Kenji Arai / BNO055_fusion

BNO055 Intelligent 9-axis absolute orientation sensor by Bosch Sensortec. It includes ACC, MAG and GYRO sensors and Cortex-M0+ processor.

Dependents:   BNO055_test BNO055-ELEC3810 1BNO055 DEMO3 ... more

Please see follows.
/users/kenjiArai/notebook/bno055---orientation-sensor/#

BNO055.h@5:cf33bcfe976c, 2017-08-22 (annotated)

Committer:
kenjiArai
Date:
Tue Aug 22 10:13:30 2017 +0000
Revision:
5:cf33bcfe976c
Parent:
4:9e6fead1e93e
Child:
6:07d01bf36ad0
countermeasure for  NonCopyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:86a17116e8be 1 /*
kenjiArai 0:86a17116e8be 2 * mbed library program
kenjiArai 0:86a17116e8be 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 4 * by Bosch Sensortec
kenjiArai 0:86a17116e8be 5 *
kenjiArai 5:cf33bcfe976c 6 * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
kenjiArai 0:86a17116e8be 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:86a17116e8be 8 * http://mbed.org/users/kenjiArai/
kenjiArai 0:86a17116e8be 9 * Created: March 30th, 2015
kenjiArai 5:cf33bcfe976c 10 * Revised: September 21st, 2017
kenjiArai 0:86a17116e8be 11 */
kenjiArai 0:86a17116e8be 12 /*
kenjiArai 0:86a17116e8be 13 *---------------- REFERENCE ----------------------------------------------------------------------
kenjiArai 0:86a17116e8be 14 * Original Information
kenjiArai 0:86a17116e8be 15 * https://www.bosch-sensortec.com/en/homepage/products_3/sensor_hubs/iot_solutions/bno055_1/bno055_4
kenjiArai 0:86a17116e8be 16 * Intelligent 9-axis absolute orientation sensor / Data Sheet BST_BNO055_DS000_12 Nov. 2014 rev.1.2
kenjiArai 0:86a17116e8be 17 * Sample software https://github.com/BoschSensortec/BNO055_driver
kenjiArai 0:86a17116e8be 18 * Sensor board
kenjiArai 0:86a17116e8be 19 * https://www.rutronik24.com/product/bosch+se/bno055+shuttle+board+mems/6431291.html
kenjiArai 0:86a17116e8be 20 * http://microcontrollershop.com/product_info.php?products_id=7140&osCsid=10645k86db2crld4tfi0vol5g5
kenjiArai 0:86a17116e8be 21 */
kenjiArai 0:86a17116e8be 22
kenjiArai 0:86a17116e8be 23 #ifndef BNO055_H
kenjiArai 0:86a17116e8be 24 #define BNO055_H
kenjiArai 0:86a17116e8be 25
kenjiArai 0:86a17116e8be 26 #include "mbed.h"
kenjiArai 0:86a17116e8be 27
kenjiArai 0:86a17116e8be 28 // BNO055
kenjiArai 0:86a17116e8be 29 // 7bit address = 0b010100x(0x28 or 0x29 depends on COM3)
kenjiArai 0:86a17116e8be 30 #define BNO055_G_CHIP_ADDR (0x28 << 1) // COM3 = GND
kenjiArai 0:86a17116e8be 31 #define BNO055_V_CHIP_ADDR (0x29 << 1) // COM3 = Vdd
kenjiArai 0:86a17116e8be 32
kenjiArai 0:86a17116e8be 33 // Fusion mode
kenjiArai 0:86a17116e8be 34 #define CONFIGMODE 0x00
kenjiArai 0:86a17116e8be 35 #define MODE_IMU 0x08
kenjiArai 0:86a17116e8be 36 #define MODE_COMPASS 0x09
kenjiArai 0:86a17116e8be 37 #define MODE_M4G 0x0a
kenjiArai 0:86a17116e8be 38 #define MODE_NDOF_FMC_OFF 0x0b
kenjiArai 0:86a17116e8be 39 #define MODE_NDOF 0x0c
kenjiArai 0:86a17116e8be 40
kenjiArai 0:86a17116e8be 41 // UNIT
kenjiArai 0:86a17116e8be 42 #define UNIT_ACC_MSS 0x00 // acc m/s2
kenjiArai 0:86a17116e8be 43 #define UNIT_ACC_MG 0x01 // acc mg
kenjiArai 0:86a17116e8be 44 #define UNIT_GYR_DPS 0x00 // gyro Dps
kenjiArai 0:86a17116e8be 45 #define UNIT_GYR_RPS 0x02 // gyro Rps
kenjiArai 0:86a17116e8be 46 #define UNIT_EULER_DEG 0x00 // euler Degrees
kenjiArai 0:86a17116e8be 47 #define UNIT_EULER_RAD 0x04 // euler Radians
kenjiArai 0:86a17116e8be 48 #define UNIT_TEMP_C 0x00 // temperature degC
kenjiArai 0:86a17116e8be 49 #define UNIT_TEMP_F 0x10 // temperature degF
kenjiArai 0:86a17116e8be 50 #define UNIT_ORI_WIN 0x00 // Windows orientation
kenjiArai 0:86a17116e8be 51 #define UNIT_ORI_ANDROID 0x80 // Android orientation
kenjiArai 0:86a17116e8be 52
kenjiArai 0:86a17116e8be 53 // ID's
kenjiArai 0:86a17116e8be 54 #define I_AM_BNO055_CHIP 0xa0 // CHIP ID
kenjiArai 0:86a17116e8be 55 #define I_AM_BNO055_ACC 0xfb // ACC ID
kenjiArai 0:86a17116e8be 56 #define I_AM_BNO055_MAG 0x32 // MAG ID
kenjiArai 0:86a17116e8be 57 #define I_AM_BNO055_GYR 0x0f // GYR ID
kenjiArai 0:86a17116e8be 58
kenjiArai 0:86a17116e8be 59 ////////////// DATA TYPE DEFINITION ///////////////////////
