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, - * bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); - * while(1) { - * imu.get_Euler_Angles(&euler_angles); - * pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n", - * euler_angles.h, euler_angles.r, euler_angles.p); - * wait(0.5); - * } - * } - * @endcode - */ - -class BNO055 -{ -public: - /** Configure data pin - * @param data SDA and SCL pins - * @param device address - */ - BNO055(PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode); - - /** Configure data pin - * @param data SDA and SCL pins - * @param Other parameters are set default data - */ - BNO055(PinName p_sda, PinName p_scl, PinName p_reset); +// +#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 - /** Configure data pin (with other devices on I2C line) - * @param I2C previous definition - * @param device address - */ - BNO055(I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode); - - /** Configure data pin (with other devices on I2C line) - * @param I2C previous definition - * @param Other parameters are set default data - */ - BNO055(I2C& p_i2c, PinName p_reset); - - /** Get Euler Angles - * @param double type of 3D data address - */ - void get_Euler_Angles(BNO055_EULER_TypeDef *el); - - /** Get Quaternion XYZ&W - * @param int16_t type of 4D data address - */ - void get_quaternion(BNO055_QUATERNION_TypeDef *qua); - - /** Get Linear accel data - * @param double type of 3D data address - */ - void get_linear_accel(BNO055_LIN_ACC_TypeDef *la); - - /** Get Gravity data - * @param double type of 3D data address - */ - void get_gravity(BNO055_GRAVITY_TypeDef *gr); - - /** Get Chip temperature data both Acc & Gyro - * @param int8_t type of data address - */ - void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp); - - /** Change fusion mode - * @param fusion mode - * @return none - */ - void change_fusion_mode(uint8_t mode); - - /** Set Mouting position - * Please make sure your mounting direction of BNO055 chip - * refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap - * @param Set P0 to P7 mounting position data - * @return none - */ - void set_mounting_position(uint8_t position); - - /** Read BNO055 ID information - * @param ID information address - * @return none - */ - void read_id_inf(BNO055_ID_INF_TypeDef *id); +/* Page 1 registers */ +#define BNO055_UNIQUE_ID_ADDR 0x50 - /** Check chip is avairable or not - * @param none - * @return OK = 1, NG = 0; - */ - uint8_t chip_ready(void); - - /** Read calibration status - * @param none - * @return SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet - */ - uint8_t read_calib_status(void); - - /** Reset - * @param none - * @return 0 = sucess, 1 = Not available chip - */ - uint8_t reset(void); - - /** Set I2C clock frequency - * @param freq. - * @return none - */ - void frequency(int hz); - - /** Read page 0 register - * @param register's address - * @return register data - */ - uint8_t read_reg0(uint8_t addr); +//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 - /** Write page 0 register - * @param register's address - * @param data - * @return register data - */ - uint8_t write_reg0(uint8_t addr, uint8_t data); - - /** Read page 1 register - * @param register's address - * @return register data - */ - uint8_t read_reg1(uint8_t addr); - - /** Write page 1 register - * @param register's address - * @param data - * @return register data - */ - uint8_t write_reg1(uint8_t addr, uint8_t data); - -protected: - void initialize(void); - void check_id(void); - void set_initial_dt_to_regs(void); - void unit_selection(void); - uint8_t check_operating_mode(void); - uint8_t select_page(uint8_t page); - - I2C _i2c; - DigitalOut _res; - -private: - char dt[10]; // working buffer - uint8_t chip_addr; - uint8_t chip_mode; - uint8_t ready_flag; - uint8_t page_flag; +//Definitions for power mode +#define POWER_MODE_NORMAL 0x00 +#define POWER_MODE_LOWPOWER 0x01 +#define POWER_MODE_SUSPEND 0x02 - uint8_t chip_id; - uint8_t acc_id; - uint8_t mag_id; - uint8_t gyr_id; - uint8_t bootldr_rev_id; - uint16_t sw_rev_id; - -}; - -//--------------------------------------------------------- -//----- Register's definition ----------------------------- -//--------------------------------------------------------- -// Page id register