hnct-robocon / BNO055

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BNO055.cpp@8:c0e576c0b458, 2019-06-22 (annotated)

Committer:
Robo_DOGUMA
Date:
Sat Jun 22 00:15:47 2019 +0000
Revision:
8:c0e576c0b458
Parent:
6:1f722ffec323 
BNO055

Who changed what in which revision?

UserRevisionLine numberNew contents of line
StressedDave 0:24f23c36dd24 1 #include "BNO055.h"
StressedDave 0:24f23c36dd24 2 #include "mbed.h"
StressedDave 0:24f23c36dd24 3
StressedDave 0:24f23c36dd24 4 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
StressedDave 0:24f23c36dd24 5 //Set I2C fast and bring reset line high
StressedDave 5:beaa2bff7ff0 6 _i2c.frequency(400000);
StressedDave 0:24f23c36dd24 7 address = BNOAddress;
StressedDave 6:1f722ffec323 8 accel_scale = 0.001f;
StressedDave 0:24f23c36dd24 9 rate_scale = 1.0f/16.0f;
StressedDave 0:24f23c36dd24 10 angle_scale = 1.0f/16.0f;
StressedDave 1:2c3322a8d417 11 temp_scale = 1;
StressedDave 0:24f23c36dd24 12 }
Robo_DOGUMA 8:c0e576c0b458 13
Robo_DOGUMA 8:c0e576c0b458 14 BNO055::BNO055(I2C& i2c) : _i2c(i2c)
Robo_DOGUMA 8:c0e576c0b458 15 {
Robo_DOGUMA 8:c0e576c0b458 16 _i2c.frequency(400000);
Robo_DOGUMA 8:c0e576c0b458 17 address = BNOAddress;
Robo_DOGUMA 8:c0e576c0b458 18 accel_scale = 0.001f;
Robo_DOGUMA 8:c0e576c0b458 19 rate_scale = 1.0f/16.0f;
Robo_DOGUMA 8:c0e576c0b458 20 angle_scale = 1.0f/16.0f;
Robo_DOGUMA 8:c0e576c0b458 21 temp_scale = 1;
Robo_DOGUMA 8:c0e576c0b458 22 }
Robo_DOGUMA 8:c0e576c0b458 23
StressedDave 0:24f23c36dd24 24 void BNO055::reset(){
StressedDave 0:24f23c36dd24 25 //Perform a power-on-reset
StressedDave 0:24f23c36dd24 26 readchar(BNO055_SYS_TRIGGER_ADDR);
StressedDave 0:24f23c36dd24 27 rx = rx | 0x20;
StressedDave 0:24f23c36dd24 28 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
StressedDave 0:24f23c36dd24 29 //Wait for the system to come back up again (datasheet says 650ms)
StressedDave 0:24f23c36dd24 30 wait_ms(675);
StressedDave 0:24f23c36dd24 31 }
StressedDave 0:24f23c36dd24 32
StressedDave 0:24f23c36dd24 33 bool BNO055::check(){
StressedDave 0:24f23c36dd24 34 //Check we have communication link with the chip
StressedDave 0:24f23c36dd24 35 readchar(BNO055_CHIP_ID_ADDR);
StressedDave 0:24f23c36dd24 36 if (rx != 0xA0) return false;
StressedDave 0:24f23c36dd24 37 //Grab the chip ID and software versions
StressedDave 0:24f23c36dd24 38 tx[0] = BNO055_CHIP_ID_ADDR;
StressedDave 0:24f23c36dd24 39 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 40 _i2c.read(address+1,rawdata,7,false);
StressedDave 0:24f23c36dd24 41 ID.id = rawdata[0];
StressedDave 0:24f23c36dd24 42 ID.accel = rawdata[1];
StressedDave 0:24f23c36dd24 43 ID.mag = rawdata[2];
StressedDave 0:24f23c36dd24 44 ID.gyro = rawdata[3];
StressedDave 0:24f23c36dd24 45 ID.sw[0] = rawdata[4];
StressedDave 0:24f23c36dd24 46 ID.sw[1] = rawdata[5];
StressedDave 0:24f23c36dd24 47 ID.bootload = rawdata[6];
StressedDave 0:24f23c36dd24 48 setpage(1);
StressedDave 0:24f23c36dd24 49 tx[0] = BNO055_UNIQUE_ID_ADDR;
StressedDave 0:24f23c36dd24 50 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 51 _i2c.read(address+1,ID.serial,16,false);
StressedDave 0:24f23c36dd24 52 setpage(0);
StressedDave 0:24f23c36dd24 53 return true;
StressedDave 0:24f23c36dd24 54 }
StressedDave 0:24f23c36dd24 55
StressedDave 0:24f23c36dd24 56 void BNO055::SetExternalCrystal(bool yn){
StressedDave 0:24f23c36dd24 57 // Read the current status from the device
