BNO055.h

00001 #ifndef BNO055_H
00002 #define BNO055_H
00003 
00004 #include "mbed.h"
00005 //
00006 #define BNOAddress (0x28 << 1)
00007 //Register definitions
00008 /* Page id register definition */ 
00009 #define BNO055_PAGE_ID_ADDR          0x07
00010 /* PAGE0 REGISTER DEFINITION START*/ 
00011 #define BNO055_CHIP_ID_ADDR          0x00 
00012 #define BNO055_ACCEL_REV_ID_ADDR     0x01
00013 #define BNO055_MAG_REV_ID_ADDR       0x02
00014 #define BNO055_GYRO_REV_ID_ADDR      0x03
00015 #define BNO055_SW_REV_ID_LSB_ADDR    0x04
00016 #define BNO055_SW_REV_ID_MSB_ADDR    0x05
00017 #define BNO055_BL_REV_ID_ADDR        0x06
00018 /* Accel data register */ 
00019 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
00020 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
00021 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
00022 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
00023 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
00024 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
00025 /* Mag data register */ 
00026 #define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
00027 #define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
00028 #define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
00029 #define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
00030 #define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
00031 #define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
00032 /* Gyro data registers */ 
00033 #define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
00034 #define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
00035 #define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
00036 #define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
00037 #define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
00038 #define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
00039 /* Euler data registers */ 
00040 #define BNO055_EULER_H_LSB_ADDR      0x1A
00041 #define BNO055_EULER_H_MSB_ADDR      0x1B
00042 #define BNO055_EULER_R_LSB_ADDR      0x1C
00043 #define BNO055_EULER_R_MSB_ADDR      0x1D
00044 #define BNO055_EULER_P_LSB_ADDR      0x1E
00045 #define BNO055_EULER_P_MSB_ADDR      0x1F
00046 /* Quaternion data registers */ 
00047 #define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
00048 #define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
00049 #define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
00050 #define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
00051 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
00052 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
00053 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
00054 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
00055 /* Linear acceleration data registers */ 
00056 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
00057 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
00058 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
00059 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
00060 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
00061 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
00062 /* Gravity data registers */ 
00063 #define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
00064 #define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
00065 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
00066 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
00067 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
00068 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
00069 /* Temperature data register */ 
00070 #define BNO055_TEMP_ADDR                    0x34 
00071 /* Status registers */ 
00072 #define BNO055_CALIB_STAT_ADDR              0x35 
00073 #define BNO055_SELFTEST_RESULT_ADDR         0x36 
00074 #define BNO055_INTR_STAT_ADDR               0x37 
00075 #define BNO055_SYS_CLK_STAT_ADDR            0x38 
00076 #define BNO055_SYS_STAT_ADDR                0x39 
00077 #define BNO055_SYS_ERR_ADDR                 0x3A 
00078 /* Unit selection register */ 
00079 #define BNO055_UNIT_SEL_ADDR                0x3B 
00080 #define BNO055_DATA_SELECT_ADDR             0x3C 
00081 /* Mode registers */ 
00082 #define BNO055_OPR_MODE_ADDR                0x3D 
00083 #define BNO055_PWR_MODE_ADDR                0x3E 
00084 #define BNO055_SYS_TRIGGER_ADDR             0x3F 
00085 #define BNO055_TEMP_SOURCE_ADDR             0x40 
00086 /* Axis remap registers */ 
00087 #define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
00088 #define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
00089 /* Accelerometer Offset registers */ 
00090 #define ACCEL_OFFSET_X_LSB_ADDR             0x55 
00091 #define ACCEL_OFFSET_X_MSB_ADDR             0x56 
00092 #define ACCEL_OFFSET_Y_LSB_ADDR             0x57
00093 #define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
00094 #define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
00095 #define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
00096 /* Magnetometer Offset registers */ 
00097 #define MAG_OFFSET_X_LSB_ADDR               0x5B
00098 #define MAG_OFFSET_X_MSB_ADDR               0x5C
00099 #define MAG_OFFSET_Y_LSB_ADDR               0x5D
00100 #define MAG_OFFSET_Y_MSB_ADDR               0x5E
00101 #define MAG_OFFSET_Z_LSB_ADDR               0x5F
00102 #define MAG_OFFSET_Z_MSB_ADDR               0x60
00103 /* Gyroscope Offset registers*/ 
00104 #define GYRO_OFFSET_X_LSB_ADDR              0x61
00105 #define GYRO_OFFSET_X_MSB_ADDR              0x62
00106 #define GYRO_OFFSET_Y_LSB_ADDR              0x63
00107 #define GYRO_OFFSET_Y_MSB_ADDR              0x64
00108 #define GYRO_OFFSET_Z_LSB_ADDR              0x65
00109 #define GYRO_OFFSET_Z_MSB_ADDR              0x66
00110 /* Radius registers */ 
00111 #define ACCEL_RADIUS_LSB_ADDR               0x67 
00112 #define ACCEL_RADIUS_MSB_ADDR               0x68 
00113 #define MAG_RADIUS_LSB_ADDR                 0x69 
00114 #define MAG_RADIUS_MSB_ADDR                 0x6A 
00115 