definition -#define BNO055_PAGE_ID 0x07 - -//----- page0 --------------------------------------------- -#define BNO055_CHIP_ID 0x00 -#define BNO055_ACCEL_REV_ID 0x01 -#define BNO055_MAG_REV_ID 0x02 -#define BNO055_GYRO_REV_ID 0x03 -#define BNO055_SW_REV_ID_LSB 0x04 -#define BNO055_SW_REV_ID_MSB 0x05 -#define BNO055_BL_REV_ID 0x06 - -// Accel data register*/ -#define BNO055_ACC_X_LSB 0x08 -#define BNO055_ACC_X_MSB 0x09 -#define BNO055_ACC_Y_LSB 0x0a -#define BNO055_ACC_Y_MSB 0x0b -#define BNO055_ACC_Z_LSB 0x0c -#define BNO055_ACC_Z_MSB 0x0d - -// Mag data register -#define BNO055_MAG_X_LSB 0x0e -#define BNO055_MAG_X_MSB 0x0f -#define BNO055_MAG_Y_LSB 0x10 -#define BNO055_MAG_Y_MSB 0x11 -#define BNO055_MAG_Z_LSB 0x12 -#define BNO055_MAG_Z_MSB 0x13 - -// Gyro data registers -#define BNO055_GYR_X_LSB 0x14 -#define BNO055_GYR_X_MSB 0x15 -#define BNO055_GYR_Y_LSB 0x16 -#define BNO055_GYR_Y_MSB 0x17 -#define BNO055_GYR_Z_LSB 0x18 -#define BNO055_GYR_Z_MSB 0x19 - -// Euler data registers -#define BNO055_EULER_H_LSB 0x1a -#define BNO055_EULER_H_MSB 0x1b - -#define BNO055_EULER_R_LSB 0x1c -#define BNO055_EULER_R_MSB 0x1d - -#define BNO055_EULER_P_LSB 0x1e -#define BNO055_EULER_P_MSB 0x1f +//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 -// Quaternion data registers -#define BNO055_QUATERNION_W_LSB 0x20 -#define BNO055_QUATERNION_W_MSB 0x21 -#define BNO055_QUATERNION_X_LSB 0x22 -#define BNO055_QUATERNION_X_MSB 0x23 -#define BNO055_QUATERNION_Y_LSB 0x24 -#define BNO055_QUATERNION_Y_MSB 0x25 -#define BNO055_QUATERNION_Z_LSB 0x26 -#define BNO055_QUATERNION_Z_MSB 0x27 - -// Linear acceleration data registers -#define BNO055_LINEAR_ACC_X_LSB 0x28 -#define BNO055_LINEAR_ACC_X_MSB 0x29 -#define BNO055_LINEAR_ACC_Y_LSB 0x2a -#define BNO055_LINEAR_ACC_Y_MSB 0x2b -#define BNO055_LINEAR_ACC_Z_LSB 0x2c -#define BNO055_LINEAR_ACC_Z_MSB 0x2d - -// Gravity data registers -#define BNO055_GRAVITY_X_LSB 0x2e -#define BNO055_GRAVITY_X_MSB 0x2f -#define BNO055_GRAVITY_Y_LSB 0x30 -#define BNO055_GRAVITY_Y_MSB 0x31 -#define BNO055_GRAVITY_Z_LSB 0x32 -#define BNO055_GRAVITY_Z_MSB 0x33 - -// Temperature data register -#define BNO055_TEMP 0x34 +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; -// Status registers -#define BNO055_CALIB_STAT 0x35 -#define BNO055_SELFTEST_RESULT 0x36 -#define BNO055_INTR_STAT 0x37 -#define BNO055_SYS_CLK_STAT 0x38 -#define BNO055_SYS_STAT 0x39 -#define BNO055_SYS_ERR 0x3a - -// Unit selection register -#define BNO055_UNIT_SEL 0x3b -#define BNO055_DATA_SELECT 0x3c - -// Mode registers -#define BNO055_OPR_MODE 0x3d -#define BNO055_PWR_MODE 0x3e -#define BNO055_SYS_TRIGGER 0x3f -#define BNO055_TEMP_SOURCE 0x40 +typedef struct chip{ + char id; + char accel; + char gyro; + char mag; + char sw[2]; + char bootload; + char serial[16]; + }chip; -// Axis remap registers -#define BNO055_AXIS_MAP_CONFIG 0x41 -#define BNO055_AXIS_MAP_SIGN 0x42 - -// SIC registers -#define BNO055_SIC_MTRX_0_LSB 0x43 -#define BNO055_SIC_MTRX_0_MSB 0x44 -#define BNO055_SIC_MTRX_1_LSB 0x45 -#define BNO055_SIC_MTRX_1_MSB 0x46 -#define BNO055_SIC_MTRX_2_LSB 0x47 -#define BNO055_SIC_MTRX_2_MSB 0x48 -#define BNO055_SIC_MTRX_3_LSB 0x49 -#define BNO055_SIC_MTRX_3_MSB 0x4a -#define BNO055_SIC_MTRX_4_LSB 0x4b -#define BNO055_SIC_MTRX_4_MSB 0x4c -#define BNO055_SIC_MTRX_5_LSB 0x4d -#define BNO055_SIC_MTRX_5_MSB 0x4e -#define BNO055_SIC_MTRX_6_LSB 0x4f -#define BNO055_SIC_MTRX_6_MSB 0x50 -#define BNO055_SIC_MTRX_7_LSB 0x51 -#define BNO055_SIC_MTRX_7_MSB 0x52 -#define BNO055_SIC_MTRX_8_LSB 0x53 -#define BNO055_SIC_MTRX_8_MSB 0x54 +/** Class for operating Bosch BNO055 sensor over I2C **/ +class BNO055 +{ +public: -// Accelerometer Offset registers -#define ACCEL_OFFSET_X_LSB 0x55 -#define ACCEL_OFFSET_X_MSB 0x56 -#define ACCEL_OFFSET_Y_LSB 0x57 -#define ACCEL_OFFSET_Y_MSB 0x58 -#define ACCEL_OFFSET_Z_LSB 0x59 -#define ACCEL_OFFSET_Z_MSB 0x5a - -// Magnetometer Offset registers -#define MAG_OFFSET_X_LSB 0x5b -#define MAG_OFFSET_X_MSB 0x5c -#define MAG_OFFSET_Y_LSB 0x5d -#define MAG_OFFSET_Y_MSB 0x5e -#define MAG_OFFSET_Z_LSB 0x5f -#define MAG_OFFSET_Z_MSB 0x60 - -// Gyroscope Offset registers -#define GYRO_OFFSET_X_LSB 0x61 -#define GYRO_OFFSET_X_MSB 0x62 -#define GYRO_OFFSET_Y_LSB 0x63 -#define GYRO_OFFSET_Y_MSB 0x64 -#define GYRO_OFFSET_Z_LSB 0x65 -#define