Diff: BNO055/BNO055.cpp

Revision:

2:899128d20215

Parent:

1:d56e1d85e6d8

--- a/BNO055/BNO055.cpp	Tue Jul 12 19:16:19 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,314 +0,0 @@
-#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(400000);
-    address = BNOAddress;
-    accel_scale = 0.001f;
-    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 = 0.001f;
-        }
-    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;
-        angle_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(int position){
-    switch(position){
-        case 0:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
-            break;
-        case 1: //(Default)
-            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,0x06);
-            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);
-            break;                 
-    }
-}        
-
-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