Hever Zelaya Solano / BNO055-Intelligent-9-Axis-Absolute-Orientation-Sensor-Library

Interface to the BNO055 sensor

BNO055.cpp@0:b3e019f0ce58, 2019-01-24 (annotated)

Committer:
hzelayasolano22
Date:
Thu Jan 24 00:24:49 2019 +0000
Revision:
0:b3e019f0ce58
Library for BNO055 complete!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hzelayasolano22 0:b3e019f0ce58 1 /* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.cpp
hzelayasolano22 0:b3e019f0ce58 2 */
hzelayasolano22 0:b3e019f0ce58 3
hzelayasolano22 0:b3e019f0ce58 4 #include "BNO055.h"
hzelayasolano22 0:b3e019f0ce58 5 #include "mbed.h"
hzelayasolano22 0:b3e019f0ce58 6
hzelayasolano22 0:b3e019f0ce58 7 #define REG_ADDR_OPR_MODE 0x3D //adresses for registers which are needed for this code
hzelayasolano22 0:b3e019f0ce58 8 #define REG_ADDR_UNIT_SEL 0x3B //address of unit selection
hzelayasolano22 0:b3e019f0ce58 9
hzelayasolano22 0:b3e019f0ce58 10 BNO055::BNO055(I2C i2c, int addr) : _i2c(i2c) { // for user friendly sensor-address setup and view
hzelayasolano22 0:b3e019f0ce58 11 _addr = addr;
hzelayasolano22 0:b3e019f0ce58 12 }
hzelayasolano22 0:b3e019f0ce58 13
hzelayasolano22 0:b3e019f0ce58 14 char BNO055::checkID(){//will check if compiler is talking to imu
hzelayasolano22 0:b3e019f0ce58 15 char buff[1];
hzelayasolano22 0:b3e019f0ce58 16 buff[0] = 0x00;
hzelayasolano22 0:b3e019f0ce58 17 _i2c.write(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 18 _i2c.read(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 19 return buff[0];
hzelayasolano22 0:b3e019f0ce58 20 }
hzelayasolano22 0:b3e019f0ce58 21
hzelayasolano22 0:b3e019f0ce58 22 void BNO055::setMode(int modeCode){//sets up the registers
hzelayasolano22 0:b3e019f0ce58 23 char buff[2];
hzelayasolano22 0:b3e019f0ce58 24 char code;
hzelayasolano22 0:b3e019f0ce58 25
hzelayasolano22 0:b3e019f0ce58 26 buff[0] = REG_ADDR_OPR_MODE;
hzelayasolano22 0:b3e019f0ce58 27 _i2c.write(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 28 _i2c.read(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 29 code = buff[0];
hzelayasolano22 0:b3e019f0ce58 30
hzelayasolano22 0:b3e019f0ce58 31 if(modeCode == BNO055_MODE_NDOF){
hzelayasolano22 0:b3e019f0ce58 32 code = code & 0xF0;
hzelayasolano22 0:b3e019f0ce58 33 code = code | 0x0C;
hzelayasolano22 0:b3e019f0ce58 34 }
hzelayasolano22 0:b3e019f0ce58 35 buff[0] = REG_ADDR_OPR_MODE;
hzelayasolano22 0:b3e019f0ce58 36 buff[1] = code;
hzelayasolano22 0:b3e019f0ce58 37 _i2c.write(_addr, buff, 2);
hzelayasolano22 0:b3e019f0ce58 38 wait_ms(7);
hzelayasolano22 0:b3e019f0ce58 39
hzelayasolano22 0:b3e019f0ce58 40 }
hzelayasolano22 0:b3e019f0ce58 41
hzelayasolano22 0:b3e019f0ce58 42 int BNO055::setAngleUnits(int unitsCode){//will set whether it displays information in degrees or radians
hzelayasolano22 0:b3e019f0ce58 43 _units = unitsCode;
hzelayasolano22 0:b3e019f0ce58 44 char buff[3];
hzelayasolano22 0:b3e019f0ce58 45 char code;
hzelayasolano22 0:b3e019f0ce58 46 buff[0] = REG_ADDR_UNIT_SEL;
hzelayasolano22 0:b3e019f0ce58 47 _i2c.write(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 48 _i2c.read(_addr, buff, 1);
hzelayasolano22 0:b3e019f0ce58 49 code = buff[0];
hzelayasolano22 0:b3e019f0ce58 50
hzelayasolano22 0:b3e019f0ce58 51 if(unitsCode == BNO055_ANGLE_UNITS_DEGREE){//depending on which unit you want to use the right registers and bits will be selected
hzelayasolano22 0:b3e019f0ce58 52 code = code & (0xFF - 0x02 - 0x04);
hzelayasolano22 0:b3e019f0ce58 53 } else if(unitsCode == BNO055_ANGLE_UNITS_RADIAN){
