Alexander Lill / BNO055_fusion

Extended and refactored library for BNO055, an intelligent 9-axis absolute orientation sensor by Bosch Sensortec. It includes ACC, MAG and GYRO sensors and Cortex-M0 processor.

Fork of BNO055_fusion by Kenji Arai

Please note: pitch and roll in get_euler_angles are switched, the code should be like this:

h = dt[1] << 8 | dt[0]; r = dt[3] << 8 | dt[2]; p = dt[5] << 8 | dt[4];

See https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf

BNO055.h@14:9f9a12bcd8ed, 2021-03-05 (annotated)

Committer:
danmbed
Date:
Fri Mar 05 13:58:00 2021 +0000
Revision:
14:9f9a12bcd8ed
Parent:
13:92854c8deb3c 
roll and pitch Euler angles corrected

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:86a17116e8be 1 /*
kenjiArai 0:86a17116e8be 2 * mbed library program
kenjiArai 0:86a17116e8be 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 4 * by Bosch Sensortec
kenjiArai 0:86a17116e8be 5 *
kenjiArai 5:cf33bcfe976c 6 * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
kenjiArai 0:86a17116e8be 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:86a17116e8be 8 * http://mbed.org/users/kenjiArai/
kenjiArai 0:86a17116e8be 9 * Created: March 30th, 2015
kenjiArai 6:07d01bf36ad0 10 * Revised: August 23rd, 2017
kenjiArai 0:86a17116e8be 11 */
kenjiArai 0:86a17116e8be 12 /*
kenjiArai 0:86a17116e8be 13 *---------------- REFERENCE ----------------------------------------------------------------------
kenjiArai 0:86a17116e8be 14 * Original Information
kenjiArai 0:86a17116e8be 15 * https://www.bosch-sensortec.com/en/homepage/products_3/sensor_hubs/iot_solutions/bno055_1/bno055_4
kenjiArai 0:86a17116e8be 16 * Intelligent 9-axis absolute orientation sensor / Data Sheet BST_BNO055_DS000_12 Nov. 2014 rev.1.2
kenjiArai 0:86a17116e8be 17 * Sample software https://github.com/BoschSensortec/BNO055_driver
kenjiArai 0:86a17116e8be 18 * Sensor board
kenjiArai 0:86a17116e8be 19 * https://www.rutronik24.com/product/bosch+se/bno055+shuttle+board+mems/6431291.html
kenjiArai 0:86a17116e8be 20 * http://microcontrollershop.com/product_info.php?products_id=7140&osCsid=10645k86db2crld4tfi0vol5g5
kenjiArai 0:86a17116e8be 21 */
kenjiArai 0:86a17116e8be 22
kenjiArai 0:86a17116e8be 23 #ifndef BNO055_H
kenjiArai 0:86a17116e8be 24 #define BNO055_H
kenjiArai 0:86a17116e8be 25
kenjiArai 0:86a17116e8be 26 #include "mbed.h"
kenjiArai 0:86a17116e8be 27
kenjiArai 0:86a17116e8be 28 // BNO055
kenjiArai 0:86a17116e8be 29 // 7bit address = 0b010100x(0x28 or 0x29 depends on COM3)
kenjiArai 0:86a17116e8be 30 #define BNO055_G_CHIP_ADDR (0x28 << 1) // COM3 = GND
kenjiArai 0:86a17116e8be 31 #define BNO055_V_CHIP_ADDR (0x29 << 1) // COM3 = Vdd
kenjiArai 0:86a17116e8be 32
kenjiArai 0:86a17116e8be 33 // Fusion mode
kenjiArai 0:86a17116e8be 34 #define CONFIGMODE 0x00
kenjiArai 0:86a17116e8be 35 #define MODE_IMU 0x08
kenjiArai 0:86a17116e8be 36 #define MODE_COMPASS 0x09
kenjiArai 0:86a17116e8be 37 #define MODE_M4G 0x0a
kenjiArai 0:86a17116e8be 38 #define MODE_NDOF_FMC_OFF 0x0b
kenjiArai 0:86a17116e8be 39 #define MODE_NDOF 0x0c
kenjiArai 0:86a17116e8be 40
kenjiArai 0:86a17116e8be 41 // UNIT
kenjiArai 0:86a17116e8be 42 #define UNIT_ACC_MSS 0x00 // acc m/s2
kenjiArai 0:86a17116e8be 43 #define UNIT_ACC_MG 0x01 // acc mg
kenjiArai 0:86a17116e8be 44 #define UNIT_GYR_DPS 0x00 // gyro Dps
kenjiArai 0:86a17116e8be 45 #define UNIT_GYR_RPS 0x02 // gyro Rps
kenjiArai 0:86a17116e8be 46 #define UNIT_EULER_DEG 0x00 // euler Degrees
kenjiArai 0:86a17116e8be 47 #define UNIT_EULER_RAD 0x04 // euler Radians
kenjiArai 0:86a17116e8be 48 #define UNIT_TEMP_C 0x00 // temperature degC
kenjiArai 0:86a17116e8be 49 #define UNIT_TEMP_F 0x10 // temperature degF
kenjiArai 0:86a17116e8be 50 #define UNIT_ORI_WIN 0x00 // Windows orientation
kenjiArai 0:86a17116e8be 51 #define UNIT_ORI_ANDROID 0x80 // Android orientation
kenjiArai 0:86a17116e8be 52
kenjiArai 0:86a17116e8be 53 // ID's
kenjiArai 0:86a17116e8be 54 #define I_AM_BNO055_CHIP 0xa0 // CHIP ID
kenjiArai 0:86a17116e8be 55 #define I_AM_BNO055_ACC 0xfb // ACC ID
kenjiArai 0:86a17116e8be 56 #define I_AM_BNO055_MAG 0x32 // MAG ID
kenjiArai 0:86a17116e8be 57 #define I_AM_BNO055_GYR 0x0f // GYR ID
kenjiArai 0:86a17116e8be 58
kenjiArai 0:86a17116e8be 59 ////////////// DATA TYPE DEFINITION ///////////////////////
kenjiArai 0:86a17116e8be 60 typedef struct {
kenjiArai 0:86a17116e8be 61 uint8_t chip_id;
