Diff: BNO055.cpp

Revision:

0:86a17116e8be

Child:

1:cb7e19c0a702

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.cpp	Sun Apr 05 04:12:58 2015 +0000
@@ -0,0 +1,444 @@
+/*
+ * mbed library program
+ *  BNO055 Intelligent 9-axis absolute orientation sensor
+ *  by Bosch Sensortec
+ *
+ * Copyright (c) 2015 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: March     30th, 2015
+ *      Revised: April      5th, 2015
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+ * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "BNO055.h"
+
+BNO055::BNO055 (PinName p_sda, PinName p_scl, uint8_t addr, uint8_t mode):
+    _i2c(p_sda, p_scl)
+{
+    _i2c.frequency(400000);
+    chip_addr = addr;
+    chip_mode = mode;
+    initialize ();
+}
+
+BNO055::BNO055 (PinName p_sda, PinName p_scl) :
+    _i2c(p_sda, p_scl)
+{
+    _i2c.frequency(400000);
+    chip_addr = BNO055_G_CHIP_ADDR;
+    chip_mode = MODE_NDOF;
+    initialize ();
+}
+
+BNO055::BNO055 (I2C& p_i2c,  uint8_t addr, uint8_t mode) :
+    _i2c(p_i2c)
+{
+    _i2c.frequency(400000);
+    chip_addr = addr;
+    chip_mode = mode;
+    initialize ();
+}
+
+BNO055::BNO055 (I2C& p_i2c) :
+    _i2c(p_i2c)
+{
+    _i2c.frequency(400000);
+    chip_addr = BNO055_G_CHIP_ADDR;
+    chip_mode = MODE_NDOF;
+    initialize ();
+}
+
+/////////////// Read data & normalize /////////////////////
+void BNO055::get_Euler_Angles(BNO055_EULER_TypeDef *el)
+{
+    uint8_t deg_or_rad;
+    int16_t h,p,r;
+
+    select_page(0);
+    dt[0] = BNO055_UNIT_SEL;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (dt[0] & 0x04) {
+        deg_or_rad = 1; // Radian
+    } else {
+        deg_or_rad = 0; // Degree
+    }
+    dt[0] = BNO055_EULER_H_LSB;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 6, false);
+    h = dt[1] << 8 | dt[0];
+    p = dt[3] << 8 | dt[2];
+    r = dt[5] << 8 | dt[4];
+    if (deg_or_rad) {
+        el->h = (double)(h / 900);
+        el->p = (double)(p / 900);
+        el->r = (double)(r / 900);
+    } else {
+        el->h = (double)(h / 16);
+        el->p = (double)(p / 16);
+        el->r = (double)(r / 16);
+    }
+}
+
+void BNO055::get_quaternion(BNO055_QUATERNION_TypeDef *qua)
+{
+    select_page(0);
+    dt[0] = BNO055_QUATERNION_W_LSB;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 8, false);
+    qua->w = dt[1] << 8 | dt[0];
+    qua->x = dt[3] << 8 | dt[2];
+    qua->y = dt[5] << 8 | dt[4];
+    qua->z = dt[7] << 8 | dt[6];
+}
+
+void BNO055::get_linear_accel(BNO055_LIN_ACC_TypeDef *la)
+{
+    uint8_t ms2_or_mg;
+    int16_t x,y,z;
+
+    select_page(0);
+    dt[0] = BNO055_UNIT_SEL;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (dt[0] & 0x01) {
+        ms2_or_mg = 1; // mg
+    } else {
+        ms2_or_mg = 0; // m/s*s
+    }
+    dt[0] = BNO055_LINEAR_ACC_X_LSB;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 6, false);
+    x = dt[1] << 8 | dt[0];
+    y = dt[3] << 8 | dt[2];
+    z = dt[5] << 8 | dt[4];
+    if (ms2_or_mg) {
+        la->x = (double)x;
+        la->y = (double)y;
+        la->z = (double)z;
+    } else {
+        la->x = (double)(x / 100);
+        la->y = (double)(y / 100);
+        la->z = (double)(z / 100);
+    }
+}
+
+void BNO055::get_gravity(BNO055_GRAVITY_TypeDef *gr)
+{
+    uint8_t ms2_or_mg;
+    int16_t x,y,z;
+
+    select_page(0);
+    dt[0] = BNO055_UNIT_SEL;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (dt[0] & 0x01) {
+        ms2_or_mg = 1; // mg
+    } else {
+        ms2_or_mg = 0; // m/s*s
+    }
+    dt[0] = BNO055_GRAVITY_X_LSB;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 6, false);
+    x = dt[1] << 8 | dt[0];
+    y = dt[3] << 8 | dt[2];
