Dan Perrett / BNO055_fusion

Fork of Alexander Lill's BNO055_fusion library

BNO055.cpp@6:07d01bf36ad0, 2017-08-23 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 23 09:44:43 2017 +0000
Revision:
6:07d01bf36ad0
Parent:
5:cf33bcfe976c
Child:
7:f0eb18503c27
small modification

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:86a17116e8be 1 /*
kenjiArai 0:86a17116e8be 2 * mbed library program
kenjiArai 0:86a17116e8be 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 4 * by Bosch Sensortec
kenjiArai 0:86a17116e8be 5 *
kenjiArai 5:cf33bcfe976c 6 * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
kenjiArai 0:86a17116e8be 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:86a17116e8be 8 * http://mbed.org/users/kenjiArai/
kenjiArai 0:86a17116e8be 9 * Created: March 30th, 2015
kenjiArai 6:07d01bf36ad0 10 * Revised: August 23rd, 2017
kenjiArai 0:86a17116e8be 11 */
kenjiArai 0:86a17116e8be 12
kenjiArai 0:86a17116e8be 13 #include "mbed.h"
kenjiArai 0:86a17116e8be 14 #include "BNO055.h"
kenjiArai 0:86a17116e8be 15
kenjiArai 5:cf33bcfe976c 16
kenjiArai 5:cf33bcfe976c 17 #if MBED_MAJOR_VERSION == 2
kenjiArai 5:cf33bcfe976c 18 #define WAIT_MS(x) wait_ms(x)
kenjiArai 5:cf33bcfe976c 19 #elif MBED_MAJOR_VERSION == 5
kenjiArai 5:cf33bcfe976c 20 #define WAIT_MS(x) Thread::wait(x)
kenjiArai 5:cf33bcfe976c 21 #else
kenjiArai 5:cf33bcfe976c 22 #error "Running on Unknown OS"
kenjiArai 5:cf33bcfe976c 23 #endif
kenjiArai 5:cf33bcfe976c 24
kenjiArai 1:cb7e19c0a702 25 BNO055::BNO055 (PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode):
kenjiArai 5:cf33bcfe976c 26 _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p), _res(p_reset)
kenjiArai 0:86a17116e8be 27 {
kenjiArai 0:86a17116e8be 28 chip_addr = addr;
kenjiArai 0:86a17116e8be 29 chip_mode = mode;
kenjiArai 0:86a17116e8be 30 initialize ();
kenjiArai 0:86a17116e8be 31 }
kenjiArai 0:86a17116e8be 32
kenjiArai 1:cb7e19c0a702 33 BNO055::BNO055 (PinName p_sda, PinName p_scl, PinName p_reset) :
kenjiArai 5:cf33bcfe976c 34 _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p), _res(p_reset)
kenjiArai 0:86a17116e8be 35 {
kenjiArai 0:86a17116e8be 36 chip_addr = BNO055_G_CHIP_ADDR;
kenjiArai 0:86a17116e8be 37 chip_mode = MODE_NDOF;
kenjiArai 0:86a17116e8be 38 initialize ();
kenjiArai 0:86a17116e8be 39 }
kenjiArai 0:86a17116e8be 40
kenjiArai 1:cb7e19c0a702 41 BNO055::BNO055 (I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode) :
kenjiArai 1:cb7e19c0a702 42 _i2c(p_i2c), _res(p_reset)
kenjiArai 0:86a17116e8be 43 {
kenjiArai 0:86a17116e8be 44 chip_addr = addr;
kenjiArai 0:86a17116e8be 45 chip_mode = mode;
kenjiArai 0:86a17116e8be 46 initialize ();
kenjiArai 0:86a17116e8be 47 }
kenjiArai 0:86a17116e8be 48
kenjiArai 1:cb7e19c0a702 49 BNO055::BNO055 (I2C& p_i2c, PinName p_reset) :
kenjiArai 1:cb7e19c0a702 50 _i2c(p_i2c), _res(p_reset)
kenjiArai 0:86a17116e8be 51 {
kenjiArai 0:86a17116e8be 52 chip_addr = BNO055_G_CHIP_ADDR;
kenjiArai 0:86a17116e8be 53 chip_mode = MODE_NDOF;
kenjiArai 0:86a17116e8be 54 initialize ();
kenjiArai 0:86a17116e8be 55 }