kenjiArai 0:86a17116e8be 62 uint8_t acc_id;
kenjiArai 0:86a17116e8be 63 uint8_t mag_id;
kenjiArai 0:86a17116e8be 64 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 65 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 66 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 67 } BNO055_ID_INF_TypeDef;
kenjiArai 0:86a17116e8be 68
kenjiArai 0:86a17116e8be 69 typedef struct {
kenjiArai 0:86a17116e8be 70 double h;
kenjiArai 0:86a17116e8be 71 double r;
kenjiArai 0:86a17116e8be 72 double p;
kenjiArai 0:86a17116e8be 73 } BNO055_EULER_TypeDef;
kenjiArai 0:86a17116e8be 74
kenjiArai 0:86a17116e8be 75 typedef struct {
AlexanderLill 11:17bc36c5ccbb 76 double x;
AlexanderLill 11:17bc36c5ccbb 77 double y;
AlexanderLill 11:17bc36c5ccbb 78 double z;
AlexanderLill 11:17bc36c5ccbb 79 double w;
kenjiArai 0:86a17116e8be 80 } BNO055_QUATERNION_TypeDef;
kenjiArai 0:86a17116e8be 81
kenjiArai 0:86a17116e8be 82 typedef struct {
kenjiArai 0:86a17116e8be 83 double x;
kenjiArai 0:86a17116e8be 84 double y;
kenjiArai 0:86a17116e8be 85 double z;
AlexanderLill 7:f0eb18503c27 86 } BNO055_VECTOR_TypeDef;
kenjiArai 0:86a17116e8be 87
kenjiArai 0:86a17116e8be 88 typedef struct {
kenjiArai 0:86a17116e8be 89 int8_t acc_chip;
kenjiArai 0:86a17116e8be 90 int8_t gyr_chip;
kenjiArai 0:86a17116e8be 91 } BNO055_TEMPERATURE_TypeDef;
kenjiArai 0:86a17116e8be 92
kenjiArai 0:86a17116e8be 93 enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7};
kenjiArai 0:86a17116e8be 94
kenjiArai 0:86a17116e8be 95 /** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 96 * Chip: BNO055
kenjiArai 0:86a17116e8be 97 *
kenjiArai 0:86a17116e8be 98 * @code
kenjiArai 0:86a17116e8be 99 * #include "mbed.h"
kenjiArai 0:86a17116e8be 100 * #include "BNO055.h"
kenjiArai 0:86a17116e8be 101 *
kenjiArai 0:86a17116e8be 102 * Serial pc(USBTX,USBRX);
kenjiArai 0:86a17116e8be 103 * I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 1:cb7e19c0a702 104 * BNO055 imu(i2c, PA_8); // Reset
kenjiArai 0:86a17116e8be 105 *
kenjiArai 0:86a17116e8be 106 * BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:86a17116e8be 107 * BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:86a17116e8be 108 *
kenjiArai 0:86a17116e8be 109 * int main() {
kenjiArai 0:86a17116e8be 110 * pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 0:86a17116e8be 111 * if (imu.chip_ready() == 0){
kenjiArai 0:86a17116e8be 112 * pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 0:86a17116e8be 113 * }
kenjiArai 0:86a17116e8be 114 * imu.read_id_inf(&bno055_id_inf);
kenjiArai 0:86a17116e8be 115 * pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 0:86a17116e8be 116 * bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
kenjiArai 0:86a17116e8be 117 * bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 0:86a17116e8be 118 * while(1) {
kenjiArai 0:86a17116e8be 119 * imu.get_Euler_Angles(&euler_angles);
kenjiArai 0:86a17116e8be 120 * pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
kenjiArai 0:86a17116e8be 121 * euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 0:86a17116e8be 122 * wait(0.5);
kenjiArai 0:86a17116e8be 123 * }
kenjiArai 0:86a17116e8be 124 * }
kenjiArai 0:86a17116e8be 125 * @endcode
kenjiArai 0:86a17116e8be 126 */
kenjiArai 0:86a17116e8be 127
kenjiArai 0:86a17116e8be 128 class BNO055
kenjiArai 0:86a17116e8be 129 {
kenjiArai 0:86a17116e8be 130 public:
kenjiArai 0:86a17116e8be 131 /** Configure data pin
kenjiArai 0:86a17116e8be 132 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 133 * @param device address
kenjiArai 0:86a17116e8be 134 */
kenjiArai 1:cb7e19c0a702 135 BNO055(PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode);
kenjiArai 0:86a17116e8be 136
kenjiArai 0:86a17116e8be 137 /** Configure data pin
kenjiArai 0:86a17116e8be 138 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 139 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 140 */
kenjiArai 1:cb7e19c0a702 141 BNO055(PinName p_sda, PinName p_scl, PinName p_reset);
kenjiArai 0:86a17116e8be 142
kenjiArai 0:86a17116e8be 143 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 144 * @param I2C previous definition
kenjiArai 0:86a17116e8be 145 * @param device address
kenjiArai 0:86a17116e8be 146 */
kenjiArai 1:cb7e19c0a702 147 BNO055(I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode);
kenjiArai 0:86a17116e8be 148
kenjiArai 0:86a17116e8be 149 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 150 * @param I2C previous definition