StressedDave 0:24f23c36dd24 58 readchar(BNO055_SYS_TRIGGER_ADDR);
StressedDave 0:24f23c36dd24 59 if (yn) rx = rx | 0x80;
StressedDave 0:24f23c36dd24 60 else rx = rx & 0x7F;
StressedDave 0:24f23c36dd24 61 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
StressedDave 0:24f23c36dd24 62 }
StressedDave 0:24f23c36dd24 63
StressedDave 0:24f23c36dd24 64 void BNO055::set_accel_units(char units){
StressedDave 0:24f23c36dd24 65 readchar(BNO055_UNIT_SEL_ADDR);
StressedDave 0:24f23c36dd24 66 if(units == MPERSPERS){
StressedDave 0:24f23c36dd24 67 rx = rx & 0xFE;
StressedDave 0:24f23c36dd24 68 accel_scale = 0.01f;
StressedDave 0:24f23c36dd24 69 }
StressedDave 0:24f23c36dd24 70 else {
StressedDave 0:24f23c36dd24 71 rx = rx | units;
StressedDave 6:1f722ffec323 72 accel_scale = 0.001f;
StressedDave 0:24f23c36dd24 73 }
StressedDave 0:24f23c36dd24 74 writechar(BNO055_UNIT_SEL_ADDR,rx);
StressedDave 0:24f23c36dd24 75 }
StressedDave 0:24f23c36dd24 76
StressedDave 0:24f23c36dd24 77 void BNO055::set_anglerate_units(char units){
StressedDave 0:24f23c36dd24 78 readchar(BNO055_UNIT_SEL_ADDR);
StressedDave 0:24f23c36dd24 79 if (units == DEG_PER_SEC){
StressedDave 0:24f23c36dd24 80 rx = rx & 0xFD;
StressedDave 0:24f23c36dd24 81 rate_scale = 1.0f/16.0f;
StressedDave 0:24f23c36dd24 82 }
StressedDave 0:24f23c36dd24 83 else {
StressedDave 0:24f23c36dd24 84 rx = rx | units;
StressedDave 0:24f23c36dd24 85 rate_scale = 1.0f/900.0f;
StressedDave 0:24f23c36dd24 86 }
StressedDave 0:24f23c36dd24 87 writechar(BNO055_UNIT_SEL_ADDR,rx);
StressedDave 0:24f23c36dd24 88 }
StressedDave 0:24f23c36dd24 89
StressedDave 0:24f23c36dd24 90 void BNO055::set_angle_units(char units){
StressedDave 0:24f23c36dd24 91 readchar(BNO055_UNIT_SEL_ADDR);
StressedDave 0:24f23c36dd24 92 if (units == DEGREES){
StressedDave 0:24f23c36dd24 93 rx = rx & 0xFB;
StressedDave 0:24f23c36dd24 94 angle_scale = 1.0f/16.0f;
StressedDave 0:24f23c36dd24 95 }
StressedDave 0:24f23c36dd24 96 else {
StressedDave 0:24f23c36dd24 97 rx = rx | units;
StressedDave 0:24f23c36dd24 98 rate_scale = 1.0f/900.0f;
StressedDave 0:24f23c36dd24 99 }
StressedDave 0:24f23c36dd24 100 writechar(BNO055_UNIT_SEL_ADDR,rx);
StressedDave 0:24f23c36dd24 101 }
StressedDave 0:24f23c36dd24 102
StressedDave 0:24f23c36dd24 103 void BNO055::set_temp_units(char units){
StressedDave 0:24f23c36dd24 104 readchar(BNO055_UNIT_SEL_ADDR);
StressedDave 0:24f23c36dd24 105 if (units == CENTIGRADE){
StressedDave 1:2c3322a8d417 106 rx = rx & 0xEF;
StressedDave 1:2c3322a8d417 107 temp_scale = 1;
StressedDave 0:24f23c36dd24 108 }
StressedDave 0:24f23c36dd24 109 else {
StressedDave 0:24f23c36dd24 110 rx = rx | units;
StressedDave 1:2c3322a8d417 111 temp_scale = 2;
StressedDave 0:24f23c36dd24 112 }
StressedDave 0:24f23c36dd24 113 writechar(BNO055_UNIT_SEL_ADDR,rx);
StressedDave 0:24f23c36dd24 114 }
StressedDave 0:24f23c36dd24 115
StressedDave 1:2c3322a8d417 116 void BNO055::set_orientation(char units){
StressedDave 1:2c3322a8d417 117 readchar(BNO055_UNIT_SEL_ADDR);
StressedDave 1:2c3322a8d417 118 if (units == WINDOWS) rx = rx &0x7F;
StressedDave 1:2c3322a8d417 119 else rx = rx | units;
StressedDave 1:2c3322a8d417 120 writechar(BNO055_UNIT_SEL_ADDR,rx);
StressedDave 1:2c3322a8d417 121 }
StressedDave 1:2c3322a8d417 122
StressedDave 0:24f23c36dd24 123 void BNO055::setmode(char omode){
StressedDave 0:24f23c36dd24 124 writechar(BNO055_OPR_MODE_ADDR,omode);
