Revision 17:c12eab714b4e, committed 2018-10-17

Comitter:

RCMISbed

Date:

Wed Oct 17 11:36:10 2018 +0000

Parent:

16:e1c0f63595d9

Commit message:

rev1

Changed in this revision

diff -r e1c0f63595d9 -r c12eab714b4e BNO055.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Wed Oct 17 11:36:10 2018 +0000
@@ -0,0 +1,273 @@
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+//
+#define BNOAddress (0x28 << 1)
+//Register definitions
+/* Page id register definition */ 
+#define BNO055_PAGE_ID_ADDR          0x07
+/* PAGE0 REGISTER DEFINITION START*/ 
+#define BNO055_CHIP_ID_ADDR          0x00 
+#define BNO055_ACCEL_REV_ID_ADDR     0x01
+#define BNO055_MAG_REV_ID_ADDR       0x02
+#define BNO055_GYRO_REV_ID_ADDR      0x03
+#define BNO055_SW_REV_ID_LSB_ADDR    0x04
+#define BNO055_SW_REV_ID_MSB_ADDR    0x05
+#define BNO055_BL_REV_ID_ADDR        0x06
+/* Accel data register */ 
+#define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
+#define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
+/* Mag data register */ 
+#define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
+#define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
+#define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
+#define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
+#define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
+#define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
+/* Gyro data registers */ 
+#define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
+#define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
+#define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
+#define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
+#define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
+#define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
+/* Euler data registers */ 
+#define BNO055_EULER_H_LSB_ADDR      0x1A
+#define BNO055_EULER_H_MSB_ADDR      0x1B
+#define BNO055_EULER_R_LSB_ADDR      0x1C
+#define BNO055_EULER_R_MSB_ADDR      0x1D
+#define BNO055_EULER_P_LSB_ADDR      0x1E
+#define BNO055_EULER_P_MSB_ADDR      0x1F
+/* Quaternion data registers */ 
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
+/* Linear acceleration data registers */ 
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
+/* Gravity data registers */ 
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
+/* Temperature data register */ 
+#define BNO055_TEMP_ADDR                    0x34 
+/* Status registers */ 
+#define BNO055_CALIB_STAT_ADDR              0x35 
+#define BNO055_SELFTEST_RESULT_ADDR         0x36 
+#define BNO055_INTR_STAT_ADDR               0x37 
+#define BNO055_SYS_CLK_STAT_ADDR            0x38 
+#define BNO055_SYS_STAT_ADDR                0x39 
+#define BNO055_SYS_ERR_ADDR                 0x3A 
+/* Unit selection register */ 
+#define BNO055_UNIT_SEL_ADDR                0x3B 
+#define BNO055_DATA_SELECT_ADDR             0x3C 
+/* Mode registers */ 
+#define BNO055_OPR_MODE_ADDR                0x3D 
+#define BNO055_PWR_MODE_ADDR                0x3E 
+#define BNO055_SYS_TRIGGER_ADDR             0x3F 
+#define BNO055_TEMP_SOURCE_ADDR             0x40 
+/* Axis remap registers */ 
+#define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
+#define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
+/* Accelerometer Offset registers */ 
+#define ACCEL_OFFSET_X_LSB_ADDR             0x55 
+#define ACCEL_OFFSET_X_MSB_ADDR             0x56 
+#define ACCEL_OFFSET_Y_LSB_ADDR             0x57
+#define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
+#define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
+#define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
+/* Magnetometer Offset registers */ 
+#define MAG_OFFSET_X_LSB_ADDR               0x5B
+#define MAG_OFFSET_X_MSB_ADDR               0x5C
+#define MAG_OFFSET_Y_LSB_ADDR               0x5D
+#define MAG_OFFSET_Y_MSB_ADDR               0x5E
+#define MAG_OFFSET_Z_LSB_ADDR               0x5F
+#define MAG_OFFSET_Z_MSB_ADDR               0x60
+/* Gyroscope Offset registers*/ 
+#define GYRO_OFFSET_X_LSB_ADDR              0x61
+#define GYRO_OFFSET_X_MSB_ADDR              0x62
+#define GYRO_OFFSET_Y_LSB_ADDR              0x63
+#define GYRO_OFFSET_Y_MSB_ADDR              0x64
+#define GYRO_OFFSET_Z_LSB_ADDR              0x65
+#define GYRO_OFFSET_Z_MSB_ADDR              0x66
+/* Radius registers */ 
+#define ACCEL_RADIUS_LSB_ADDR               0x67 
+#define ACCEL_RADIUS_MSB_ADDR               0x68 
+#define MAG_RADIUS_LSB_ADDR                 0x69 
+#define MAG_RADIUS_MSB_ADDR                 0x6A 
+
+/* Page 1 registers */
+#define BNO055_UNIQUE_ID_ADDR               0x50
+
+//Definitions for unit selection
+#define MPERSPERS   0x00
+#define MILLIG      0x01
+#define DEG_PER_SEC 0x00
+#define RAD_PER_SEC 0x02
+#define DEGREES     0x00
+#define RADIANS     0x04
+#define CENTIGRADE  0x00
+#define FAHRENHEIT  0x10
+#define WINDOWS     0x00
+#define ANDROID     0x80
+
+//Definitions for power mode
