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BNO055_fusion
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Dependents: ES456_Labs MadPulseCntrl MadPulseIMU MadPulse_Controller_ros
Fork of
BNO055_fusion
by 
Kenji Arai
BNO055.h@6:ae4be69ac7bb, 2016-09-19 (annotated)
- Committer:
- jdawkins
- Date:
- Mon Sep 19 12:59:35 2016 +0000
- Revision:
- 6:ae4be69ac7bb
- Parent:
- 5:a44318a8bad4
Changed BNO005 Library to rotate mag axes from z-up to z-down. This was already done for the accels and gyros.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenjiArai | 0:86a17116e8be | 1 | #ifndef BNO055_H |
| kenjiArai | 0:86a17116e8be | 2 | #define BNO055_H |
| kenjiArai | 0:86a17116e8be | 3 | |
| kenjiArai | 0:86a17116e8be | 4 | #include "mbed.h" |
| jdawkins | 5:a44318a8bad4 | 5 | // |
| jdawkins | 5:a44318a8bad4 | 6 | #define BNOAddress (0x28 << 1) |
| jdawkins | 5:a44318a8bad4 | 7 | //Register definitions |
| jdawkins | 5:a44318a8bad4 | 8 | /* Page id register definition */ |
| jdawkins | 5:a44318a8bad4 | 9 | #define BNO055_PAGE_ID_ADDR 0x07 |
| jdawkins | 5:a44318a8bad4 | 10 | /* PAGE0 REGISTER DEFINITION START*/ |
| jdawkins | 5:a44318a8bad4 | 11 | #define BNO055_CHIP_ID_ADDR 0x00 |
| jdawkins | 5:a44318a8bad4 | 12 | #define BNO055_ACCEL_REV_ID_ADDR 0x01 |
| jdawkins | 5:a44318a8bad4 | 13 | #define BNO055_MAG_REV_ID_ADDR 0x02 |
| jdawkins | 5:a44318a8bad4 | 14 | #define BNO055_GYRO_REV_ID_ADDR 0x03 |
| jdawkins | 5:a44318a8bad4 | 15 | #define BNO055_SW_REV_ID_LSB_ADDR 0x04 |
| jdawkins | 5:a44318a8bad4 | 16 | #define BNO055_SW_REV_ID_MSB_ADDR 0x05 |
| jdawkins | 5:a44318a8bad4 | 17 | #define BNO055_BL_REV_ID_ADDR 0x06 |
| jdawkins | 5:a44318a8bad4 | 18 | /* Accel data register */ |
| jdawkins | 5:a44318a8bad4 | 19 | #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08 |
| jdawkins | 5:a44318a8bad4 | 20 | #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09 |
| jdawkins | 5:a44318a8bad4 | 21 | #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A |
| jdawkins | 5:a44318a8bad4 | 22 | #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B |
| jdawkins | 5:a44318a8bad4 | 23 | #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C |
| jdawkins | 5:a44318a8bad4 | 24 | #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D |
| jdawkins | 5:a44318a8bad4 | 25 | /* Mag data register */ |
| jdawkins | 5:a44318a8bad4 | 26 | #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E |
| jdawkins | 5:a44318a8bad4 | 27 | #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F |
| jdawkins | 5:a44318a8bad4 | 28 | #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10 |
| jdawkins | 5:a44318a8bad4 | 29 | #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11 |
| jdawkins | 5:a44318a8bad4 | 30 | #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12 |
| jdawkins | 5:a44318a8bad4 | 31 | #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13 |
| jdawkins | 5:a44318a8bad4 | 32 | /* Gyro data registers */ |