kenjiArai 0:86a17116e8be 56
kenjiArai 0:86a17116e8be 57 /////////////// Read data & normalize /////////////////////
kenjiArai 0:86a17116e8be 58 void BNO055::get_Euler_Angles(BNO055_EULER_TypeDef *el)
kenjiArai 0:86a17116e8be 59 {
kenjiArai 0:86a17116e8be 60 uint8_t deg_or_rad;
kenjiArai 0:86a17116e8be 61 int16_t h,p,r;
kenjiArai 0:86a17116e8be 62
kenjiArai 0:86a17116e8be 63 select_page(0);
kenjiArai 0:86a17116e8be 64 dt[0] = BNO055_UNIT_SEL;
kenjiArai 0:86a17116e8be 65 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 66 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 67 if (dt[0] & 0x04) {
kenjiArai 0:86a17116e8be 68 deg_or_rad = 1; // Radian
kenjiArai 0:86a17116e8be 69 } else {
kenjiArai 0:86a17116e8be 70 deg_or_rad = 0; // Degree
kenjiArai 0:86a17116e8be 71 }
kenjiArai 0:86a17116e8be 72 dt[0] = BNO055_EULER_H_LSB;
kenjiArai 0:86a17116e8be 73 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 74 _i2c.read(chip_addr, dt, 6, false);
kenjiArai 0:86a17116e8be 75 h = dt[1] << 8 | dt[0];
kenjiArai 0:86a17116e8be 76 p = dt[3] << 8 | dt[2];
kenjiArai 0:86a17116e8be 77 r = dt[5] << 8 | dt[4];
kenjiArai 0:86a17116e8be 78 if (deg_or_rad) {
kenjiArai 4:9e6fead1e93e 79 el->h = (double)h / 900;
kenjiArai 4:9e6fead1e93e 80 el->p = (double)p / 900;
kenjiArai 4:9e6fead1e93e 81 el->r = (double)r / 900;
kenjiArai 0:86a17116e8be 82 } else {
kenjiArai 4:9e6fead1e93e 83 el->h = (double)h / 16;
kenjiArai 4:9e6fead1e93e 84 el->p = (double)p / 16;
kenjiArai 4:9e6fead1e93e 85 el->r = (double)r / 16;
kenjiArai 0:86a17116e8be 86 }
kenjiArai 0:86a17116e8be 87 }
kenjiArai 0:86a17116e8be 88
kenjiArai 0:86a17116e8be 89 void BNO055::get_quaternion(BNO055_QUATERNION_TypeDef *qua)
kenjiArai 0:86a17116e8be 90 {
kenjiArai 0:86a17116e8be 91 select_page(0);
kenjiArai 0:86a17116e8be 92 dt[0] = BNO055_QUATERNION_W_LSB;
kenjiArai 0:86a17116e8be 93 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 94 _i2c.read(chip_addr, dt, 8, false);
kenjiArai 0:86a17116e8be 95 qua->w = dt[1] << 8 | dt[0];
kenjiArai 0:86a17116e8be 96 qua->x = dt[3] << 8 | dt[2];
kenjiArai 0:86a17116e8be 97 qua->y = dt[5] << 8 | dt[4];
kenjiArai 0:86a17116e8be 98 qua->z = dt[7] << 8 | dt[6];
kenjiArai 0:86a17116e8be 99 }
kenjiArai 0:86a17116e8be 100
kenjiArai 0:86a17116e8be 101 void BNO055::get_linear_accel(BNO055_LIN_ACC_TypeDef *la)
kenjiArai 0:86a17116e8be 102 {
kenjiArai 0:86a17116e8be 103 uint8_t ms2_or_mg;
kenjiArai 0:86a17116e8be 104 int16_t x,y,z;
kenjiArai 0:86a17116e8be 105
kenjiArai 0:86a17116e8be 106 select_page(0);
kenjiArai 0:86a17116e8be 107 dt[0] = BNO055_UNIT_SEL;
kenjiArai 0:86a17116e8be 108 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 109 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 110 if (dt[0] & 0x01) {
kenjiArai 0:86a17116e8be 111 ms2_or_mg = 1; // mg
kenjiArai 0:86a17116e8be 112 } else {
kenjiArai 0:86a17116e8be 113 ms2_or_mg = 0; // m/s*s
kenjiArai 0:86a17116e8be 114 }
kenjiArai 0:86a17116e8be 115 dt[0] = BNO055_LINEAR_ACC_X_LSB;
kenjiArai 0:86a17116e8be 116 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 117 _i2c.read(chip_addr, dt, 6, false);
