bno055_registermap.h

00001 /**
00002  * @brief 
00003  * 
00004  * @file bno055_registermap.h
00005  * @author Joel von Rotz
00006  * @date 18.07.2018
00007  */
00008 #ifndef BNO055_REGISTERMAP_H
00009 #define BNO055_REGISTERMAP_H
00010 
00011 #include "mbed.h"
00012 
00013 enum bno055_reg_t
00014 {
00015     //PAGE 0 - Selected on Startup ==========
00016     //ID Registerss --------------------------
00017     CHIP_ID         =   0x00,
00018     ACC_ID          =   0x01,
00019     MAG_ID          =   0x02,
00020     GYR_ID          =   0x03,
00021     SW_REV_ID_LSB   =   0x04,
00022     SW_REV_ID_MSB   =   0x05,
00023     BL_REV_ID       =   0x06,
00024 
00025     //PAGE Selector page --------------------
00026     PAGE_ID         =   0x07,
00027 
00028     //Sensor Data Registers -----------------
00029     //Accelerometer
00030     ACC_DATA_X_LSB      =   0x08,
00031     ACC_DATA_X_MSB      =   0x09,
00032     ACC_DATA_Y_LSB      =   0x0A,
00033     ACC_DATA_Y_MSB      =   0x0B,
00034     ACC_DATA_Z_LSB      =   0x0C,
00035     ACC_DATA_Z_MSB      =   0x0D,
00036 
00037     ACC_DATA_VECTOR     =   0x08,
00038 
00039     //Magnetometer
00040     MAG_DATA_X_LSB      =   0x0E,
00041     MAG_DATA_X_MSB      =   0x0F,
00042     MAG_DATA_Y_LSB      =   0x10,
00043     MAG_DATA_Y_MSB      =   0x11,
00044     MAG_DATA_Z_LSB      =   0x12,
00045     MAG_DATA_Z_MSB      =   0x13,
00046 
00047     MAG_DATA_VECTOR     =   0x0E,
00048 
00049     //Gyroscope
00050     GYR_DATA_X_LSB      =   0x14,
00051     GYR_DATA_X_MSB      =   0x15,
00052     GYR_DATA_Y_LSB      =   0x16,
00053     GYR_DATA_Y_MSB      =   0x17,
00054     GYR_DATA_Z_LSB      =   0x18,
00055     GYR_DATA_Z_MSB      =   0x19,
00056 
00057     GYR_DATA_VECTOR     =   0x14,
00058 
00059     //Euler Angles
00060     EUL_DATA_X_LSB      =   0x1A,
00061     EUL_DATA_X_MSB      =   0x1B,
00062     EUL_DATA_Y_LSB      =   0x1C,
00063     EUL_DATA_Y_MSB      =   0x1D,
00064     EUL_DATA_Z_LSB      =   0x1E,
00065     EUL_DATA_Z_MSB      =   0x1F,
00066 
00067     EUL_DATA_VECTOR     =   0x1A,
00068 
00069     //Quaternion
00070     QUA_DATA_W_LSB      =   0x20,
00071     QUA_DATA_W_MSB      =   0x21,
00072     QUA_DATA_X_LSB      =   0x22,
00073     QUA_DATA_X_MSB      =   0x23,
00074     QUA_DATA_Y_LSB      =   0x24,
00075     QUA_DATA_Y_MSB      =   0x25,
00076     QUA_DATA_Z_LSB      =   0x26,
00077     QUA_DATA_Z_MSB      =   0x27,
00078 
00079     QUA_DATA_VECTOR     =   0x20,
00080 
00081     //Linear Acceleration
00082     LIA_DATA_X_LSB      =   0x28,
00083     LIA_DATA_X_MSB      =   0x29,
00084     LIA_DATA_Y_LSB      =   0x2A,
00085     LIA_DATA_Y_MSB      =   0x2B,
00086     LIA_DATA_Z_LSB      =   0x2C,
00087     LIA_DATA_Z_MSB      =   0x2D,
00088 
00089     LIA_DATA_VECTOR     =   0x28,
00090 
00091     //Gravity Vector
00092     GRV_DATA_X_LSB      =   0x2E,
00093     GRV_DATA_X_MSB      =   0x2F,
00094     GRV_DATA_Y_LSB      =   0x30,
00095     GRV_DATA_Y_MSB      =   0x31,
00096     GRV_DATA_Z_LSB      =   0x32,
00097     GRV_DATA_Z_MSB      =   0x33,
00098 
00099     GRV_DATA_VECTOR     =   0x2E,
00100 
00101     //Temperature
00102     TEMP                =   0x34,
00103 
00104     //Calibration Status Register -----------