| jdawkins | 5:a44318a8bad4 | 33 | #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14 |
| jdawkins | 5:a44318a8bad4 | 34 | #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15 |
| jdawkins | 5:a44318a8bad4 | 35 | #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16 |
| jdawkins | 5:a44318a8bad4 | 36 | #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17 |
| jdawkins | 5:a44318a8bad4 | 37 | #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18 |
| jdawkins | 5:a44318a8bad4 | 38 | #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19 |
| jdawkins | 5:a44318a8bad4 | 39 | /* Euler data registers */ |
| jdawkins | 5:a44318a8bad4 | 40 | #define BNO055_EULER_H_LSB_ADDR 0x1A |
| jdawkins | 5:a44318a8bad4 | 41 | #define BNO055_EULER_H_MSB_ADDR 0x1B |
| jdawkins | 5:a44318a8bad4 | 42 | #define BNO055_EULER_R_LSB_ADDR 0x1C |
| jdawkins | 5:a44318a8bad4 | 43 | #define BNO055_EULER_R_MSB_ADDR 0x1D |
| jdawkins | 5:a44318a8bad4 | 44 | #define BNO055_EULER_P_LSB_ADDR 0x1E |
| jdawkins | 5:a44318a8bad4 | 45 | #define BNO055_EULER_P_MSB_ADDR 0x1F |
| jdawkins | 5:a44318a8bad4 | 46 | /* Quaternion data registers */ |
| jdawkins | 5:a44318a8bad4 | 47 | #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20 |
| jdawkins | 5:a44318a8bad4 | 48 | #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21 |
| jdawkins | 5:a44318a8bad4 | 49 | #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22 |
| jdawkins | 5:a44318a8bad4 | 50 | #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23 |
| jdawkins | 5:a44318a8bad4 | 51 | #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24 |
| jdawkins | 5:a44318a8bad4 | 52 | #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25 |
| jdawkins | 5:a44318a8bad4 | 53 | #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26 |
| jdawkins | 5:a44318a8bad4 | 54 | #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27 |
| jdawkins | 5:a44318a8bad4 | 55 | /* Linear acceleration data registers */ |
| jdawkins | 5:a44318a8bad4 | 56 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28 |
| jdawkins | 5:a44318a8bad4 | 57 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29 |
| jdawkins | 5:a44318a8bad4 | 58 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A |
| jdawkins | 5:a44318a8bad4 | 59 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B |
| jdawkins | 5:a44318a8bad4 | 60 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C |
| jdawkins | 5:a44318a8bad4 | 61 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D |
| jdawkins | 5:a44318a8bad4 | 62 | /* Gravity data registers */ |
| jdawkins | 5:a44318a8bad4 | 63 | #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E |
| jdawkins | 5:a44318a8bad4 | 64 | #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F |
| jdawkins | 5:a44318a8bad4 | 65 | #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30 |
| jdawkins | 5:a44318a8bad4 | 66 | #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31 |