kenjiArai 0:86a17116e8be 151 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 152 */
kenjiArai 1:cb7e19c0a702 153 BNO055(I2C& p_i2c, PinName p_reset);
kenjiArai 0:86a17116e8be 154
kenjiArai 0:86a17116e8be 155 /** Get Euler Angles
kenjiArai 0:86a17116e8be 156 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 157 */
AlexanderLill 7:f0eb18503c27 158 void get_euler_angles(BNO055_EULER_TypeDef *el);
kenjiArai 0:86a17116e8be 159
kenjiArai 0:86a17116e8be 160 /** Get Quaternion XYZ&W
kenjiArai 0:86a17116e8be 161 * @param int16_t type of 4D data address
kenjiArai 0:86a17116e8be 162 */
kenjiArai 0:86a17116e8be 163 void get_quaternion(BNO055_QUATERNION_TypeDef *qua);
kenjiArai 0:86a17116e8be 164
kenjiArai 0:86a17116e8be 165 /** Get Linear accel data
kenjiArai 0:86a17116e8be 166 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 167 */
AlexanderLill 7:f0eb18503c27 168 void get_linear_accel(BNO055_VECTOR_TypeDef *la);
kenjiArai 0:86a17116e8be 169
AlexanderLill 8:46134e7474e7 170 /** Get Mag data
AlexanderLill 8:46134e7474e7 171 * @param double type of 3D data address
AlexanderLill 8:46134e7474e7 172 */
AlexanderLill 8:46134e7474e7 173 void get_mag(BNO055_VECTOR_TypeDef *qua);
AlexanderLill 8:46134e7474e7 174
AlexanderLill 8:46134e7474e7 175 /** Get Accel data
AlexanderLill 8:46134e7474e7 176 * @param double type of 3D data address
AlexanderLill 8:46134e7474e7 177 */
AlexanderLill 8:46134e7474e7 178 void get_accel(BNO055_VECTOR_TypeDef *la);
AlexanderLill 8:46134e7474e7 179
AlexanderLill 8:46134e7474e7 180 /** Get Gyro data
AlexanderLill 8:46134e7474e7 181 * @param double type of 3D data address
AlexanderLill 8:46134e7474e7 182 */
AlexanderLill 8:46134e7474e7 183 void get_gyro(BNO055_VECTOR_TypeDef *gr);
AlexanderLill 11:17bc36c5ccbb 184
kenjiArai 0:86a17116e8be 185 /** Get Gravity data
kenjiArai 0:86a17116e8be 186 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 187 */
AlexanderLill 7:f0eb18503c27 188 void get_gravity(BNO055_VECTOR_TypeDef *gr);
kenjiArai 0:86a17116e8be 189
kenjiArai 0:86a17116e8be 190 /** Get Chip temperature data both Acc & Gyro
kenjiArai 0:86a17116e8be 191 * @param int8_t type of data address
kenjiArai 0:86a17116e8be 192 */
kenjiArai 0:86a17116e8be 193 void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp);
kenjiArai 0:86a17116e8be 194
kenjiArai 0:86a17116e8be 195 /** Change fusion mode
kenjiArai 0:86a17116e8be 196 * @param fusion mode
kenjiArai 0:86a17116e8be 197 * @return none
kenjiArai 0:86a17116e8be 198 */
kenjiArai 0:86a17116e8be 199 void change_fusion_mode(uint8_t mode);
kenjiArai 0:86a17116e8be 200
kenjiArai 0:86a17116e8be 201 /** Set Mouting position
kenjiArai 0:86a17116e8be 202 * Please make sure your mounting direction of BNO055 chip
kenjiArai 0:86a17116e8be 203 * refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap
kenjiArai 0:86a17116e8be 204 * @param Set P0 to P7 mounting position data
kenjiArai 0:86a17116e8be 205 * @return none
kenjiArai 0:86a17116e8be 206 */
kenjiArai 0:86a17116e8be 207 void set_mounting_position(uint8_t position);
kenjiArai 0:86a17116e8be 208
kenjiArai 0:86a17116e8be 209 /** Read BNO055 ID information
kenjiArai 0:86a17116e8be 210 * @param ID information address
kenjiArai 0:86a17116e8be 211 * @return none
kenjiArai 0:86a17116e8be 212 */
kenjiArai 0:86a17116e8be 213 void read_id_inf(BNO055_ID_INF_TypeDef *id);
kenjiArai 0:86a17116e8be 214
kenjiArai 0:86a17116e8be 215 /** Check chip is avairable or not
kenjiArai 0:86a17116e8be 216 * @param none
kenjiArai 0:86a17116e8be 217 * @return OK = 1, NG = 0;
kenjiArai 0:86a17116e8be 218 */
kenjiArai 0:86a17116e8be 219 uint8_t chip_ready(void);
kenjiArai 0:86a17116e8be 220
kenjiArai 2:0f225b686cd5 221 /** Read calibration status
kenjiArai 2:0f225b686cd5 222 * @param none
kenjiArai 2:0f225b686cd5 223 * @return SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet
kenjiArai 2:0f225b686cd5 224 */
kenjiArai 2:0f225b686cd5 225 uint8_t read_calib_status(void);
kenjiArai 2:0f225b686cd5 226
kenjiArai 1:cb7e19c0a702 227 /** Reset
kenjiArai 1:cb7e19c0a702 228 * @param none
kenjiArai 3:0ad6f85b178f 229 * @return 0 = sucess, 1 = Not available chip
kenjiArai 1:cb7e19c0a702 230 */
kenjiArai 1:cb7e19c0a702 231 uint8_t reset(void);
kenjiArai 1:cb7e19c0a702 232
kenjiArai 0:86a17116e8be 233 /** Set I2C clock frequency
kenjiArai 0:86a17116e8be 234 * @param freq.