kenjiArai 0:86a17116e8be 60 typedef struct {
kenjiArai 0:86a17116e8be 61 uint8_t chip_id;
kenjiArai 0:86a17116e8be 62 uint8_t acc_id;
kenjiArai 0:86a17116e8be 63 uint8_t mag_id;
kenjiArai 0:86a17116e8be 64 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 65 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 66 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 67 } BNO055_ID_INF_TypeDef;
kenjiArai 0:86a17116e8be 68
kenjiArai 0:86a17116e8be 69 typedef struct {
kenjiArai 0:86a17116e8be 70 double h;
kenjiArai 0:86a17116e8be 71 double r;
kenjiArai 0:86a17116e8be 72 double p;
kenjiArai 0:86a17116e8be 73 } BNO055_EULER_TypeDef;
kenjiArai 0:86a17116e8be 74
kenjiArai 0:86a17116e8be 75 typedef struct {
kenjiArai 0:86a17116e8be 76 int16_t x;
kenjiArai 0:86a17116e8be 77 int16_t y;
kenjiArai 0:86a17116e8be 78 int16_t z;
kenjiArai 0:86a17116e8be 79 int16_t w;
kenjiArai 0:86a17116e8be 80 } BNO055_QUATERNION_TypeDef;
kenjiArai 0:86a17116e8be 81
kenjiArai 0:86a17116e8be 82 typedef struct {
kenjiArai 0:86a17116e8be 83 double x;
kenjiArai 0:86a17116e8be 84 double y;
kenjiArai 0:86a17116e8be 85 double z;
kenjiArai 0:86a17116e8be 86 } BNO055_LIN_ACC_TypeDef;
kenjiArai 0:86a17116e8be 87
kenjiArai 0:86a17116e8be 88 typedef struct {
kenjiArai 0:86a17116e8be 89 double x;
kenjiArai 0:86a17116e8be 90 double y;
kenjiArai 0:86a17116e8be 91 double z;
kenjiArai 0:86a17116e8be 92 } BNO055_GRAVITY_TypeDef;
kenjiArai 0:86a17116e8be 93
kenjiArai 0:86a17116e8be 94 typedef struct {
kenjiArai 0:86a17116e8be 95 int8_t acc_chip;
kenjiArai 0:86a17116e8be 96 int8_t gyr_chip;
kenjiArai 0:86a17116e8be 97 } BNO055_TEMPERATURE_TypeDef;
kenjiArai 0:86a17116e8be 98
kenjiArai 0:86a17116e8be 99 enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7};
kenjiArai 0:86a17116e8be 100
kenjiArai 0:86a17116e8be 101 /** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 102 * Chip: BNO055
kenjiArai 0:86a17116e8be 103 *
kenjiArai 0:86a17116e8be 104 * @code
kenjiArai 0:86a17116e8be 105 * #include "mbed.h"
kenjiArai 0:86a17116e8be 106 * #include "BNO055.h"
kenjiArai 0:86a17116e8be 107 *
kenjiArai 0:86a17116e8be 108 * Serial pc(USBTX,USBRX);
kenjiArai 0:86a17116e8be 109 * I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 1:cb7e19c0a702 110 * BNO055 imu(i2c, PA_8); // Reset
kenjiArai 0:86a17116e8be 111 *
kenjiArai 0:86a17116e8be 112 * BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:86a17116e8be 113 * BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:86a17116e8be 114 *
kenjiArai 0:86a17116e8be 115 * int main() {
kenjiArai 0:86a17116e8be 116 * pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 0:86a17116e8be 117 * if (imu.chip_ready() == 0){
kenjiArai 0:86a17116e8be 118 * pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 0:86a17116e8be 119 * }
kenjiArai 0:86a17116e8be 120 * imu.read_id_inf(&bno055_id_inf);
kenjiArai 0:86a17116e8be 121 * pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 0:86a17116e8be 122 * bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
kenjiArai 0:86a17116e8be 123 * bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 0:86a17116e8be 124 * while(1) {
kenjiArai 0:86a17116e8be 125 * imu.get_Euler_Angles(&euler_angles);
kenjiArai 0:86a17116e8be 126 * pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
kenjiArai 0:86a17116e8be 127 * euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 0:86a17116e8be 128 * wait(0.5);
kenjiArai 0:86a17116e8be 129 * }
kenjiArai 0:86a17116e8be 130 * }
kenjiArai 0:86a17116e8be 131 * @endcode
kenjiArai 0:86a17116e8be 132 */
kenjiArai 0:86a17116e8be 133
kenjiArai 0:86a17116e8be 134 class BNO055
kenjiArai 0:86a17116e8be 135 {
kenjiArai 0:86a17116e8be 136 public:
kenjiArai 0:86a17116e8be 137 /** Configure data pin
kenjiArai 0:86a17116e8be 138 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 139 * @param device address
kenjiArai 0:86a17116e8be 140 */
kenjiArai 1:cb7e19c0a702 141 BNO055(PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode);
kenjiArai 0:86a17116e8be 142
kenjiArai 0:86a17116e8be 143 /** Configure data pin
kenjiArai 0:86a17116e8be 144 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 145 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 146 */
