BNO055.cpp

00001 #include "BNO055.h"
00002 #include "mbed.h"
00003 
00004 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
00005     //Set I2C fast and bring reset line high
00006     _i2c.frequency(400000);
00007     address = BNOAddress;
00008     accel_scale = 0.001f;
00009     rate_scale = 1.0f/16.0f;
00010     angle_scale = 1.0f/16.0f;
00011     temp_scale = 1;
00012     }
00013     
00014 void BNO055::reset(){
00015 //Perform a power-on-reset
00016     readchar(BNO055_SYS_TRIGGER_ADDR);
00017     rx = rx | 0x20;
00018     writechar(BNO055_SYS_TRIGGER_ADDR,rx);
00019 //Wait for the system to come back up again (datasheet says 650ms)
00020     wait_ms(675);
00021 }
00022     
00023 bool BNO055::check(){
00024 //Check we have communication link with the chip
00025     readchar(BNO055_CHIP_ID_ADDR);
00026     if (rx != 0xA0) return false;
00027 //Grab the chip ID and software versions
00028     tx[0] = BNO055_CHIP_ID_ADDR;
00029     _i2c.write(address,tx,1,true);  
00030     _i2c.read(address+1,rawdata,7,false); 
00031     ID.id = rawdata[0];
00032     ID.accel = rawdata[1];
00033     ID.mag = rawdata[2];
00034     ID.gyro = rawdata[3];
00035     ID.sw[0] = rawdata[4];
00036     ID.sw[1] = rawdata[5];
00037     ID.bootload = rawdata[6];
00038     setpage(1);
00039     tx[0] = BNO055_UNIQUE_ID_ADDR;
00040     _i2c.write(address,tx,1,true);  
00041     _i2c.read(address+1,ID.serial,16,false); 
00042     setpage(0);
00043     return true;
00044     }
00045     
00046 void BNO055::SetExternalCrystal(bool yn){
00047 // Read the current status from the device
00048     readchar(BNO055_SYS_TRIGGER_ADDR); 
00049     if (yn) rx = rx | 0x80;
00050     else rx = rx & 0x7F;
00051     writechar(BNO055_SYS_TRIGGER_ADDR,rx); 
00052 }
00053 
00054 void BNO055::set_accel_units(char units){
00055     readchar(BNO055_UNIT_SEL_ADDR);
00056     if(units == MPERSPERS){
00057         rx = rx & 0xFE;
00058         accel_scale = 0.01f;
00059         }
00060     else {
00061         rx = rx | units;
00062         accel_scale = 0.001f;
00063         }
00064     writechar(BNO055_UNIT_SEL_ADDR,rx);
00065 }
00066 
00067 void BNO055::set_anglerate_units(char units){
00068     readchar(BNO055_UNIT_SEL_ADDR);
00069     if (units == DEG_PER_SEC){
00070         rx = rx & 0xFD;
00071         rate_scale = 1.0f/16.0f;
00072         }
00073     else {
00074         rx = rx | units;
00075         rate_scale = 1.0f/900.0f;
00076         }
00077     writechar(BNO055_UNIT_SEL_ADDR,rx);
00078 }    
00079 
00080 void BNO055::set_angle_units(char units){
00081     readchar(BNO055_UNIT_SEL_ADDR);
00082     if (units == DEGREES){
00083         rx = rx & 0xFB;
00084         angle_scale = 1.0f/16.0f;
00085         }
00086     else {
00087         rx = rx | units;
00088         rate_scale = 1.0f/900.0f;
00089         }
00090     writechar(BNO055_UNIT_SEL_ADDR,rx);
00091 }    
00092 
00093 void BNO055::set_temp_units(char units){
00094     readchar(BNO055_UNIT_SEL_ADDR);
00095     if (units == CENTIGRADE){
00096         rx = rx & 0xEF;
00097         temp_scale = 1;
00098         }
00099     else {
00100         rx = rx | units;
00101         temp_scale = 2;
00102         }
00103     writechar(BNO055_UNIT_SEL_ADDR,rx);
00104 }    
00105 
00106 void BNO055::set_orientation(char units){
00107     readchar(BNO055_UNIT_SEL_ADDR);
00108     if (units == WINDOWS) rx = rx &0x7F;
00109     else rx = rx | units;
00110     writechar(BNO055_UNIT_SEL_ADDR,rx);
00111 }        
00112 
00113 void BNO055::setmode(char omode){
00114     writechar(BNO055_OPR_MODE_ADDR,omode);
00115     op_mode = omode;
00116 }
00117 
00118 void BNO055::setpowermode(char pmode){
00119     writechar(BNO055_PWR_MODE_ADDR,pmode);
00120     pwr_mode = pmode;
00121 }
00122 
00123 void BNO055::get_accel(void){
00124     tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
00125     _i2c.write(address,tx,1,true);  
00126     _i2c.read(address+1,rawdata,6,0); 
00127     accel.rawx = (rawdata[1] << 8 | rawdata[0]);
00128     accel.rawy = (rawdata[3] << 8 | rawdata[2]);
00129     accel.rawz = (rawdata[5] << 8 | rawdata[4]);
00130     accel.x = float(accel.rawx)*accel_scale;
00131     accel.y = float(accel.rawy)*accel_scale;
00132     accel.z = float(accel.rawz)*accel_scale;
00133 }
00134     
00135 void BNO055::get_gyro(void){
00136     tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
00137     _i2c.write(address,tx,1,true);  
00138     _i2c.read(address+1,rawdata,6,0); 
00139     gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
00140     gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