kenjiArai 0:86a17116e8be 235 * @return none
kenjiArai 0:86a17116e8be 236 */
kenjiArai 0:86a17116e8be 237 void frequency(int hz);
kenjiArai 0:86a17116e8be 238
kenjiArai 0:86a17116e8be 239 /** Read page 0 register
kenjiArai 0:86a17116e8be 240 * @param register's address
kenjiArai 0:86a17116e8be 241 * @return register data
kenjiArai 0:86a17116e8be 242 */
kenjiArai 0:86a17116e8be 243 uint8_t read_reg0(uint8_t addr);
kenjiArai 0:86a17116e8be 244
kenjiArai 0:86a17116e8be 245 /** Write page 0 register
kenjiArai 0:86a17116e8be 246 * @param register's address
kenjiArai 0:86a17116e8be 247 * @param data
kenjiArai 0:86a17116e8be 248 * @return register data
kenjiArai 0:86a17116e8be 249 */
kenjiArai 0:86a17116e8be 250 uint8_t write_reg0(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 251
kenjiArai 0:86a17116e8be 252 /** Read page 1 register
kenjiArai 0:86a17116e8be 253 * @param register's address
kenjiArai 0:86a17116e8be 254 * @return register data
kenjiArai 0:86a17116e8be 255 */
kenjiArai 0:86a17116e8be 256 uint8_t read_reg1(uint8_t addr);
kenjiArai 0:86a17116e8be 257
kenjiArai 0:86a17116e8be 258 /** Write page 1 register
kenjiArai 0:86a17116e8be 259 * @param register's address
kenjiArai 0:86a17116e8be 260 * @param data
kenjiArai 0:86a17116e8be 261 * @return register data
kenjiArai 0:86a17116e8be 262 */
kenjiArai 0:86a17116e8be 263 uint8_t write_reg1(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 264
AlexanderLill 10:63a9849f0e97 265 /** Determine if degrees (instead of radians) are used.
AlexanderLill 10:63a9849f0e97 266 * @return true if degrees are used
AlexanderLill 10:63a9849f0e97 267 */
AlexanderLill 10:63a9849f0e97 268 bool use_degrees();
AlexanderLill 10:63a9849f0e97 269
AlexanderLill 10:63a9849f0e97 270 /** Determine if m/s*s (instead of mg) is used.
AlexanderLill 10:63a9849f0e97 271 * @return true if m/s*s are used
AlexanderLill 10:63a9849f0e97 272 */
AlexanderLill 10:63a9849f0e97 273 bool use_mss();
AlexanderLill 10:63a9849f0e97 274
AlexanderLill 12:0e81e9aecc4c 275 /** Determine if dps (instead of rps) are used.
AlexanderLill 10:63a9849f0e97 276 * @return true if dps are used
AlexanderLill 10:63a9849f0e97 277 */
AlexanderLill 10:63a9849f0e97 278 bool use_dps();
AlexanderLill 10:63a9849f0e97 279
AlexanderLill 10:63a9849f0e97 280 /** Determine if celsius (instead of fahrenheit) is used.
AlexanderLill 10:63a9849f0e97 281 * @return true if celsius are used
AlexanderLill 10:63a9849f0e97 282 */
AlexanderLill 10:63a9849f0e97 283 bool use_celsius();
AlexanderLill 10:63a9849f0e97 284
kenjiArai 0:86a17116e8be 285 protected:
kenjiArai 0:86a17116e8be 286 void initialize(void);
Alexander Lill 13:92854c8deb3c 287 void initialize_reset_pin(void);
AlexanderLill 9:e7c8d34bf79a 288 void get_id(void);
kenjiArai 0:86a17116e8be 289 void set_initial_dt_to_regs(void);
kenjiArai 0:86a17116e8be 290 void unit_selection(void);
AlexanderLill 9:e7c8d34bf79a 291 uint8_t get_operating_mode(void);
kenjiArai 0:86a17116e8be 292 uint8_t select_page(uint8_t page);
kenjiArai 0:86a17116e8be 293
kenjiArai 5:cf33bcfe976c 294 I2C *_i2c_p;
kenjiArai 5:cf33bcfe976c 295 I2C &_i2c;
kenjiArai 1:cb7e19c0a702 296 DigitalOut _res;
kenjiArai 0:86a17116e8be 297
kenjiArai 0:86a17116e8be 298 private:
kenjiArai 0:86a17116e8be 299 char dt[10]; // working buffer
kenjiArai 0:86a17116e8be 300 uint8_t chip_addr;
kenjiArai 0:86a17116e8be 301 uint8_t chip_mode;
kenjiArai 3:0ad6f85b178f 302 uint8_t ready_flag;
kenjiArai 3:0ad6f85b178f 303 uint8_t page_flag;
kenjiArai 0:86a17116e8be 304
kenjiArai 0:86a17116e8be 305 uint8_t chip_id;
kenjiArai 0:86a17116e8be 306 uint8_t acc_id;
kenjiArai 0:86a17116e8be 307 uint8_t mag_id;
