Diff: Adafruit_BNO055.cpp

Revision:

0:22c544c8741a

Child:

1:b48e4192c101

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Adafruit_BNO055.cpp	Wed Sep 16 19:48:33 2015 +0000
@@ -0,0 +1,437 @@
+/***************************************************************************
+  This is a library for the BNO055 orientation sensor
+
+  Designed specifically to work with the Adafruit BNO055 Breakout.
+
+  Pick one up today in the adafruit shop!
+  ------> http://www.adafruit.com/products
+
+  These sensors use I2C to communicate, 2 pins are required to interface.
+
+  Adafruit invests time and resources providing this open source code,
+  please support Adafruit andopen-source hardware by purchasing products
+  from Adafruit!
+
+  Written by KTOWN for Adafruit Industries.
+
+  MIT license, all text above must be included in any redistribution
+ ***************************************************************************/
+
+#include <math.h>
+#include <limits.h>
+#include "mbed.h"
+
+#include "Adafruit_BNO055.h"
+
+/***************************************************************************
+ CONSTRUCTOR
+ ***************************************************************************/
+
+/**************************************************************************/
+/*!
+    @brief  Instantiates a new Adafruit_BNO055 class
+*/
+/**************************************************************************/
+Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address, I2C* i2c_ptr)
+{
+  _sensorID = sensorID;
+  _address = address;
+  i2c = i2c_ptr;
+}
+
+/***************************************************************************
+ PUBLIC FUNCTIONS
+ ***************************************************************************/
+
+/**************************************************************************/
+/*!
+    @brief  Sets up the HW
+*/
+/**************************************************************************/
+bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
+{
+  /* Enable I2C */
+  i2c->frequency(100000);
+
+  /* Make sure we have the right device */
+  uint8_t id = read8(BNO055_CHIP_ID_ADDR);
+  if(id != BNO055_ID)
+  {
+    wait_ms(1000); // hold on for boot
+    id = read8(BNO055_CHIP_ID_ADDR);
+    if(id != BNO055_ID) {
+      return false;  // still not? ok bail
+    }
+  }
+
+  /* Switch to config mode (just in case since this is the default) */
+  setMode(OPERATION_MODE_CONFIG);
+
+  /* Reset */
+  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
+  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
+  {
+    wait_ms(10);
+  }
+  wait_ms(50);
+
+  /* Set to normal power mode */
+  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
+  wait_ms(10);
+
+  write8(BNO055_PAGE_ID_ADDR, 0);
+
+  /* Set the output units */
+  /*
+  uint8_t unitsel = (0 << 7) | // Orientation = Android
+                    (0 << 4) | // Temperature = Celsius
+                    (0 << 2) | // Euler = Degrees
+                    (1 << 1) | // Gyro = Rads
+                    (0 << 0);  // Accelerometer = m/s^2
+  write8(BNO055_UNIT_SEL_ADDR, unitsel);
+  */
+
+  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
+  wait_ms(10);
+  /* Set the requested operating mode (see section 3.3) */
+  setMode(mode);
+  wait_ms(20);
+
+  return true;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Puts the chip in the specified operating mode
+*/
+/**************************************************************************/
+void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
+{
+  _mode = mode;
+  write8(BNO055_OPR_MODE_ADDR, _mode);
+  wait_ms(30);
+}
+
+/**************************************************************************/
+/*!
+    @brief  Use the external 32.768KHz crystal
+*/
+/**************************************************************************/
+void Adafruit_BNO055::setExtCrystalUse(bool usextal)
+{
+  adafruit_bno055_opmode_t modeback = _mode;
+
+  /* Switch to config mode (just in case since this is the default) */
+  setMode(OPERATION_MODE_CONFIG);
+  wait_ms(25);
+  write8(BNO055_PAGE_ID_ADDR, 0);
+  if (usextal) {
+    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
+  } else {
+    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
+  }
+  wait_ms(10);
+  /* Set the requested operating mode (see section 3.3) */
+  setMode(modeback);
+  wait_ms(20);
+}
+
+
+/**************************************************************************/
+/*!
+    @brief  Gets the latest system status info