kenjiArai 1:cb7e19c0a702 147 BNO055(PinName p_sda, PinName p_scl, PinName p_reset);
kenjiArai 0:86a17116e8be 148
kenjiArai 0:86a17116e8be 149 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 150 * @param I2C previous definition
kenjiArai 0:86a17116e8be 151 * @param device address
kenjiArai 0:86a17116e8be 152 */
kenjiArai 1:cb7e19c0a702 153 BNO055(I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode);
kenjiArai 0:86a17116e8be 154
kenjiArai 0:86a17116e8be 155 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 156 * @param I2C previous definition
kenjiArai 0:86a17116e8be 157 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 158 */
kenjiArai 1:cb7e19c0a702 159 BNO055(I2C& p_i2c, PinName p_reset);
kenjiArai 0:86a17116e8be 160
kenjiArai 0:86a17116e8be 161 /** Get Euler Angles
kenjiArai 0:86a17116e8be 162 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 163 */
kenjiArai 0:86a17116e8be 164 void get_Euler_Angles(BNO055_EULER_TypeDef *el);
kenjiArai 0:86a17116e8be 165
kenjiArai 0:86a17116e8be 166 /** Get Quaternion XYZ&W
kenjiArai 0:86a17116e8be 167 * @param int16_t type of 4D data address
kenjiArai 0:86a17116e8be 168 */
kenjiArai 0:86a17116e8be 169 void get_quaternion(BNO055_QUATERNION_TypeDef *qua);
kenjiArai 0:86a17116e8be 170
kenjiArai 0:86a17116e8be 171 /** Get Linear accel data
kenjiArai 0:86a17116e8be 172 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 173 */
kenjiArai 0:86a17116e8be 174 void get_linear_accel(BNO055_LIN_ACC_TypeDef *la);
kenjiArai 0:86a17116e8be 175
kenjiArai 0:86a17116e8be 176 /** Get Gravity data
kenjiArai 0:86a17116e8be 177 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 178 */
kenjiArai 0:86a17116e8be 179 void get_gravity(BNO055_GRAVITY_TypeDef *gr);
kenjiArai 0:86a17116e8be 180
kenjiArai 0:86a17116e8be 181 /** Get Chip temperature data both Acc & Gyro
kenjiArai 0:86a17116e8be 182 * @param int8_t type of data address
kenjiArai 0:86a17116e8be 183 */
kenjiArai 0:86a17116e8be 184 void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp);
kenjiArai 0:86a17116e8be 185
kenjiArai 0:86a17116e8be 186 /** Change fusion mode
kenjiArai 0:86a17116e8be 187 * @param fusion mode
kenjiArai 0:86a17116e8be 188 * @return none
kenjiArai 0:86a17116e8be 189 */
kenjiArai 0:86a17116e8be 190 void change_fusion_mode(uint8_t mode);
kenjiArai 0:86a17116e8be 191
kenjiArai 0:86a17116e8be 192 /** Set Mouting position
kenjiArai 0:86a17116e8be 193 * Please make sure your mounting direction of BNO055 chip
kenjiArai 0:86a17116e8be 194 * refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap
kenjiArai 0:86a17116e8be 195 * @param Set P0 to P7 mounting position data
kenjiArai 0:86a17116e8be 196 * @return none
kenjiArai 0:86a17116e8be 197 */
kenjiArai 0:86a17116e8be 198 void set_mounting_position(uint8_t position);
kenjiArai 0:86a17116e8be 199
kenjiArai 0:86a17116e8be 200 /** Read BNO055 ID information
kenjiArai 0:86a17116e8be 201 * @param ID information address
kenjiArai 0:86a17116e8be 202 * @return none
kenjiArai 0:86a17116e8be 203 */
kenjiArai 0:86a17116e8be 204 void read_id_inf(BNO055_ID_INF_TypeDef *id);
kenjiArai 0:86a17116e8be 205
kenjiArai 0:86a17116e8be 206 /** Check chip is avairable or not
kenjiArai 0:86a17116e8be 207 * @param none
kenjiArai 0:86a17116e8be 208 * @return OK = 1, NG = 0;
kenjiArai 0:86a17116e8be 209 */
kenjiArai 0:86a17116e8be 210 uint8_t chip_ready(void);
kenjiArai 0:86a17116e8be 211
kenjiArai 2:0f225b686cd5 212 /** Read calibration status
kenjiArai 2:0f225b686cd5 213 * @param none
kenjiArai 2:0f225b686cd5 214 * @return SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet
kenjiArai 2:0f225b686cd5 215 */
kenjiArai 2:0f225b686cd5 216 uint8_t read_calib_status(void);
kenjiArai 2:0f225b686cd5 217
kenjiArai 1:cb7e19c0a702 218 /** Reset
kenjiArai 1:cb7e19c0a702 219 * @param none
kenjiArai 3:0ad6f85b178f 220 * @return 0 = sucess, 1 = Not available chip
kenjiArai 1:cb7e19c0a702 221 */
kenjiArai 1:cb7e19c0a702 222 uint8_t reset(void);
kenjiArai 1:cb7e19c0a702 223
kenjiArai 0:86a17116e8be 224 /** Set I2C clock frequency
kenjiArai 0:86a17116e8be 225 * @param freq.
