Diff: BNO055.h

Revision:

0:3807ce385b2a

Child:

1:7dbc931127c0

Child:

2:e8bc1ae2c20c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Tue Nov 29 02:57:08 2016 +0000
@@ -0,0 +1,460 @@
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+
+//UART通信に使用するバッファの最大サイズ
+#define BNO055_UART_BUF_MAXLEN      24      //[byte]
+//I2Cデフォルトスレーブアドレス
+#define BNO055_I2C_DEFADDR          0x28
+
+#define BNO055_PAGE_ID              0x07
+
+#define BNO055P0_CHIP_ID            0x00
+#define BNO055P0_ACC_ID             0x01
+#define BNO055P0_MAG_ID             0x02
+#define BNO055P0_GYR_ID             0x03
+#define BNO055P0_SW_REV_ID_LSB      0x04
+#define BNO055P0_SW_REV_ID_MSB      0x05
+#define BNO055P0_BL_REV_ID          0x06
+#define BNO055P0_ACC_DATA_X_LSB     0x08
+#define BNO055P0_ACC_DATA_X_MSB     0x09
+#define BNO055P0_ACC_DATA_Y_LSB     0x0A
+#define BNO055P0_ACC_DATA_Y_MSB     0x0B
+#define BNO055P0_ACC_DATA_Z_LSB     0x0C
+#define BNO055P0_ACC_DATA_Z_MSB     0x0D
+#define BNO055P0_MAG_DATA_X_LSB     0x0E
+#define BNO055P0_MAG_DATA_X_MSB     0x0F
+#define BNO055P0_MAG_DATA_Y_LSB     0x10
+#define BNO055P0_MAG_DATA_Y_MSB     0x11
+#define BNO055P0_MAG_DATA_Z_LSB     0x12
+#define BNO055P0_MAG_DATA_Z_MSB     0x13
+#define BNO055P0_GYR_DATA_X_LSB     0x14
+#define BNO055P0_GYR_DATA_X_MSB     0x15
+#define BNO055P0_GYR_DATA_Y_LSB     0x16
+#define BNO055P0_GYR_DATA_Y_MSB     0x17
+#define BNO055P0_GYR_DATA_Z_LSB     0x18
+#define BNO055P0_GYR_DATA_Z_MSB     0x19
+#define BNO055P0_EUL_HEADING_LSB    0x1A
+#define BNO055P0_EUL_HEADING_MSB    0x1B
+#define BNO055P0_EUL_ROLL_LSB       0x1C
+#define BNO055P0_EUL_ROLL_MSB       0x1D
+#define BNO055P0_EUL_PITCH_LSB      0x1E
+#define BNO055P0_EUL_PITCH_MSB      0x1F
+#define BNO055P0_QUA_DATA_W_LSB     0x20
+#define BNO055P0_QUA_DATA_W_MSB     0x21
+#define BNO055P0_QUA_DATA_X_LSB     0x22
+#define BNO055P0_QUA_DATA_X_MSB     0x23
+#define BNO055P0_QUA_DATA_Y_LSB     0x24
+#define BNO055P0_QUA_DATA_Y_MSB     0x25
+#define BNO055P0_QUA_DATA_Z_LSB     0x26
+#define BNO055P0_QUA_DATA_Z_MSB     0x27
+#define BNO055P0_LIA_DATA_X_LSB     0x28
+#define BNO055P0_LIA_DATA_X_MBS     0x29
+#define BNO055P0_LIA_DATA_Y_LSB     0x2A
+#define BNO055P0_LIA_DATA_Y_MBS     0x2B
+#define BNO055P0_LIA_DATA_Z_LSB     0x2C
+#define BNO055P0_LIA_DATA_Z_MBS     0x2D
+#define BNO055P0_GRV_DATA_X_LSB     0x2E
+#define BNO055P0_GRV_DATA_X_MSB     0x2F
+#define BNO055P0_GRV_DATA_Y_LSB     0x30
+#define BNO055P0_GRV_DATA_Y_MSB     0x31
+#define BNO055P0_GRV_DATA_Z_LSB     0x32
+#define BNO055P0_GRV_DATA_Z_MSB     0x33
+#define BNO055P0_TEMP               0x34
+#define BNO055P0_CALIB_STAT         0x35
+#define BNO055P0_ST_RESULT          0x36
+#define BNO055P0_INT_STA            0x37
+#define BNO055P0_SYS_CLK_STATUS     0x38
+#define BNO055P0_SYS_STATUS         0x39
+#define BNO055P0_SYS_ERR            0x3A
+#define BNO055P0_UNIT_SEL           0x3B
+#define BNO055P0_OPR_MODE           0x3D
+#define BNO055P0_PWR_MODE           0x3E
+#define BNO055P0_SYS_TRIGGER        0x3F
+#define BNO055P0_TEMP_SOURCE        0x40
+#define BNO055P0_AXIS_MAP_CONFIG    0x41