| jdawkins | 5:a44318a8bad4 | 67 | #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32 |
| jdawkins | 5:a44318a8bad4 | 68 | #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33 |
| jdawkins | 5:a44318a8bad4 | 69 | /* Temperature data register */ |
| jdawkins | 5:a44318a8bad4 | 70 | #define BNO055_TEMP_ADDR 0x34 |
| jdawkins | 5:a44318a8bad4 | 71 | /* Status registers */ |
| jdawkins | 5:a44318a8bad4 | 72 | #define BNO055_CALIB_STAT_ADDR 0x35 |
| jdawkins | 5:a44318a8bad4 | 73 | #define BNO055_SELFTEST_RESULT_ADDR 0x36 |
| jdawkins | 5:a44318a8bad4 | 74 | #define BNO055_INTR_STAT_ADDR 0x37 |
| jdawkins | 5:a44318a8bad4 | 75 | #define BNO055_SYS_CLK_STAT_ADDR 0x38 |
| jdawkins | 5:a44318a8bad4 | 76 | #define BNO055_SYS_STAT_ADDR 0x39 |
| jdawkins | 5:a44318a8bad4 | 77 | #define BNO055_SYS_ERR_ADDR 0x3A |
| jdawkins | 5:a44318a8bad4 | 78 | /* Unit selection register */ |
| jdawkins | 5:a44318a8bad4 | 79 | #define BNO055_UNIT_SEL_ADDR 0x3B |
| jdawkins | 5:a44318a8bad4 | 80 | #define BNO055_DATA_SELECT_ADDR 0x3C |
| jdawkins | 5:a44318a8bad4 | 81 | /* Mode registers */ |
| jdawkins | 5:a44318a8bad4 | 82 | #define BNO055_OPR_MODE_ADDR 0x3D |
| jdawkins | 5:a44318a8bad4 | 83 | #define BNO055_PWR_MODE_ADDR 0x3E |
| jdawkins | 5:a44318a8bad4 | 84 | #define BNO055_SYS_TRIGGER_ADDR 0x3F |
| jdawkins | 5:a44318a8bad4 | 85 | #define BNO055_TEMP_SOURCE_ADDR 0x40 |
| jdawkins | 5:a44318a8bad4 | 86 | /* Axis remap registers */ |
| jdawkins | 5:a44318a8bad4 | 87 | #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41 |
| jdawkins | 5:a44318a8bad4 | 88 | #define BNO055_AXIS_MAP_SIGN_ADDR 0x42 |
| jdawkins | 5:a44318a8bad4 | 89 | /* Accelerometer Offset registers */ |
| jdawkins | 5:a44318a8bad4 | 90 | #define ACCEL_OFFSET_X_LSB_ADDR 0x55 |
| jdawkins | 5:a44318a8bad4 | 91 | #define ACCEL_OFFSET_X_MSB_ADDR 0x56 |
| jdawkins | 5:a44318a8bad4 | 92 | #define ACCEL_OFFSET_Y_LSB_ADDR 0x57 |
| jdawkins | 5:a44318a8bad4 | 93 | #define ACCEL_OFFSET_Y_MSB_ADDR 0x58 |
| jdawkins | 5:a44318a8bad4 | 94 | #define ACCEL_OFFSET_Z_LSB_ADDR 0x59 |
| jdawkins | 5:a44318a8bad4 | 95 | #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A |
| jdawkins | 5:a44318a8bad4 | 96 | /* Magnetometer Offset registers */ |
| jdawkins | 5:a44318a8bad4 | 97 | #define MAG_OFFSET_X_LSB_ADDR 0x5B |
| jdawkins | 5:a44318a8bad4 | 98 | #define MAG_OFFSET_X_MSB_ADDR 0x5C |
| jdawkins | 5:a44318a8bad4 | 99 | #define MAG_OFFSET_Y_LSB_ADDR 0x5D |
| jdawkins | 5:a44318a8bad4 | 100 | #define MAG_OFFSET_Y_MSB_ADDR 0x5E |
| jdawkins | 5:a44318a8bad4 | 101 | #define MAG_OFFSET_Z_LSB_ADDR 0x5F |
| jdawkins | 5:a44318a8bad4 | 102 | #define MAG_OFFSET_Z_MSB_ADDR 0x60 |
| jdawkins | 5:a44318a8bad4 | 103 | /* Gyroscope Offset registers*/ |
| jdawkins | 5:a44318a8bad4 | 104 | #define GYRO_OFFSET_X_LSB_ADDR 0x61 |
| jdawkins | 5:a44318a8bad4 | 105 | #define GYRO_OFFSET_X_MSB_ADDR 0x62 |