+#define POWER_MODE_NORMAL   0x00 
+#define POWER_MODE_LOWPOWER 0x01 
+#define POWER_MODE_SUSPEND  0x02 
+
+//Definitions for operating mode
+#define OPERATION_MODE_CONFIG        0x00 
+#define OPERATION_MODE_ACCONLY       0x01 
+#define OPERATION_MODE_MAGONLY       0x02 
+#define OPERATION_MODE_GYRONLY       0x03 
+#define OPERATION_MODE_ACCMAG        0x04 
+#define OPERATION_MODE_ACCGYRO       0x05 
+#define OPERATION_MODE_MAGGYRO       0x06 
+#define OPERATION_MODE_AMG           0x07 
+#define OPERATION_MODE_IMUPLUS       0x08 
+#define OPERATION_MODE_COMPASS       0x09 
+#define OPERATION_MODE_M4G           0x0A 
+#define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
+#define OPERATION_MODE_NDOF          0x0C 
+
+typedef struct values{
+    int16_t rawx,rawy,rawz;
+    float x,y,z;
+    }values;
+    
+typedef struct angles{
+    int16_t rawroll,rawpitch,rawyaw;
+    float roll, pitch, yaw;
+    } angles;
+    
+typedef struct quaternion{
+    int16_t raww,rawx,rawy,rawz;
+    float w,x,y,z;
+    }quaternion;
+
+typedef struct chip{
+    char id;
+    char accel;
+    char gyro;
+    char mag;
+    char sw[2];
+    char bootload;
+    char serial[16];
+    }chip;
+
+/** Class for operating Bosch BNO055 sensor over I2C **/
+class BNO055 { 
+    public: 
+    /** Create BNO055 instance (constructor) **/
+    BNO055(PinName SDA, PinName SCL);    
+    /** Perform a power-on reset of the BNO055 **/
+    void reset();
+    /** Check that the BNO055 is connected and download the software details and serial number of chip and store in ID structure **/
+    bool check();
+    /** Turn the external timing crystal on/off **/
+    void SetExternalCrystal(bool yn);
+    /** Set the operation mode of the sensor **/    
+    void setmode(char mode);
+    /** Set the power mode of the sensor **/
+    void setpowermode(char mode);  
+    /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
+    void set_accel_units(char units);
+    /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
+    void set_anglerate_units(char units);
+    /** Set the output units from the IMU, either DEGREES or RADIANS **/
+    void set_angle_units(char units);
+    /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
+    void set_temp_units(char units);
+    /** Set the data output format to either WINDOWS or ANDROID **/    
+    void set_orientation(char units);
+    /** Set the mapping of the exes/directions as per page 25 of datasheet
+    range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
+    void set_mapping(char orient);   
+    /** Get the current values from the accelerometer **/
+    void get_accel(void);
+    /** Get the current values from the gyroscope **/
+    void get_gyro(void);
+    /** Get the current values from the magnetometer **/
+    void get_mag(void);
+    /** Get the corrected linear acceleration **/
+    void get_lia(void);
+    /** Get the current gravity vector **/
+    void get_grv(void);
+    /** Get the output quaternion **/
+    void get_quat(void);
+    /** Get the current Euler angles **/
+    void get_angles(void);
+    /** Get the current temperature **/
+    void get_temp(void);
+    /** Read the calibration status register and store the result in the calib variable **/
+    void get_calib(void);
+    /** Read the offset and radius values into the calibration array**/
+    void read_calibration_data(void);
+    /** Write the contents of the calibration array into the registers **/    
+    void write_calibration_data(void);
+    
+    /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
+    x,y,z are the scale floating point values and
+    rawx, rawy, rawz are the int16_t values read from the sensors **/
+    values accel,gyro,mag,lia,gravity;
+    /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
+    and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
+    angles euler;
+    /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+    registers **/    
+    quaternion quat;
+
+    /** Current contents of calibration status register **/
+    char calib;
+    /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
+    char calibration[22];
+    /** Structure containing sensor numbers, software version and chip UID **/
+    chip ID;
+    /** Current temperature **/
+    int temperature;
+    
+    private:
+    
+    I2C _i2c;
+    char rx,tx[2],address;  //I2C variables
+    char rawdata[22];       //Temporary array for input data values
+    char op_mode;
+    char pwr_mode;
+    float accel_scale,rate_scale,angle_scale;
+    int temp_scale;
+        
+    void readchar(char location){
+        tx[0] = location;
+        _i2c.write(address,tx,1,true);
+        _i2c.read(address,&rx,1,false);
+        }
+
+    void writechar(char location, char value){
+        tx[0] = location;
+        tx[1] = value;
+        _i2c.write(address,tx,2);
+        }
+
+    void setpage(char value){
+        writechar(BNO055_PAGE_ID_ADDR,value);
+        }
+    };
+#endif
\ No newline at end of file