Chawankorn Tiemprasert / BNO055

imu libraries use in class project

Dependents:   Ros_STM32_IMU_BNO055 baseControl_ackermannCar

BNO055.h@0:445290b98598, 2018-12-15 (annotated)

Committer:
chawankorn
Date:
Sat Dec 15 08:43:30 2018 +0000
Revision:
0:445290b98598
class project nucleo_IMU

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chawankorn 0:445290b98598 1 #ifndef BNO055_H
chawankorn 0:445290b98598 2 #define BNO055_H
chawankorn 0:445290b98598 3
chawankorn 0:445290b98598 4 #include "mbed.h"
chawankorn 0:445290b98598 5 //
chawankorn 0:445290b98598 6 #define BNOAddress (0x28 << 1)
chawankorn 0:445290b98598 7 //Register definitions
chawankorn 0:445290b98598 8 /* Page id register definition */
chawankorn 0:445290b98598 9 #define BNO055_PAGE_ID_ADDR 0x07
chawankorn 0:445290b98598 10 /* PAGE0 REGISTER DEFINITION START*/
chawankorn 0:445290b98598 11 #define BNO055_CHIP_ID_ADDR 0x00
chawankorn 0:445290b98598 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
chawankorn 0:445290b98598 13 #define BNO055_MAG_REV_ID_ADDR 0x02
chawankorn 0:445290b98598 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
chawankorn 0:445290b98598 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
chawankorn 0:445290b98598 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
chawankorn 0:445290b98598 17 #define BNO055_BL_REV_ID_ADDR 0x06
chawankorn 0:445290b98598 18 /* Accel data register */
chawankorn 0:445290b98598 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
chawankorn 0:445290b98598 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
chawankorn 0:445290b98598 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
chawankorn 0:445290b98598 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
chawankorn 0:445290b98598 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
chawankorn 0:445290b98598 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
chawankorn 0:445290b98598 25 /* Mag data register */
chawankorn 0:445290b98598 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
chawankorn 0:445290b98598 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
chawankorn 0:445290b98598 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
chawankorn 0:445290b98598 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
chawankorn 0:445290b98598 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
chawankorn 0:445290b98598 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
chawankorn 0:445290b98598 32 /* Gyro data registers */
chawankorn 0:445290b98598 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
chawankorn 0:445290b98598 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
chawankorn 0:445290b98598 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
chawankorn 0:445290b98598 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
chawankorn 0:445290b98598 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
chawankorn 0:445290b98598 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
chawankorn 0:445290b98598 39 /* Euler data registers */
chawankorn 0:445290b98598 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
chawankorn 0:445290b98598 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
chawankorn 0:445290b98598 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
chawankorn 0:445290b98598 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
chawankorn 0:445290b98598 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
chawankorn 0:445290b98598 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
chawankorn 0:445290b98598 46 /* Quaternion data registers */
chawankorn 0:445290b98598 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
chawankorn 0:445290b98598 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
chawankorn 0:445290b98598 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
chawankorn 0:445290b98598 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
chawankorn 0:445290b98598 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
chawankorn 0:445290b98598 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
chawankorn 0:445290b98598 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
chawankorn 0:445290b98598 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
chawankorn 0:445290b98598 55 /* Linear acceleration data registers */
chawankorn 0:445290b98598 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
chawankorn 0:445290b98598 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
chawankorn 0:445290b98598 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