+#define BNO055P0_AXIS_MAP_SIGN      0x42
+#define BNO055P0_ACC_OFFSET_X_LSB   0x55
+#define BNO055P0_ACC_OFFSET_X_MSB   0x56
+#define BNO055P0_ACC_OFFSET_Y_LSB   0x57
+#define BNO055P0_ACC_OFFSET_Y_MSB   0x58
+#define BNO055P0_ACC_OFFSET_Z_LSB   0x59
+#define BNO055P0_ACC_OFFSET_Z_MSB   0x5A
+#define BNO055P0_MAG_OFFSET_X_LSB   0x5B
+#define BNO055P0_MAG_OFFSET_X_MSB   0x5C
+#define BNO055P0_MAG_OFFSET_Y_LSB   0x5D
+#define BNO055P0_MAG_OFFSET_Y_MSB   0x5E
+#define BNO055P0_MAG_OFFSET_Z_LSB   0x5F
+#define BNO055P0_MAG_OFFSET_Z_MSB   0x60
+#define BNO055P0_GYR_OFFSET_X_LSB   0x61
+#define BNO055P0_GYR_OFFSET_X_MSB   0x62
+#define BNO055P0_GYR_OFFSET_Y_LSB   0x63
+#define BNO055P0_GYR_OFFSET_Y_MSB   0x64
+#define BNO055P0_GYR_OFFSET_Z_LSB   0x65
+#define BNO055P0_GYR_OFFSET_Z_MSB   0x66
+#define BNO055P0_ACC_RADIUS_LSB     0x67
+#define BNO055P0_ACC_RADIUS_MSB     0x68
+#define BNO055P0_MAG_RADIUS_LSB     0x69
+#define BNO055P0_MAG_RADIUS_MSB     0x6A
+
+#define BNO055P1_ACC_CONFIG         0x08
+#define BNO055P1_MAG_CONFIG         0x09
+#define BNO055P1_GYR_CONFIG_0       0x0A
+#define BNO055P1_GYR_CONFIG_1       0x0B
+#define BNO055P1_ACC_SLEEP_CONFIG   0x0C
+#define BNO055P1_GYR_SLEEP_CONFIG   0x0D
+#define BNO055P1_INT_MSK            0x0F
+#define BNO055P1_INT_EN             0x10
+#define BNO055P1_ACC_AM_THRES       0x11
+#define BNO055P1_ACC_INT_SETTINGS   0x12
+#define BNO055P1_ACC_HG_DURATION    0x13
+#define BNO055P1_ACC_HG_THRES       0x14
+#define BNO055P1_ACC_NM_THRES       0x15
+#define BNO055P1_ACC_NM_SET         0x16
+#define BNO055P1_GYR_INT_SETING     0x17
+#define BNO055P1_GYR_HR_X_SET       0x18
+#define BNO055P1_GYR_DUR_X          0x19
+#define BNO055P1_GYR_HR_Y_SET       0x1A
+#define BNO055P1_GYR_DUR_Y          0x1B
+#define BNO055P1_GYR_HR_Z_SET       0x1C
+#define BNO055P1_GYR_DUR_Z          0x1D
+#define BNO055P1_GYR_AM_THRES       0x1E
+#define BNO055P1_GYR_AM_SET         0x1F
+
+
+class BNO055_CTRL{
+public:
+    BNO055_CTRL();
+    virtual ~BNO055_CTRL();
+protected:
+    bool page1;
+    char *ary;
+    char lastError;
+    char lastLength;
+public:
+    char getNowPage();
+    char getLastError();
+    char getLastLength();
+    virtual void init();
+    virtual char rr(bool isPage1, char regAddr);
+    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char wr(bool isPage1, char regAddr, char wBytes);
+    virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
+};
+
+class BNO055_UART_CTRL : public BNO055_CTRL{
+public:
+    BNO055_UART_CTRL(RawSerial *uart);
+    virtual ~BNO055_UART_CTRL();
+private:
+    RawSerial *iface;
+    short rxd;
+    bool read_mark;
+
+    void rxInterrupt();
+public:
+    virtual void init();
+    virtual char rr(bool isPage1, char regAddr);
+    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char wr(bool isPage1, char regAddr, char wBytes);
+    virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
+};
+
+class BNO055_I2C_CTRL : public BNO055_CTRL{
+public:
+    BNO055_I2C_CTRL(I2C *iic, char addr, unsigned int freq);
+    virtual ~BNO055_I2C_CTRL();
+private:
+    I2C *iface;
+    char i2c_writeAddr;
+    char i2c_readAddr;