| jdawkins | 5:a44318a8bad4 | 106 | #define GYRO_OFFSET_Y_LSB_ADDR 0x63 |
| jdawkins | 5:a44318a8bad4 | 107 | #define GYRO_OFFSET_Y_MSB_ADDR 0x64 |
| jdawkins | 5:a44318a8bad4 | 108 | #define GYRO_OFFSET_Z_LSB_ADDR 0x65 |
| jdawkins | 5:a44318a8bad4 | 109 | #define GYRO_OFFSET_Z_MSB_ADDR 0x66 |
| jdawkins | 5:a44318a8bad4 | 110 | /* Radius registers */ |
| jdawkins | 5:a44318a8bad4 | 111 | #define ACCEL_RADIUS_LSB_ADDR 0x67 |
| jdawkins | 5:a44318a8bad4 | 112 | #define ACCEL_RADIUS_MSB_ADDR 0x68 |
| jdawkins | 5:a44318a8bad4 | 113 | #define MAG_RADIUS_LSB_ADDR 0x69 |
| jdawkins | 5:a44318a8bad4 | 114 | #define MAG_RADIUS_MSB_ADDR 0x6A |
| kenjiArai | 0:86a17116e8be | 115 | |
| jdawkins | 5:a44318a8bad4 | 116 | /* Page 1 registers */ |
| jdawkins | 5:a44318a8bad4 | 117 | #define BNO055_UNIQUE_ID_ADDR 0x50 |
| kenjiArai | 0:86a17116e8be | 118 | |
| jdawkins | 5:a44318a8bad4 | 119 | //Definitions for unit selection |
| jdawkins | 5:a44318a8bad4 | 120 | #define MPERSPERS 0x00 |
| jdawkins | 5:a44318a8bad4 | 121 | #define MILLIG 0x01 |
| jdawkins | 5:a44318a8bad4 | 122 | #define DEG_PER_SEC 0x00 |
| jdawkins | 5:a44318a8bad4 | 123 | #define RAD_PER_SEC 0x02 |
| jdawkins | 5:a44318a8bad4 | 124 | #define DEGREES 0x00 |
| jdawkins | 5:a44318a8bad4 | 125 | #define RADIANS 0x04 |
| jdawkins | 5:a44318a8bad4 | 126 | #define CENTIGRADE 0x00 |
| jdawkins | 5:a44318a8bad4 | 127 | #define FAHRENHEIT 0x10 |
| jdawkins | 5:a44318a8bad4 | 128 | #define WINDOWS 0x00 |
| jdawkins | 5:a44318a8bad4 | 129 | #define ANDROID 0x80 |
| kenjiArai | 0:86a17116e8be | 130 | |
| jdawkins | 5:a44318a8bad4 | 131 | //Definitions for power mode |
| jdawkins | 5:a44318a8bad4 | 132 | #define POWER_MODE_NORMAL 0x00 |
| jdawkins | 5:a44318a8bad4 | 133 | #define POWER_MODE_LOWPOWER 0x01 |
| jdawkins | 5:a44318a8bad4 | 134 | #define POWER_MODE_SUSPEND 0x02 |
| kenjiArai | 0:86a17116e8be | 135 | |
| jdawkins | 5:a44318a8bad4 | 136 | //Definitions for operating mode |
| jdawkins | 5:a44318a8bad4 | 137 | #define OPERATION_MODE_CONFIG 0x00 |
| jdawkins | 5:a44318a8bad4 | 138 | #define OPERATION_MODE_ACCONLY 0x01 |
| jdawkins | 5:a44318a8bad4 | 139 | #define OPERATION_MODE_MAGONLY 0x02 |
| jdawkins | 5:a44318a8bad4 | 140 | #define OPERATION_MODE_GYRONLY 0x03 |
| jdawkins | 5:a44318a8bad4 | 141 | #define OPERATION_MODE_ACCMAG 0x04 |
| jdawkins | 5:a44318a8bad4 | 142 | #define OPERATION_MODE_ACCGYRO 0x05 |
| jdawkins | 5:a44318a8bad4 | 143 | #define OPERATION_MODE_MAGGYRO 0x06 |
| jdawkins | 5:a44318a8bad4 | 144 | #define OPERATION_MODE_AMG 0x07 |
| jdawkins | 5:a44318a8bad4 | 145 | #define OPERATION_MODE_IMUPLUS 0x08 |
| jdawkins | 5:a44318a8bad4 | 146 | #define OPERATION_MODE_COMPASS 0x09 |
| jdawkins | 5:a44318a8bad4 | 147 | #define OPERATION_MODE_M4G 0x0A |
| jdawkins | 5:a44318a8bad4 | 148 | #define OPERATION_MODE_NDOF_FMC_OFF 0x0B |
| jdawkins | 5:a44318a8bad4 | 149 | #define OPERATION_MODE_NDOF 0x0C |
| kenjiArai | 0:86a17116e8be | 150 | |
