Jeremy Dawkins
Initial Commit
Diff: BNO055/BNO055.h
- Revision:
- 1:d56e1d85e6d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055/BNO055.h Tue Jul 12 19:16:19 2016 +0000
@@ -0,0 +1,280 @@
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+//
+#define BNOAddress (0x28 << 1)
+//Register definitions
+/* Page id register definition */
+#define BNO055_PAGE_ID_ADDR 0x07
+/* PAGE0 REGISTER DEFINITION START*/
+#define BNO055_CHIP_ID_ADDR 0x00
+#define BNO055_ACCEL_REV_ID_ADDR 0x01
+#define BNO055_MAG_REV_ID_ADDR 0x02
+#define BNO055_GYRO_REV_ID_ADDR 0x03
+#define BNO055_SW_REV_ID_LSB_ADDR 0x04
+#define BNO055_SW_REV_ID_MSB_ADDR 0x05
+#define BNO055_BL_REV_ID_ADDR 0x06
+/* Accel data register */
+#define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
+#define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
+/* Mag data register */
+#define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
+#define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
+#define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
+#define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
+#define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
+#define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
+/* Gyro data registers */
+#define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
+#define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
+#define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
+#define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
+#define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
+#define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
+/* Euler data registers */
+#define BNO055_EULER_H_LSB_ADDR 0x1A
+#define BNO055_EULER_H_MSB_ADDR 0x1B
+#define BNO055_EULER_R_LSB_ADDR 0x1C
+#define BNO055_EULER_R_MSB_ADDR 0x1D
+#define BNO055_EULER_P_LSB_ADDR 0x1E
+#define BNO055_EULER_P_MSB_ADDR 0x1F
+/* Quaternion data registers */
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
+/* Linear acceleration data registers */
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
+/* Gravity data registers */
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
+/* Temperature data register */
+#define BNO055_TEMP_ADDR 0x34
+/* Status registers */
+#define BNO055_CALIB_STAT_ADDR 0x35
+#define BNO055_SELFTEST_RESULT_ADDR 0x36
+#define BNO055_INTR_STAT_ADDR 0x37
+#define BNO055_SYS_CLK_STAT_ADDR 0x38
+#define BNO055_SYS_STAT_ADDR 0x39
+#define BNO055_SYS_ERR_ADDR 0x3A
+/* Unit selection register */
+#define BNO055_UNIT_SEL_ADDR 0x3B
+#define BNO055_DATA_SELECT_ADDR 0x3C
+/* Mode registers */
+#define BNO055_OPR_MODE_ADDR 0x3D
+#define BNO055_PWR_MODE_ADDR 0x3E
+#define BNO055_SYS_TRIGGER_ADDR 0x3F
+#define BNO055_TEMP_SOURCE_ADDR 0x40
+/* Axis remap registers */
+#define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
+#define BNO055_AXIS_MAP_SIGN_ADDR 0x42
+/* Accelerometer Offset registers */
+#define ACCEL_OFFSET_X_LSB_ADDR 0x55
+#define ACCEL_OFFSET_X_MSB_ADDR 0x56
+#define ACCEL_OFFSET_Y_LSB_ADDR 0x57
+#define ACCEL_OFFSET_Y_MSB_ADDR 0x58
+#define ACCEL_OFFSET_Z_LSB_ADDR 0x59
+#define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
+/* Magnetometer Offset registers */
+#define MAG_OFFSET_X_LSB_ADDR 0x5B
+#define MAG_OFFSET_X_MSB_ADDR 0x5C
+#define MAG_OFFSET_Y_LSB_ADDR 0x5D
+#define MAG_OFFSET_Y_MSB_ADDR 0x5E
+#define MAG_OFFSET_Z_LSB_ADDR 0x5F
+#define MAG_OFFSET_Z_MSB_ADDR 0x60
+/* Gyroscope Offset registers*/
+#define GYRO_OFFSET_X_LSB_ADDR 0x61
+#define GYRO_OFFSET_X_MSB_ADDR 0x62
+#define GYRO_OFFSET_Y_LSB_ADDR 0x63
+#define GYRO_OFFSET_Y_MSB_ADDR 0x64
+#define GYRO_OFFSET_Z_LSB_ADDR 0x65
+#define GYRO_OFFSET_Z_MSB_ADDR 0x66
+/* Radius registers */
+#define ACCEL_RADIUS_LSB_ADDR 0x67
+#define ACCEL_RADIUS_MSB_ADDR 0x68
+#define MAG_RADIUS_LSB_ADDR 0x69
+#define MAG_RADIUS_MSB_ADDR 0x6A
+
+/* Page 1 registers */
+#define BNO055_UNIQUE_ID_ADDR 0x50
+
+//Definitions for unit selection
+#define MPERSPERS 0x00
+#define MILLIG 0x01
+#define DEG_PER_SEC 0x00
+#define RAD_PER_SEC 0x02
+#define DEGREES 0x00
+#define RADIANS 0x04
+#define CENTIGRADE 0x00
+#define FAHRENHEIT 0x10
+#define WINDOWS 0x00
+#define ANDROID 0x80
+
+//Definitions for power mode
+#define POWER_MODE_NORMAL 0x00
+#define POWER_MODE_LOWPOWER 0x01
+#define POWER_MODE_SUSPEND 0x02
+
+//Definitions for operating mode