+    unsigned int i2c_freq;
+public:
+    virtual void init();
+    virtual char rr(bool isPage1, char regAddr);
+    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char wr(bool isPage1, char regAddr, char wBytes);
+    virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
+};
+
+class BOARDC_BNO055{
+public:
+    BOARDC_BNO055(PinName tx, PinName rx);
+    BOARDC_BNO055(RawSerial *uart);
+    BOARDC_BNO055(PinName scl, PinName sda, char addr=BNO055_I2C_DEFADDR, unsigned int freq=100000);
+    BOARDC_BNO055(I2C *iic, char addr=BNO055_I2C_DEFADDR, unsigned int freq=100000);
+    ~BOARDC_BNO055();
+
+private:
+    BNO055_CTRL *ctrl;
+    float scaleACC;
+    float scaleMAG; //fixed
+    float scaleGYRO;
+    float scaleTEMP;
+    float scaleEuler;
+    float scaleLIA; //=scaleACC
+    float scaleGV; //=scaleACC
+    double scaleQuaternion; //fixed
+    unsigned char axisRemap;
+    unsigned char axisSign;
+    bool clkExt;
+
+public:
+    char initialize(bool resetIface=true);
+    char getIfaceLastError();
+    char getIfaceLastLength();
+
+    char customRead(bool isPage1, char regAddr);
+    char customReadC(bool isPage1, char startRegAddr, char *receiveBytes, unsigned char length);
+    char customWrite(bool isPage1, char regAddr, char wBytes);
+    char customWriteC(bool isPage1, char startRegAddr, char *Bytes, unsigned char length);
+
+    char getPage();
+    void setPage(unsigned char pageNo);
+
+    char getChipID();
+    char getAccChipID();
+    char getMagChipID();
+    char getGyroChipID();
+
+    short getRevision();
+    char getBootRevision();
+
+    float getAccScale();
+    float getMagScale();
+    float getGyroScale();
+    float getTempScale();
+    float getEulerScale();
+    float getLinearScale();
+    float getGVScale();
+    double getQuaternionScale();
+
+    void getAccDataAll(short &accX, short &accY, short &accZ);
+    short getAccDataX();
+    short getAccDataY();
+    short getAccDataZ();
+
+    void getMagDataAll(short &magX, short &magY, short &magZ);
+    short getMagDataX();
+    short getMagDataY();
+    short getMagDataZ();
+
+    void getGyroDataAll(short &gyroX, short &gyroY, short &gyroZ);
+    short getGyroDataX();
+    short getGyroDataY();
+    short getGyroDataZ();
+
+    void getEulerDataAll(short &E_heading, short &E_roll, short &E_pitch);
+    short getEulerDataHeading();
+    short getEulerDataYaw();
+    short getEulerDataRoll();
+    short getEulerDataPitch();
+
+    void get9Axis(short *box);
+    void get9AxisAndEUL(short *box);
+
+    void getQuaternion(short &q1, short &q2, short &q3, short &q4);
+
+    void getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ);
+    short getLinearAccDataX();
+    short getLinearAccDataY();
+    short getLinearAccDataZ();
+
+    void getGVectorDataAll(short &gvX, short &gvY, short &gvZ);
+    short getGVectorDataX();
+    short getGVectorDataY();
+    short getGVectorDataZ();
+
+    char getTemperature();
+
+    void getCalibStatusAll(char &sys, char &acc, char &mag, char &gyro);
+    char getCalibStatusSys();
+    char getCalibStatusAcc();
+    char getCalibStatusMag();
