BNO055.cpp

00001 #include "BNO055.h"
00002 #include "mbed.h"
00003 
00004 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
00005     //Set I2C fast and bring reset line high
00006     _i2c.frequency(400000);
00007     address = BNOAddress;
00008     accel_scale = 0.001f;
00009     rate_scale = 1.0f/16.0f;
00010     angle_scale = 1.0f/16.0f;
00011     temp_scale = 1;
00012     }
00013     
00014 void BNO055::reset(){
00015 //Perform a power-on-reset
00016     readchar(BNO055_SYS_TRIGGER_ADDR);
00017     rx = rx | 0x20;
00018     writechar(BNO055_SYS_TRIGGER_ADDR,rx);
00019 //Wait for the system to come back up again (datasheet says 650ms)
00020     wait_ms(675);
00021 }
00022     
00023 bool BNO055::check(){
00024 //Check we have communication link with the chip
00025     readchar(BNO055_CHIP_ID_ADDR);
00026     if (rx != 0xA0) return false;
00027 //Grab the chip ID and software versions
00028     tx[0] = BNO055_CHIP_ID_ADDR;
00029     _i2c.write(address,tx,1,true);  
00030     _i2c.read(address+1,rawdata,7,false); 
00031     ID.id = rawdata[0];
00032     ID.accel = rawdata[1];
00033     ID.mag = rawdata[2];
00034     ID.gyro = rawdata[3];
00035     ID.sw[0] = rawdata[4];
00036     ID.sw[1] = rawdata[5];
00037     ID.bootload = rawdata[6];
00038     setpage(1);
00039     tx[0] = BNO055_UNIQUE_ID_ADDR;
00040     _i2c.write(address,tx,1,true);  
00041     _i2c.read(address+1,ID.serial,16,false); 
00042     setpage(0);
00043     return true;
00044     }
00045     
00046 void BNO055::SetExternalCrystal(bool yn){
00047 // Read the current status from the device
00048     readchar(BNO055_SYS_TRIGGER_ADDR); 
00049     if (yn) rx = rx | 0x80;
00050     else rx = rx & 0x7F;
00051     writechar(BNO055_SYS_TRIGGER_ADDR,rx); 
00052 }
00053 
00054 void BNO055::set_accel_units(char units){
00055     readchar(BNO055_UNIT_SEL_ADDR);
00056     if(units == MPERSPERS){
00057         rx = rx & 0xFE;
00058         accel_scale = 0.01f;
00059         }
00060     else {
00061         rx = rx | units;
00062         accel_scale = 0.001f;
00063         }
00064     writechar(BNO055_UNIT_SEL_ADDR,rx);
00065 }
00066 
00067 void BNO055::set_anglerate_units(char units){
00068     readchar(BNO055_UNIT_SEL_ADDR);
00069     if (units == DEG_PER_SEC){
00070         rx = rx & 0xFD;
00071         rate_scale = 1.0f/16.0f;
00072         }
00073     else {
00074         rx = rx | units;
00075         rate_scale = 1.0f/900.0f;
00076         }
00077     writechar(BNO055_UNIT_SEL_ADDR,rx);
00078 }    
00079 
00080 void BNO055::set_angle_units(char units){
00081     readchar(BNO055_UNIT_SEL_ADDR);
00082     if (units == DEGREES){
00083         rx = rx & 0xFB;
00084         angle_scale = 1.0f/16.0f;
00085         }
00086     else {
00087         rx = rx | units;
00088         angle_scale = 1.0f/900.0f;
00089         }
00090     writechar(BNO055_UNIT_SEL_ADDR,rx);
00091 }    
00092 
00093 void BNO055::set_temp_units(char units){
00094     readchar(BNO055_UNIT_SEL_ADDR);
00095     if (units == CENTIGRADE){
00096         rx = rx & 0xEF;
00097         temp_scale = 1;
00098         }
00099     else {
00100         rx = rx | units;
00101         temp_scale = 2;
00102         }
00103     writechar(BNO055_UNIT_SEL_ADDR,rx);
00104 }    
00105 
00106 void BNO055::set_orientation(int position){
00107     switch(position){
00108         case 0:
00109             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00110             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
00111             break;
00112         case 1: //(Default)
00113             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00114             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00115             break;
00116         case 2:
00117             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00118             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x06);
00119             break;  
00120         case 3:
00121             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00122             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);            
00123             break;
00124         case 4:
00125             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00126             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);            
00127             break;
00128         case 5:
00129             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00130             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);            
00131             break;
00132         case 6:
00133             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00134             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);            
00135             break;
00136         case 7:
00137             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00138             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);            
00139             break;
00140         default:
00141             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00142             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00143             break;                 
00144     }
00145 }        
00146 
00147 void BNO055::setmode(char omode){
00148     writechar(BNO055_OPR_MODE_ADDR,omode);
00149     op_mode = omode;
00150 }
00151 
00152 void BNO055::setpowermode(char pmode){
00153     writechar(BNO055_PWR_MODE_ADDR,pmode);
00154     pwr_mode = pmode;
00155 }
00156 
00157 void BNO055::get_accel(void){
00158     tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
00159     _i2c.write(address,tx,1,true);  
00160     _i2c.read(address+1,rawdata,6,0); 
00161     accel.rawx = (rawdata[1] << 8 | rawdata[0]);
00162     accel.rawy = (rawdata[3] << 8 | rawdata[2]);
00163     accel.rawz = (rawdata[5] << 8 | rawdata[4]);
00164     accel.x = float(accel.rawx)*accel_scale;
00165     accel.y = float(accel.rawy)*accel_scale;
00166     accel.z = float(accel.rawz)*accel_scale;
00167 }
00168     
00169 void BNO055::get_gyro(void){
