The library needs to be tested once we get the IMU
BNO080Constants.h
- Committer:
- Jamie Smith
- Date:
- 2018-12-29
- Revision:
- 1:aac28ffd63ed
- Child:
- 3:197ad972fb7c
File content as of revision 1:aac28ffd63ed:
// // Constants used in communication with the BNO080 // #ifndef HAMSTER_BNO080CONSTANTS_H #define HAMSTER_BNO080CONSTANTS_H //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //Registers #define CHANNEL_COMMAND 0 #define CHANNEL_EXECUTABLE 1 #define CHANNEL_CONTROL 2 #define CHANNEL_REPORTS 3 #define CHANNEL_WAKE_REPORTS 4 #define CHANNEL_GYRO 5 // Report IDs on the command channel. // Unlike the other constants, these come from the Sensor Hub Transport Protocol datasheet, section 5.1 #define COMMAND_REPORTID_ADVERTISEMENT 0x0 #define COMMAND_REPORTID_ERRORLIST 0x1 //All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual //These are used for low level communication with the sensor, on channel 2 #define SHTP_REPORT_COMMAND_RESPONSE 0xF1 #define SHTP_REPORT_COMMAND_REQUEST 0xF2 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB #define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD #define SHTP_REPORT_GET_FEATURE_RESPONSE 0xFC //All the different sensors and features we can get reports from //These are used when enabling a given sensor #define SENSOR_REPORTID_TIMESTAMP_REBASE 0xFA #define SENSOR_REPORTID_ACCELEROMETER 0x01 #define SENSOR_REPORTID_GYROSCOPE_CALIBRATED 0x02 #define SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED 0x03 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05 #define SENSOR_REPORTID_GRAVITY 0x06 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09 #define SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED 0x0F #define SENSOR_REPORTID_TAP_DETECTOR 0x10 #define SENSOR_REPORTID_STEP_COUNTER 0x11 #define SENSOR_REPORTID_SIGNIFICANT_MOTION 0x12 #define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13 #define SENSOR_REPORTID_STEP_DETECTOR 0x18 #define SENSOR_REPORTID_SHAKE_DETECTOR 0x19 // sensor report ID with the largest numeric value #define MAX_SENSOR_REPORTID SENSOR_REPORTID_SHAKE_DETECTOR // Q points for various sensor data elements #define ACCELEROMETER_Q_POINT 8 // for accelerometer based data #define GYRO_Q_POINT 9 // for gyroscope data #define MAGNETOMETER_Q_POINT 4 // for magnetometer data #define ROTATION_Q_POINT 14 // for rotation data #define ROTATION_ACCURACY_Q_POINT 12 // for rotation accuracy data #define POWER_Q_POINT 10 // for power information in the metadata #define ORIENTATION_QUAT_Q_POINT 14 // for the set orientation command // Report IDs on the Executable channel // See Figure 1-27 in the BNO080 datasheet #define EXECUTABLE_REPORTID_RESET 0x1 //Record IDs from SH-2 figure 28 //These are used to read and set various configuration options #define FRS_RECORDID_SERIAL_NUMBER 0x4B4B //Record IDs from SH-2 figure 29 //These are used to read the metadata for each sensor type #define FRS_RECORDID_ACCELEROMETER 0xE302 #define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B //Command IDs from section 6.4, page 42 //These are used to calibrate, initialize, set orientation, tare etc the sensor #define COMMAND_ERRORS 1 #define COMMAND_COUNTER 2 #define COMMAND_TARE 3 #define COMMAND_INITIALIZE 4 #define COMMAND_SAVE_DCD 6 #define COMMAND_ME_CALIBRATE 7 #define COMMAND_DCD_PERIOD_SAVE 9 #define COMMAND_OSCILLATOR 10 #define COMMAND_CLEAR_DCD 11 #define COMMAND_UNSOLICITED_INITIALIZE 0x84 #define CALIBRATE_ACCEL 0 #define CALIBRATE_GYRO 1 #define CALIBRATE_MAG 2 #define CALIBRATE_PLANAR_ACCEL 3 #define CALIBRATE_ACCEL_GYRO_MAG 4 #define CALIBRATE_STOP 5 // timing for reset // per my measurement, reset takes about 90ms, so let's take twice that #define BNO080_RESET_TIMEOUT .18f #endif //HAMSTER_BNO080CONSTANTS_H