00141     gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
00142     gyro.x = float(gyro.rawx)*rate_scale;
00143     gyro.y = float(gyro.rawy)*rate_scale;
00144     gyro.z = float(gyro.rawz)*rate_scale;
00145 }
00146 
00147 void BNO055::get_mag(void){
00148     tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
00149     _i2c.write(address,tx,1,true);  
00150     _i2c.read(address+1,rawdata,6,0); 
00151     mag.rawx = (rawdata[1] << 8 | rawdata[0]);
00152     mag.rawy = (rawdata[3] << 8 | rawdata[2]);
00153     mag.rawz = (rawdata[5] << 8 | rawdata[4]);
00154     mag.x = float(mag.rawx);
00155     mag.y = float(mag.rawy);
00156     mag.z = float(mag.rawz);
00157 }
00158 
00159 void BNO055::get_lia(void){
00160     tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
00161     _i2c.write(address,tx,1,true);  
00162     _i2c.read(address+1,rawdata,6,0); 
00163     lia.rawx = (rawdata[1] << 8 | rawdata[0]);
00164     lia.rawy = (rawdata[3] << 8 | rawdata[2]);
00165     lia.rawz = (rawdata[5] << 8 | rawdata[4]);
00166     lia.x = float(lia.rawx)*accel_scale;
00167     lia.y = float(lia.rawy)*accel_scale;
00168     lia.z = float(lia.rawz)*accel_scale;
00169 }
00170 
00171 void BNO055::get_grv(void){
00172     tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
00173     _i2c.write(address,tx,1,true);  
00174     _i2c.read(address+1,rawdata,6,0); 
00175     gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
00176     gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
00177     gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
00178     gravity.x = float(gravity.rawx)*accel_scale;
00179     gravity.y = float(gravity.rawy)*accel_scale;
00180     gravity.z = float(gravity.rawz)*accel_scale;
00181 }
00182 
00183 void BNO055::get_quat(void){
00184     tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
00185     _i2c.write(address,tx,1,true);  
00186     _i2c.read(address+1,rawdata,8,0); 
00187     quat.raww = (rawdata[1] << 8 | rawdata[0]);
00188     quat.rawx = (rawdata[3] << 8 | rawdata[2]);
00189     quat.rawy = (rawdata[5] << 8 | rawdata[4]);
00190     quat.rawz = (rawdata[7] << 8 | rawdata[6]);
00191     quat.w = float(quat.raww)/16384.0f;
00192     quat.x = float(quat.rawx)/16384.0f;
00193     quat.y = float(quat.rawy)/16384.0f;
00194     quat.z = float(quat.rawz)/16384.0f;
00195 }
00196 
00197 void BNO055::get_angles(void){
00198     tx[0] = BNO055_EULER_H_LSB_ADDR;
00199     _i2c.write(address,tx,1,true);  
00200     _i2c.read(address+1,rawdata,6,0); 
00201     euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
00202     euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
00203     euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
00204     euler.yaw = float(euler.rawyaw)*angle_scale;
00205     euler.roll = float(euler.rawroll)*angle_scale;
00206     euler.pitch = float(euler.rawpitch)*angle_scale;
00207 }
00208 
00209 
00210 void BNO055::get_temp(void){
00211     readchar(BNO055_TEMP_ADDR);
00212     temperature = rx / temp_scale;
00213 }
00214 
00215 void BNO055::get_calib(void){
00216      readchar(BNO055_CALIB_STAT_ADDR);
00217      calib = rx;
00218 }
00219 
00220 void BNO055::read_calibration_data(void){
00221     char tempmode = op_mode;
00222     setmode(OPERATION_MODE_CONFIG);
00223     wait_ms(20);
00224     tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
00225     _i2c.write(address,tx,1,true);  
00226     _i2c.read(address,calibration,22,false); 
00227     setmode(tempmode);
00228     wait_ms(10);
00229 }
00230 
00231 void BNO055::write_calibration_data(void){
00232     char tempmode = op_mode;
00233     setmode(OPERATION_MODE_CONFIG);
00234     //wait_ms(20);
00235     tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
00236     _i2c.write(address,tx,1,true);  
00237     _i2c.write(address,calibration,22,false); 
00238     setmode(tempmode);
00239     //wait_ms(10);
00240 }
00241 
00242 void BNO055::set_mapping(char orient){
00243     switch (orient){
00244         case 0: 
00245             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00246             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
00247             break;
00248         case 1:
00249             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00250             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00251             break;
00252         case 2:
00253             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00254             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00255             break;
00256         case 3:
00257             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00258             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