+#define OPERATION_MODE_CONFIG 0x00
+#define OPERATION_MODE_ACCONLY 0x01
+#define OPERATION_MODE_MAGONLY 0x02
+#define OPERATION_MODE_GYRONLY 0x03
+#define OPERATION_MODE_ACCMAG 0x04
+#define OPERATION_MODE_ACCGYRO 0x05
+#define OPERATION_MODE_MAGGYRO 0x06
+#define OPERATION_MODE_AMG 0x07
+#define OPERATION_MODE_IMUPLUS 0x08
+#define OPERATION_MODE_COMPASS 0x09
+#define OPERATION_MODE_M4G 0x0A
+#define OPERATION_MODE_NDOF_FMC_OFF 0x0B
+#define OPERATION_MODE_NDOF 0x0C
+
+typedef struct values{
+ int16_t rawx,rawy,rawz;
+ float x,y,z;
+ }values;
+
+typedef struct angles{
+ int16_t rawroll,rawpitch,rawyaw;
+ float roll, pitch, yaw;
+ } angles;
+
+typedef struct quaternion{
+ int16_t raww,rawx,rawy,rawz;
+ float w,x,y,z;
+ }quaternion;
+
+typedef struct chip{
+ char id;
+ char accel;
+ char gyro;
+ char mag;
+ char sw[2];
+ char bootload;
+ char serial[16];
+ }chip;
+
+/** Class for operating Bosch BNO055 sensor over I2C **/
+class BNO055
+{
+public:
+
+/** Create BNO055 instance **/
+ BNO055(PinName SDA, PinName SCL);
+
+/** Perform a power-on reset of the BNO055 **/
+ void reset();
+/** Check that the BNO055 is connected and download the software details
+and serial number of chip and store in ID structure **/
+ bool check();
+/** Turn the external timing crystal on/off **/
+ void SetExternalCrystal(bool yn);
+/** Set the operation mode of the sensor **/
+ void setmode(char mode);
+/** Set the power mode of the sensor **/
+ void setpowermode(char mode);
+
+/** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
+ void set_accel_units(char units);
+/** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
+ void set_anglerate_units(char units);
+/** Set the output units from the IMU, either DEGREES or RADIANS **/
+ void set_angle_units(char units);
+/** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
+ void set_temp_units(char units);
+/** Set the data output format to either WINDOWS or ANDROID **/
+ void set_orientation(int position);
+/** Set the mapping of the exes/directions as per page 25 of datasheet
+ range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
+ void set_mapping(char orient);
+
+/** Get the current values from the accelerometer **/
+ void get_accel(void);
+/** Get the current values from the gyroscope **/
+ void get_gyro(void);
+/** Get the current values from the magnetometer **/
+ void get_mag(void);
+/** Get the corrected linear acceleration **/
+ void get_lia(void);
+/** Get the current gravity vector **/
+ void get_grv(void);
+/** Get the output quaternion **/
+ void get_quat(void);
+/** Get the current Euler angles **/
+ void get_angles(void);
+/** Get the current temperature **/
+ void get_temp(void);
+
+/** Read the calibration status register and store the result in the calib variable **/
+ void get_calib(void);
+/** Read the offset and radius values into the calibration array**/
+ void read_calibration_data(void);
+/** Write the contents of the calibration array into the registers **/
+ void write_calibration_data(void);
+
+/** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
+ x,y,z are the scale floating point values and
+ rawx, rawy, rawz are the int16_t values read from the sensors **/
+ values accel,gyro,mag,lia,gravity;
+/** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
+ and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
+ angles euler;
+/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+ registers **/
+ quaternion quat;
+
+/** Current contents of calibration status register **/
+ char calib;
+/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
+ char calibration[22];
+/** Structure containing sensor numbers, software version and chip UID **/
+ chip ID;
+/** Current temperature **/
+ int temperature;
+
+ private:
+
+ I2C _i2c;
+ char rx,tx[2],address; //I2C variables
+ char rawdata[22]; //Temporary array for input data values
+ char op_mode;
+ char pwr_mode;
+ float accel_scale,rate_scale,angle_scale;
+ int temp_scale;
+
+void readchar(char location){
+ tx[0] = location;
+ _i2c.write(address,tx,1,true);
+ _i2c.read(address,&rx,1,false);
+}
+
+void writechar(char location, char value){
+ tx[0] = location;
+ tx[1] = value;
+ _i2c.write(address,tx,2);
+}
+
+void setpage(char value){
+ writechar(BNO055_PAGE_ID_ADDR,value);
+}
+ };
+#endif
\ No newline at end of file