kenjiArai 0:86a17116e8be 308 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 309 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 310 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 311
AlexanderLill 10:63a9849f0e97 312 bool unit_flag_is_set(uint8_t flag);
kenjiArai 0:86a17116e8be 313 };
kenjiArai 0:86a17116e8be 314
kenjiArai 0:86a17116e8be 315 //---------------------------------------------------------
kenjiArai 0:86a17116e8be 316 //----- Register's definition -----------------------------
kenjiArai 0:86a17116e8be 317 //---------------------------------------------------------
kenjiArai 0:86a17116e8be 318 // Page id register definition
kenjiArai 0:86a17116e8be 319 #define BNO055_PAGE_ID 0x07
kenjiArai 0:86a17116e8be 320
kenjiArai 0:86a17116e8be 321 //----- page0 ---------------------------------------------
kenjiArai 0:86a17116e8be 322 #define BNO055_CHIP_ID 0x00
kenjiArai 0:86a17116e8be 323 #define BNO055_ACCEL_REV_ID 0x01
kenjiArai 0:86a17116e8be 324 #define BNO055_MAG_REV_ID 0x02
kenjiArai 0:86a17116e8be 325 #define BNO055_GYRO_REV_ID 0x03
kenjiArai 0:86a17116e8be 326 #define BNO055_SW_REV_ID_LSB 0x04
kenjiArai 0:86a17116e8be 327 #define BNO055_SW_REV_ID_MSB 0x05
kenjiArai 0:86a17116e8be 328 #define BNO055_BL_REV_ID 0x06
kenjiArai 0:86a17116e8be 329
kenjiArai 0:86a17116e8be 330 // Accel data register*/
kenjiArai 0:86a17116e8be 331 #define BNO055_ACC_X_LSB 0x08
kenjiArai 0:86a17116e8be 332 #define BNO055_ACC_X_MSB 0x09
kenjiArai 0:86a17116e8be 333 #define BNO055_ACC_Y_LSB 0x0a
kenjiArai 0:86a17116e8be 334 #define BNO055_ACC_Y_MSB 0x0b
kenjiArai 0:86a17116e8be 335 #define BNO055_ACC_Z_LSB 0x0c
kenjiArai 0:86a17116e8be 336 #define BNO055_ACC_Z_MSB 0x0d
kenjiArai 0:86a17116e8be 337
kenjiArai 0:86a17116e8be 338 // Mag data register
kenjiArai 0:86a17116e8be 339 #define BNO055_MAG_X_LSB 0x0e
kenjiArai 0:86a17116e8be 340 #define BNO055_MAG_X_MSB 0x0f
kenjiArai 0:86a17116e8be 341 #define BNO055_MAG_Y_LSB 0x10
kenjiArai 0:86a17116e8be 342 #define BNO055_MAG_Y_MSB 0x11
kenjiArai 0:86a17116e8be 343 #define BNO055_MAG_Z_LSB 0x12
kenjiArai 0:86a17116e8be 344 #define BNO055_MAG_Z_MSB 0x13
kenjiArai 0:86a17116e8be 345
kenjiArai 0:86a17116e8be 346 // Gyro data registers
kenjiArai 0:86a17116e8be 347 #define BNO055_GYR_X_LSB 0x14
kenjiArai 0:86a17116e8be 348 #define BNO055_GYR_X_MSB 0x15
kenjiArai 0:86a17116e8be 349 #define BNO055_GYR_Y_LSB 0x16
kenjiArai 0:86a17116e8be 350 #define BNO055_GYR_Y_MSB 0x17
kenjiArai 0:86a17116e8be 351 #define BNO055_GYR_Z_LSB 0x18
kenjiArai 0:86a17116e8be 352 #define BNO055_GYR_Z_MSB 0x19
kenjiArai 0:86a17116e8be 353
kenjiArai 0:86a17116e8be 354 // Euler data registers
kenjiArai 0:86a17116e8be 355 #define BNO055_EULER_H_LSB 0x1a
kenjiArai 0:86a17116e8be 356 #define BNO055_EULER_H_MSB 0x1b
kenjiArai 0:86a17116e8be 357
kenjiArai 0:86a17116e8be 358 #define BNO055_EULER_R_LSB 0x1c
kenjiArai 0:86a17116e8be 359 #define BNO055_EULER_R_MSB 0x1d
kenjiArai 0:86a17116e8be 360
kenjiArai 0:86a17116e8be 361 #define BNO055_EULER_P_LSB 0x1e
kenjiArai 0:86a17116e8be 362 #define BNO055_EULER_P_MSB 0x1f
kenjiArai 0:86a17116e8be 363
kenjiArai 0:86a17116e8be 364 // Quaternion data registers
kenjiArai 0:86a17116e8be 365 #define BNO055_QUATERNION_W_LSB 0x20
kenjiArai 0:86a17116e8be 366 #define BNO055_QUATERNION_W_MSB 0x21
kenjiArai 0:86a17116e8be 367 #define BNO055_QUATERNION_X_LSB 0x22
kenjiArai 0:86a17116e8be 368 #define BNO055_QUATERNION_X_MSB 0x23
kenjiArai 0:86a17116e8be 369 #define BNO055_QUATERNION_Y_LSB 0x24
kenjiArai 0:86a17116e8be 370 #define BNO055_QUATERNION_Y_MSB 0x25
kenjiArai 0:86a17116e8be 371 #define BNO055_QUATERNION_Z_LSB 0x26
kenjiArai 0:86a17116e8be 372 #define BNO055_QUATERNION_Z_MSB 0x27
kenjiArai 0:86a17116e8be 373