kenjiArai 0:86a17116e8be 226 * @return none
kenjiArai 0:86a17116e8be 227 */
kenjiArai 0:86a17116e8be 228 void frequency(int hz);
kenjiArai 0:86a17116e8be 229
kenjiArai 0:86a17116e8be 230 /** Read page 0 register
kenjiArai 0:86a17116e8be 231 * @param register's address
kenjiArai 0:86a17116e8be 232 * @return register data
kenjiArai 0:86a17116e8be 233 */
kenjiArai 0:86a17116e8be 234 uint8_t read_reg0(uint8_t addr);
kenjiArai 0:86a17116e8be 235
kenjiArai 0:86a17116e8be 236 /** Write page 0 register
kenjiArai 0:86a17116e8be 237 * @param register's address
kenjiArai 0:86a17116e8be 238 * @param data
kenjiArai 0:86a17116e8be 239 * @return register data
kenjiArai 0:86a17116e8be 240 */
kenjiArai 0:86a17116e8be 241 uint8_t write_reg0(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 242
kenjiArai 0:86a17116e8be 243 /** Read page 1 register
kenjiArai 0:86a17116e8be 244 * @param register's address
kenjiArai 0:86a17116e8be 245 * @return register data
kenjiArai 0:86a17116e8be 246 */
kenjiArai 0:86a17116e8be 247 uint8_t read_reg1(uint8_t addr);
kenjiArai 0:86a17116e8be 248
kenjiArai 0:86a17116e8be 249 /** Write page 1 register
kenjiArai 0:86a17116e8be 250 * @param register's address
kenjiArai 0:86a17116e8be 251 * @param data
kenjiArai 0:86a17116e8be 252 * @return register data
kenjiArai 0:86a17116e8be 253 */
kenjiArai 0:86a17116e8be 254 uint8_t write_reg1(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 255
kenjiArai 0:86a17116e8be 256 protected:
kenjiArai 0:86a17116e8be 257 void initialize(void);
kenjiArai 0:86a17116e8be 258 void check_id(void);
kenjiArai 0:86a17116e8be 259 void set_initial_dt_to_regs(void);
kenjiArai 0:86a17116e8be 260 void unit_selection(void);
kenjiArai 0:86a17116e8be 261 uint8_t check_operating_mode(void);
kenjiArai 0:86a17116e8be 262 uint8_t select_page(uint8_t page);
kenjiArai 0:86a17116e8be 263
kenjiArai 5:cf33bcfe976c 264 I2C *_i2c_p;
kenjiArai 5:cf33bcfe976c 265 I2C &_i2c;
kenjiArai 1:cb7e19c0a702 266 DigitalOut _res;
kenjiArai 0:86a17116e8be 267
kenjiArai 0:86a17116e8be 268 private:
kenjiArai 0:86a17116e8be 269 char dt[10]; // working buffer
kenjiArai 0:86a17116e8be 270 uint8_t chip_addr;
kenjiArai 0:86a17116e8be 271 uint8_t chip_mode;
kenjiArai 3:0ad6f85b178f 272 uint8_t ready_flag;
kenjiArai 3:0ad6f85b178f 273 uint8_t page_flag;
kenjiArai 0:86a17116e8be 274
kenjiArai 0:86a17116e8be 275 uint8_t chip_id;
kenjiArai 0:86a17116e8be 276 uint8_t acc_id;
kenjiArai 0:86a17116e8be 277 uint8_t mag_id;
kenjiArai 0:86a17116e8be 278 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 279 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 280 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 281
kenjiArai 0:86a17116e8be 282 };
kenjiArai 0:86a17116e8be 283
kenjiArai 0:86a17116e8be 284 //---------------------------------------------------------
kenjiArai 0:86a17116e8be 285 //----- Register's definition -----------------------------
kenjiArai 0:86a17116e8be 286 //---------------------------------------------------------
kenjiArai 0:86a17116e8be 287 // Page id register definition
kenjiArai 0:86a17116e8be 288 #define BNO055_PAGE_ID 0x07
kenjiArai 0:86a17116e8be 289
kenjiArai 0:86a17116e8be 290 //----- page0 ---------------------------------------------
kenjiArai 0:86a17116e8be 291 #define BNO055_CHIP_ID 0x00
kenjiArai 0:86a17116e8be 292 #define BNO055_ACCEL_REV_ID 0x01
kenjiArai 0:86a17116e8be 293 #define BNO055_MAG_REV_ID 0x02
kenjiArai 0:86a17116e8be 294 #define BNO055_GYRO_REV_ID 0x03