kenjiArai 0:86a17116e8be 118 x = dt[1] << 8 | dt[0];
kenjiArai 0:86a17116e8be 119 y = dt[3] << 8 | dt[2];
kenjiArai 0:86a17116e8be 120 z = dt[5] << 8 | dt[4];
kenjiArai 0:86a17116e8be 121 if (ms2_or_mg) {
kenjiArai 0:86a17116e8be 122 la->x = (double)x;
kenjiArai 0:86a17116e8be 123 la->y = (double)y;
kenjiArai 0:86a17116e8be 124 la->z = (double)z;
kenjiArai 0:86a17116e8be 125 } else {
kenjiArai 4:9e6fead1e93e 126 la->x = (double)x / 100;
kenjiArai 4:9e6fead1e93e 127 la->y = (double)y / 100;
kenjiArai 4:9e6fead1e93e 128 la->z = (double)z / 100;
kenjiArai 0:86a17116e8be 129 }
kenjiArai 0:86a17116e8be 130 }
kenjiArai 0:86a17116e8be 131
kenjiArai 0:86a17116e8be 132 void BNO055::get_gravity(BNO055_GRAVITY_TypeDef *gr)
kenjiArai 0:86a17116e8be 133 {
kenjiArai 0:86a17116e8be 134 uint8_t ms2_or_mg;
kenjiArai 0:86a17116e8be 135 int16_t x,y,z;
kenjiArai 0:86a17116e8be 136
kenjiArai 0:86a17116e8be 137 select_page(0);
kenjiArai 0:86a17116e8be 138 dt[0] = BNO055_UNIT_SEL;
kenjiArai 0:86a17116e8be 139 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 140 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 141 if (dt[0] & 0x01) {
kenjiArai 0:86a17116e8be 142 ms2_or_mg = 1; // mg
kenjiArai 0:86a17116e8be 143 } else {
kenjiArai 0:86a17116e8be 144 ms2_or_mg = 0; // m/s*s
kenjiArai 0:86a17116e8be 145 }
kenjiArai 0:86a17116e8be 146 dt[0] = BNO055_GRAVITY_X_LSB;
kenjiArai 0:86a17116e8be 147 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 148 _i2c.read(chip_addr, dt, 6, false);
kenjiArai 0:86a17116e8be 149 x = dt[1] << 8 | dt[0];
kenjiArai 0:86a17116e8be 150 y = dt[3] << 8 | dt[2];
kenjiArai 0:86a17116e8be 151 z = dt[5] << 8 | dt[4];
kenjiArai 0:86a17116e8be 152 if (ms2_or_mg) {
kenjiArai 0:86a17116e8be 153 gr->x = (double)x;
kenjiArai 0:86a17116e8be 154 gr->y = (double)y;
kenjiArai 0:86a17116e8be 155 gr->z = (double)z;
kenjiArai 0:86a17116e8be 156 } else {
kenjiArai 4:9e6fead1e93e 157 gr->x = (double)x / 100;
kenjiArai 4:9e6fead1e93e 158 gr->y = (double)y / 100;
kenjiArai 4:9e6fead1e93e 159 gr->z = (double)z / 100;
kenjiArai 0:86a17116e8be 160 }
kenjiArai 0:86a17116e8be 161 }
kenjiArai 0:86a17116e8be 162
kenjiArai 0:86a17116e8be 163 void BNO055::get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp)
kenjiArai 0:86a17116e8be 164 {
kenjiArai 0:86a17116e8be 165 uint8_t c_or_f;
kenjiArai 0:86a17116e8be 166
kenjiArai 0:86a17116e8be 167 select_page(0);
kenjiArai 0:86a17116e8be 168 dt[0] = BNO055_UNIT_SEL;
kenjiArai 0:86a17116e8be 169 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 170 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 171 if (dt[0] & 0x10) {
kenjiArai 0:86a17116e8be 172 c_or_f = 1; // Fahrenheit
kenjiArai 0:86a17116e8be 173 } else {
kenjiArai 0:86a17116e8be 174 c_or_f = 0; // degrees Celsius
kenjiArai 0:86a17116e8be 175 }
kenjiArai 0:86a17116e8be 176 dt[0] = BNO055_TEMP_SOURCE;
kenjiArai 0:86a17116e8be 177 dt[1] = 0;
kenjiArai 0:86a17116e8be 178 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 5:cf33bcfe976c 179 WAIT_MS(1); // Do I need to wait?