00259             break;
00260         case 4:
00261             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00262             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
00263             break;
00264         case 5:
00265             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00266             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
00267             break;
00268         case 6:
00269             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00270             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
00271             break;
00272         case 7:
00273             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00274             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
00275             break;
00276         default:
00277             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00278             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00279         }
00280 }
00281 
00282 void BNO055::resetIntr(){
00283     readchar(BNO055_SYS_TRIGGER_ADDR);
00284     rx |= 0x40;
00285     writechar(BNO055_SYS_TRIGGER_ADDR, rx);
00286 }
00287 
00288 void BNO055::initIntr() { 
00289    uint16_t thresholdG = 8;
00290     uint8_t slopeG = 0;
00291     uint8_t durationG = 1;
00292     //pag 53 del pdf
00293     setmode(OPERATION_MODE_CONFIG);
00294     //wait_ms(20);
00295     setpage(1);
00296 // 1a. Set gyroscope interrupt on X, Y, and Z (any motion)
00297     writechar(0x17, 0x47); //(direccion,valor). (0x12,0x1D)
00298     // 1b. Set gyroscope interrupt threshold
00299     writechar(0x1E, ((0 & ~(0x7F)) | ((thresholdG << 0) & 0x7F)));//(0x11,0x01)
00300     // 1c. Set gyroscope interrupt slope samples
00301     writechar(0x1F, ((0 & ~(0x03)) | ((slopeG << 0) & 0x03)));
00302     // 1d. Set gyroscope interrupt awake duration
00303     writechar(0x1F, ((0 & ~(0x0C)) | ((durationG << 2) & 0x0C)));
00304     // 2. Set gyroscope interrupt mask
00305     writechar(0x0F, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
00306     // 3. Set gyroscope interrupt
00307     writechar(0x10, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
00308     
00309     // 4. Read gyroscope interrupt status
00310     setpage(0);
00311     readchar(BNO055_INTR_STAT_ADDR);
00312     intr = rx;
00313     setmode(OPERATION_MODE_NDOF);
00314 }
00315 
00316 
00317 
00318 
00319 /*
00320 void BNO055::initIntr() {   
00321     uint16_t thresholdA = 2;
00322     //uint8_t slopeA = 0;
00323     //uint8_t durationG = 3;
00324     //pag 53 del pdf
00325     setmode(OPERATION_MODE_CONFIG);
00326     //wait_ms(20);
00327     setpage(1);
00328     // 1a. Set accel. interrupt on X, Y, and Z (any motion)
00329     writechar(0x12, 0x1D); //(direccion,valor). (0x12,0x1D)
00330     // 1b. Set accel. interrupt threshold
00331     writechar(0x11,thresholdA);//(acc_am_thres,1)--->>writechar(0x11, ((0 & ~(0x7F)) | ((thresholdA << 0) & 0x7F)));//(0x11,0x01)
00332     // 1c. Set accel interrupt slope samples
00333     //----->>>>writechar(0x1F, ((0 & ~(0x03)) | ((slopeA << 0) & 0x03)));
00334     // 1d. Set gyroscope interrupt awake duration
00335     //writechar(0x1F, ((0 & ~(0x0C)) | ((durationG << 2) & 0x0C)));
00336     
00337     // 2. Set ACC interrupt mask
00338     writechar(0x0F,0x40);  //--->>>writechar(0x0F, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
00339     
00340     // 3. Set ACC interrupt enable
00341     writechar(0x10,0x40);//----->>>writechar(0x10, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
00342     
00343     // 4. Read gyroscope interrupt status
00344     setpage(0);
00345     readchar(BNO055_INTR_STAT_ADDR);
00346     intr = rx;
00347     setmode(OPERATION_MODE_NDOF);
00348 
00349 }
00350 */
00351 
00352 void BNO055::setpowermode3() {
00353     setmode(OPERATION_MODE_CONFIG);
00354     wait_ms(20);
00355     setpage(1);
00356     // 1.  Accelerometer High
00357     // 1a. Set Range
00358     writechar(0x08, ((0 & ~(0x03)) | ((0x03 << 0) & 0x03)));
00359     // 1b. Set Power
00360     writechar(0x08, ((0 & ~(0xE0)) | ((0x00 << 5) & 0xE0)));
00361     
00362     // 2.  Gyro Off
00363     // 2a. Set Range
00364     writechar(0x0B, ((0 & ~(0x07)) | ((0x00 << 0) & 0x07)));
00365     // 2b. Set Power
00366     writechar(0x0B, ((0 & ~(0x07)) | ((0x02 << 0) & 0x07)));
00367     
00368     // 3.  Magnetometer Low
00369     // 3a. Set Power
00370     writechar(0x09, ((0 & ~(0x60)) | ((0x00 << 5) & 0x60)));
00371 
00372     // turn page back to 0 for reading op mode
00373     setpage(0);
00374     
00375 }