kenjiArai 0:86a17116e8be 295 #define BNO055_SW_REV_ID_LSB 0x04
kenjiArai 0:86a17116e8be 296 #define BNO055_SW_REV_ID_MSB 0x05
kenjiArai 0:86a17116e8be 297 #define BNO055_BL_REV_ID 0x06
kenjiArai 0:86a17116e8be 298
kenjiArai 0:86a17116e8be 299 // Accel data register*/
kenjiArai 0:86a17116e8be 300 #define BNO055_ACC_X_LSB 0x08
kenjiArai 0:86a17116e8be 301 #define BNO055_ACC_X_MSB 0x09
kenjiArai 0:86a17116e8be 302 #define BNO055_ACC_Y_LSB 0x0a
kenjiArai 0:86a17116e8be 303 #define BNO055_ACC_Y_MSB 0x0b
kenjiArai 0:86a17116e8be 304 #define BNO055_ACC_Z_LSB 0x0c
kenjiArai 0:86a17116e8be 305 #define BNO055_ACC_Z_MSB 0x0d
kenjiArai 0:86a17116e8be 306
kenjiArai 0:86a17116e8be 307 // Mag data register
kenjiArai 0:86a17116e8be 308 #define BNO055_MAG_X_LSB 0x0e
kenjiArai 0:86a17116e8be 309 #define BNO055_MAG_X_MSB 0x0f
kenjiArai 0:86a17116e8be 310 #define BNO055_MAG_Y_LSB 0x10
kenjiArai 0:86a17116e8be 311 #define BNO055_MAG_Y_MSB 0x11
kenjiArai 0:86a17116e8be 312 #define BNO055_MAG_Z_LSB 0x12
kenjiArai 0:86a17116e8be 313 #define BNO055_MAG_Z_MSB 0x13
kenjiArai 0:86a17116e8be 314
kenjiArai 0:86a17116e8be 315 // Gyro data registers
kenjiArai 0:86a17116e8be 316 #define BNO055_GYR_X_LSB 0x14
kenjiArai 0:86a17116e8be 317 #define BNO055_GYR_X_MSB 0x15
kenjiArai 0:86a17116e8be 318 #define BNO055_GYR_Y_LSB 0x16
kenjiArai 0:86a17116e8be 319 #define BNO055_GYR_Y_MSB 0x17
kenjiArai 0:86a17116e8be 320 #define BNO055_GYR_Z_LSB 0x18
kenjiArai 0:86a17116e8be 321 #define BNO055_GYR_Z_MSB 0x19
kenjiArai 0:86a17116e8be 322
kenjiArai 0:86a17116e8be 323 // Euler data registers
kenjiArai 0:86a17116e8be 324 #define BNO055_EULER_H_LSB 0x1a
kenjiArai 0:86a17116e8be 325 #define BNO055_EULER_H_MSB 0x1b
kenjiArai 0:86a17116e8be 326
kenjiArai 0:86a17116e8be 327 #define BNO055_EULER_R_LSB 0x1c
kenjiArai 0:86a17116e8be 328 #define BNO055_EULER_R_MSB 0x1d
kenjiArai 0:86a17116e8be 329
kenjiArai 0:86a17116e8be 330 #define BNO055_EULER_P_LSB 0x1e
kenjiArai 0:86a17116e8be 331 #define BNO055_EULER_P_MSB 0x1f
kenjiArai 0:86a17116e8be 332
kenjiArai 0:86a17116e8be 333 // Quaternion data registers
kenjiArai 0:86a17116e8be 334 #define BNO055_QUATERNION_W_LSB 0x20
kenjiArai 0:86a17116e8be 335 #define BNO055_QUATERNION_W_MSB 0x21
kenjiArai 0:86a17116e8be 336 #define BNO055_QUATERNION_X_LSB 0x22
kenjiArai 0:86a17116e8be 337 #define BNO055_QUATERNION_X_MSB 0x23
kenjiArai 0:86a17116e8be 338 #define BNO055_QUATERNION_Y_LSB 0x24
kenjiArai 0:86a17116e8be 339 #define BNO055_QUATERNION_Y_MSB 0x25
kenjiArai 0:86a17116e8be 340 #define BNO055_QUATERNION_Z_LSB 0x26
kenjiArai 0:86a17116e8be 341 #define BNO055_QUATERNION_Z_MSB 0x27
kenjiArai 0:86a17116e8be 342
kenjiArai 0:86a17116e8be 343 // Linear acceleration data registers
kenjiArai 0:86a17116e8be 344 #define BNO055_LINEAR_ACC_X_LSB 0x28
kenjiArai 0:86a17116e8be 345 #define BNO055_LINEAR_ACC_X_MSB 0x29
kenjiArai 0:86a17116e8be 346 #define BNO055_LINEAR_ACC_Y_LSB 0x2a
kenjiArai 0:86a17116e8be 347 #define BNO055_LINEAR_ACC_Y_MSB 0x2b
kenjiArai 0:86a17116e8be 348 #define BNO055_LINEAR_ACC_Z_LSB 0x2c
kenjiArai 0:86a17116e8be 349 #define BNO055_LINEAR_ACC_Z_MSB 0x2d
kenjiArai 0:86a17116e8be 350
kenjiArai 0:86a17116e8be 351 // Gravity data registers
kenjiArai 0:86a17116e8be 352 #define BNO055_GRAVITY_X_LSB 0x2e
kenjiArai 0:86a17116e8be 353 #define BNO055_GRAVITY_X_MSB 0x2f
kenjiArai 0:86a17116e8be 354 #define BNO055_GRAVITY_Y_LSB 0x30
kenjiArai 0:86a17116e8be 355 #define BNO055_GRAVITY_Y_MSB 0x31