kenjiArai 0:86a17116e8be 180 dt[0] = BNO055_TEMP;
kenjiArai 0:86a17116e8be 181 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 182 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 183 if (c_or_f) {
kenjiArai 0:86a17116e8be 184 tmp->acc_chip = (int8_t)dt[0] * 2;
kenjiArai 0:86a17116e8be 185 } else {
kenjiArai 0:86a17116e8be 186 tmp->acc_chip = (int8_t)dt[0];
kenjiArai 0:86a17116e8be 187 }
kenjiArai 0:86a17116e8be 188 dt[0] = BNO055_TEMP_SOURCE;
kenjiArai 0:86a17116e8be 189 dt[1] = 1;
kenjiArai 0:86a17116e8be 190 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 5:cf33bcfe976c 191 WAIT_MS(1); // Do I need to wait?
kenjiArai 0:86a17116e8be 192 dt[0] = BNO055_TEMP;
kenjiArai 0:86a17116e8be 193 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 194 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 195 if (c_or_f) {
kenjiArai 0:86a17116e8be 196 tmp->gyr_chip = (int8_t)dt[0] * 2;
kenjiArai 0:86a17116e8be 197 } else {
kenjiArai 0:86a17116e8be 198 tmp->gyr_chip = (int8_t)dt[0];
kenjiArai 0:86a17116e8be 199 }
kenjiArai 0:86a17116e8be 200 }
kenjiArai 0:86a17116e8be 201
kenjiArai 0:86a17116e8be 202 /////////////// Initialize ////////////////////////////////
kenjiArai 0:86a17116e8be 203 void BNO055::initialize (void)
kenjiArai 0:86a17116e8be 204 {
kenjiArai 1:cb7e19c0a702 205 #if defined(TARGET_STM32L152RE)
kenjiArai 1:cb7e19c0a702 206 _i2c.frequency(100000);
kenjiArai 1:cb7e19c0a702 207 #else
kenjiArai 1:cb7e19c0a702 208 _i2c.frequency(400000);
kenjiArai 1:cb7e19c0a702 209 #endif
kenjiArai 3:0ad6f85b178f 210 page_flag = 0xff;
kenjiArai 3:0ad6f85b178f 211 select_page(0);
kenjiArai 0:86a17116e8be 212 // Check Acc & Mag & Gyro are available of not
kenjiArai 0:86a17116e8be 213 check_id();
kenjiArai 0:86a17116e8be 214 // Set initial data
kenjiArai 0:86a17116e8be 215 set_initial_dt_to_regs();
kenjiArai 0:86a17116e8be 216 // Unit selection
kenjiArai 0:86a17116e8be 217 unit_selection();
kenjiArai 0:86a17116e8be 218 // Set fusion mode
kenjiArai 0:86a17116e8be 219 change_fusion_mode(chip_mode);
kenjiArai 0:86a17116e8be 220 }
kenjiArai 0:86a17116e8be 221
kenjiArai 0:86a17116e8be 222 void BNO055::unit_selection(void)
kenjiArai 0:86a17116e8be 223 {
kenjiArai 0:86a17116e8be 224 select_page(0);
kenjiArai 0:86a17116e8be 225 dt[0] = BNO055_UNIT_SEL;
kenjiArai 0:86a17116e8be 226 dt[1] = UNIT_ORI_WIN + UNIT_ACC_MSS + UNIT_GYR_DPS + UNIT_EULER_DEG + UNIT_TEMP_C;
kenjiArai 0:86a17116e8be 227 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 0:86a17116e8be 228 }
kenjiArai 0:86a17116e8be 229
kenjiArai 0:86a17116e8be 230 uint8_t BNO055::select_page(uint8_t page)
kenjiArai 0:86a17116e8be 231 {
kenjiArai 3:0ad6f85b178f 232 if (page != page_flag){
kenjiArai 3:0ad6f85b178f 233 dt[0] = BNO055_PAGE_ID;
kenjiArai 3:0ad6f85b178f 234 if (page == 1) {
kenjiArai 3:0ad6f85b178f 235 dt[1] = 1; // select page 1
kenjiArai 3:0ad6f85b178f 236 } else {
kenjiArai 3:0ad6f85b178f 237 dt[1] = 0; // select page 0
