Cuztomized to use with RILTaur
Diff: BNO055.cpp
- Revision:
- 0:24f23c36dd24
- Child:
- 1:2c3322a8d417
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.cpp Thu May 28 19:22:25 2015 +0000 @@ -0,0 +1,179 @@ +#include "BNO055.h" +#include "mbed.h" + +BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){ + //Set I2C fast and bring reset line high + _i2c.frequency(400000); + address = BNOAddress; + accel_scale = 1.0f; + rate_scale = 1.0f/16.0f; + angle_scale = 1.0f/16.0f; + temp_scale = 1.0f; + } + +void BNO055::reset(){ +//Perform a power-on-reset + readchar(BNO055_SYS_TRIGGER_ADDR); + rx = rx | 0x20; + writechar(BNO055_SYS_TRIGGER_ADDR,rx); +//Wait for the system to come back up again (datasheet says 650ms) + wait_ms(675); +} + +bool BNO055::check(){ +//Check we have communication link with the chip + readchar(BNO055_CHIP_ID_ADDR); + if (rx != 0xA0) return false; +//Grab the chip ID and software versions + tx[0] = BNO055_CHIP_ID_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,7,false); + ID.id = rawdata[0]; + ID.accel = rawdata[1]; + ID.mag = rawdata[2]; + ID.gyro = rawdata[3]; + ID.sw[0] = rawdata[4]; + ID.sw[1] = rawdata[5]; + ID.bootload = rawdata[6]; + setpage(1); + tx[0] = BNO055_UNIQUE_ID_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,ID.serial,16,false); + setpage(0); + return true; + } + +void BNO055::SetExternalCrystal(bool yn){ +// Read the current status from the device + readchar(BNO055_SYS_TRIGGER_ADDR); + if (yn) rx = rx | 0x80; + else rx = rx & 0x7F; + writechar(BNO055_SYS_TRIGGER_ADDR,rx); +} + +void BNO055::set_accel_units(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if(units == MPERSPERS){ + rx = rx & 0xFE; + accel_scale = 0.01f; + } + else { + rx = rx | units; + accel_scale = 1.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_anglerate_units(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == DEG_PER_SEC){ + rx = rx & 0xFD; + rate_scale = 1.0f/16.0f; + } + else { + rx = rx | units; + rate_scale = 1.0f/900.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_angle_units(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == DEGREES){ + rx = rx & 0xFB; + angle_scale = 1.0f/16.0f; + } + else { + rx = rx | units; + rate_scale = 1.0f/900.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_temp_units(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == CENTIGRADE){ + rx = rx & 0x7F; + temp_scale = 1.0f; + } + else { + rx = rx | units; + temp_scale = 2.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::setmode(char omode){ + writechar(BNO055_OPR_MODE_ADDR,omode); + op_mode = omode; +} + +void BNO055::setpowermode(char pmode){ + writechar(BNO055_PWR_MODE_ADDR,pmode); + pwr_mode = pmode; +} + +void BNO055::get_accel(void){ + tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + accel.rawx = (rawdata[1] << 8 | rawdata[0]); + accel.rawy = (rawdata[3] << 8 | rawdata[2]); + accel.rawz = (rawdata[5] << 8 | rawdata[4]); + accel.x = float(accel.rawx)*accel_scale; + accel.y = float(accel.rawy)*accel_scale; + accel.z = float(accel.rawz)*accel_scale; +} + +void BNO055::get_gyro(void){ + tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + gyro.rawx = (rawdata[1] << 8 | rawdata[0]); + gyro.rawy = (rawdata[3] << 8 | rawdata[2]); + gyro.rawz = (rawdata[5] << 8 | rawdata[4]); + gyro.x = float(gyro.rawx)*rate_scale; + gyro.y = float(gyro.rawy)*rate_scale; + gyro.z = float(gyro.rawz)*rate_scale; +} + +void BNO055::get_mag(void){ + tx[0] = BNO055_MAG_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + mag.rawx = (rawdata[1] << 8 | rawdata[0]); + mag.rawy = (rawdata[3] << 8 | rawdata[2]); + mag.rawz = (rawdata[5] << 8 | rawdata[4]); + mag.x = float(mag.rawx); + mag.y = float(mag.rawy); + mag.z = float(mag.rawz); +} + +void BNO055::get_lia(void){ + tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + lia.rawx = (rawdata[1] << 8 | rawdata[0]); + lia.rawy = (rawdata[3] << 8 | rawdata[2]); + lia.rawz = (rawdata[5] << 8 | rawdata[4]); + lia.x = float(lia.rawx)*accel_scale; + lia.y = float(lia.rawy)*accel_scale; + lia.z = float(lia.rawz)*accel_scale; +} + +void BNO055::get_grv(void){ + tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + gravity.rawx = (rawdata[1] << 8 | rawdata[0]); + gravity.rawy = (rawdata[3] << 8 | rawdata[2]); + gravity.rawz = (rawdata[5] << 8 | rawdata[4]); + gravity.x = float(gravity.rawx)*accel_scale; + gravity.y = float(gravity.rawy)*accel_scale; + gravity.z = float(gravity.rawz)*accel_scale; +} + +void BNO055::get_calib(void){ + readchar(BNO055_CALIB_STAT_ADDR); + calib = rx; +} \ No newline at end of file