chawankorn 0:445290b98598 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
chawankorn 0:445290b98598 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
chawankorn 0:445290b98598 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
chawankorn 0:445290b98598 62 /* Gravity data registers */
chawankorn 0:445290b98598 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
chawankorn 0:445290b98598 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
chawankorn 0:445290b98598 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
chawankorn 0:445290b98598 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
chawankorn 0:445290b98598 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
chawankorn 0:445290b98598 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
chawankorn 0:445290b98598 69 /* Temperature data register */
chawankorn 0:445290b98598 70 #define BNO055_TEMP_ADDR 0x34
chawankorn 0:445290b98598 71 /* Status registers */
chawankorn 0:445290b98598 72 #define BNO055_CALIB_STAT_ADDR 0x35
chawankorn 0:445290b98598 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
chawankorn 0:445290b98598 74 #define BNO055_INTR_STAT_ADDR 0x37
chawankorn 0:445290b98598 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
chawankorn 0:445290b98598 76 #define BNO055_SYS_STAT_ADDR 0x39
chawankorn 0:445290b98598 77 #define BNO055_SYS_ERR_ADDR 0x3A
chawankorn 0:445290b98598 78 /* Unit selection register */
chawankorn 0:445290b98598 79 #define BNO055_UNIT_SEL_ADDR 0x3B
chawankorn 0:445290b98598 80 #define BNO055_DATA_SELECT_ADDR 0x3C
chawankorn 0:445290b98598 81 /* Mode registers */
chawankorn 0:445290b98598 82 #define BNO055_OPR_MODE_ADDR 0x3D
chawankorn 0:445290b98598 83 #define BNO055_PWR_MODE_ADDR 0x3E
chawankorn 0:445290b98598 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
chawankorn 0:445290b98598 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
chawankorn 0:445290b98598 86 /* Axis remap registers */
chawankorn 0:445290b98598 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
chawankorn 0:445290b98598 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
chawankorn 0:445290b98598 89 /* Accelerometer Offset registers */
chawankorn 0:445290b98598 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
chawankorn 0:445290b98598 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
chawankorn 0:445290b98598 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
chawankorn 0:445290b98598 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
chawankorn 0:445290b98598 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
chawankorn 0:445290b98598 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
chawankorn 0:445290b98598 96 /* Magnetometer Offset registers */
chawankorn 0:445290b98598 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
chawankorn 0:445290b98598 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
chawankorn 0:445290b98598 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
chawankorn 0:445290b98598 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
chawankorn 0:445290b98598 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
chawankorn 0:445290b98598 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
chawankorn 0:445290b98598 103 /* Gyroscope Offset registers*/
chawankorn 0:445290b98598 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
chawankorn 0:445290b98598 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
chawankorn 0:445290b98598 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
chawankorn 0:445290b98598 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
chawankorn 0:445290b98598 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
chawankorn 0:445290b98598 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
chawankorn 0:445290b98598 110 /* Radius registers */
chawankorn 0:445290b98598 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
chawankorn 0:445290b98598 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
chawankorn 0:445290b98598 113 #define MAG_RADIUS_LSB_ADDR 0x69
chawankorn 0:445290b98598 114 #define MAG_RADIUS_MSB_ADDR 0x6A
chawankorn 0:445290b98598 115
chawankorn 0:445290b98598 116 /* Page 1 registers */
chawankorn 0:445290b98598 117 #define BNO055_UNIQUE_ID_ADDR 0x50
chawankorn 0:445290b98598 118
chawankorn 0:445290b98598 119 //Definitions for unit selection
chawankorn 0:445290b98598 120 #define MPERSPERS 0x00
chawankorn 0:445290b98598 121 #define MILLIG 0x01
chawankorn 0:445290b98598 122 #define DEG_PER_SEC 0x00
chawankorn 0:445290b98598 123 #define RAD_PER_SEC 0x02