kenjiArai 0:86a17116e8be 356 #define BNO055_GRAVITY_Z_LSB 0x32
kenjiArai 0:86a17116e8be 357 #define BNO055_GRAVITY_Z_MSB 0x33
kenjiArai 0:86a17116e8be 358
kenjiArai 0:86a17116e8be 359 // Temperature data register
kenjiArai 0:86a17116e8be 360 #define BNO055_TEMP 0x34
kenjiArai 0:86a17116e8be 361
kenjiArai 0:86a17116e8be 362 // Status registers
kenjiArai 0:86a17116e8be 363 #define BNO055_CALIB_STAT 0x35
kenjiArai 0:86a17116e8be 364 #define BNO055_SELFTEST_RESULT 0x36
kenjiArai 0:86a17116e8be 365 #define BNO055_INTR_STAT 0x37
kenjiArai 0:86a17116e8be 366 #define BNO055_SYS_CLK_STAT 0x38
kenjiArai 0:86a17116e8be 367 #define BNO055_SYS_STAT 0x39
kenjiArai 0:86a17116e8be 368 #define BNO055_SYS_ERR 0x3a
kenjiArai 0:86a17116e8be 369
kenjiArai 0:86a17116e8be 370 // Unit selection register
kenjiArai 0:86a17116e8be 371 #define BNO055_UNIT_SEL 0x3b
kenjiArai 0:86a17116e8be 372 #define BNO055_DATA_SELECT 0x3c
kenjiArai 0:86a17116e8be 373
kenjiArai 0:86a17116e8be 374 // Mode registers
kenjiArai 0:86a17116e8be 375 #define BNO055_OPR_MODE 0x3d
kenjiArai 0:86a17116e8be 376 #define BNO055_PWR_MODE 0x3e
kenjiArai 0:86a17116e8be 377 #define BNO055_SYS_TRIGGER 0x3f
kenjiArai 0:86a17116e8be 378 #define BNO055_TEMP_SOURCE 0x40
kenjiArai 0:86a17116e8be 379
kenjiArai 0:86a17116e8be 380 // Axis remap registers
kenjiArai 0:86a17116e8be 381 #define BNO055_AXIS_MAP_CONFIG 0x41
kenjiArai 0:86a17116e8be 382 #define BNO055_AXIS_MAP_SIGN 0x42
kenjiArai 0:86a17116e8be 383
kenjiArai 0:86a17116e8be 384 // SIC registers
kenjiArai 0:86a17116e8be 385 #define BNO055_SIC_MTRX_0_LSB 0x43
kenjiArai 0:86a17116e8be 386 #define BNO055_SIC_MTRX_0_MSB 0x44
kenjiArai 0:86a17116e8be 387 #define BNO055_SIC_MTRX_1_LSB 0x45
kenjiArai 0:86a17116e8be 388 #define BNO055_SIC_MTRX_1_MSB 0x46
kenjiArai 0:86a17116e8be 389 #define BNO055_SIC_MTRX_2_LSB 0x47
kenjiArai 0:86a17116e8be 390 #define BNO055_SIC_MTRX_2_MSB 0x48
kenjiArai 0:86a17116e8be 391 #define BNO055_SIC_MTRX_3_LSB 0x49
kenjiArai 0:86a17116e8be 392 #define BNO055_SIC_MTRX_3_MSB 0x4a
kenjiArai 0:86a17116e8be 393 #define BNO055_SIC_MTRX_4_LSB 0x4b
kenjiArai 0:86a17116e8be 394 #define BNO055_SIC_MTRX_4_MSB 0x4c
kenjiArai 0:86a17116e8be 395 #define BNO055_SIC_MTRX_5_LSB 0x4d
kenjiArai 0:86a17116e8be 396 #define BNO055_SIC_MTRX_5_MSB 0x4e
kenjiArai 0:86a17116e8be 397 #define BNO055_SIC_MTRX_6_LSB 0x4f
kenjiArai 0:86a17116e8be 398 #define BNO055_SIC_MTRX_6_MSB 0x50
kenjiArai 0:86a17116e8be 399 #define BNO055_SIC_MTRX_7_LSB 0x51
kenjiArai 0:86a17116e8be 400 #define BNO055_SIC_MTRX_7_MSB 0x52
kenjiArai 0:86a17116e8be 401 #define BNO055_SIC_MTRX_8_LSB 0x53
kenjiArai 0:86a17116e8be 402 #define BNO055_SIC_MTRX_8_MSB 0x54
kenjiArai 0:86a17116e8be 403
kenjiArai 0:86a17116e8be 404 // Accelerometer Offset registers
kenjiArai 0:86a17116e8be 405 #define ACCEL_OFFSET_X_LSB 0x55
kenjiArai 0:86a17116e8be 406 #define ACCEL_OFFSET_X_MSB 0x56
kenjiArai 0:86a17116e8be 407 #define ACCEL_OFFSET_Y_LSB 0x57
kenjiArai 0:86a17116e8be 408 #define ACCEL_OFFSET_Y_MSB 0x58
kenjiArai 0:86a17116e8be 409 #define ACCEL_OFFSET_Z_LSB 0x59
kenjiArai 0:86a17116e8be 410 #define ACCEL_OFFSET_Z_MSB 0x5a
kenjiArai 0:86a17116e8be 411
kenjiArai 0:86a17116e8be 412 // Magnetometer Offset registers
kenjiArai 0:86a17116e8be 413 #define MAG_OFFSET_X_LSB 0x5b
kenjiArai 0:86a17116e8be 414 #define MAG_OFFSET_X_MSB 0x5c
kenjiArai 0:86a17116e8be 415 #define MAG_OFFSET_Y_LSB 0x5d