GYRO_OFFSET_Z_MSB 0x66 - -// Radius registers -#define ACCEL_RADIUS_LSB 0x67 -#define ACCEL_RADIUS_MSB 0x68 -#define MAG_RADIUS_LSB 0x69 -#define MAG_RADIUS_MSB 0x6a - -//----- page1 --------------------------------------------- -// Configuration registers -#define ACCEL_CONFIG 0x08 -#define MAG_CONFIG 0x09 -#define GYRO_CONFIG 0x0a -#define GYRO_MODE_CONFIG 0x0b -#define ACCEL_SLEEP_CONFIG 0x0c -#define GYRO_SLEEP_CONFIG 0x0d -#define MAG_SLEEP_CONFIG 0x0e - -// Interrupt registers -#define INT_MASK 0x0f -#define INT 0x10 -#define ACCEL_ANY_MOTION_THRES 0x11 -#define ACCEL_INTR_SETTINGS 0x12 -#define ACCEL_HIGH_G_DURN 0x13 -#define ACCEL_HIGH_G_THRES 0x14 -#define ACCEL_NO_MOTION_THRES 0x15 -#define ACCEL_NO_MOTION_SET 0x16 -#define GYRO_INTR_SETING 0x17 -#define GYRO_HIGHRATE_X_SET 0x18 -#define GYRO_DURN_X 0x19 -#define GYRO_HIGHRATE_Y_SET 0x1a -#define GYRO_DURN_Y 0x1b -#define GYRO_HIGHRATE_Z_SET 0x1c -#define GYRO_DURN_Z 0x1d -#define GYRO_ANY_MOTION_THRES 0x1e -#define GYRO_ANY_MOTION_SET 0x1f +/** 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 Format Output of the sensor windows or android style**/ + void setoutputformat(char format); + +/** 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(int position); +/** 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); -//--------------------------------------------------------- -//----- Calibration example ------------------------------- -//--------------------------------------------------------- -#if 0 -// Calibration -// Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data -void bno055_calbration(void){ - uint8_t d; +/** 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; - pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n"); - //---------- Gyroscope Caliblation ------------------------------------------------------------ - // (a) Place the device in a single stable position for a period of few seconds to allow the - // gyroscope to calibrate - pc.printf("Step1) Please wait few seconds\r\n"); - t.start(); - while (t.read() < 10){ - d = imu.read_calib_status(); - pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d); - if ((d & 0x30) == 0x30){ - break; - } - wait(1.0); - } - pc.printf("-> Step1) is done\r\n\r\n"); - //---------- Magnetometer Caliblation --------------------------------------------------------- - // (a) Make some random movements (for example: writing the number ‘8’ on air) until the - // CALIB_STAT register indicates fully calibrated. - // (b) It takes more calibration movements to get the magnetometer calibrated than in the - // NDOF mode. - pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n"); - t.start(); - while (t.read() < 30){ - d = imu.read_calib_status(); - pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d); - if ((d & 0x03) == 0x03){ - break; - } - wait(1.0); - } - pc.printf("-> Step2) is done\r\n\r\n"); - //---------- Magnetometer Caliblation --------------------------------------------------------- - // a) Place the device in 6 different stable positions for a period of few seconds - // to allow the accelerometer to calibrate. - // b) Make sure that there is slow movement between 2 stable positions - // The 6 stable positions could be in any direction, but make sure that the device is - // lying at least once perpendicular to the x, y and z axis. - pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!"); - pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n"); - pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,"); - pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n"); - pc.printf(" If you will give up, hit any key.\r\n", d); - t.stop(); - while (true){ - d = imu.read_calib_status(); - imu.get_gravity(&gravity); - pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n", - d, gravity.x, gravity.y, gravity.z); - if (d == 0xff){ break;} - if (pc.readable()){ break;} - wait(1.0); - } - if (imu.read_calib_status() == 0xff){ - pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n"); - } else { - pc.printf("-> Calibration steps are suspended!\r\n\r\n"); - } - t.stop(); +/** 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; + char _format; + 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); } -#endif -#endif // BNO055_H +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