| jdawkins | 5:a44318a8bad4 | 151 | typedef struct values{ |
| jdawkins | 5:a44318a8bad4 | 152 | int16_t rawx,rawy,rawz; |
| jdawkins | 5:a44318a8bad4 | 153 | float x,y,z; |
| jdawkins | 5:a44318a8bad4 | 154 | }values; |
| jdawkins | 5:a44318a8bad4 | 155 | |
| jdawkins | 5:a44318a8bad4 | 156 | typedef struct angles{ |
| jdawkins | 5:a44318a8bad4 | 157 | int16_t rawroll,rawpitch,rawyaw; |
| jdawkins | 5:a44318a8bad4 | 158 | float roll, pitch, yaw; |
| jdawkins | 5:a44318a8bad4 | 159 | } angles; |
| jdawkins | 5:a44318a8bad4 | 160 | |
| jdawkins | 5:a44318a8bad4 | 161 | typedef struct quaternion{ |
| jdawkins | 5:a44318a8bad4 | 162 | int16_t raww,rawx,rawy,rawz; |
| jdawkins | 5:a44318a8bad4 | 163 | float w,x,y,z; |
| jdawkins | 5:a44318a8bad4 | 164 | }quaternion; |
| kenjiArai | 0:86a17116e8be | 165 | |
| jdawkins | 5:a44318a8bad4 | 166 | typedef struct chip{ |
| jdawkins | 5:a44318a8bad4 | 167 | char id; |
| jdawkins | 5:a44318a8bad4 | 168 | char accel; |
| jdawkins | 5:a44318a8bad4 | 169 | char gyro; |
| jdawkins | 5:a44318a8bad4 | 170 | char mag; |
| jdawkins | 5:a44318a8bad4 | 171 | char sw[2]; |
| jdawkins | 5:a44318a8bad4 | 172 | char bootload; |
| jdawkins | 5:a44318a8bad4 | 173 | char serial[16]; |
| jdawkins | 5:a44318a8bad4 | 174 | }chip; |
| kenjiArai | 0:86a17116e8be | 175 | |
| jdawkins | 5:a44318a8bad4 | 176 | /** Class for operating Bosch BNO055 sensor over I2C **/ |
| jdawkins | 5:a44318a8bad4 | 177 | class BNO055 |
| jdawkins | 5:a44318a8bad4 | 178 | { |
| jdawkins | 5:a44318a8bad4 | 179 | public: |
| kenjiArai | 0:86a17116e8be | 180 | |
| jdawkins | 5:a44318a8bad4 | 181 | /** Create BNO055 instance **/ |
| jdawkins | 5:a44318a8bad4 | 182 | BNO055(PinName SDA, PinName SCL); |
| jdawkins | 5:a44318a8bad4 | 183 | |
| jdawkins | 5:a44318a8bad4 | 184 | /** Perform a power-on reset of the BNO055 **/ |
| jdawkins | 5:a44318a8bad4 | 185 | void reset(); |
| jdawkins | 5:a44318a8bad4 | 186 | /** Check that the BNO055 is connected and download the software details |
| jdawkins | 5:a44318a8bad4 | 187 | and serial number of chip and store in ID structure **/ |
| jdawkins | 5:a44318a8bad4 | 188 | bool check(); |
| jdawkins | 5:a44318a8bad4 | 189 | /** Turn the external timing crystal on/off **/ |
| jdawkins | 5:a44318a8bad4 | 190 | void SetExternalCrystal(bool yn); |
| jdawkins | 5:a44318a8bad4 | 191 | /** Set the operation mode of the sensor **/ |
| jdawkins | 5:a44318a8bad4 | 192 | void setmode(char mode); |
| jdawkins | 5:a44318a8bad4 | 193 | /** Set the power mode of the sensor **/ |
| jdawkins | 5:a44318a8bad4 | 194 | void setpowermode(char mode); |
| jdawkins | 5:a44318a8bad4 | 195 | |
| jdawkins | 5:a44318a8bad4 | 196 | /** Set the Format Output of the sensor windows or android style**/ |
| jdawkins | 5:a44318a8bad4 | 197 | void setoutputformat(char format); |
| jdawkins | 5:a44318a8bad4 | 198 | |
| jdawkins | 5:a44318a8bad4 | 199 | /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/ |