kenjiArai 0:86a17116e8be 416 #define MAG_OFFSET_Y_MSB 0x5e
kenjiArai 0:86a17116e8be 417 #define MAG_OFFSET_Z_LSB 0x5f
kenjiArai 0:86a17116e8be 418 #define MAG_OFFSET_Z_MSB 0x60
kenjiArai 0:86a17116e8be 419
kenjiArai 0:86a17116e8be 420 // Gyroscope Offset registers
kenjiArai 0:86a17116e8be 421 #define GYRO_OFFSET_X_LSB 0x61
kenjiArai 0:86a17116e8be 422 #define GYRO_OFFSET_X_MSB 0x62
kenjiArai 0:86a17116e8be 423 #define GYRO_OFFSET_Y_LSB 0x63
kenjiArai 0:86a17116e8be 424 #define GYRO_OFFSET_Y_MSB 0x64
kenjiArai 0:86a17116e8be 425 #define GYRO_OFFSET_Z_LSB 0x65
kenjiArai 0:86a17116e8be 426 #define GYRO_OFFSET_Z_MSB 0x66
kenjiArai 0:86a17116e8be 427
kenjiArai 0:86a17116e8be 428 // Radius registers
kenjiArai 0:86a17116e8be 429 #define ACCEL_RADIUS_LSB 0x67
kenjiArai 0:86a17116e8be 430 #define ACCEL_RADIUS_MSB 0x68
kenjiArai 0:86a17116e8be 431 #define MAG_RADIUS_LSB 0x69
kenjiArai 0:86a17116e8be 432 #define MAG_RADIUS_MSB 0x6a
kenjiArai 0:86a17116e8be 433
kenjiArai 0:86a17116e8be 434 //----- page1 ---------------------------------------------
kenjiArai 0:86a17116e8be 435 // Configuration registers
kenjiArai 0:86a17116e8be 436 #define ACCEL_CONFIG 0x08
kenjiArai 0:86a17116e8be 437 #define MAG_CONFIG 0x09
kenjiArai 0:86a17116e8be 438 #define GYRO_CONFIG 0x0a
kenjiArai 0:86a17116e8be 439 #define GYRO_MODE_CONFIG 0x0b
kenjiArai 0:86a17116e8be 440 #define ACCEL_SLEEP_CONFIG 0x0c
kenjiArai 0:86a17116e8be 441 #define GYRO_SLEEP_CONFIG 0x0d
kenjiArai 0:86a17116e8be 442 #define MAG_SLEEP_CONFIG 0x0e
kenjiArai 0:86a17116e8be 443
kenjiArai 0:86a17116e8be 444 // Interrupt registers
kenjiArai 0:86a17116e8be 445 #define INT_MASK 0x0f
kenjiArai 0:86a17116e8be 446 #define INT 0x10
kenjiArai 0:86a17116e8be 447 #define ACCEL_ANY_MOTION_THRES 0x11
kenjiArai 0:86a17116e8be 448 #define ACCEL_INTR_SETTINGS 0x12
kenjiArai 0:86a17116e8be 449 #define ACCEL_HIGH_G_DURN 0x13
kenjiArai 0:86a17116e8be 450 #define ACCEL_HIGH_G_THRES 0x14
kenjiArai 0:86a17116e8be 451 #define ACCEL_NO_MOTION_THRES 0x15
kenjiArai 0:86a17116e8be 452 #define ACCEL_NO_MOTION_SET 0x16
kenjiArai 0:86a17116e8be 453 #define GYRO_INTR_SETING 0x17
kenjiArai 0:86a17116e8be 454 #define GYRO_HIGHRATE_X_SET 0x18
kenjiArai 0:86a17116e8be 455 #define GYRO_DURN_X 0x19
kenjiArai 0:86a17116e8be 456 #define GYRO_HIGHRATE_Y_SET 0x1a
kenjiArai 0:86a17116e8be 457 #define GYRO_DURN_Y 0x1b
kenjiArai 0:86a17116e8be 458 #define GYRO_HIGHRATE_Z_SET 0x1c
kenjiArai 0:86a17116e8be 459 #define GYRO_DURN_Z 0x1d
kenjiArai 0:86a17116e8be 460 #define GYRO_ANY_MOTION_THRES 0x1e
kenjiArai 0:86a17116e8be 461 #define GYRO_ANY_MOTION_SET 0x1f
kenjiArai 0:86a17116e8be 462
kenjiArai 3:0ad6f85b178f 463 //---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 464 //----- Calibration example -------------------------------
kenjiArai 3:0ad6f85b178f 465 //---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 466 #if 0
kenjiArai 3:0ad6f85b178f 467 // Calibration
kenjiArai 3:0ad6f85b178f 468 // Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 3:0ad6f85b178f 469 void bno055_calbration(void){
kenjiArai 3:0ad6f85b178f 470 uint8_t d;
kenjiArai 3:0ad6f85b178f 471
kenjiArai 3:0ad6f85b178f 472 pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 3:0ad6f85b178f 473 //---------- Gyroscope Caliblation ------------------------------------------------------------
kenjiArai 3:0ad6f85b178f 474 // (a) Place the device in a single stable position for a period of few seconds to allow the