00170     tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
00171     _i2c.write(address,tx,1,true);  
00172     _i2c.read(address+1,rawdata,6,0); 
00173     gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
00174     gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
00175     gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
00176     gyro.x = float(gyro.rawx)*rate_scale;
00177     gyro.y = float(gyro.rawy)*rate_scale;
00178     gyro.z = float(gyro.rawz)*rate_scale;
00179 }
00180 
00181 void BNO055::get_mag(void){
00182     tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
00183     _i2c.write(address,tx,1,true);  
00184     _i2c.read(address+1,rawdata,6,0); 
00185     mag.rawx = (rawdata[1] << 8 | rawdata[0]);
00186     mag.rawy = (rawdata[3] << 8 | rawdata[2]);
00187     mag.rawz = (rawdata[5] << 8 | rawdata[4]);
00188     mag.x = float(mag.rawx);
00189     mag.y = float(mag.rawy);
00190     mag.z = float(mag.rawz);
00191 }
00192 
00193 void BNO055::get_lia(void){
00194     tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
00195     _i2c.write(address,tx,1,true);  
00196     _i2c.read(address+1,rawdata,6,0); 
00197     lia.rawx = (rawdata[1] << 8 | rawdata[0]);
00198     lia.rawy = (rawdata[3] << 8 | rawdata[2]);
00199     lia.rawz = (rawdata[5] << 8 | rawdata[4]);
00200     lia.x = float(lia.rawx)*accel_scale;
00201     lia.y = float(lia.rawy)*accel_scale;
00202     lia.z = float(lia.rawz)*accel_scale;
00203 }
00204 
00205 void BNO055::get_grv(void){
00206     tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
00207     _i2c.write(address,tx,1,true);  
00208     _i2c.read(address+1,rawdata,6,0); 
00209     gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
00210     gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
00211     gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
00212     gravity.x = float(gravity.rawx)*accel_scale;
00213     gravity.y = float(gravity.rawy)*accel_scale;
00214     gravity.z = float(gravity.rawz)*accel_scale;
00215 }
00216 
00217 void BNO055::get_quat(void){
00218     tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
00219     _i2c.write(address,tx,1,true);  
00220     _i2c.read(address+1,rawdata,8,0); 
00221     quat.raww = (rawdata[1] << 8 | rawdata[0]);
00222     quat.rawx = (rawdata[3] << 8 | rawdata[2]);
00223     quat.rawy = (rawdata[5] << 8 | rawdata[4]);
00224     quat.rawz = (rawdata[7] << 8 | rawdata[6]);
00225     quat.w = float(quat.raww)/16384.0f;
00226     quat.x = float(quat.rawx)/16384.0f;
00227     quat.y = float(quat.rawy)/16384.0f;
00228     quat.z = float(quat.rawz)/16384.0f;
00229 }
00230 
00231 void BNO055::get_angles(void){
00232     tx[0] = BNO055_EULER_H_LSB_ADDR;
00233     _i2c.write(address,tx,1,true);  
00234     _i2c.read(address+1,rawdata,6,0); 
00235     euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
00236     euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
00237     euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
00238     euler.yaw = float(euler.rawyaw)*angle_scale;
00239     euler.roll = float(euler.rawroll)*angle_scale;
00240     euler.pitch = float(euler.rawpitch)*angle_scale;
00241 }
00242 
00243 
00244 void BNO055::get_temp(void){
00245     readchar(BNO055_TEMP_ADDR);
00246     temperature = rx / temp_scale;
00247 }
00248 
00249 void BNO055::get_calib(void){
00250      readchar(BNO055_CALIB_STAT_ADDR);
00251      calib = rx;
00252 }
00253 
00254 void BNO055::read_calibration_data(void){
00255     char tempmode = op_mode;
00256     setmode(OPERATION_MODE_CONFIG);
00257     wait_ms(20);
00258     tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
00259     _i2c.write(address,tx,1,true);  
00260     _i2c.read(address,calibration,22,false); 
00261     setmode(tempmode);
00262     wait_ms(10);
00263 }
00264 
00265 void BNO055::write_calibration_data(void){
00266     char tempmode = op_mode;
00267     setmode(OPERATION_MODE_CONFIG);
00268     wait_ms(20);
00269     tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
00270     _i2c.write(address,tx,1,true);  
00271     _i2c.write(address,calibration,22,false); 
00272     setmode(tempmode);
00273     wait_ms(10);
00274 }
00275 
00276 void BNO055::set_mapping(char orient){
00277     switch (orient){
00278         case 0: 
00279             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00280             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
00281             break;
00282         case 1:
00283             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00284             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00285             break;
00286         case 2:
00287             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00288             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00289             break;
00290         case 3:
00291             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00292             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
00293             break;
00294         case 4:
00295             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00296             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
00297             break;
00298         case 5:
00299             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00300             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
00301             break;
00302         case 6:
00303             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
00304             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
00305             break;
00306         case 7:
00307             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00308             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
00309             break;
00310         default:
00311             writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
00312             writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
00313         }
00314 }