| jdawkins | 5:a44318a8bad4 | 200 | void set_accel_units(char units); |
| jdawkins | 5:a44318a8bad4 | 201 | /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/ |
| jdawkins | 5:a44318a8bad4 | 202 | void set_anglerate_units(char units); |
| jdawkins | 5:a44318a8bad4 | 203 | /** Set the output units from the IMU, either DEGREES or RADIANS **/ |
| jdawkins | 5:a44318a8bad4 | 204 | void set_angle_units(char units); |
| jdawkins | 5:a44318a8bad4 | 205 | /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/ |
| jdawkins | 5:a44318a8bad4 | 206 | void set_temp_units(char units); |
| jdawkins | 5:a44318a8bad4 | 207 | /** Set the data output format to either WINDOWS or ANDROID **/ |
| jdawkins | 5:a44318a8bad4 | 208 | void set_orientation(int position); |
| jdawkins | 5:a44318a8bad4 | 209 | /** Set the mapping of the exes/directions as per page 25 of datasheet |
| jdawkins | 5:a44318a8bad4 | 210 | range 0-7, any value outside this will set the orientation to P1 (default at power up) **/ |
| jdawkins | 5:a44318a8bad4 | 211 | void set_mapping(char orient); |
| jdawkins | 5:a44318a8bad4 | 212 | |
| jdawkins | 5:a44318a8bad4 | 213 | /** Get the current values from the accelerometer **/ |
| jdawkins | 5:a44318a8bad4 | 214 | void get_accel(void); |
| jdawkins | 5:a44318a8bad4 | 215 | /** Get the current values from the gyroscope **/ |
| jdawkins | 5:a44318a8bad4 | 216 | void get_gyro(void); |
| jdawkins | 5:a44318a8bad4 | 217 | /** Get the current values from the magnetometer **/ |
| jdawkins | 5:a44318a8bad4 | 218 | void get_mag(void); |
| jdawkins | 5:a44318a8bad4 | 219 | /** Get the corrected linear acceleration **/ |
| jdawkins | 5:a44318a8bad4 | 220 | void get_lia(void); |
| jdawkins | 5:a44318a8bad4 | 221 | /** Get the current gravity vector **/ |
| jdawkins | 5:a44318a8bad4 | 222 | void get_grv(void); |
| jdawkins | 5:a44318a8bad4 | 223 | /** Get the output quaternion **/ |
| jdawkins | 5:a44318a8bad4 | 224 | void get_quat(void); |
| jdawkins | 5:a44318a8bad4 | 225 | /** Get the current Euler angles **/ |
| jdawkins | 5:a44318a8bad4 | 226 | void get_angles(void); |
| jdawkins | 5:a44318a8bad4 | 227 | /** Get the current temperature **/ |
| jdawkins | 5:a44318a8bad4 | 228 | void get_temp(void); |
| kenjiArai | 0:86a17116e8be | 229 | |
| jdawkins | 5:a44318a8bad4 | 230 | /** Read the calibration status register and store the result in the calib variable **/ |
| jdawkins | 5:a44318a8bad4 | 231 | void get_calib(void); |
| jdawkins | 5:a44318a8bad4 | 232 | /** Read the offset and radius values into the calibration array**/ |
| jdawkins | 5:a44318a8bad4 | 233 | void read_calibration_data(void); |
| jdawkins | 5:a44318a8bad4 | 234 | /** Write the contents of the calibration array into the registers **/ |
| jdawkins | 5:a44318a8bad4 | 235 | void write_calibration_data(void); |
| jdawkins | 5:a44318a8bad4 | 236 | |
| jdawkins | 5:a44318a8bad4 | 237 | /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field. |