00105     CALIB_STAT          =   0x35,
00106 
00107     //Self Test Results ---------------------
00108     ST_RESULT           =   0x36,
00109 
00110     //Interrupt Indicator -------------------
00111     INT_STATUS          =   0x37,
00112 
00113     //System Register -----------------------
00114     SYS_CLK_STATUS      =   0x38,
00115     SYS_STATUS          =   0x39,
00116     SYS_ERR             =   0x3A,
00117     SYS_TRIGGER         =   0x3F,
00118 
00119     //Unit Selection ------------------------
00120     UNIT_SEL            =   0x3B,
00121 
00122     //Modes ---------------------------------
00123     OPR_MODE            =   0x3D,
00124     PWR_MODE            =   0x3E,
00125 
00126     //Temperature Source Selector -----------
00127     TEMP_SOURCE         =   0x40,
00128 
00129     //Axis Mapping & Sign -------------------
00130     AXIS_MAP_CONFIG     =   0x41,
00131     AXIS_MAP_SIGN       =   0x42,
00132 
00133     //Offset Register -----------------------
00134     ACC_OFFSET_X_LSB    =   0x55,
00135     ACC_OFFSET_X_MSB    =   0x56,
00136     ACC_OFFSET_Y_LSB    =   0x57,
00137     ACC_OFFSET_Y_MSB    =   0x58,
00138     ACC_OFFSET_Z_LSB    =   0x59,
00139     ACC_OFFSET_Z_MSB    =   0x5A,
00140 
00141     MAG_OFFSET_X_LSB    =   0x5B,
00142     MAG_OFFSET_X_MSB    =   0x5C,
00143     MAG_OFFSET_Y_LSB    =   0x5D,
00144     MAG_OFFSET_Y_MSB    =   0x5E,
00145     MAG_OFFSET_Z_LSB    =   0x5F,
00146     MAG_OFFSET_Z_MSB    =   0x60,
00147 
00148     GYR_OFFSET_X_LSB    =   0x61,
00149     GYR_OFFSET_X_MSB    =   0x62,
00150     GYR_OFFSET_Y_LSB    =   0x63,
00151     GYR_OFFSET_Y_MSB    =   0x64,
00152     GYR_OFFSET_Z_LSB    =   0x65,
00153     GYR_OFFSET_Z_MSB    =   0x66,
00154 
00155     //Radius Register -----------------------
00156     //Accelerometer
00157     ACC_RADIUS_LSB      =   0x67,
00158     ACC_RADIUS_MSB      =   0x68,
00159 
00160     //Magnetometer
00161     MAG_RADIUS_LSB      =   0x69,
00162     MAG_RADIUS_MSB      =   0x6A,
00163 
00164     //PAGE 1 ================================
00165     //Configuration -------------------------
00166     ACC_CONFIG          =   0x08,
00167     MAG_CONFIG          =   0x09,
00168     GYR_CONFIG_0        =   0x0A,
00169     GYR_CONFIG_1        =   0x0B,
00170     ACC_SLEEP_CONFIG    =   0x0C,
00171     GYR_SLEEP_CONFIG    =   0x0D,
00172 
00173     //Interupt Configuration ----------------
00174     INT_MSK             =   0x0F,
00175     INT_EN              =   0x10,
00176     //Accelerometer
00177     ACC_AM_THRES        =   0x11,
00178     ACC_INT_SETTING     =   0x12,
00179     ACC_HG_DURATION     =   0x13,
00180     ACC_HG_THRES        =   0x14,
00181     ACC_NM_THRES        =   0x15,
00182     ACC_NM_SET          =   0x16,
00183     //Gyroscope
00184     GYR_INT_SETTING     =   0x17,
00185     GYR_HR_X_SET        =   0x18,
00186     GYR_DUR_X           =   0x19,
00187     GYR_HR_Y_SET        =   0x1A,
00188     GYR_DUR_Y           =   0x1B,
00189     GYR_HR_Z_SET        =   0x1C,
00190     GYR_DUR_Z           =   0x1D,
00191     GYR_AM_THRES        =   0x1E,
00192     GYR_AM_SET          =   0x1F
00193 };
00194 
00195 #endif /* BNO055_REGISTERMAP_H */
00196 
00197