+*/
+/**************************************************************************/
+void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
+{
+  write8(BNO055_PAGE_ID_ADDR, 0);
+
+  /* System Status (see section 4.3.58)
+     ---------------------------------
+     0 = Idle
+     1 = System Error
+     2 = Initializing Peripherals
+     3 = System Iniitalization
+     4 = Executing Self-Test
+     5 = Sensor fusio algorithm running
+     6 = System running without fusion algorithms */
+
+  if (system_status != 0)
+    *system_status    = read8(BNO055_SYS_STAT_ADDR);
+
+  /* Self Test Results (see section )
+     --------------------------------
+     1 = test passed, 0 = test failed
+
+     Bit 0 = Accelerometer self test
+     Bit 1 = Magnetometer self test
+     Bit 2 = Gyroscope self test
+     Bit 3 = MCU self test
+
+     0x0F = all good! */
+
+  if (self_test_result != 0)
+    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
+
+  /* System Error (see section 4.3.59)
+     ---------------------------------
+     0 = No error
+     1 = Peripheral initialization error
+     2 = System initialization error
+     3 = Self test result failed
+     4 = Register map value out of range
+     5 = Register map address out of range
+     6 = Register map write error
+     7 = BNO low power mode not available for selected operat ion mode
+     8 = Accelerometer power mode not available
+     9 = Fusion algorithm configuration error
+     A = Sensor configuration error */
+
+  if (system_error != 0)
+    *system_error     = read8(BNO055_SYS_ERR_ADDR);
+
+  wait_ms(200);
+}
+
+/**************************************************************************/
+/*!
+    @brief  Gets the chip revision numbers
+*/
+/**************************************************************************/
+void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
+{
+  uint8_t a, b;
+
+  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
+
+  /* Check the accelerometer revision */
+  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
+
+  /* Check the magnetometer revision */
+  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
+
+  /* Check the gyroscope revision */
+  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
+
+  /* Check the SW revision */
+  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
+
+  a = read8(BNO055_SW_REV_ID_LSB_ADDR);
+  b = read8(BNO055_SW_REV_ID_MSB_ADDR);
+  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
+}
+
+/**************************************************************************/
+/*!
+    @brief  Gets current calibration state.  Each value should be a uint8_t
+            pointer and it will be set to 0 if not calibrated and 3 if
+            fully calibrated.
+*/
+/**************************************************************************/
+void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
+  uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
+  if (sys != NULL) {
+    *sys = (calData >> 6) & 0x03;
+  }
+  if (gyro != NULL) {
+    *gyro = (calData >> 4) & 0x03;
+  }
+  if (accel != NULL) {
+    *accel = (calData >> 2) & 0x03;
+  }
+  if (mag != NULL) {
+    *mag = calData & 0x03;
+  }
+}
+
+/**************************************************************************/
+/*!
+    @brief  Gets the temperature in degrees celsius
+*/
+/**************************************************************************/
+int8_t Adafruit_BNO055::getTemp(void)
+{
+  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
+  return temp;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Gets a vector reading from the specified source
+*/
+/**************************************************************************/
+imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
+{
+  imu::Vector<3> xyz;
+  unsigned char buffer[6];
+  memset (buffer, 0, 6);
+
+  int16_t x, y, z;
+  x = y = z = 0;
+
+  /* Read vector data (6 bytes) */
+  readLen((adafruit_bno055_reg_t)vector_type, (char*)buffer, 6);
+
+  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
+  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
+  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
+
+  /* Convert the value to an appropriate range (section 3.6.4) */
+  /* and assign the value to the Vector type */
+  switch(vector_type)
+  {
+    case VECTOR_MAGNETOMETER:
+      /* 1uT = 16 LSB */
+      xyz[0] = ((double)x)/16.0;
+      xyz[1] = ((double)y)/16.0;
+      xyz[2] = ((double)z)/16.0;
+      break;
