I2C library for Bosch BNO055 sensor
Dependents: BNO055_HelloWorld robfish_test_IMU_and_hallsensor SCRIBE_stepper SCRIBE_servo ... more
Based off the Bosch Sensortec driver stored at GitHub. I've broken out the main control functions out as separate functions, save for the interrupt setting up, Configuration for the separate sensors not yet enabled.
Diff: BNO055.cpp
- Revision:
- 1:2c3322a8d417
- Parent:
- 0:24f23c36dd24
- Child:
- 2:695c6e5d239a
--- a/BNO055.cpp Thu May 28 19:22:25 2015 +0000 +++ b/BNO055.cpp Sat May 30 18:36:36 2015 +0000 @@ -8,7 +8,7 @@ accel_scale = 1.0f; rate_scale = 1.0f/16.0f; angle_scale = 1.0f/16.0f; - temp_scale = 1.0f; + temp_scale = 1; } void BNO055::reset(){ @@ -93,16 +93,23 @@ void BNO055::set_temp_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); if (units == CENTIGRADE){ - rx = rx & 0x7F; - temp_scale = 1.0f; + rx = rx & 0xEF; + temp_scale = 1; } else { rx = rx | units; - temp_scale = 2.0f; + temp_scale = 2; } writechar(BNO055_UNIT_SEL_ADDR,rx); } +void BNO055::set_orientation(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == WINDOWS) rx = rx &0x7F; + else rx = rx | units; + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + void BNO055::setmode(char omode){ writechar(BNO055_OPR_MODE_ADDR,omode); op_mode = omode; @@ -173,7 +180,88 @@ gravity.z = float(gravity.rawz)*accel_scale; } +void BNO055::get_quat(void){ + tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,8,0); + quat.raww = (rawdata[1] << 8 | rawdata[0]); + quat.rawx = (rawdata[3] << 8 | rawdata[2]); + quat.rawy = (rawdata[5] << 8 | rawdata[4]); + quat.rawz = (rawdata[7] << 8 | rawdata[6]); + quat.w = float(quat.raww)/16384.0f; + quat.x = float(quat.rawx)/16384.0f; + quat.y = float(quat.rawy)/16384.0f; + quat.z = float(quat.rawz)/16384.0f; +} + +void BNO055::get_temp(void){ + readchar(BNO055_TEMP_ADDR); + temperature = rx / temp_scale; +} + void BNO055::get_calib(void){ readchar(BNO055_CALIB_STAT_ADDR); calib = rx; +} + +void BNO055::read_calibration_data(void){ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::write_calibration_data(void){ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.write(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::set_mapping(char orient){ + switch (orient){ + case 0: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04); + break; + case 1: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 2: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 3: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02); + break; + case 4: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03); + break; + case 5: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01); + break; + case 6: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07); + break; + case 7: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05); + break; + default: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + } } \ No newline at end of file