+    z = dt[5] << 8 | dt[4];
+    if (ms2_or_mg) {
+        gr->x = (double)x;
+        gr->y = (double)y;
+        gr->z = (double)z;
+    } else {
+        gr->x = (double)(x / 100);
+        gr->y = (double)(y / 100);
+        gr->z = (double)(z / 100);
+    }
+}
+
+void BNO055::get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp)
+{
+    uint8_t c_or_f;
+
+    select_page(0);
+    dt[0] = BNO055_UNIT_SEL;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (dt[0] & 0x10) {
+        c_or_f = 1; // Fahrenheit
+    } else {
+        c_or_f = 0; // degrees Celsius
+    }
+    dt[0] = BNO055_TEMP_SOURCE;
+    dt[1] = 0;
+    _i2c.write(chip_addr, dt, 2, false);
+    wait_ms(1); // Do I need to wait?
+    dt[0] = BNO055_TEMP;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (c_or_f) {
+        tmp->acc_chip = (int8_t)dt[0] * 2;
+    } else {
+        tmp->acc_chip = (int8_t)dt[0];
+    }
+    dt[0] = BNO055_TEMP_SOURCE;
+    dt[1] = 1;
+    _i2c.write(chip_addr, dt, 2, false);
+    wait_ms(1); // Do I need to wait?
+    dt[0] = BNO055_TEMP;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    if (c_or_f) {
+        tmp->gyr_chip = (int8_t)dt[0] * 2;
+    } else {
+        tmp->gyr_chip = (int8_t)dt[0];
+    }
+}
+
+/////////////// Initialize ////////////////////////////////
+void BNO055::initialize (void)
+{
+    // Check Acc & Mag & Gyro are available of not
+    check_id();
+    // Set initial data
+    set_initial_dt_to_regs();
+    // Unit selection
+    unit_selection();
+    // Set fusion mode
+    change_fusion_mode(chip_mode);
+}
+
+void BNO055::unit_selection(void)
+{
+    select_page(0);
+    dt[0] = BNO055_UNIT_SEL;
+    dt[1] = UNIT_ORI_WIN + UNIT_ACC_MSS + UNIT_GYR_DPS + UNIT_EULER_DEG + UNIT_TEMP_C;
+    _i2c.write(chip_addr, dt, 2, false);
+}
+
+uint8_t BNO055::select_page(uint8_t page)
+{
+    dt[0] = BNO055_PAGE_ID;
+    if (page == 1) {
+        dt[1] = 1;  // select page 1
+    } else {
+        dt[1] = 0;  // select page 0
+    }
+    _i2c.write(chip_addr, dt, 2, false);
+    dt[0] = BNO055_PAGE_ID;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    return dt[0];
+}
+
+////// Set initialize data to related registers ///////////
+void BNO055::set_initial_dt_to_regs(void)
+{
+    // select_page(0);
+    // current setting is only used default values
+}
+
+/////////////// Check Who am I? ///////////////////////////
+void BNO055::check_id(void)
+{
+    select_page(0);
+    // ID
+    dt[0] = BNO055_CHIP_ID;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 7, false);
+    chip_id = dt[0];
+    if (chip_id == I_AM_BNO055_CHIP) {
+        ready_flg = 1;
+    } else {
+        ready_flg = 0;
+    }
+    acc_id = dt[1];
+    if (acc_id == I_AM_BNO055_ACC) {
+        ready_flg |= 2;
+    }
+    mag_id = dt[2];
+    if (mag_id == I_AM_BNO055_MAG) {
+        ready_flg |= 4;
+    }
+    gyr_id = dt[3];
+    if (mag_id == I_AM_BNO055_MAG) {
+        ready_flg |= 8;
+    }
+    bootldr_rev_id = dt[5]<< 8 | dt[4];
+    sw_rev_id = dt[6];
+}
+
+void BNO055::read_id_inf(BNO055_ID_INF_TypeDef *id)
+{
+    id->chip_id = chip_id;
+    id->acc_id = acc_id;
+    id->mag_id = mag_id;
+    id->gyr_id = gyr_id;
+    id->bootldr_rev_id = bootldr_rev_id;
+    id->sw_rev_id = sw_rev_id;
+}
+
+/////////////// Check chip ready or not  //////////////////
+uint8_t BNO055::chip_ready()
+{
+    if (ready_flg == 0x0f) {
+        return 1;
+    }
+    return 0;
+}
+
+/////////////// Change Fusion mode  ///////////////////////
+void BNO055::change_fusion_mode(uint8_t mode)
+{
+    uint8_t current_mode;
+
+    select_page(0);
+    current_mode = check_operating_mode();