StressedDave 0:24f23c36dd24 125 op_mode = omode;
StressedDave 0:24f23c36dd24 126 }
StressedDave 0:24f23c36dd24 127
StressedDave 0:24f23c36dd24 128 void BNO055::setpowermode(char pmode){
StressedDave 0:24f23c36dd24 129 writechar(BNO055_PWR_MODE_ADDR,pmode);
StressedDave 0:24f23c36dd24 130 pwr_mode = pmode;
StressedDave 0:24f23c36dd24 131 }
StressedDave 0:24f23c36dd24 132
StressedDave 0:24f23c36dd24 133 void BNO055::get_accel(void){
StressedDave 0:24f23c36dd24 134 tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
StressedDave 0:24f23c36dd24 135 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 136 _i2c.read(address+1,rawdata,6,0);
StressedDave 0:24f23c36dd24 137 accel.rawx = (rawdata[1] << 8 | rawdata[0]);
StressedDave 0:24f23c36dd24 138 accel.rawy = (rawdata[3] << 8 | rawdata[2]);
StressedDave 0:24f23c36dd24 139 accel.rawz = (rawdata[5] << 8 | rawdata[4]);
StressedDave 0:24f23c36dd24 140 accel.x = float(accel.rawx)*accel_scale;
StressedDave 0:24f23c36dd24 141 accel.y = float(accel.rawy)*accel_scale;
StressedDave 0:24f23c36dd24 142 accel.z = float(accel.rawz)*accel_scale;
StressedDave 0:24f23c36dd24 143 }
StressedDave 0:24f23c36dd24 144
StressedDave 0:24f23c36dd24 145 void BNO055::get_gyro(void){
StressedDave 0:24f23c36dd24 146 tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
StressedDave 0:24f23c36dd24 147 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 148 _i2c.read(address+1,rawdata,6,0);
StressedDave 0:24f23c36dd24 149 gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
StressedDave 0:24f23c36dd24 150 gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
StressedDave 0:24f23c36dd24 151 gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
StressedDave 0:24f23c36dd24 152 gyro.x = float(gyro.rawx)*rate_scale;
StressedDave 0:24f23c36dd24 153 gyro.y = float(gyro.rawy)*rate_scale;
StressedDave 0:24f23c36dd24 154 gyro.z = float(gyro.rawz)*rate_scale;
StressedDave 0:24f23c36dd24 155 }
StressedDave 0:24f23c36dd24 156
StressedDave 0:24f23c36dd24 157 void BNO055::get_mag(void){
StressedDave 0:24f23c36dd24 158 tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
StressedDave 0:24f23c36dd24 159 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 160 _i2c.read(address+1,rawdata,6,0);
StressedDave 0:24f23c36dd24 161 mag.rawx = (rawdata[1] << 8 | rawdata[0]);
StressedDave 0:24f23c36dd24 162 mag.rawy = (rawdata[3] << 8 | rawdata[2]);
StressedDave 0:24f23c36dd24 163 mag.rawz = (rawdata[5] << 8 | rawdata[4]);
StressedDave 0:24f23c36dd24 164 mag.x = float(mag.rawx);
StressedDave 0:24f23c36dd24 165 mag.y = float(mag.rawy);
StressedDave 0:24f23c36dd24 166 mag.z = float(mag.rawz);
StressedDave 0:24f23c36dd24 167 }
StressedDave 0:24f23c36dd24 168
StressedDave 0:24f23c36dd24 169 void BNO055::get_lia(void){
StressedDave 0:24f23c36dd24 170 tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
StressedDave 0:24f23c36dd24 171 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 172 _i2c.read(address+1,rawdata,6,0);
StressedDave 0:24f23c36dd24 173 lia.rawx = (rawdata[1] << 8 | rawdata[0]);
StressedDave 0:24f23c36dd24 174 lia.rawy = (rawdata[3] << 8 | rawdata[2]);
StressedDave 0:24f23c36dd24 175 lia.rawz = (rawdata[5] << 8 | rawdata[4]);
StressedDave 0:24f23c36dd24 176 lia.x = float(lia.rawx)*accel_scale;
StressedDave 0:24f23c36dd24 177 lia.y = float(lia.rawy)*accel_scale;
StressedDave 0:24f23c36dd24 178 lia.z = float(lia.rawz)*accel_scale;
