Diff: BNO055.cpp

Revision:

0:b3e019f0ce58

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.cpp	Thu Jan 24 00:24:49 2019 +0000
@@ -0,0 +1,109 @@
+/* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.cpp 
+*/
+
+#include "BNO055.h"
+#include "mbed.h"
+
+#define REG_ADDR_OPR_MODE   0x3D //adresses for registers which are needed for this code
+#define REG_ADDR_UNIT_SEL   0x3B //address of unit selection
+
+BNO055::BNO055(I2C i2c, int addr) : _i2c(i2c) { // for user friendly sensor-address setup and view 
+    _addr = addr;
+}
+
+char BNO055::checkID(){//will check if compiler is talking to imu
+    char buff[1];
+    buff[0] = 0x00;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    return buff[0];
+}
+
+void BNO055::setMode(int modeCode){//sets up the registers
+    char buff[2];
+    char code;
+
+    buff[0] = REG_ADDR_OPR_MODE;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    code = buff[0];
+
+    if(modeCode == BNO055_MODE_NDOF){
+        code = code & 0xF0;
+        code = code | 0x0C;
+    }
+    buff[0] = REG_ADDR_OPR_MODE;
+    buff[1] = code;
+    _i2c.write(_addr, buff, 2);
+    wait_ms(7);
+
+}
+
+int BNO055::setAngleUnits(int unitsCode){//will set whether it displays information in degrees or radians
+    _units = unitsCode;
+    char buff[3];
+    char code;
+    buff[0] = REG_ADDR_UNIT_SEL;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    code = buff[0];
+
+    if(unitsCode == BNO055_ANGLE_UNITS_DEGREE){//depending on which unit you want to use the right registers and bits will be selected
+        code = code & (0xFF - 0x02 - 0x04);
+    } else if(unitsCode == BNO055_ANGLE_UNITS_RADIAN){
+        code = code & (0xFF - 0x02 - 0x04);
+        code = code | 0x04;
+        code = code | 0x02;
+    }
+    buff[0] = REG_ADDR_UNIT_SEL;
+    buff[1] = code;
+    _i2c.write(_addr, buff, 2);
+    return unitsCode;//returns int for main to be able to manipulate
+}
+
+
+
+float BNO055::readHeading(){//calls register address for heading of imu
+    char buff[2];
+    int16_t rawHeading;
+    buff[0] = 0x1A;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff, 2);
+    rawHeading = (buff[1]<<8) | buff[0];
+    float euler;
+    switch (_units) {//uses class int to determine which case to return - depended on what programmer enters in main
+        case BNO055_ANGLE_UNITS_DEGREE: euler = rawHeading/16.0; break;   //1 deg = 16LSB  from data sheet
+        case BNO055_ANGLE_UNITS_RADIAN: euler = rawHeading/900.0; break;  //1 rad = 900LSB  
+    }
+    return euler;
+    }//rest of the function follow this same structure
+
+float BNO055::readRoll(){//calls register for roll of imu
+    char buff[2];
+    int16_t rawRoll;
+    buff[0] = 0x1C;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff , 2);
+    rawRoll = (buff[1]<< 8) | buff[0];
+    float euler;
+    switch(_units){
+        case BNO055_ANGLE_UNITS_DEGREE: euler = rawRoll/16.0; break;     
+        case BNO055_ANGLE_UNITS_RADIAN: euler = rawRoll/900.0; break;   
+    }
+    return euler;
+}
+
+float BNO055::readPitch(){
+    char buff[2];
+    int16_t rawPitch;
+    buff[0] = 0x1E;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff, 2);
+    rawPitch = (buff[1]<< 8) | buff[0];
+    float euler;
+    switch(_units){
+        case BNO055_ANGLE_UNITS_DEGREE: euler = -rawPitch/16.0; break;     
+        case BNO055_ANGLE_UNITS_RADIAN: euler = -rawPitch/900.0; break;  
+    }
+    return euler;
+}