Joel von Rotz
A library of the 9-Axis Sensor BNO055 from Bosch Sensortec.
Requires the I2C-Master library - Link
Diff: bno055.h
- Revision:
- 0:a2a71c38065e
- Child:
- 4:f581a8e97aec
diff -r 000000000000 -r a2a71c38065e bno055.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bno055.h Thu Jul 11 09:34:29 2019 +0000
@@ -0,0 +1,242 @@
+/**
+ * @brief Declaration of the BNO055 class
+ *
+ * @file bno055.h
+ * @author Joel von Rotz
+ * @date 18.07.2018
+ */
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+#include "bno055_config.h"
+#include "bno055_registermap.h"
+#include "bno055_definitions.h"
+#include "i2c_master.h"
+
+
+/**
+ * @brief This is a library for the sensor BNO055, a 9 axis sensor by <a href="https://www.bosch-sensortec.com/">Bosch Sensortec</a>, written by <a href="https://os.mbed.com/users/JOEV/">Joel von Rotz</a>
+ * <img src="https://ae01.alicdn.com/kf/HTB1n3aPNpXXXXaFXVXXq6xXFXXXi/BNO055-gyroscope-Absolute-Orientation-9-Axis-Sensor.jpg_640x640.jpg" alt="Image of a flying Potato here!">
+ * Currently, this library is compatible with the mbed LPC1768 only and probably won't change in the future, unless somebody takes their time to port the library to other microcontroller (would very much appreciate it though).
+ * \n\n
+ * <center><a href="NOTE:https://www.google.ch/">This Library Needs The <strong>TWI_Master</strong> Library to work</a></center>
+ * \n\n
+ * <h2>Example Programm Without Debug</h2>
+ * \n\n
+ * @code
+ * TODO: Add Example Code without Debugging here
+ * @endcode
+ * \n\n
+ * <h2>Example Programm With Debug</h2>
+ * \n\n
+ * @code
+ * TODO: Add Example Code with Debugging here
+ * @endcode
+ */
+class BNO055
+{
+public:
+ #ifdef DEBUGGING_ENABLED
+ BNO055(uint8_t slave_address, I2C_Master& i2c_master, DigitalOut& ResetPin, bool external_clk, Serial& DEBUG_SERIAL);
+ #else
+ BNO055(uint8_t slave_address, I2C_Master& i2c_master, DigitalOut& ResetPin, bool external_clk);
+ #endif
+//=---------------------------------------
+ struct bno055_format_s
+ {
+ uint8_t units;
+ bno055_orientation_t orientation;
+ bno055_temperature_t temperature;
+ bno055_euler_t euler;
+ bno055_gyro_t gyroscope;
+ bno055_acceleration_t acceleration;
+ };
+
+ struct bno055_id_s
+ {
+ uint8_t chip;
+ uint8_t accel;
+ uint8_t gyro;
+ uint8_t magneto;
+ uint8_t bl_rev;
+ uint16_t sw_rev;
+ };
+
+ struct bno055_mode_s
+ {
+ uint8_t power;
+ uint8_t operation;
+ };
+
+ struct bno055_system_s
+ {
+ uint8_t status;
+ uint8_t error;
+ };
+
+ struct bno055_axis_s
+ {
+ uint8_t map;
+ uint8_t sign;
+ };
+
+ struct bno055_interrupt_s
+ {
+ uint8_t status;
+ struct bno055_gyro_interrupt_s
+ {
+ bool high_rate;
+ bool any_motion;
+ }gyroscope;
+
+ struct bno055_accel_interrupt_s
+ {
+ bool no_motion;
+ bool any_motion;
+ bool high_g;
+ }acceleration;
+ };
+
+ struct bno055_quaternion_s
+ {
+ float w;
+ float x;
+ float y;
+ float z;
+ };
+
+ struct bno055_data_s
+ {
+ float x;
+ float y;
+ float z;
+ };
+
+ struct bno055_calibration_s
+ {
+ uint8_t system;
+ uint8_t gyro;
+ uint8_t acceleration;
+ uint8_t magneto;
+ uint8_t status;
+ };
+
+//=---------------------------------------
+
+
+ float temperature;
+ uint16_t orientation;
+