kenjiArai 3:0ad6f85b178f 238 }
kenjiArai 3:0ad6f85b178f 239 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 3:0ad6f85b178f 240 dt[0] = BNO055_PAGE_ID;
kenjiArai 3:0ad6f85b178f 241 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 3:0ad6f85b178f 242 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 3:0ad6f85b178f 243 page_flag = dt[0];
kenjiArai 0:86a17116e8be 244 }
kenjiArai 3:0ad6f85b178f 245 return page_flag;
kenjiArai 0:86a17116e8be 246 }
kenjiArai 0:86a17116e8be 247
kenjiArai 1:cb7e19c0a702 248 uint8_t BNO055::reset(void)
kenjiArai 1:cb7e19c0a702 249 {
kenjiArai 1:cb7e19c0a702 250 _res = 0;
kenjiArai 5:cf33bcfe976c 251 WAIT_MS(1); // Reset 1mS
kenjiArai 1:cb7e19c0a702 252 _res = 1;
kenjiArai 5:cf33bcfe976c 253 WAIT_MS(700); // Need to wait at least 650mS
kenjiArai 1:cb7e19c0a702 254 #if defined(TARGET_STM32L152RE)
kenjiArai 1:cb7e19c0a702 255 _i2c.frequency(400000);
kenjiArai 1:cb7e19c0a702 256 #else
kenjiArai 1:cb7e19c0a702 257 _i2c.frequency(400000);
kenjiArai 1:cb7e19c0a702 258 #endif
kenjiArai 1:cb7e19c0a702 259 _i2c.stop();
kenjiArai 3:0ad6f85b178f 260 page_flag = 0xff;
kenjiArai 3:0ad6f85b178f 261 select_page(0);
kenjiArai 1:cb7e19c0a702 262 check_id();
kenjiArai 1:cb7e19c0a702 263 if (chip_id != I_AM_BNO055_CHIP){
kenjiArai 1:cb7e19c0a702 264 return 1;
kenjiArai 1:cb7e19c0a702 265 } else {
kenjiArai 1:cb7e19c0a702 266 initialize();
kenjiArai 1:cb7e19c0a702 267 return 0;
kenjiArai 1:cb7e19c0a702 268 }
kenjiArai 1:cb7e19c0a702 269 }
kenjiArai 1:cb7e19c0a702 270
kenjiArai 0:86a17116e8be 271 ////// Set initialize data to related registers ///////////
kenjiArai 0:86a17116e8be 272 void BNO055::set_initial_dt_to_regs(void)
kenjiArai 0:86a17116e8be 273 {
kenjiArai 0:86a17116e8be 274 // select_page(0);
kenjiArai 0:86a17116e8be 275 // current setting is only used default values
kenjiArai 0:86a17116e8be 276 }
kenjiArai 0:86a17116e8be 277
kenjiArai 0:86a17116e8be 278 /////////////// Check Who am I? ///////////////////////////
kenjiArai 0:86a17116e8be 279 void BNO055::check_id(void)
kenjiArai 0:86a17116e8be 280 {
kenjiArai 0:86a17116e8be 281 select_page(0);
kenjiArai 0:86a17116e8be 282 // ID
kenjiArai 0:86a17116e8be 283 dt[0] = BNO055_CHIP_ID;
kenjiArai 0:86a17116e8be 284 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 285 _i2c.read(chip_addr, dt, 7, false);
kenjiArai 0:86a17116e8be 286 chip_id = dt[0];
kenjiArai 0:86a17116e8be 287 if (chip_id == I_AM_BNO055_CHIP) {
kenjiArai 3:0ad6f85b178f 288 ready_flag = 1;
kenjiArai 0:86a17116e8be 289 } else {
kenjiArai 3:0ad6f85b178f 290 ready_flag = 0;
kenjiArai 0:86a17116e8be 291 }
kenjiArai 0:86a17116e8be 292 acc_id = dt[1];
kenjiArai 0:86a17116e8be 293 if (acc_id == I_AM_BNO055_ACC) {
kenjiArai 3:0ad6f85b178f 294 ready_flag |= 2;
kenjiArai 0:86a17116e8be 295 }
kenjiArai 0:86a17116e8be 296 mag_id = dt[2];
kenjiArai 0:86a17116e8be 297 if (mag_id == I_AM_BNO055_MAG) {
kenjiArai 3:0ad6f85b178f 298 ready_flag |= 4;
