Fully featured I2C and SPI driver for CEVA (Hilcrest)'s BNO080 and FSM300 Inertial Measurement Units.
Dependents: BNO080-Examples BNO080-Examples
BNO080 Driver
by Jamie Smith / USC Rocket Propulsion Lab
After lots of development, we are proud to present our driver for the Hilcrest BNO080 IMU! This driver is inspired by SparkFun and Nathan Seidle's Arduino driver for this chip, but has been substantially rewritten and adapted.
It supports the main features of the chip, such as reading rotation and acceleration data, as well as some of its more esoteric functionality, such as counting steps and detecting whether the device is being hand-held.
Features
- Support for 15 different data reports from the IMU, from acceleration to rotation to tap detection
- Support for reading of sensor data, and automatic checking of update rate against allowed values in metadata
BNO_DEBUG
switch enabling verbose, detailed output about communications with the chip for ease of debugging- Ability to tare sensor rotation and set mounting orientation
- Can operate in several execution modes: polling I2C, polling SPI, and threaded SPI (which handles timing-critical functions in a dedicated thread, and automatically activates when the IMU has data available)
- Also has experimental support for using asynchronous SPI transactions, allowing other threads to execute while communication with the BNO is occurring. Note that this functionality requires a patch to Mbed OS source code due to Mbed bug #13941
- Calibration function
- Reasonable code size for what you get: the library uses about 4K of flash and one instance of the object uses about 1700 bytes of RAM.
Documentation
Full Doxygen documentation is available online here
Example Code
Here's a simple example:
BNO080 Rotation Vector and Acceleration
#include <mbed.h> #include <BNO080.h> int main() { Serial pc(USBTX, USBRX); // Create IMU, passing in output stream, pins, I2C address, and I2C frequency // These pin assignments are specific to my dev setup -- you'll need to change them BNO080I2C imu(&pc, p28, p27, p16, p30, 0x4a, 100000); pc.baud(115200); pc.printf("============================================================\n"); // Tell the IMU to report rotation every 100ms and acceleration every 200ms imu.enableReport(BNO080::ROTATION, 100); imu.enableReport(BNO080::TOTAL_ACCELERATION, 200); while (true) { wait(.001f); // poll the IMU for new data -- this returns true if any packets were received if(imu.updateData()) { // now check for the specific type of data that was received (can be multiple at once) if (imu.hasNewData(BNO080::ROTATION)) { // convert quaternion to Euler degrees and print pc.printf("IMU Rotation Euler: "); TVector3 eulerRadians = imu.rotationVector.euler(); TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); eulerDegrees.print(pc, true); pc.printf("\n"); } if (imu.hasNewData(BNO080::TOTAL_ACCELERATION)) { // print the acceleration vector using its builtin print() method pc.printf("IMU Total Acceleration: "); imu.totalAcceleration.print(pc, true); pc.printf("\n"); } } } }
If you want more, a comprehensive, ready-to-run set of examples is available on my BNO080-Examples repository.
Credits
This driver makes use of a lightweight, public-domain library for vectors and quaternions available here.
Changelog
Version 2.1 (Nov 24 2020)
- Added BNO080Async, which provides a threaded implementation of the SPI driver. This should help get the best performance and remove annoying timing requirements on the code calling the driver
- Added experimental
USE_ASYNC_SPI
option - Fixed bug in v2.0 causing calibrations to fail
Version 2.0 (Nov 18 2020)
- Added SPI support
- Refactored buffer system so that SPI could be implemented as a subclass. Unfortunately this does substantially increase the memory usage of the driver, but I believe that the benefits are worth it.
Version 1.3 (Jul 21 2020)
- Fix deprecation warnings and compile errors in Mbed 6
- Fix compile errors in Arm Compiler (why doesn't it have M_PI????)
Version 1.2 (Jan 30 2020)
- Removed accidental IRQ change
- Fixed hard iron offset reading incorrectly due to missing cast
Version 1.1 (Jun 14 2019)
- Added support for changing permanent orientation
- Add FRS writing functions
- Removed some errant printfs
Version 1.0 (Dec 29 2018)
- Initial Mbed OS release
Diff: BNO080Constants.h
- Revision:
- 3:197ad972fb7c
- Parent:
- 1:aac28ffd63ed
- Child:
- 8:199c7fad233d
diff -r 2269b723d16a -r 197ad972fb7c BNO080Constants.h --- a/BNO080Constants.h Sat Dec 29 04:09:34 2018 -0800 +++ b/BNO080Constants.h Fri Jun 14 20:31:37 2019 -0700 @@ -8,7 +8,7 @@ //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= -//Registers +// Channels #define CHANNEL_COMMAND 0 #define CHANNEL_EXECUTABLE 1 #define CHANNEL_CONTROL 2 @@ -27,6 +27,9 @@ #define SHTP_REPORT_COMMAND_REQUEST 0xF2 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4 +#define SHTP_REPORT_FRS_WRITE_RESPONSE 0xF5 +#define SHTP_REPORT_FRS_WRITE_DATA 0xF6 +#define SHTP_REPORT_FRS_WRITE_REQUEST 0xF7 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB @@ -63,6 +66,7 @@ #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 +#define FRS_ORIENTATION_Q_POINT 30 // for the sensor orientation FRS record // Report IDs on the Executable channel // See Figure 1-27 in the BNO080 datasheet @@ -71,13 +75,7 @@ //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 +#define FRS_RECORDID_SYSTEM_ORIENTATION 0x2D3E //Command IDs from section 6.4, page 42 //These are used to calibrate, initialize, set orientation, tare etc the sensor @@ -101,6 +99,9 @@ // timing for reset // per my measurement, reset takes about 90ms, so let's take twice that +// By the way, I discovered (by accident) that a symptom of brownout is the chip taking +// a long time to reset. So if you had to increase this, check that your Vcc is +// within the allowed range. #define BNO080_RESET_TIMEOUT .18f #endif //HAMSTER_BNO080CONSTANTS_H