StressedDave 0:24f23c36dd24 179 }
StressedDave 0:24f23c36dd24 180
StressedDave 0:24f23c36dd24 181 void BNO055::get_grv(void){
StressedDave 0:24f23c36dd24 182 tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
StressedDave 0:24f23c36dd24 183 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 184 _i2c.read(address+1,rawdata,6,0);
StressedDave 0:24f23c36dd24 185 gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
StressedDave 0:24f23c36dd24 186 gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
StressedDave 0:24f23c36dd24 187 gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
StressedDave 0:24f23c36dd24 188 gravity.x = float(gravity.rawx)*accel_scale;
StressedDave 0:24f23c36dd24 189 gravity.y = float(gravity.rawy)*accel_scale;
StressedDave 0:24f23c36dd24 190 gravity.z = float(gravity.rawz)*accel_scale;
StressedDave 0:24f23c36dd24 191 }
StressedDave 0:24f23c36dd24 192
StressedDave 1:2c3322a8d417 193 void BNO055::get_quat(void){
StressedDave 1:2c3322a8d417 194 tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
StressedDave 1:2c3322a8d417 195 _i2c.write(address,tx,1,true);
StressedDave 1:2c3322a8d417 196 _i2c.read(address+1,rawdata,8,0);
StressedDave 1:2c3322a8d417 197 quat.raww = (rawdata[1] << 8 | rawdata[0]);
StressedDave 1:2c3322a8d417 198 quat.rawx = (rawdata[3] << 8 | rawdata[2]);
StressedDave 1:2c3322a8d417 199 quat.rawy = (rawdata[5] << 8 | rawdata[4]);
StressedDave 1:2c3322a8d417 200 quat.rawz = (rawdata[7] << 8 | rawdata[6]);
StressedDave 1:2c3322a8d417 201 quat.w = float(quat.raww)/16384.0f;
StressedDave 1:2c3322a8d417 202 quat.x = float(quat.rawx)/16384.0f;
StressedDave 1:2c3322a8d417 203 quat.y = float(quat.rawy)/16384.0f;
StressedDave 1:2c3322a8d417 204 quat.z = float(quat.rawz)/16384.0f;
StressedDave 1:2c3322a8d417 205 }
StressedDave 1:2c3322a8d417 206
StressedDave 2:695c6e5d239a 207 void BNO055::get_angles(void){
StressedDave 2:695c6e5d239a 208 tx[0] = BNO055_EULER_H_LSB_ADDR;
StressedDave 2:695c6e5d239a 209 _i2c.write(address,tx,1,true);
StressedDave 2:695c6e5d239a 210 _i2c.read(address+1,rawdata,6,0);
StressedDave 3:1db1628eb8b2 211 euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
StressedDave 3:1db1628eb8b2 212 euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
StressedDave 3:1db1628eb8b2 213 euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
StressedDave 3:1db1628eb8b2 214 euler.yaw = float(euler.rawyaw)*angle_scale;
StressedDave 3:1db1628eb8b2 215 euler.roll = float(euler.rawroll)*angle_scale;
StressedDave 3:1db1628eb8b2 216 euler.pitch = float(euler.rawpitch)*angle_scale;
StressedDave 2:695c6e5d239a 217 }
StressedDave 2:695c6e5d239a 218
StressedDave 2:695c6e5d239a 219
StressedDave 1:2c3322a8d417 220 void BNO055::get_temp(void){
StressedDave 1:2c3322a8d417 221 readchar(BNO055_TEMP_ADDR);
StressedDave 1:2c3322a8d417 222 temperature = rx / temp_scale;
StressedDave 1:2c3322a8d417 223 }
StressedDave 1:2c3322a8d417 224
StressedDave 0:24f23c36dd24 225 void BNO055::get_calib(void){
StressedDave 0:24f23c36dd24 226 readchar(BNO055_CALIB_STAT_ADDR);
StressedDave 0:24f23c36dd24 227 calib = rx;
StressedDave 1:2c3322a8d417 228 }
StressedDave 1:2c3322a8d417 229
StressedDave 1:2c3322a8d417 230 void BNO055::read_calibration_data(void){
StressedDave 1:2c3322a8d417 231 char tempmode = op_mode;
StressedDave 1:2c3322a8d417 232 setmode(OPERATION_MODE_CONFIG);
StressedDave 1:2c3322a8d417 233 wait_ms(20);