kenjiArai 0:86a17116e8be 299 }
kenjiArai 0:86a17116e8be 300 gyr_id = dt[3];
kenjiArai 0:86a17116e8be 301 if (mag_id == I_AM_BNO055_MAG) {
kenjiArai 3:0ad6f85b178f 302 ready_flag |= 8;
kenjiArai 0:86a17116e8be 303 }
kenjiArai 0:86a17116e8be 304 bootldr_rev_id = dt[5]<< 8 | dt[4];
kenjiArai 0:86a17116e8be 305 sw_rev_id = dt[6];
kenjiArai 0:86a17116e8be 306 }
kenjiArai 0:86a17116e8be 307
kenjiArai 0:86a17116e8be 308 void BNO055::read_id_inf(BNO055_ID_INF_TypeDef *id)
kenjiArai 0:86a17116e8be 309 {
kenjiArai 0:86a17116e8be 310 id->chip_id = chip_id;
kenjiArai 0:86a17116e8be 311 id->acc_id = acc_id;
kenjiArai 0:86a17116e8be 312 id->mag_id = mag_id;
kenjiArai 0:86a17116e8be 313 id->gyr_id = gyr_id;
kenjiArai 0:86a17116e8be 314 id->bootldr_rev_id = bootldr_rev_id;
kenjiArai 0:86a17116e8be 315 id->sw_rev_id = sw_rev_id;
kenjiArai 0:86a17116e8be 316 }
kenjiArai 0:86a17116e8be 317
kenjiArai 0:86a17116e8be 318 /////////////// Check chip ready or not //////////////////
kenjiArai 2:0f225b686cd5 319 uint8_t BNO055::chip_ready(void)
kenjiArai 0:86a17116e8be 320 {
kenjiArai 3:0ad6f85b178f 321 if (ready_flag == 0x0f) {
kenjiArai 0:86a17116e8be 322 return 1;
kenjiArai 0:86a17116e8be 323 }
kenjiArai 0:86a17116e8be 324 return 0;
kenjiArai 0:86a17116e8be 325 }
kenjiArai 0:86a17116e8be 326
kenjiArai 2:0f225b686cd5 327 /////////////// Read Calibration status //////////////////
kenjiArai 2:0f225b686cd5 328 uint8_t BNO055::read_calib_status(void)
kenjiArai 2:0f225b686cd5 329 {
kenjiArai 2:0f225b686cd5 330 select_page(0);
kenjiArai 2:0f225b686cd5 331 dt[0] = BNO055_CALIB_STAT;
kenjiArai 2:0f225b686cd5 332 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 2:0f225b686cd5 333 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 2:0f225b686cd5 334 return dt[0];
kenjiArai 2:0f225b686cd5 335 }
kenjiArai 2:0f225b686cd5 336
kenjiArai 0:86a17116e8be 337 /////////////// Change Fusion mode ///////////////////////
kenjiArai 0:86a17116e8be 338 void BNO055::change_fusion_mode(uint8_t mode)
kenjiArai 0:86a17116e8be 339 {
kenjiArai 0:86a17116e8be 340 uint8_t current_mode;
kenjiArai 0:86a17116e8be 341
kenjiArai 0:86a17116e8be 342 select_page(0);
kenjiArai 0:86a17116e8be 343 current_mode = check_operating_mode();
kenjiArai 0:86a17116e8be 344 switch (mode) {
kenjiArai 0:86a17116e8be 345 case CONFIGMODE:
kenjiArai 0:86a17116e8be 346 dt[0] = BNO055_OPR_MODE;
kenjiArai 0:86a17116e8be 347 dt[1] = mode;
kenjiArai 0:86a17116e8be 348 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 5:cf33bcfe976c 349 WAIT_MS(19); // wait 19mS
kenjiArai 0:86a17116e8be 350 break;
kenjiArai 0:86a17116e8be 351 case MODE_IMU:
kenjiArai 0:86a17116e8be 352 case MODE_COMPASS:
kenjiArai 0:86a17116e8be 353 case MODE_M4G:
kenjiArai 0:86a17116e8be 354 case MODE_NDOF_FMC_OFF:
kenjiArai 0:86a17116e8be 355 case MODE_NDOF:
kenjiArai 0:86a17116e8be 356 if (current_mode != CONFIGMODE) { // Can we change the mode directry?