hzelayasolano22 0:b3e019f0ce58 54 code = code & (0xFF - 0x02 - 0x04);
hzelayasolano22 0:b3e019f0ce58 55 code = code | 0x04;
hzelayasolano22 0:b3e019f0ce58 56 code = code | 0x02;
hzelayasolano22 0:b3e019f0ce58 57 }
hzelayasolano22 0:b3e019f0ce58 58 buff[0] = REG_ADDR_UNIT_SEL;
hzelayasolano22 0:b3e019f0ce58 59 buff[1] = code;
hzelayasolano22 0:b3e019f0ce58 60 _i2c.write(_addr, buff, 2);
hzelayasolano22 0:b3e019f0ce58 61 return unitsCode;//returns int for main to be able to manipulate
hzelayasolano22 0:b3e019f0ce58 62 }
hzelayasolano22 0:b3e019f0ce58 63
hzelayasolano22 0:b3e019f0ce58 64
hzelayasolano22 0:b3e019f0ce58 65
hzelayasolano22 0:b3e019f0ce58 66 float BNO055::readHeading(){//calls register address for heading of imu
hzelayasolano22 0:b3e019f0ce58 67 char buff[2];
hzelayasolano22 0:b3e019f0ce58 68 int16_t rawHeading;
hzelayasolano22 0:b3e019f0ce58 69 buff[0] = 0x1A;
hzelayasolano22 0:b3e019f0ce58 70 _i2c.write(_addr, buff, 1, true);
hzelayasolano22 0:b3e019f0ce58 71 _i2c.read(_addr, buff, 2);
hzelayasolano22 0:b3e019f0ce58 72 rawHeading = (buff[1]<<8) | buff[0];
hzelayasolano22 0:b3e019f0ce58 73 float euler;
hzelayasolano22 0:b3e019f0ce58 74 switch (_units) {//uses class int to determine which case to return - depended on what programmer enters in main
hzelayasolano22 0:b3e019f0ce58 75 case BNO055_ANGLE_UNITS_DEGREE: euler = rawHeading/16.0; break; //1 deg = 16LSB from data sheet
hzelayasolano22 0:b3e019f0ce58 76 case BNO055_ANGLE_UNITS_RADIAN: euler = rawHeading/900.0; break; //1 rad = 900LSB
hzelayasolano22 0:b3e019f0ce58 77 }
hzelayasolano22 0:b3e019f0ce58 78 return euler;
hzelayasolano22 0:b3e019f0ce58 79 }//rest of the function follow this same structure
hzelayasolano22 0:b3e019f0ce58 80
hzelayasolano22 0:b3e019f0ce58 81 float BNO055::readRoll(){//calls register for roll of imu
hzelayasolano22 0:b3e019f0ce58 82 char buff[2];
hzelayasolano22 0:b3e019f0ce58 83 int16_t rawRoll;
hzelayasolano22 0:b3e019f0ce58 84 buff[0] = 0x1C;
hzelayasolano22 0:b3e019f0ce58 85 _i2c.write(_addr, buff, 1, true);
hzelayasolano22 0:b3e019f0ce58 86 _i2c.read(_addr, buff , 2);
hzelayasolano22 0:b3e019f0ce58 87 rawRoll = (buff[1]<< 8) | buff[0];
hzelayasolano22 0:b3e019f0ce58 88 float euler;
hzelayasolano22 0:b3e019f0ce58 89 switch(_units){
hzelayasolano22 0:b3e019f0ce58 90 case BNO055_ANGLE_UNITS_DEGREE: euler = rawRoll/16.0; break;
hzelayasolano22 0:b3e019f0ce58 91 case BNO055_ANGLE_UNITS_RADIAN: euler = rawRoll/900.0; break;
hzelayasolano22 0:b3e019f0ce58 92 }
hzelayasolano22 0:b3e019f0ce58 93 return euler;
hzelayasolano22 0:b3e019f0ce58 94 }
hzelayasolano22 0:b3e019f0ce58 95
hzelayasolano22 0:b3e019f0ce58 96 float BNO055::readPitch(){
hzelayasolano22 0:b3e019f0ce58 97 char buff[2];
hzelayasolano22 0:b3e019f0ce58 98 int16_t rawPitch;
hzelayasolano22 0:b3e019f0ce58 99 buff[0] = 0x1E;
hzelayasolano22 0:b3e019f0ce58 100 _i2c.write(_addr, buff, 1, true);
hzelayasolano22 0:b3e019f0ce58 101 _i2c.read(_addr, buff, 2);
hzelayasolano22 0:b3e019f0ce58 102 rawPitch = (buff[1]<< 8) | buff[0];
hzelayasolano22 0:b3e019f0ce58 103 float euler;
hzelayasolano22 0:b3e019f0ce58 104 switch(_units){
hzelayasolano22 0:b3e019f0ce58 105 case BNO055_ANGLE_UNITS_DEGREE: euler = -rawPitch/16.0; break;
hzelayasolano22 0:b3e019f0ce58 106 case BNO055_ANGLE_UNITS_RADIAN: euler = -rawPitch/900.0; break;
hzelayasolano22 0:b3e019f0ce58 107 }
hzelayasolano22 0:b3e019f0ce58 108 return euler;
hzelayasolano22 0:b3e019f0ce58 109 }