chawankorn 0:445290b98598 124 #define DEGREES 0x00
chawankorn 0:445290b98598 125 #define RADIANS 0x04
chawankorn 0:445290b98598 126 #define CENTIGRADE 0x00
chawankorn 0:445290b98598 127 #define FAHRENHEIT 0x10
chawankorn 0:445290b98598 128 #define WINDOWS 0x00
chawankorn 0:445290b98598 129 #define ANDROID 0x80
chawankorn 0:445290b98598 130
chawankorn 0:445290b98598 131 //Definitions for power mode
chawankorn 0:445290b98598 132 #define POWER_MODE_NORMAL 0x00
chawankorn 0:445290b98598 133 #define POWER_MODE_LOWPOWER 0x01
chawankorn 0:445290b98598 134 #define POWER_MODE_SUSPEND 0x02
chawankorn 0:445290b98598 135
chawankorn 0:445290b98598 136 //Definitions for operating mode
chawankorn 0:445290b98598 137 #define OPERATION_MODE_CONFIG 0x00
chawankorn 0:445290b98598 138 #define OPERATION_MODE_ACCONLY 0x01
chawankorn 0:445290b98598 139 #define OPERATION_MODE_MAGONLY 0x02
chawankorn 0:445290b98598 140 #define OPERATION_MODE_GYRONLY 0x03
chawankorn 0:445290b98598 141 #define OPERATION_MODE_ACCMAG 0x04
chawankorn 0:445290b98598 142 #define OPERATION_MODE_ACCGYRO 0x05
chawankorn 0:445290b98598 143 #define OPERATION_MODE_MAGGYRO 0x06
chawankorn 0:445290b98598 144 #define OPERATION_MODE_AMG 0x07
chawankorn 0:445290b98598 145 #define OPERATION_MODE_IMUPLUS 0x08
chawankorn 0:445290b98598 146 #define OPERATION_MODE_COMPASS 0x09
chawankorn 0:445290b98598 147 #define OPERATION_MODE_M4G 0x0A
chawankorn 0:445290b98598 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
chawankorn 0:445290b98598 149 #define OPERATION_MODE_NDOF 0x0C
chawankorn 0:445290b98598 150
chawankorn 0:445290b98598 151 typedef struct values{
chawankorn 0:445290b98598 152 int16_t rawx,rawy,rawz;
chawankorn 0:445290b98598 153 float x,y,z;
chawankorn 0:445290b98598 154 }values;
chawankorn 0:445290b98598 155
chawankorn 0:445290b98598 156 typedef struct angles{
chawankorn 0:445290b98598 157 int16_t rawroll,rawpitch,rawyaw;
chawankorn 0:445290b98598 158 float roll, pitch, yaw;
chawankorn 0:445290b98598 159 } angles;
chawankorn 0:445290b98598 160
chawankorn 0:445290b98598 161 typedef struct quaternion{
chawankorn 0:445290b98598 162 int16_t raww,rawx,rawy,rawz;
chawankorn 0:445290b98598 163 float w,x,y,z;
chawankorn 0:445290b98598 164 }quaternion;
chawankorn 0:445290b98598 165
chawankorn 0:445290b98598 166 typedef struct chip{
chawankorn 0:445290b98598 167 char id;
chawankorn 0:445290b98598 168 char accel;
chawankorn 0:445290b98598 169 char gyro;
chawankorn 0:445290b98598 170 char mag;
chawankorn 0:445290b98598 171 char sw[2];
chawankorn 0:445290b98598 172 char bootload;
chawankorn 0:445290b98598 173 char serial[16];
chawankorn 0:445290b98598 174 }chip;
chawankorn 0:445290b98598 175
chawankorn 0:445290b98598 176 /** Class for operating Bosch BNO055 sensor over I2C **/
chawankorn 0:445290b98598 177 class BNO055
chawankorn 0:445290b98598 178 {
chawankorn 0:445290b98598 179 public:
chawankorn 0:445290b98598 180
chawankorn 0:445290b98598 181 /** Create BNO055 instance **/
chawankorn 0:445290b98598 182 BNO055(PinName SDA, PinName SCL);
chawankorn 0:445290b98598 183
chawankorn 0:445290b98598 184 /** Perform a power-on reset of the BNO055 **/
chawankorn 0:445290b98598 185 void reset();
chawankorn 0:445290b98598 186 /** Check that the BNO055 is connected and download the software details
chawankorn 0:445290b98598 187 and serial number of chip and store in ID structure **/
chawankorn 0:445290b98598 188 bool check();
chawankorn 0:445290b98598 189 /** Turn the external timing crystal on/off **/
chawankorn 0:445290b98598 190 void SetExternalCrystal(bool yn);
chawankorn 0:445290b98598 191 /** Set the operation mode of the sensor **/
chawankorn 0:445290b98598 192 void setmode(char mode);
chawankorn 0:445290b98598 193 /** Set the power mode of the sensor **/
chawankorn 0:445290b98598 194 void setpowermode(char mode);
chawankorn 0:445290b98598 195
chawankorn 0:445290b98598 196 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
chawankorn 0:445290b98598 197 void set_accel_units(char units);
chawankorn 0:445290b98598 198 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
chawankorn 0:445290b98598 199 void set_anglerate_units(char units);
chawankorn 0:445290b98598 200 /** Set the output units from the IMU, either DEGREES or RADIANS **/
chawankorn 0:445290b98598 201 void set_angle_units(char units);
chawankorn 0:445290b98598 202 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
chawankorn 0:445290b98598 203 void set_temp_units(char units);
chawankorn 0:445290b98598 204 /** Set the data output format to either WINDOWS or ANDROID **/