kenjiArai 0:86a17116e8be 374 // Linear acceleration data registers
kenjiArai 0:86a17116e8be 375 #define BNO055_LINEAR_ACC_X_LSB 0x28
kenjiArai 0:86a17116e8be 376 #define BNO055_LINEAR_ACC_X_MSB 0x29
kenjiArai 0:86a17116e8be 377 #define BNO055_LINEAR_ACC_Y_LSB 0x2a
kenjiArai 0:86a17116e8be 378 #define BNO055_LINEAR_ACC_Y_MSB 0x2b
kenjiArai 0:86a17116e8be 379 #define BNO055_LINEAR_ACC_Z_LSB 0x2c
kenjiArai 0:86a17116e8be 380 #define BNO055_LINEAR_ACC_Z_MSB 0x2d
kenjiArai 0:86a17116e8be 381
kenjiArai 0:86a17116e8be 382 // Gravity data registers
kenjiArai 0:86a17116e8be 383 #define BNO055_GRAVITY_X_LSB 0x2e
kenjiArai 0:86a17116e8be 384 #define BNO055_GRAVITY_X_MSB 0x2f
kenjiArai 0:86a17116e8be 385 #define BNO055_GRAVITY_Y_LSB 0x30
kenjiArai 0:86a17116e8be 386 #define BNO055_GRAVITY_Y_MSB 0x31
kenjiArai 0:86a17116e8be 387 #define BNO055_GRAVITY_Z_LSB 0x32
kenjiArai 0:86a17116e8be 388 #define BNO055_GRAVITY_Z_MSB 0x33
kenjiArai 0:86a17116e8be 389
kenjiArai 0:86a17116e8be 390 // Temperature data register
kenjiArai 0:86a17116e8be 391 #define BNO055_TEMP 0x34
kenjiArai 0:86a17116e8be 392
kenjiArai 0:86a17116e8be 393 // Status registers
kenjiArai 0:86a17116e8be 394 #define BNO055_CALIB_STAT 0x35
kenjiArai 0:86a17116e8be 395 #define BNO055_SELFTEST_RESULT 0x36
kenjiArai 0:86a17116e8be 396 #define BNO055_INTR_STAT 0x37
kenjiArai 0:86a17116e8be 397 #define BNO055_SYS_CLK_STAT 0x38
kenjiArai 0:86a17116e8be 398 #define BNO055_SYS_STAT 0x39
kenjiArai 0:86a17116e8be 399 #define BNO055_SYS_ERR 0x3a
kenjiArai 0:86a17116e8be 400
kenjiArai 0:86a17116e8be 401 // Unit selection register
kenjiArai 0:86a17116e8be 402 #define BNO055_UNIT_SEL 0x3b
kenjiArai 0:86a17116e8be 403 #define BNO055_DATA_SELECT 0x3c
kenjiArai 0:86a17116e8be 404
kenjiArai 0:86a17116e8be 405 // Mode registers
kenjiArai 0:86a17116e8be 406 #define BNO055_OPR_MODE 0x3d
kenjiArai 0:86a17116e8be 407 #define BNO055_PWR_MODE 0x3e
kenjiArai 0:86a17116e8be 408 #define BNO055_SYS_TRIGGER 0x3f
kenjiArai 0:86a17116e8be 409 #define BNO055_TEMP_SOURCE 0x40
kenjiArai 0:86a17116e8be 410
kenjiArai 0:86a17116e8be 411 // Axis remap registers
kenjiArai 0:86a17116e8be 412 #define BNO055_AXIS_MAP_CONFIG 0x41
kenjiArai 0:86a17116e8be 413 #define BNO055_AXIS_MAP_SIGN 0x42
kenjiArai 0:86a17116e8be 414
kenjiArai 0:86a17116e8be 415 // SIC registers
kenjiArai 0:86a17116e8be 416 #define BNO055_SIC_MTRX_0_LSB 0x43
kenjiArai 0:86a17116e8be 417 #define BNO055_SIC_MTRX_0_MSB 0x44
kenjiArai 0:86a17116e8be 418 #define BNO055_SIC_MTRX_1_LSB 0x45
kenjiArai 0:86a17116e8be 419 #define BNO055_SIC_MTRX_1_MSB 0x46
kenjiArai 0:86a17116e8be 420 #define BNO055_SIC_MTRX_2_LSB 0x47
kenjiArai 0:86a17116e8be 421 #define BNO055_SIC_MTRX_2_MSB 0x48
kenjiArai 0:86a17116e8be 422 #define BNO055_SIC_MTRX_3_LSB 0x49
kenjiArai 0:86a17116e8be 423 #define BNO055_SIC_MTRX_3_MSB 0x4a
kenjiArai 0:86a17116e8be 424 #define BNO055_SIC_MTRX_4_LSB 0x4b
kenjiArai 0:86a17116e8be 425 #define BNO055_SIC_MTRX_4_MSB 0x4c
kenjiArai 0:86a17116e8be 426 #define BNO055_SIC_MTRX_5_LSB 0x4d
kenjiArai 0:86a17116e8be 427 #define BNO055_SIC_MTRX_5_MSB 0x4e
kenjiArai 0:86a17116e8be 428 #define BNO055_SIC_MTRX_6_LSB 0x4f
kenjiArai 0:86a17116e8be 429 #define BNO055_SIC_MTRX_6_MSB 0x50
kenjiArai 0:86a17116e8be 430 #define BNO055_SIC_MTRX_7_LSB 0x51
kenjiArai 0:86a17116e8be 431 #define BNO055_SIC_MTRX_7_MSB 0x52
kenjiArai 0:86a17116e8be 432 #define BNO055_SIC_MTRX_8_LSB 0x53
kenjiArai 0:86a17116e8be 433 #define BNO055_SIC_MTRX_8_MSB 0x54
kenjiArai 0:86a17116e8be 434
kenjiArai 0:86a17116e8be 435 // Accelerometer Offset registers
kenjiArai 0:86a17116e8be 436 #define ACCEL_OFFSET_X_LSB 0x55
kenjiArai 0:86a17116e8be 437 #define ACCEL_OFFSET_X_MSB 0x56
kenjiArai 0:86a17116e8be 438 #define ACCEL_OFFSET_Y_LSB 0x57
