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Lab Firmware
Dependencies: BNO055_fusion mbed
Fork of ES456_Labs by
Revision 2:899128d20215, committed 2016-08-17
- Comitter:
- jdawkins
- Date:
- Wed Aug 17 20:31:42 2016 +0000
- Parent:
- 1:d56e1d85e6d8
- Commit message:
- Commit Lab Firmware
Changed in this revision
diff -r d56e1d85e6d8 -r 899128d20215 BNO055/BNO055.cpp --- 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
diff -r d56e1d85e6d8 -r 899128d20215 BNO055/BNO055.h --- 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
diff -r d56e1d85e6d8 -r 899128d20215 BNO055_fusion.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055_fusion.lib Wed Aug 17 20:31:42 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/USNA-WSE-ES456/code/BNO055_fusion/#a44318a8bad4
diff -r d56e1d85e6d8 -r 899128d20215 main.cpp --- a/main.cpp Tue Jul 12 19:16:19 2016 +0000 +++ b/main.cpp Wed Aug 17 20:31:42 2016 +0000 @@ -19,7 +19,7 @@ DigitalOut status_LED(LED1); DigitalOut armed_LED(LED2); DigitalOut auto_LED(LED3); -DigitalOut hall_LED(LED4); +DigitalOut imu_LED(LED4); Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc Serial xbee(p28, p27); // tx, rx for Xbee @@ -67,48 +67,41 @@ pc.printf("BNO055 connected\r\n"); imu.setmode(OPERATION_MODE_CONFIG); imu.SetExternalCrystal(1); - //bno.set_orientation(1); imu.setmode(OPERATION_MODE_NDOF); //Uses magnetometer - //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF); //no magnetometer - imu.set_angle_units(DEGREES); - imu.set_mapping(1); + imu.set_angle_units(RADIANS); + imu.set_mapping(2); + + } else { pc.printf("IMU BNO055 NOT connected\r\n Program Trap."); status_LED = 1; armed_LED = 1; - hall_LED = 1; + imu_LED = 1; auto_LED = 1; while(1) { status_LED = !status_LED; armed_LED = !armed_LED; - hall_LED = !hall_LED; + imu_LED = !imu_LED; auto_LED = !auto_LED; wait(0.5); } } - pc.printf("ES456 Vehcile Program\r\n"); + pc.printf("ES456 Vehicle Sensor Logger\r\n"); while(1){ - imu.get_angles(); imu.get_accel(); imu.get_gyro(); imu.get_mag(); if(t.read()-t_imu > (1/LOG_RATE)) { - - // pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z); pc.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z); pc.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z); - pc.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw); xbee.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z); xbee.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z); - xbee.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw); - xbee.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z); - t_imu = t.read(); } // if t.read wait(1/LOOP_RATE);