kenjiArai 0:86a17116e8be 357 dt[0] = BNO055_OPR_MODE;
kenjiArai 0:86a17116e8be 358 dt[1] = CONFIGMODE;
kenjiArai 0:86a17116e8be 359 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 5:cf33bcfe976c 360 WAIT_MS(19); // wait 19mS
kenjiArai 0:86a17116e8be 361 }
kenjiArai 0:86a17116e8be 362 dt[0] = BNO055_OPR_MODE;
kenjiArai 0:86a17116e8be 363 dt[1] = mode;
kenjiArai 0:86a17116e8be 364 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 5:cf33bcfe976c 365 WAIT_MS(7); // wait 7mS
kenjiArai 0:86a17116e8be 366 break;
kenjiArai 0:86a17116e8be 367 default:
kenjiArai 0:86a17116e8be 368 break;
kenjiArai 0:86a17116e8be 369 }
kenjiArai 0:86a17116e8be 370 }
kenjiArai 0:86a17116e8be 371
kenjiArai 0:86a17116e8be 372 uint8_t BNO055::check_operating_mode(void)
kenjiArai 0:86a17116e8be 373 {
kenjiArai 0:86a17116e8be 374 select_page(0);
kenjiArai 0:86a17116e8be 375 dt[0] = BNO055_OPR_MODE;
kenjiArai 0:86a17116e8be 376 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 377 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 378 return dt[0];
kenjiArai 0:86a17116e8be 379 }
kenjiArai 0:86a17116e8be 380
kenjiArai 0:86a17116e8be 381 /////////////// Set Mouting position /////////////////////
kenjiArai 0:86a17116e8be 382 void BNO055::set_mounting_position(uint8_t position)
kenjiArai 0:86a17116e8be 383 {
kenjiArai 0:86a17116e8be 384 uint8_t remap_config;
kenjiArai 0:86a17116e8be 385 uint8_t remap_sign;
kenjiArai 0:86a17116e8be 386 uint8_t current_mode;
kenjiArai 0:86a17116e8be 387
kenjiArai 0:86a17116e8be 388 current_mode = check_operating_mode();
kenjiArai 0:86a17116e8be 389 change_fusion_mode(CONFIGMODE);
kenjiArai 0:86a17116e8be 390 switch (position) {
kenjiArai 0:86a17116e8be 391 case MT_P0:
kenjiArai 0:86a17116e8be 392 remap_config = 0x21;
kenjiArai 0:86a17116e8be 393 remap_sign = 0x04;
kenjiArai 0:86a17116e8be 394 break;
kenjiArai 0:86a17116e8be 395 case MT_P2:
kenjiArai 0:86a17116e8be 396 remap_config = 0x24;
kenjiArai 0:86a17116e8be 397 remap_sign = 0x06;
kenjiArai 0:86a17116e8be 398 break;
kenjiArai 0:86a17116e8be 399 case MT_P3:
kenjiArai 0:86a17116e8be 400 remap_config = 0x21;
kenjiArai 0:86a17116e8be 401 remap_sign = 0x02;
kenjiArai 0:86a17116e8be 402 break;
kenjiArai 0:86a17116e8be 403 case MT_P4:
kenjiArai 0:86a17116e8be 404 remap_config = 0x24;
kenjiArai 0:86a17116e8be 405 remap_sign = 0x03;
kenjiArai 0:86a17116e8be 406 break;
kenjiArai 0:86a17116e8be 407 case MT_P5:
kenjiArai 0:86a17116e8be 408 remap_config = 0x21;
kenjiArai 0:86a17116e8be 409 remap_sign = 0x01;
kenjiArai 0:86a17116e8be 410 break;
kenjiArai 0:86a17116e8be 411 case MT_P6:
kenjiArai 0:86a17116e8be 412 remap_config = 0x21;
kenjiArai 0:86a17116e8be 413 remap_sign = 0x07;
kenjiArai 0:86a17116e8be 414 break;
kenjiArai 0:86a17116e8be 415 case MT_P7:
kenjiArai 0:86a17116e8be 416 remap_config = 0x24;
kenjiArai 0:86a17116e8be 417 remap_sign = 0x05;
kenjiArai 0:86a17116e8be 418 break;
kenjiArai 0:86a17116e8be 419 case MT_P1:
kenjiArai 0:86a17116e8be 420 default:
kenjiArai 0:86a17116e8be 421 remap_config = 0x24;
kenjiArai 0:86a17116e8be 422 remap_sign = 0x00;
kenjiArai 0:86a17116e8be 423 break;