kenjiArai 0:86a17116e8be 439 #define ACCEL_OFFSET_Y_MSB 0x58
kenjiArai 0:86a17116e8be 440 #define ACCEL_OFFSET_Z_LSB 0x59
kenjiArai 0:86a17116e8be 441 #define ACCEL_OFFSET_Z_MSB 0x5a
kenjiArai 0:86a17116e8be 442
kenjiArai 0:86a17116e8be 443 // Magnetometer Offset registers
kenjiArai 0:86a17116e8be 444 #define MAG_OFFSET_X_LSB 0x5b
kenjiArai 0:86a17116e8be 445 #define MAG_OFFSET_X_MSB 0x5c
kenjiArai 0:86a17116e8be 446 #define MAG_OFFSET_Y_LSB 0x5d
kenjiArai 0:86a17116e8be 447 #define MAG_OFFSET_Y_MSB 0x5e
kenjiArai 0:86a17116e8be 448 #define MAG_OFFSET_Z_LSB 0x5f
kenjiArai 0:86a17116e8be 449 #define MAG_OFFSET_Z_MSB 0x60
kenjiArai 0:86a17116e8be 450
kenjiArai 0:86a17116e8be 451 // Gyroscope Offset registers
kenjiArai 0:86a17116e8be 452 #define GYRO_OFFSET_X_LSB 0x61
kenjiArai 0:86a17116e8be 453 #define GYRO_OFFSET_X_MSB 0x62
kenjiArai 0:86a17116e8be 454 #define GYRO_OFFSET_Y_LSB 0x63
kenjiArai 0:86a17116e8be 455 #define GYRO_OFFSET_Y_MSB 0x64
kenjiArai 0:86a17116e8be 456 #define GYRO_OFFSET_Z_LSB 0x65
kenjiArai 0:86a17116e8be 457 #define GYRO_OFFSET_Z_MSB 0x66
kenjiArai 0:86a17116e8be 458
kenjiArai 0:86a17116e8be 459 // Radius registers
kenjiArai 0:86a17116e8be 460 #define ACCEL_RADIUS_LSB 0x67
kenjiArai 0:86a17116e8be 461 #define ACCEL_RADIUS_MSB 0x68
kenjiArai 0:86a17116e8be 462 #define MAG_RADIUS_LSB 0x69
kenjiArai 0:86a17116e8be 463 #define MAG_RADIUS_MSB 0x6a
kenjiArai 0:86a17116e8be 464
kenjiArai 0:86a17116e8be 465 //----- page1 ---------------------------------------------
kenjiArai 0:86a17116e8be 466 // Configuration registers
kenjiArai 0:86a17116e8be 467 #define ACCEL_CONFIG 0x08
kenjiArai 0:86a17116e8be 468 #define MAG_CONFIG 0x09
kenjiArai 0:86a17116e8be 469 #define GYRO_CONFIG 0x0a
kenjiArai 0:86a17116e8be 470 #define GYRO_MODE_CONFIG 0x0b
kenjiArai 0:86a17116e8be 471 #define ACCEL_SLEEP_CONFIG 0x0c
kenjiArai 0:86a17116e8be 472 #define GYRO_SLEEP_CONFIG 0x0d
kenjiArai 0:86a17116e8be 473 #define MAG_SLEEP_CONFIG 0x0e
kenjiArai 0:86a17116e8be 474
kenjiArai 0:86a17116e8be 475 // Interrupt registers
kenjiArai 0:86a17116e8be 476 #define INT_MASK 0x0f
kenjiArai 0:86a17116e8be 477 #define INT 0x10
kenjiArai 0:86a17116e8be 478 #define ACCEL_ANY_MOTION_THRES 0x11
kenjiArai 0:86a17116e8be 479 #define ACCEL_INTR_SETTINGS 0x12
kenjiArai 0:86a17116e8be 480 #define ACCEL_HIGH_G_DURN 0x13
kenjiArai 0:86a17116e8be 481 #define ACCEL_HIGH_G_THRES 0x14
kenjiArai 0:86a17116e8be 482 #define ACCEL_NO_MOTION_THRES 0x15
kenjiArai 0:86a17116e8be 483 #define ACCEL_NO_MOTION_SET 0x16
kenjiArai 0:86a17116e8be 484 #define GYRO_INTR_SETING 0x17
kenjiArai 0:86a17116e8be 485 #define GYRO_HIGHRATE_X_SET 0x18
kenjiArai 0:86a17116e8be 486 #define GYRO_DURN_X 0x19
kenjiArai 0:86a17116e8be 487 #define GYRO_HIGHRATE_Y_SET 0x1a
kenjiArai 0:86a17116e8be 488 #define GYRO_DURN_Y 0x1b
kenjiArai 0:86a17116e8be 489 #define GYRO_HIGHRATE_Z_SET 0x1c
kenjiArai 0:86a17116e8be 490 #define GYRO_DURN_Z 0x1d
kenjiArai 0:86a17116e8be 491 #define GYRO_ANY_MOTION_THRES 0x1e
kenjiArai 0:86a17116e8be 492 #define GYRO_ANY_MOTION_SET 0x1f
kenjiArai 0:86a17116e8be 493
kenjiArai 3:0ad6f85b178f 494 //---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 495 //----- Calibration example -------------------------------
kenjiArai 3:0ad6f85b178f 496 //---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 497 #if 0
kenjiArai 3:0ad6f85b178f 498 // Calibration
kenjiArai 3:0ad6f85b178f 499 // Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 3:0ad6f85b178f 500 void bno055_calbration(void){
kenjiArai 3:0ad6f85b178f 501 uint8_t d;
kenjiArai 3:0ad6f85b178f 502