+    case VECTOR_GYROSCOPE:
+      /* 1rps = 900 LSB */
+      xyz[0] = ((double)x)/900.0;
+      xyz[1] = ((double)y)/900.0;
+      xyz[2] = ((double)z)/900.0;
+      break;
+    case VECTOR_EULER:
+      /* 1 degree = 16 LSB */
+      xyz[0] = ((double)x)/16.0;
+      xyz[1] = ((double)y)/16.0;
+      xyz[2] = ((double)z)/16.0;
+      break;
+    case VECTOR_ACCELEROMETER:
+    case VECTOR_LINEARACCEL:
+    case VECTOR_GRAVITY:
+      /* 1m/s^2 = 100 LSB */
+      xyz[0] = ((double)x)/100.0;
+      xyz[1] = ((double)y)/100.0;
+      xyz[2] = ((double)z)/100.0;
+      break;
+  }
+
+  return xyz;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Gets a quaternion reading from the specified source
+*/
+/**************************************************************************/
+imu::Quaternion Adafruit_BNO055::getQuat(void)
+{
+  unsigned char buffer[8];
+  memset (buffer, 0, 8);
+
+  int x, y, z, w;
+  x = y = z = w = 0;
+
+  /* Read quat data (8 bytes) */
+  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, (char*)buffer, 8);
+  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
+  x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
+  y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
+  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
+
+  /* Assign to Quaternion */
+  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
+     3.6.5.5 Orientation (Quaternion)  */
+  const double scale = (1.0 / (1<<14));
+  imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
+  return quat;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Provides the sensor_t data for this sensor
+*/
+/**************************************************************************/
+void Adafruit_BNO055::getSensor(sensor_t *sensor)
+{
+  /* Clear the sensor_t object */
+  memset(sensor, 0, sizeof(sensor_t));
+
+  /* Insert the sensor name in the fixed length char array */
+  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
+  sensor->name[sizeof(sensor->name)- 1] = 0;
+  sensor->version     = 1;
+  sensor->sensor_id   = _sensorID;
+  sensor->type        = SENSOR_TYPE_ORIENTATION;
+  sensor->min_delay   = 0;
+  sensor->max_value   = 0.0F;
+  sensor->min_value   = 0.0F;
+  sensor->resolution  = 0.01F;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Reads the sensor and returns the data as a sensors_event_t
+*/
+/**************************************************************************/
+bool Adafruit_BNO055::getEvent(sensors_event_t *event)
+{
+  /* Clear the event */
+  memset(event, 0, sizeof(sensors_event_t));
+
+  event->version   = sizeof(sensors_event_t);
+  event->sensor_id = _sensorID;
+  event->type      = SENSOR_TYPE_ORIENTATION;
+  event->timestamp = 0; //TODO: fix this with a millis() call
+
+  /* Get a Euler angle sample for orientation */
+  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
+  event->orientation.x = euler.x();
+  event->orientation.y = euler.y();
+  event->orientation.z = euler.z();
+
+  return true;
+}
+
+/***************************************************************************
+ PRIVATE FUNCTIONS
+ ***************************************************************************/
+
+/**************************************************************************/
+/*!
+    @brief  Writes an 8 bit value over I2C
+*/
+/**************************************************************************/
+bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, char value)
+{
+  char reg_to_write = (char)(reg);
+  i2c->write(_address<<1, &reg_to_write, 1, true); 
+  i2c->write(_address<<1, &value, 1, false); 
+
+  /* ToDo: Check for error! */
+  return true;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Reads an 8 bit value over I2C
+*/
+/**************************************************************************/
+char Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
+{
+  char to_read = 0;
+  char to_write = (char)reg;
+
+  i2c->write(_address<<1, &to_write, 1, false);
+  i2c->read(_address<<1, &to_read, 1, false);
+
+  return to_read;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Reads the specified number of bytes over I2C
+*/
+/**************************************************************************/
+bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, char* buffer, int len)
+{
+  char reg_to_write = (char)(reg);
+
+  i2c->write(_address<<1, &reg_to_write, 1, false); 
+  i2c->read(_address<<1, buffer, len, false);
+
+  /* ToDo: Check for errors! */
+  return true;
+}