+    switch (mode) {
+        case CONFIGMODE:
+            dt[0] = BNO055_OPR_MODE;
+            dt[1] = mode;
+            _i2c.write(chip_addr, dt, 2, false);
+            wait_ms(19);    // wait 19mS
+            break;
+        case MODE_IMU:
+        case MODE_COMPASS:
+        case MODE_M4G:
+        case MODE_NDOF_FMC_OFF:
+        case MODE_NDOF:
+            if (current_mode != CONFIGMODE) {   // Can we change the mode directry?
+                dt[0] = BNO055_OPR_MODE;
+                dt[1] = CONFIGMODE;
+                _i2c.write(chip_addr, dt, 2, false);
+                wait_ms(19);    // wait 19mS
+            }
+            dt[0] = BNO055_OPR_MODE;
+            dt[1] = mode;
+            _i2c.write(chip_addr, dt, 2, false);
+            wait_ms(7);    // wait 7mS
+            break;
+        default:
+            break;
+    }
+}
+
+uint8_t BNO055::check_operating_mode(void)
+{
+    select_page(0);
+    dt[0] = BNO055_OPR_MODE;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    return dt[0];
+}
+
+/////////////// Set Mouting position  /////////////////////
+void BNO055::set_mounting_position(uint8_t position)
+{
+    uint8_t remap_config;
+    uint8_t remap_sign;
+    uint8_t current_mode;
+
+    current_mode = check_operating_mode();
+    change_fusion_mode(CONFIGMODE);
+    switch (position) {
+        case MT_P0:
+            remap_config = 0x21;
+            remap_sign = 0x04;
+            break;
+        case MT_P2:
+            remap_config = 0x24;
+            remap_sign = 0x06;
+            break;
+        case MT_P3:
+            remap_config = 0x21;
+            remap_sign = 0x02;
+            break;
+        case MT_P4:
+            remap_config = 0x24;
+            remap_sign = 0x03;
+            break;
+        case MT_P5:
+            remap_config = 0x21;
+            remap_sign = 0x01;
+            break;
+        case MT_P6:
+            remap_config = 0x21;
+            remap_sign = 0x07;
+            break;
+        case MT_P7:
+            remap_config = 0x24;
+            remap_sign = 0x05;
+            break;
+        case MT_P1:
+        default:
+            remap_config = 0x24;
+            remap_sign = 0x00;
+            break;
+    }
+    dt[0] = BNO055_AXIS_MAP_CONFIG;
+    dt[1] = remap_config;
+    dt[2] = remap_sign;
+    _i2c.write(chip_addr, dt, 3, false);
+    change_fusion_mode(current_mode);
+}
+
+/////////////// I2C Freq. /////////////////////////////////
+void BNO055::frequency(int hz)
+{
+    _i2c.frequency(hz);
+}
+
+/////////////// Read/Write specific register //////////////
+uint8_t BNO055::read_reg0(uint8_t addr)
+{
+    select_page(0);
+    dt[0] = addr;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    return (uint8_t)dt[0];
+}
+
+uint8_t BNO055::write_reg0(uint8_t addr, uint8_t data)
+{
+    uint8_t current_mode;
+    uint8_t d;
+
+    current_mode = check_operating_mode();
+    change_fusion_mode(CONFIGMODE);
+    dt[0] = addr;
+    dt[1] = data;
+    _i2c.write(chip_addr, dt, 2, false);
+    d = dt[0];
+    change_fusion_mode(current_mode);
+    return d;
+}
+
+uint8_t BNO055::read_reg1(uint8_t addr)
+{
+    select_page(1);
+    dt[0] = addr;
+    _i2c.write(chip_addr, dt, 1, true);
+    _i2c.read(chip_addr, dt, 1, false);
+    return (uint8_t)dt[0];
+}
+
+uint8_t BNO055::write_reg1(uint8_t addr, uint8_t data)
+{
+    uint8_t current_mode;
+    uint8_t d;
+
+    current_mode = check_operating_mode();
+    change_fusion_mode(CONFIGMODE);
+    select_page(1);
+    dt[0] = addr;
+    dt[1] = data;
+    _i2c.write(chip_addr, dt, 2, false);
+    d = dt[0];
+    change_fusion_mode(current_mode);
+    return d;
+}