kenjiArai 3:0ad6f85b178f 503 pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 3:0ad6f85b178f 504 //---------- Gyroscope Caliblation ------------------------------------------------------------
kenjiArai 3:0ad6f85b178f 505 // (a) Place the device in a single stable position for a period of few seconds to allow the
kenjiArai 3:0ad6f85b178f 506 // gyroscope to calibrate
kenjiArai 3:0ad6f85b178f 507 pc.printf("Step1) Please wait few seconds\r\n");
kenjiArai 3:0ad6f85b178f 508 t.start();
kenjiArai 3:0ad6f85b178f 509 while (t.read() < 10){
kenjiArai 3:0ad6f85b178f 510 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 511 pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 3:0ad6f85b178f 512 if ((d & 0x30) == 0x30){
kenjiArai 3:0ad6f85b178f 513 break;
kenjiArai 3:0ad6f85b178f 514 }
kenjiArai 3:0ad6f85b178f 515 wait(1.0);
kenjiArai 3:0ad6f85b178f 516 }
kenjiArai 3:0ad6f85b178f 517 pc.printf("-> Step1) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 518 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 519 // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
kenjiArai 3:0ad6f85b178f 520 // CALIB_STAT register indicates fully calibrated.
kenjiArai 3:0ad6f85b178f 521 // (b) It takes more calibration movements to get the magnetometer calibrated than in the
kenjiArai 3:0ad6f85b178f 522 // NDOF mode.
kenjiArai 3:0ad6f85b178f 523 pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 3:0ad6f85b178f 524 t.start();
kenjiArai 3:0ad6f85b178f 525 while (t.read() < 30){
kenjiArai 3:0ad6f85b178f 526 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 527 pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 3:0ad6f85b178f 528 if ((d & 0x03) == 0x03){
kenjiArai 3:0ad6f85b178f 529 break;
kenjiArai 3:0ad6f85b178f 530 }
AlexanderLill 11:17bc36c5ccbb 531 wait(1.0);
kenjiArai 3:0ad6f85b178f 532 }
kenjiArai 3:0ad6f85b178f 533 pc.printf("-> Step2) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 534 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 535 // a) Place the device in 6 different stable positions for a period of few seconds
kenjiArai 3:0ad6f85b178f 536 // to allow the accelerometer to calibrate.
kenjiArai 3:0ad6f85b178f 537 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 3:0ad6f85b178f 538 // The 6 stable positions could be in any direction, but make sure that the device is
kenjiArai 3:0ad6f85b178f 539 // lying at least once perpendicular to the x, y and z axis.
kenjiArai 3:0ad6f85b178f 540 pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 3:0ad6f85b178f 541 pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 3:0ad6f85b178f 542 pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 3:0ad6f85b178f 543 pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 3:0ad6f85b178f 544 pc.printf(" If you will give up, hit any key.\r\n", d);
kenjiArai 3:0ad6f85b178f 545 t.stop();
kenjiArai 3:0ad6f85b178f 546 while (true){
kenjiArai 3:0ad6f85b178f 547 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 548 imu.get_gravity(&gravity);
kenjiArai 3:0ad6f85b178f 549 pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n",
kenjiArai 3:0ad6f85b178f 550 d, gravity.x, gravity.y, gravity.z);
kenjiArai 3:0ad6f85b178f 551 if (d == 0xff){ break;}
kenjiArai 3:0ad6f85b178f 552 if (pc.readable()){ break;}
kenjiArai 3:0ad6f85b178f 553 wait(1.0);
kenjiArai 3:0ad6f85b178f 554 }
kenjiArai 3:0ad6f85b178f 555 if (imu.read_calib_status() == 0xff){
kenjiArai 3:0ad6f85b178f 556 pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 557 } else {
kenjiArai 3:0ad6f85b178f 558 pc.printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 559 }
kenjiArai 3:0ad6f85b178f 560 t.stop();
kenjiArai 3:0ad6f85b178f 561 }
kenjiArai 3:0ad6f85b178f 562 #endif
kenjiArai 3:0ad6f85b178f 563
kenjiArai 0:86a17116e8be 564 #endif // BNO055_H