00116 /* Page 1 registers */
00117 #define BNO055_UNIQUE_ID_ADDR               0x50
00118 
00119 //Definitions for unit selection
00120 #define MPERSPERS   0x00
00121 #define MILLIG      0x01
00122 #define DEG_PER_SEC 0x00
00123 #define RAD_PER_SEC 0x02
00124 #define DEGREES     0x00
00125 #define RADIANS     0x04
00126 #define CENTIGRADE  0x00
00127 #define FAHRENHEIT  0x10
00128 #define WINDOWS     0x00
00129 #define ANDROID     0x80
00130 
00131 //Definitions for power mode
00132 #define POWER_MODE_NORMAL   0x00 
00133 #define POWER_MODE_LOWPOWER 0x01 
00134 #define POWER_MODE_SUSPEND  0x02 
00135 
00136 //Definitions for operating mode
00137 #define OPERATION_MODE_CONFIG        0x00 
00138 #define OPERATION_MODE_ACCONLY       0x01 
00139 #define OPERATION_MODE_MAGONLY       0x02 
00140 #define OPERATION_MODE_GYRONLY       0x03 
00141 #define OPERATION_MODE_ACCMAG        0x04 
00142 #define OPERATION_MODE_ACCGYRO       0x05 
00143 #define OPERATION_MODE_MAGGYRO       0x06 
00144 #define OPERATION_MODE_AMG           0x07 
00145 #define OPERATION_MODE_IMUPLUS       0x08 
00146 #define OPERATION_MODE_COMPASS       0x09 
00147 #define OPERATION_MODE_M4G           0x0A 
00148 #define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
00149 #define OPERATION_MODE_NDOF          0x0C 
00150 
00151 typedef struct values{
00152     int16_t rawx,rawy,rawz;
00153     float x,y,z;
00154     }values;
00155     
00156 typedef struct angles{
00157     int16_t rawroll,rawpitch,rawyaw;
00158     float roll, pitch, yaw;
00159     } angles;
00160     
00161 typedef struct quaternion{
00162     int16_t raww,rawx,rawy,rawz;
00163     float w,x,y,z;
00164     }quaternion;
00165 
00166 typedef struct chip{
00167     char id;
00168     char accel;
00169     char gyro;
00170     char mag;
00171     char sw[2];
00172     char bootload;
00173     char serial[16];
00174     }chip;
00175 
00176 /** Class for operating Bosch BNO055 sensor over I2C **/
00177 class BNO055 
00178 { 
00179 public: 
00180 
00181 /** Create BNO055 instance **/
00182     BNO055(PinName SDA, PinName SCL); 
00183     
00184 /** Perform a power-on reset of the BNO055 **/
00185     void reset();
00186 /** Check that the BNO055 is connected and download the software details 
00187 and serial number of chip and store in ID structure **/
00188     bool check();
00189 /** Turn the external timing crystal on/off **/
00190     void SetExternalCrystal(bool yn);
00191 /** Set the operation mode of the sensor **/    
00192     void setmode(char mode);
00193 /** Set the power mode of the sensor **/
00194     void setpowermode(char mode);
00195     
00196 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
00197     void set_accel_units(char units);
00198 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
00199     void set_anglerate_units(char units);
00200 /** Set the output units from the IMU, either DEGREES or RADIANS **/
00201     void set_angle_units(char units);
00202 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
00203     void set_temp_units(char units);
00204 /** Set the data output format to either WINDOWS or ANDROID **/    
00205     void set_orientation(int position);
00206 /** Set the mapping of the exes/directions as per page 25 of datasheet
00207     range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
00208     void set_mapping(char orient);
00209     
00210 /** Get the current values from the accelerometer **/
00211     void get_accel(void);
00212 /** Get the current values from the gyroscope **/
00213     void get_gyro(void);
00214 /** Get the current values from the magnetometer **/
00215     void get_mag(void);
00216 /** Get the corrected linear acceleration **/
00217     void get_lia(void);
00218 /** Get the current gravity vector **/
00219     void get_grv(void);
00220 /** Get the output quaternion **/
00221     void get_quat(void);
00222 /** Get the current Euler angles **/
00223     void get_angles(void);
00224 /** Get the current temperature **/
00225     void get_temp(void);
00226 
00227 /** Read the calibration status register and store the result in the calib variable **/
00228     void get_calib(void);
00229 /** Read the offset and radius values into the calibration array**/
00230     void read_calibration_data(void);
00231 /** Write the contents of the calibration array into the registers **/    
00232     void write_calibration_data(void);
00233     
00234 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
00235     x,y,z are the scale floating point values and
00236     rawx, rawy, rawz are the int16_t values read from the sensors **/
00237     values accel,gyro,mag,lia,gravity;
00238 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
00239     and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
00240     angles euler;
00241 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
00242     registers **/    
00243     quaternion quat;
00244 
00245 /** Current contents of calibration status register **/
00246     char calib;
00247 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
00248     char calibration[22];
00249 /** Structure containing sensor numbers, software version and chip UID **/
00250     chip ID;
00251 /** Current temperature **/
00252     int temperature;
00253     
00254     private:
00255     
00256         I2C _i2c;
00257         char rx,tx[2],address;  //I2C variables
00258         char rawdata[22]; //Temporary array for input data values
00259         char op_mode;
00260         char pwr_mode;
00261         float accel_scale,rate_scale,angle_scale;
00262         int temp_scale;
00263         
00264 void readchar(char location){
00265     tx[0] = location;
00266     _i2c.write(address,tx,1,true);
00267     _i2c.read(address,&rx,1,false);
00268 }
00269 
00270 void writechar(char location, char value){
00271     tx[0] = location;
00272     tx[1] = value;
00273     _i2c.write(address,tx,2);
00274 }
00275 
00276 void setpage(char value){
00277     writechar(BNO055_PAGE_ID_ADDR,value);
00278 }
00279     };
00280 #endif