chawankorn 0:445290b98598 205 void set_orientation(char units);
chawankorn 0:445290b98598 206 /** Set the mapping of the exes/directions as per page 25 of datasheet
chawankorn 0:445290b98598 207 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
chawankorn 0:445290b98598 208 void set_mapping(char orient);
chawankorn 0:445290b98598 209
chawankorn 0:445290b98598 210 /** Get the current values from the accelerometer **/
chawankorn 0:445290b98598 211 void get_accel(void);
chawankorn 0:445290b98598 212 /** Get the current values from the gyroscope **/
chawankorn 0:445290b98598 213 void get_gyro(void);
chawankorn 0:445290b98598 214 /** Get the current values from the magnetometer **/
chawankorn 0:445290b98598 215 void get_mag(void);
chawankorn 0:445290b98598 216 /** Get the corrected linear acceleration **/
chawankorn 0:445290b98598 217 void get_lia(void);
chawankorn 0:445290b98598 218 /** Get the current gravity vector **/
chawankorn 0:445290b98598 219 void get_grv(void);
chawankorn 0:445290b98598 220 /** Get the output quaternion **/
chawankorn 0:445290b98598 221 void get_quat(void);
chawankorn 0:445290b98598 222 /** Get the current Euler angles **/
chawankorn 0:445290b98598 223 void get_angles(void);
chawankorn 0:445290b98598 224 /** Get the current temperature **/
chawankorn 0:445290b98598 225 void get_temp(void);
chawankorn 0:445290b98598 226
chawankorn 0:445290b98598 227 /** Read the calibration status register and store the result in the calib variable **/
chawankorn 0:445290b98598 228 void get_calib(void);
chawankorn 0:445290b98598 229 /** Read the offset and radius values into the calibration array**/
chawankorn 0:445290b98598 230 void read_calibration_data(void);
chawankorn 0:445290b98598 231 /** Write the contents of the calibration array into the registers **/
chawankorn 0:445290b98598 232 void write_calibration_data(void);
chawankorn 0:445290b98598 233
chawankorn 0:445290b98598 234 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
chawankorn 0:445290b98598 235 x,y,z are the scale floating point values and
chawankorn 0:445290b98598 236 rawx, rawy, rawz are the int16_t values read from the sensors **/
chawankorn 0:445290b98598 237 values accel,gyro,mag,lia,gravity;
chawankorn 0:445290b98598 238 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
chawankorn 0:445290b98598 239 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
chawankorn 0:445290b98598 240 angles euler;
chawankorn 0:445290b98598 241 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
chawankorn 0:445290b98598 242 registers **/
chawankorn 0:445290b98598 243 quaternion quat;
chawankorn 0:445290b98598 244
chawankorn 0:445290b98598 245 /** Current contents of calibration status register **/
chawankorn 0:445290b98598 246 char calib;
chawankorn 0:445290b98598 247 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
chawankorn 0:445290b98598 248 char calibration[22];
chawankorn 0:445290b98598 249 /** Structure containing sensor numbers, software version and chip UID **/
chawankorn 0:445290b98598 250 chip ID;
chawankorn 0:445290b98598 251 /** Current temperature **/
chawankorn 0:445290b98598 252 int temperature;
chawankorn 0:445290b98598 253
chawankorn 0:445290b98598 254 private:
chawankorn 0:445290b98598 255
chawankorn 0:445290b98598 256 I2C _i2c;
chawankorn 0:445290b98598 257 char rx,tx[2],address; //I2C variables
chawankorn 0:445290b98598 258 char rawdata[22]; //Temporary array for input data values
chawankorn 0:445290b98598 259 char op_mode;
chawankorn 0:445290b98598 260 char pwr_mode;
chawankorn 0:445290b98598 261 float accel_scale,rate_scale,angle_scale;
chawankorn 0:445290b98598 262 int temp_scale;
chawankorn 0:445290b98598 263
chawankorn 0:445290b98598 264 void readchar(char location){
chawankorn 0:445290b98598 265 tx[0] = location;
chawankorn 0:445290b98598 266 _i2c.write(address,tx,1,true);
chawankorn 0:445290b98598 267 _i2c.read(address,&rx,1,false);
chawankorn 0:445290b98598 268 }
chawankorn 0:445290b98598 269
chawankorn 0:445290b98598 270 void writechar(char location, char value){
chawankorn 0:445290b98598 271 tx[0] = location;
chawankorn 0:445290b98598 272 tx[1] = value;
chawankorn 0:445290b98598 273 _i2c.write(address,tx,2);
chawankorn 0:445290b98598 274 }
chawankorn 0:445290b98598 275
chawankorn 0:445290b98598 276 void setpage(char value){
chawankorn 0:445290b98598 277 writechar(BNO055_PAGE_ID_ADDR,value);
chawankorn 0:445290b98598 278 }
chawankorn 0:445290b98598 279 };
chawankorn 0:445290b98598 280 #endif