StressedDave 1:2c3322a8d417 234 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
StressedDave 1:2c3322a8d417 235 _i2c.write(address,tx,1,true);
StressedDave 1:2c3322a8d417 236 _i2c.read(address,calibration,22,false);
StressedDave 1:2c3322a8d417 237 setmode(tempmode);
StressedDave 1:2c3322a8d417 238 wait_ms(10);
StressedDave 1:2c3322a8d417 239 }
StressedDave 1:2c3322a8d417 240
StressedDave 1:2c3322a8d417 241 void BNO055::write_calibration_data(void){
StressedDave 1:2c3322a8d417 242 char tempmode = op_mode;
StressedDave 1:2c3322a8d417 243 setmode(OPERATION_MODE_CONFIG);
StressedDave 1:2c3322a8d417 244 wait_ms(20);
StressedDave 1:2c3322a8d417 245 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
StressedDave 1:2c3322a8d417 246 _i2c.write(address,tx,1,true);
StressedDave 1:2c3322a8d417 247 _i2c.write(address,calibration,22,false);
StressedDave 1:2c3322a8d417 248 setmode(tempmode);
StressedDave 1:2c3322a8d417 249 wait_ms(10);
StressedDave 1:2c3322a8d417 250 }
StressedDave 1:2c3322a8d417 251
StressedDave 1:2c3322a8d417 252 void BNO055::set_mapping(char orient){
StressedDave 1:2c3322a8d417 253 switch (orient){
StressedDave 1:2c3322a8d417 254 case 0:
StressedDave 1:2c3322a8d417 255 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
StressedDave 1:2c3322a8d417 256 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
StressedDave 1:2c3322a8d417 257 break;
StressedDave 1:2c3322a8d417 258 case 1:
StressedDave 1:2c3322a8d417 259 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
StressedDave 1:2c3322a8d417 260 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
StressedDave 1:2c3322a8d417 261 break;
StressedDave 1:2c3322a8d417 262 case 2:
StressedDave 1:2c3322a8d417 263 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
StressedDave 1:2c3322a8d417 264 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
StressedDave 1:2c3322a8d417 265 break;
StressedDave 1:2c3322a8d417 266 case 3:
StressedDave 1:2c3322a8d417 267 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
StressedDave 1:2c3322a8d417 268 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
StressedDave 1:2c3322a8d417 269 break;
StressedDave 1:2c3322a8d417 270 case 4:
StressedDave 1:2c3322a8d417 271 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
StressedDave 1:2c3322a8d417 272 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
StressedDave 1:2c3322a8d417 273 break;
StressedDave 1:2c3322a8d417 274 case 5:
StressedDave 1:2c3322a8d417 275 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
StressedDave 1:2c3322a8d417 276 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
StressedDave 1:2c3322a8d417 277 break;
StressedDave 1:2c3322a8d417 278 case 6:
StressedDave 1:2c3322a8d417 279 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
StressedDave 1:2c3322a8d417 280 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
StressedDave 1:2c3322a8d417 281 break;
StressedDave 1:2c3322a8d417 282 case 7:
StressedDave 1:2c3322a8d417 283 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
StressedDave 1:2c3322a8d417 284 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
StressedDave 1:2c3322a8d417 285 break;
StressedDave 1:2c3322a8d417 286 default:
StressedDave 1:2c3322a8d417 287 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
StressedDave 1:2c3322a8d417 288 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
StressedDave 1:2c3322a8d417 289 }
StressedDave 0:24f23c36dd24 290 }