Lab Firmware
Dependencies: BNO055_fusion mbed
Fork of ES456_Labs by
Diff: BNO055/BNO055.h
- Revision:
- 2:899128d20215
- Parent:
- 1:d56e1d85e6d8
--- a/BNO055/BNO055.h Tue Jul 12 19:16:19 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,280 +0,0 @@ -#ifndef BNO055_H -#define BNO055_H - -#include "mbed.h" -// -#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 - -/* Page 1 registers */ -#define BNO055_UNIQUE_ID_ADDR 0x50 - -//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 - -//Definitions for power mode -#define POWER_MODE_NORMAL 0x00 -#define POWER_MODE_LOWPOWER 0x01 -#define POWER_MODE_SUSPEND 0x02 - -//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 - -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; - -typedef struct chip{ - char id; - char accel; - char gyro; - char mag; - char sw[2]; - char bootload; - char serial[16]; - }chip; - -/** Class for operating Bosch BNO055 sensor over I2C **/ -class BNO055 -{ -public: - -/** 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 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); - -/** 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; - -/** 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; - 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); -} - -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