+    char getCalibStatusGyro();
+
+    char getSelfTestResultAll();
+    bool getSelfTestResultMCU();
+    bool getSelfTestResultAcc();
+    bool getSelfTestResultMag();
+    bool getSelfTestResultGyro();
+
+    char triggeredIntALL();
+    bool triggeredACC_NM();
+    bool triggeredACC_AM();
+    bool triggeredACC_HIGH_G();
+    bool triggeredGYR_HIGH_RATE();
+    bool triggeredGYRO_AM();
+
+    bool isSystemClockFixed();
+
+    char getSystemStatus();
+    char getSystemError();
+
+    char getUNIT_SEL();
+    char setUNIT_SEL(char selectValue);
+    char setUNIT_AccUnit(bool isMeterPerSec2=true);
+    char setUNIT_GyroUnit(bool isDps=true);
+    char setUNIT_EulerUnit(bool isDegrees=true);
+    char setUNIT_Temperature(bool isCelsius=true);
+    char setUNIT_OrientationMode(bool ori_Android=true);
+
+    char getOperationMode();
+    char setOperationMode(char modeValue);
+    char setOperation_CONFIG();
+    char setOperation_ACCONRY();
+    char setOperation_MAGONRY();
+    char setOperation_GYROONRY();
+    char setOperation_ACCMAG();
+    char setOperation_ACCGYRO();
+    char setOperation_MAGGYRO();
+    char setOperation_AMG();
+    char setOperation_Fusion_IMU();
+    char setOperation_Fusion_COMPASS();
+    char setOperation_Fusion_M4G();
+    char setOperation_Fusion_NDOF_FMC_OFF();
+    char setOperation_Fusion_NDOF();
+
+    char getPowerMode();
+    char setPowerMode(unsigned char modeValue);
+    char setPowerMode_Normal();
+    char setPowerMode_LowPower();
+    char setPowerMode_Suspend();
+
+    char setSysTrigger(char regVal);
+    char setSys_ExternalCrystal(bool isExternal=true);
+    char resetInterrupt();
+    char soft_reset();
+    char execSelfTest();
+
+    char getTempSource();
+    char setTempSource(bool Accelerometer=true);
+
+    char getAxisMapConfig();
+    char setAxisMapConfig(char val);
+    char getAxisMapSign();
+    char setAxisMapSign(char val);
+    char setAxisRemap_topview_topleft();
+    char setAxisRemap_topview_topright();
+    char setAxisRemap_topview_bottomleft();
+    char setAxisRemap_topview_bottomright();
+    char setAxisRemap_bottomview_topleft();
+    char setAxisRemap_bottomview_topright();
+    char setAxisRemap_bottomview_bottomleft();
+    char setAxisRemap_bottomview_bottomright();
+    char getAxisRemap_type();
+
+    void getAccOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
+    float getAccOffsetX();
+    float getAccOffsetY();
+    float getAccOffsetZ();
+    char setAccOffsetAll(float offsetX, float offsetY, float offsetZ);
+    char setAccOffsetX(float offset);
+    char setAccOffsetY(float offset);
+    char setAccOffsetZ(float offset);
+
+    void getMagOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
+    float getMagOffsetX();
+    float getMagOffsetY();
+    float getMagOffsetZ();
+    char setMagOffsetAll(float offsetX, float offsetY, float offsetZ);
+    char setMagOffsetX(float offset);
+    char setMagOffsetY(float offset);
+    char setMagOffsetZ(float offset);
+
+    void getGyroOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
+    float getGyroOffsetX();
+    float getGyroOffsetY();
