Toyomasa Watarai
Adafruit driver converted to Mbed OS 6.x.
Dependents: Adafruit-BNO055-test
Diff: Adafruit_BNO055.h
- Revision:
- 0:22c544c8741a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Adafruit_BNO055.h Wed Sep 16 19:48:33 2015 +0000
@@ -0,0 +1,260 @@
+/***************************************************************************
+ 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
+ ***************************************************************************/
+
+#ifndef __ADAFRUIT_BNO055_H__
+#define __ADAFRUIT_BNO055_H__
+
+#include "Adafruit_Sensor.h"
+#include "imumaths.h"
+#include "mbed.h"
+
+#define BNO055_ADDRESS_A (0x28)
+#define BNO055_ADDRESS_B (0x29)
+#define BNO055_ID (0xA0)
+
+class Adafruit_BNO055 : public Adafruit_Sensor
+{
+ public:
+ typedef enum
+ {
+ /* Page id register definition */
+ BNO055_PAGE_ID_ADDR = 0X07,
+
+ /* PAGE0 REGISTER DEFINITION START*/
+ BNO055_CHIP_ID_ADDR = 0x00,
+ BNO055_ACCEL_REV_ID_ADDR = 0x01,
+ BNO055_MAG_REV_ID_ADDR = 0x02,
+ BNO055_GYRO_REV_ID_ADDR = 0x03,
+ BNO055_SW_REV_ID_LSB_ADDR = 0x04,
+ BNO055_SW_REV_ID_MSB_ADDR = 0x05,
+ BNO055_BL_REV_ID_ADDR = 0X06,
+
+ /* Accel data register */
+ BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
+ BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
+ BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
+ BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
+ BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
+ BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
+
+ /* Mag data register */
+ BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
+ BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
+ BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
+ BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
+ BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
+ BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
+
+ /* Gyro data registers */
+ BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
+ BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
+ BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
+ BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
+ BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
+ BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
+
+ /* Euler data registers */
+ BNO055_EULER_H_LSB_ADDR = 0X1A,
+ BNO055_EULER_H_MSB_ADDR = 0X1B,
+ BNO055_EULER_R_LSB_ADDR = 0X1C,
+ BNO055_EULER_R_MSB_ADDR = 0X1D,
+ BNO055_EULER_P_LSB_ADDR = 0X1E,
+ BNO055_EULER_P_MSB_ADDR = 0X1F,
+
+ /* Quaternion data registers */
+ BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
+ BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
+ BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
+ BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
+ BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
+ BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
+ BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
+ BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
+
+ /* Linear acceleration data registers */
+ BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
+ BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
+ BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
+ BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
+ BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
+ BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
+
+ /* Gravity data registers */
+ BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
+ BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
+ BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
+ BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
+ BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
+ BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
+
+ /* Temperature data register */
+ BNO055_TEMP_ADDR = 0X34,
+
+ /* Status registers */
+ BNO055_CALIB_STAT_ADDR = 0X35,
+ BNO055_SELFTEST_RESULT_ADDR = 0X36,
+ BNO055_INTR_STAT_ADDR = 0X37,
+
+ BNO055_SYS_CLK_STAT_ADDR = 0X38,
+ BNO055_SYS_STAT_ADDR = 0X39,
+ BNO055_SYS_ERR_ADDR = 0X3A,
+
+ /* Unit selection register */
+ BNO055_UNIT_SEL_ADDR = 0X3B,
+ BNO055_DATA_SELECT_ADDR = 0X3C,
+
+ /* Mode registers */
+ BNO055_OPR_MODE_ADDR = 0X3D,
+ BNO055_PWR_MODE_ADDR = 0X3E,
+
+ BNO055_SYS_TRIGGER_ADDR = 0X3F,
+ BNO055_TEMP_SOURCE_ADDR = 0X40,
+
+ /* Axis remap registers */
+ BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
+ BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
+
+ /* SIC registers */
+ BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
+ BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
+ BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
+ BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
+ BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
+ BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
+ BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
+ BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
+ BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
+ BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
+ BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
+ BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
+ BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
+ BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
+ BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
+ BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
+ BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
+ BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
+
+ /* Accelerometer Offset registers */
+ ACCEL_OFFSET_X_LSB_ADDR = 0X55,
+ ACCEL_OFFSET_X_MSB_ADDR = 0X56,
+ ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
+ ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
+ ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
+ ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
+
+ /* Magnetometer Offset registers */
+ MAG_OFFSET_X_LSB_ADDR = 0X5B,
+ MAG_OFFSET_X_MSB_ADDR = 0X5C,
+ MAG_OFFSET_Y_LSB_ADDR = 0X5D,
+ MAG_OFFSET_Y_MSB_ADDR = 0X5E,
+ MAG_OFFSET_Z_LSB_ADDR = 0X5F,
+ MAG_OFFSET_Z_MSB_ADDR = 0X60,
+
+ /* Gyroscope Offset register s*/
+ GYRO_OFFSET_X_LSB_ADDR = 0X61,
+ GYRO_OFFSET_X_MSB_ADDR = 0X62,
+ GYRO_OFFSET_Y_LSB_ADDR = 0X63,
+ GYRO_OFFSET_Y_MSB_ADDR = 0X64,
+ GYRO_OFFSET_Z_LSB_ADDR = 0X65,
+ GYRO_OFFSET_Z_MSB_ADDR = 0X66,
+
+ /* Radius registers */
+ ACCEL_RADIUS_LSB_ADDR = 0X67,
+ ACCEL_RADIUS_MSB_ADDR = 0X68,
+ MAG_RADIUS_LSB_ADDR = 0X69,
+ MAG_RADIUS_MSB_ADDR = 0X6A
+ } adafruit_bno055_reg_t;
+
+ typedef enum
+ {
+ POWER_MODE_NORMAL = 0X00,
+ POWER_MODE_LOWPOWER = 0X01,
+ POWER_MODE_SUSPEND = 0X02
+ } adafruit_bno055_powermode_t;
+
+ typedef enum
+ {
+ /* Operation mode settings*/
+ OPERATION_MODE_CONFIG = 0X00,
+ OPERATION_MODE_ACCONLY = 0X01,
+ OPERATION_MODE_MAGONLY = 0X02,
+ OPERATION_MODE_GYRONLY = 0X03,
+ OPERATION_MODE_ACCMAG = 0X04,
+ OPERATION_MODE_ACCGYRO = 0X05,
+ OPERATION_MODE_MAGGYRO = 0X06,
+ OPERATION_MODE_AMG = 0X07,
+ OPERATION_MODE_IMUPLUS = 0X08,
+ OPERATION_MODE_COMPASS = 0X09,
+ OPERATION_MODE_M4G = 0X0A,
+ OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
+ OPERATION_MODE_NDOF = 0X0C
+ } adafruit_bno055_opmode_t;
+
+ typedef struct
+ {
+ uint8_t accel_rev;
+ uint8_t mag_rev;
+ uint8_t gyro_rev;
+ uint16_t sw_rev;
+ uint8_t bl_rev;
+ } adafruit_bno055_rev_info_t;
+
+ typedef enum
+ {
+ VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
+ VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
+ VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
+ VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
+ VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
+ VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
+ } adafruit_vector_type_t;
+
+ Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A, I2C* i2c_ptr = 0 );
+
+ bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
+ void setMode ( adafruit_bno055_opmode_t mode );
+ void getRevInfo ( adafruit_bno055_rev_info_t* );
+ void displayRevInfo ( void );
+ void setExtCrystalUse ( bool usextal );
+ void getSystemStatus ( uint8_t *system_status,
+ uint8_t *self_test_result,
+ uint8_t *system_error);
+ void displaySystemStatus ( void );
+ void getCalibration ( uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag);
+
+ imu::Vector<3> getVector ( adafruit_vector_type_t vector_type );
+ imu::Quaternion getQuat ( void );
+ int8_t getTemp ( void );
+
+ /* Adafruit_Sensor implementation */
+ bool getEvent ( sensors_event_t* );
+ void getSensor ( sensor_t* );
+
+ private:
+ char read8 ( adafruit_bno055_reg_t );
+ bool readLen ( adafruit_bno055_reg_t, char* buffer, int len );
+ bool write8 ( adafruit_bno055_reg_t, char value );
+
+ uint8_t _address;
+ int32_t _sensorID;
+ adafruit_bno055_opmode_t _mode;
+ I2C* i2c;
+};
+
+#endif