| jdawkins | 5:a44318a8bad4 | 238 | x,y,z are the scale floating point values and |
| jdawkins | 5:a44318a8bad4 | 239 | rawx, rawy, rawz are the int16_t values read from the sensors **/ |
| jdawkins | 5:a44318a8bad4 | 240 | values accel,gyro,mag,lia,gravity; |
| jdawkins | 5:a44318a8bad4 | 241 | /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point |
| jdawkins | 5:a44318a8bad4 | 242 | and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/ |
| jdawkins | 5:a44318a8bad4 | 243 | angles euler; |
| jdawkins | 5:a44318a8bad4 | 244 | /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the |
| jdawkins | 5:a44318a8bad4 | 245 | registers **/ |
| jdawkins | 5:a44318a8bad4 | 246 | quaternion quat; |
| kenjiArai | 3:0ad6f85b178f | 247 | |
| jdawkins | 5:a44318a8bad4 | 248 | /** Current contents of calibration status register **/ |
| jdawkins | 5:a44318a8bad4 | 249 | char calib; |
| jdawkins | 5:a44318a8bad4 | 250 | /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/ |
| jdawkins | 5:a44318a8bad4 | 251 | char calibration[22]; |
| jdawkins | 5:a44318a8bad4 | 252 | /** Structure containing sensor numbers, software version and chip UID **/ |
| jdawkins | 5:a44318a8bad4 | 253 | chip ID; |
| jdawkins | 5:a44318a8bad4 | 254 | /** Current temperature **/ |
| jdawkins | 5:a44318a8bad4 | 255 | int temperature; |
| jdawkins | 5:a44318a8bad4 | 256 | |
| jdawkins | 5:a44318a8bad4 | 257 | private: |
| jdawkins | 5:a44318a8bad4 | 258 | |
| jdawkins | 5:a44318a8bad4 | 259 | I2C _i2c; |
| jdawkins | 5:a44318a8bad4 | 260 | char rx,tx[2],address; //I2C variables |
| jdawkins | 5:a44318a8bad4 | 261 | char rawdata[22]; //Temporary array for input data values |
| jdawkins | 5:a44318a8bad4 | 262 | char op_mode; |
| jdawkins | 5:a44318a8bad4 | 263 | char pwr_mode; |
| jdawkins | 5:a44318a8bad4 | 264 | char _format; |
| jdawkins | 5:a44318a8bad4 | 265 | float accel_scale,rate_scale,angle_scale; |
| jdawkins | 5:a44318a8bad4 | 266 | int temp_scale; |
| jdawkins | 5:a44318a8bad4 | 267 | |
| jdawkins | 5:a44318a8bad4 | 268 | void readchar(char location){ |
| jdawkins | 5:a44318a8bad4 | 269 | tx[0] = location; |
| jdawkins | 5:a44318a8bad4 | 270 | _i2c.write(address,tx,1,true); |
| jdawkins | 5:a44318a8bad4 | 271 | _i2c.read(address,&rx,1,false); |
| kenjiArai | 3:0ad6f85b178f | 272 | } |
| kenjiArai | 3:0ad6f85b178f | 273 | |
| jdawkins | 5:a44318a8bad4 | 274 | void writechar(char location, char value){ |
| jdawkins | 5:a44318a8bad4 | 275 | tx[0] = location; |
| jdawkins | 5:a44318a8bad4 | 276 | tx[1] = value; |
| jdawkins | 5:a44318a8bad4 | 277 | _i2c.write(address,tx,2); |
| jdawkins | 5:a44318a8bad4 | 278 | } |
| jdawkins | 5:a44318a8bad4 | 279 | |
| jdawkins | 5:a44318a8bad4 | 280 | void setpage(char value){ |
| jdawkins | 5:a44318a8bad4 | 281 | writechar(BNO055_PAGE_ID_ADDR,value); |
| jdawkins | 5:a44318a8bad4 | 282 | } |
| jdawkins | 5:a44318a8bad4 | 283 | }; |
| jdawkins | 5:a44318a8bad4 | 284 | #endif |