+    float getGyroOffsetZ();
+    char setGyroOffsetAll(float offsetX, float offsetY, float offsetZ);
+    char setGyroOffsetX(float offset);
+    char setGyroOffsetY(float offset);
+    char setGyroOffsetZ(float offset);
+
+    short getAccRadius();
+    char setAccRadius(short LSB);
+
+    short getMagRadius();
+    char setMagRadius(short LSB);
+
+    char getAccConfig();
+    char setAccConfig(char regVal);
+    char setAccConfig(char gRange, char bandWidth, char powMode);
+    char setAccRange(unsigned char G);
+
+    char getMagConfig();
+    char setMagConfig(char regVal);
+    char setMagConfig(char rate, char oprMode, char powMode);
+
+    char getGyroConfig_0();
+    char setGyroConfig_0(char regVal);
+    char setGyroConfig_0(char range, char bandWidth);
+    char getGyroConfig_1();
+    char setGyroConfig_1(char powMode);
+    char setGyroRange(unsigned short dps);
+
+    char getAccSleepConfig();
+    char setAccSleepConfig(char regVal);
+    char setAccSleepConfig(char duration, char mode);
+
+    char getGyroSleepConfig();
+    char setGyroSleepConfig(char regVal);
+    char setGyroSleepConfig(char autoSleepDuration, char duration);
+
+    char getInterruptMask();
+    char setInterruptMask(char mask);
+
+    char getInterruptEnable();
+    char setInterruptEnable(char mask);
+
+    float getAccAnyMotionThreashold(bool ismg=true);
+    char setAccAnyMotionThreashold(bool ismg, float threashold);
+
+    char getAccInterruptSettings();
+    char setAccInterruptSettings(char settings);
+
+    unsigned short getAccHighGduration();
+    char setAccHighGduration(short ms);
+
+    float getAccHighGThreashold(bool ismg=true);
+    char setAccHighGThreashold(bool ismg, float threashold);
+
+    float getAccNMThreashold(bool ismg=true);
+    char setAccNMThreashold(bool ismg, float threashold);
+
+    char getAccNMsetting();
+    char setAccNMsetting(char setting);
+
+    char getGyroInterruptSettings();
+    char setGyroInterruptSettings(char settings);
+
+    char getGyroHighRateXsetting();
+    void getGyroHighRateXsetting_dps(float &hyst, float &thres);
+    char setGyroHighRateXsetting(char setting);
+    char setGyroHighRateXsetting_dps(float hystVal, float thresVal);
+    float getGyroHighRateXduration();
+    char setGyroHighRateXduration(float duration);
+
+    char getGyroHighRateYsetting();
+    void getGyroHighRateYsetting_dps(float &hyst, float &thres);
+    char setGyroHighRateYsetting(char setting);
+    char setGyroHighRateYsetting_dps(float hystVal, float thresVal);
+    float getGyroHighRateYduration();
+    char setGyroHighRateYduration(float duration);
+
+    char getGyroHighRateZsetting();
+    void getGyroHighRateZsetting_dps(float &hyst, float &thres);
+    char setGyroHighRateZsetting(char setting);
+    char setGyroHighRateZsetting_dps(float hystVal, float thresVal);
+    float getGyroHighRateZduration();
+    char setGyroHighRateZduration(float duration);
+
+    float getGyroAnyMotionThreashold();
+    char setGyroAnyMotionThreashold(float threashold);
+
+    char getAccAnyMotionSetting();
+    char setAccAnyMotionSetting(char setting);
+};
+
+#endif