kenjiArai 0:86a17116e8be 424 }
kenjiArai 0:86a17116e8be 425 dt[0] = BNO055_AXIS_MAP_CONFIG;
kenjiArai 0:86a17116e8be 426 dt[1] = remap_config;
kenjiArai 0:86a17116e8be 427 dt[2] = remap_sign;
kenjiArai 0:86a17116e8be 428 _i2c.write(chip_addr, dt, 3, false);
kenjiArai 0:86a17116e8be 429 change_fusion_mode(current_mode);
kenjiArai 0:86a17116e8be 430 }
kenjiArai 0:86a17116e8be 431
kenjiArai 0:86a17116e8be 432 /////////////// I2C Freq. /////////////////////////////////
kenjiArai 0:86a17116e8be 433 void BNO055::frequency(int hz)
kenjiArai 0:86a17116e8be 434 {
kenjiArai 0:86a17116e8be 435 _i2c.frequency(hz);
kenjiArai 0:86a17116e8be 436 }
kenjiArai 0:86a17116e8be 437
kenjiArai 0:86a17116e8be 438 /////////////// Read/Write specific register //////////////
kenjiArai 0:86a17116e8be 439 uint8_t BNO055::read_reg0(uint8_t addr)
kenjiArai 0:86a17116e8be 440 {
kenjiArai 0:86a17116e8be 441 select_page(0);
kenjiArai 0:86a17116e8be 442 dt[0] = addr;
kenjiArai 0:86a17116e8be 443 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 444 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 445 return (uint8_t)dt[0];
kenjiArai 0:86a17116e8be 446 }
kenjiArai 0:86a17116e8be 447
kenjiArai 0:86a17116e8be 448 uint8_t BNO055::write_reg0(uint8_t addr, uint8_t data)
kenjiArai 0:86a17116e8be 449 {
kenjiArai 0:86a17116e8be 450 uint8_t current_mode;
kenjiArai 0:86a17116e8be 451 uint8_t d;
kenjiArai 0:86a17116e8be 452
kenjiArai 0:86a17116e8be 453 current_mode = check_operating_mode();
kenjiArai 0:86a17116e8be 454 change_fusion_mode(CONFIGMODE);
kenjiArai 0:86a17116e8be 455 dt[0] = addr;
kenjiArai 0:86a17116e8be 456 dt[1] = data;
kenjiArai 0:86a17116e8be 457 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 0:86a17116e8be 458 d = dt[0];
kenjiArai 0:86a17116e8be 459 change_fusion_mode(current_mode);
kenjiArai 0:86a17116e8be 460 return d;
kenjiArai 0:86a17116e8be 461 }
kenjiArai 0:86a17116e8be 462
kenjiArai 0:86a17116e8be 463 uint8_t BNO055::read_reg1(uint8_t addr)
kenjiArai 0:86a17116e8be 464 {
kenjiArai 0:86a17116e8be 465 select_page(1);
kenjiArai 0:86a17116e8be 466 dt[0] = addr;
kenjiArai 0:86a17116e8be 467 _i2c.write(chip_addr, dt, 1, true);
kenjiArai 0:86a17116e8be 468 _i2c.read(chip_addr, dt, 1, false);
kenjiArai 0:86a17116e8be 469 return (uint8_t)dt[0];
kenjiArai 0:86a17116e8be 470 }
kenjiArai 0:86a17116e8be 471
kenjiArai 0:86a17116e8be 472 uint8_t BNO055::write_reg1(uint8_t addr, uint8_t data)
kenjiArai 0:86a17116e8be 473 {
kenjiArai 0:86a17116e8be 474 uint8_t current_mode;
kenjiArai 0:86a17116e8be 475 uint8_t d;
kenjiArai 0:86a17116e8be 476
kenjiArai 0:86a17116e8be 477 current_mode = check_operating_mode();
kenjiArai 0:86a17116e8be 478 change_fusion_mode(CONFIGMODE);
kenjiArai 0:86a17116e8be 479 select_page(1);
kenjiArai 0:86a17116e8be 480 dt[0] = addr;
kenjiArai 0:86a17116e8be 481 dt[1] = data;
kenjiArai 0:86a17116e8be 482 _i2c.write(chip_addr, dt, 2, false);
kenjiArai 0:86a17116e8be 483 d = dt[0];
kenjiArai 0:86a17116e8be 484 change_fusion_mode(current_mode);
kenjiArai 0:86a17116e8be 485 return d;
kenjiArai 0:86a17116e8be 486 }
kenjiArai 5:cf33bcfe976c 487
kenjiArai 6:07d01bf36ad0 488