+ bno055_format_s format;
+ bno055_id_s id;
+ bno055_mode_s mode;
+ bno055_system_s system;
+ bno055_axis_s axis;
+
+ bno055_data_s gravity_vector;
+ bno055_data_s linear_accel;
+ bno055_data_s accel;
+ bno055_data_s magneto;
+ bno055_data_s gyro;
+ bno055_data_s euler;
+
+ bno055_quaternion_s quaternion;
+ bno055_calibration_s calibration;
+
+ bno055_interrupt_s interrupt;
+
+//=---------------------------------------
+
+ void setUnitFormat(bno055_orientation_t new_orientation_format = WINDOWS,
+ bno055_temperature_t new_temperature_format = CELSIUS,
+ bno055_euler_t new_euler_format = DEGREES,
+ bno055_gyro_t new_gyroscope_format = DEGREE_PER_SEC,
+ bno055_acceleration_t new_acceleration_format = ACCELERATION
+ );
+
+ void getUnitFormat(void);
+ void getIDs(void);
+ void setPowerMode(bno055_powermode_t new_power_mode = POWER_NORMAL);
+ uint8_t getPowerMode(void);
+ void setOperationMode(bno055_opr_mode_t new_opr_mode = OPERATION_MODE_CONFIGMODE);
+ uint8_t getOperationMode(void);
+ void setPage(bno055_page_t new_page = PAGE_0);
+ uint8_t getPage(void);
+ uint8_t getSystemStatus(void);
+ uint8_t getSystemError(void);
+ void useExternalOscillator(bool enabled);
+ void resetSW(void);
+ void resetHW(void);
+ void assignAxis( bno055_axis_t x_axis = X_AXIS,
+ bno055_axis_t y_axis = Y_AXIS,
+ bno055_axis_t z_axis = Z_AXIS);
+ void setAxisSign(bno055_axis_sign_t x_sign = POSITIVE,
+ bno055_axis_sign_t y_sign = POSITIVE,
+ bno055_axis_sign_t z_sign = POSITIVE);
+ void setOrientation(bno055_remap_options_t orientation_placement = REMAP_OPTION_P1);
+ void getOrientation(void);
+ void getCalibrationStatus(void);
+
+ void getInterruptFlag(void);
+ void setEnableInterrupts(bno055_enable_t accel_no_motion,
+ bno055_enable_t accel_any_motion,
+ bno055_enable_t accel_high_g,
+ bno055_enable_t gyro_high_rate,
+ bno055_enable_t gyro_any_motion
+ );
+ uint8_t getEnabledInterrupts(void);
+
+ void setInterruptMask(bno055_enable_t accel_no_motion,
+ bno055_enable_t accel_any_motion,
+ bno055_enable_t accel_high_g,
+ bno055_enable_t gyro_high_rate,
+ bno055_enable_t gyro_any_motion
+ );
+ uint8_t getInterruptMask(void);
+
+ void configAccelerationInterrupt(bno055_config_int_axis_t high_axis,
+ bno055_config_int_axis_t am_nm_axis,
+ bno055_any_motion_sample_t am_dur
+ );
+ void configGyroscopeInterrupt(bno055_config_int_axis_t hg_z_axis,
+ bno055_config_int_axis_t hg_y_axis,
+ bool high_rate_unfilt,
+ bool any_motion_unfilt
+ );
+
+ void getAcceleration(void);
+ void getMagnetometer(void);
+ void getGyroscope(void);
+ void getEulerDegrees(void);
+ void getQuaternion(void);
+ void getLinearAcceleration(void);
+ void getGravityVector(void);
+ void getTemperature(void);
+
+private:
+ I2C_Master& m_i2c_master;
+ DigitalOut& m_ResetPin;
+
+ //DEBUG SERIAL
+ #ifdef DEBUGGING_ENABLED
+ Serial& m_DEBUG_SERIAL;
+ #endif
+
+ uint8_t m_bno055_address;
+
+ uint8_t page;
+ uint8_t arrayIndex;
+ float sensor_data_converted;
+ uint8_t register_data[8];
+ int16_t sensor_data[4];
+
+ void get(bno055_reg_t address, bno055_data_s& data, const float format, bool is_euler);
+ void get(bno055_reg_t address, bno055_quaternion_s& data, const float format);
+
+
+};
+
+#endif /* BNO055_H */
+
+