kenjiArai 3:0ad6f85b178f 475 // gyroscope to calibrate
kenjiArai 3:0ad6f85b178f 476 pc.printf("Step1) Please wait few seconds\r\n");
kenjiArai 3:0ad6f85b178f 477 t.start();
kenjiArai 3:0ad6f85b178f 478 while (t.read() < 10){
kenjiArai 3:0ad6f85b178f 479 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 480 pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 3:0ad6f85b178f 481 if ((d & 0x30) == 0x30){
kenjiArai 3:0ad6f85b178f 482 break;
kenjiArai 3:0ad6f85b178f 483 }
kenjiArai 3:0ad6f85b178f 484 wait(1.0);
kenjiArai 3:0ad6f85b178f 485 }
kenjiArai 3:0ad6f85b178f 486 pc.printf("-> Step1) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 487 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 488 // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
kenjiArai 3:0ad6f85b178f 489 // CALIB_STAT register indicates fully calibrated.
kenjiArai 3:0ad6f85b178f 490 // (b) It takes more calibration movements to get the magnetometer calibrated than in the
kenjiArai 3:0ad6f85b178f 491 // NDOF mode.
kenjiArai 3:0ad6f85b178f 492 pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 3:0ad6f85b178f 493 t.start();
kenjiArai 3:0ad6f85b178f 494 while (t.read() < 30){
kenjiArai 3:0ad6f85b178f 495 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 496 pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 3:0ad6f85b178f 497 if ((d & 0x03) == 0x03){
kenjiArai 3:0ad6f85b178f 498 break;
kenjiArai 3:0ad6f85b178f 499 }
kenjiArai 3:0ad6f85b178f 500 wait(1.0);
kenjiArai 3:0ad6f85b178f 501 }
kenjiArai 3:0ad6f85b178f 502 pc.printf("-> Step2) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 503 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 504 // a) Place the device in 6 different stable positions for a period of few seconds
kenjiArai 3:0ad6f85b178f 505 // to allow the accelerometer to calibrate.
kenjiArai 3:0ad6f85b178f 506 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 3:0ad6f85b178f 507 // The 6 stable positions could be in any direction, but make sure that the device is
kenjiArai 3:0ad6f85b178f 508 // lying at least once perpendicular to the x, y and z axis.
kenjiArai 3:0ad6f85b178f 509 pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 3:0ad6f85b178f 510 pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 3:0ad6f85b178f 511 pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 3:0ad6f85b178f 512 pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 3:0ad6f85b178f 513 pc.printf(" If you will give up, hit any key.\r\n", d);
kenjiArai 3:0ad6f85b178f 514 t.stop();
kenjiArai 3:0ad6f85b178f 515 while (true){
kenjiArai 3:0ad6f85b178f 516 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 517 imu.get_gravity(&gravity);
kenjiArai 3:0ad6f85b178f 518 pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n",
kenjiArai 3:0ad6f85b178f 519 d, gravity.x, gravity.y, gravity.z);
kenjiArai 3:0ad6f85b178f 520 if (d == 0xff){ break;}
kenjiArai 3:0ad6f85b178f 521 if (pc.readable()){ break;}
kenjiArai 3:0ad6f85b178f 522 wait(1.0);
kenjiArai 3:0ad6f85b178f 523 }
kenjiArai 3:0ad6f85b178f 524 if (imu.read_calib_status() == 0xff){
kenjiArai 3:0ad6f85b178f 525 pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 526 } else {
kenjiArai 3:0ad6f85b178f 527 pc.printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 528 }
kenjiArai 3:0ad6f85b178f 529 t.stop();
kenjiArai 3:0ad6f85b178f 530 }
kenjiArai 3:0ad6f85b178f 531 #endif
kenjiArai 3:0ad6f85b178f 532
kenjiArai 0:86a17116e8be 533 #endif // BNO055_H