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@7:b48d96169302, 2020-08-05 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 05 05:28:13 2020 +0000
Revision:
7:b48d96169302
Parent:
6:07d01bf36ad0 
run on mbed-os6.2.0

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 7:b48d96169302 6 * Copyright (c) 2015,'17,'20 Kenji Arai / JH1PJL
kenjiArai 7:b48d96169302 7 * http://www7b.biglobe.ne.jp/~kenjia/
kenjiArai 7:b48d96169302 8 * https://os.mbed.com/users/kenjiArai/
kenjiArai 0:86a17116e8be 9 * Created: March 30th, 2015
kenjiArai 7:b48d96169302 10 * Revised: August 5th, 2020
kenjiArai 0:86a17116e8be 11 */
kenjiArai 0:86a17116e8be 12 /*
kenjiArai 7:b48d96169302 13 *---------------- REFERENCE ---------------------------------------------------
kenjiArai 0:86a17116e8be 14 * Original Information
kenjiArai 7:b48d96169302 15 * https://www.bosch-sensortec.com/en/homepage/
kenjiArai 7:b48d96169302 16 * products_3/sensor_hubs/iot_solutions/bno055_1/bno055_4
kenjiArai 7:b48d96169302 17 * Intelligent 9-axis absolute orientation sensor
kenjiArai 7:b48d96169302 18 * / Data Sheet BST_BNO055_DS000_12 Nov. 2014 rev.1.2
kenjiArai 0:86a17116e8be 19 * Sample software https://github.com/BoschSensortec/BNO055_driver
kenjiArai 0:86a17116e8be 20 * Sensor board
kenjiArai 7:b48d96169302 21 * https://www.rutronik24.com/product/bosch+se/
kenjiArai 7:b48d96169302 22 * bno055+shuttle+board+mems/6431291.html
kenjiArai 7:b48d96169302 23 * http://microcontrollershop.com/product_info.php
kenjiArai 7:b48d96169302 24 * ?products_id=7140&osCsid=10645k86db2crld4tfi0vol5g5
kenjiArai 0:86a17116e8be 25 */
kenjiArai 0:86a17116e8be 26
kenjiArai 0:86a17116e8be 27 #ifndef BNO055_H
kenjiArai 0:86a17116e8be 28 #define BNO055_H
kenjiArai 0:86a17116e8be 29
kenjiArai 0:86a17116e8be 30 #include "mbed.h"
kenjiArai 0:86a17116e8be 31
kenjiArai 0:86a17116e8be 32 // BNO055
kenjiArai 0:86a17116e8be 33 // 7bit address = 0b010100x(0x28 or 0x29 depends on COM3)
kenjiArai 0:86a17116e8be 34 #define BNO055_G_CHIP_ADDR (0x28 << 1) // COM3 = GND
kenjiArai 0:86a17116e8be 35 #define BNO055_V_CHIP_ADDR (0x29 << 1) // COM3 = Vdd
kenjiArai 0:86a17116e8be 36
kenjiArai 0:86a17116e8be 37 // Fusion mode
kenjiArai 0:86a17116e8be 38 #define CONFIGMODE 0x00
kenjiArai 0:86a17116e8be 39 #define MODE_IMU 0x08
kenjiArai 0:86a17116e8be 40 #define MODE_COMPASS 0x09
kenjiArai 0:86a17116e8be 41 #define MODE_M4G 0x0a
kenjiArai 0:86a17116e8be 42 #define MODE_NDOF_FMC_OFF 0x0b
kenjiArai 0:86a17116e8be 43 #define MODE_NDOF 0x0c
kenjiArai 0:86a17116e8be 44
kenjiArai 0:86a17116e8be 45 // UNIT
kenjiArai 0:86a17116e8be 46 #define UNIT_ACC_MSS 0x00 // acc m/s2
kenjiArai 0:86a17116e8be 47 #define UNIT_ACC_MG 0x01 // acc mg
kenjiArai 0:86a17116e8be 48 #define UNIT_GYR_DPS 0x00 // gyro Dps
kenjiArai 0:86a17116e8be 49 #define UNIT_GYR_RPS 0x02 // gyro Rps
kenjiArai 0:86a17116e8be 50 #define UNIT_EULER_DEG 0x00 // euler Degrees
kenjiArai 0:86a17116e8be 51 #define UNIT_EULER_RAD 0x04 // euler Radians
kenjiArai 0:86a17116e8be 52 #define UNIT_TEMP_C 0x00 // temperature degC
kenjiArai 0:86a17116e8be 53 #define UNIT_TEMP_F 0x10 // temperature degF
kenjiArai 0:86a17116e8be 54 #define UNIT_ORI_WIN 0x00 // Windows orientation
kenjiArai 0:86a17116e8be 55 #define UNIT_ORI_ANDROID 0x80 // Android orientation
kenjiArai 0:86a17116e8be 56
kenjiArai 0:86a17116e8be 57 // ID's
kenjiArai 0:86a17116e8be 58 #define I_AM_BNO055_CHIP 0xa0 // CHIP ID
kenjiArai 0:86a17116e8be 59 #define I_AM_BNO055_ACC 0xfb // ACC ID
kenjiArai 0:86a17116e8be 60 #define I_AM_BNO055_MAG 0x32 // MAG ID
kenjiArai 0:86a17116e8be 61 #define I_AM_BNO055_GYR 0x0f // GYR ID
kenjiArai 0:86a17116e8be 62
kenjiArai 7:b48d96169302 63 ////////////// DATA TYPE DEFINITION ////////////////////////////////////////////
kenjiArai 0:86a17116e8be 64 typedef struct {
kenjiArai 0:86a17116e8be 65 uint8_t chip_id;
kenjiArai 0:86a17116e8be 66 uint8_t acc_id;
kenjiArai 0:86a17116e8be 67 uint8_t mag_id;
kenjiArai 0:86a17116e8be 68 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 69 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 70 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 71 } BNO055_ID_INF_TypeDef;
kenjiArai 0:86a17116e8be 72
kenjiArai 0:86a17116e8be 73 typedef struct {
kenjiArai 0:86a17116e8be 74 double h;
kenjiArai 0:86a17116e8be 75 double r;
kenjiArai 0:86a17116e8be 76 double p;
kenjiArai 0:86a17116e8be 77 } BNO055_EULER_TypeDef;
kenjiArai 0:86a17116e8be 78
kenjiArai 0:86a17116e8be 79 typedef struct {
kenjiArai 0:86a17116e8be 80 int16_t x;
kenjiArai 0:86a17116e8be 81 int16_t y;
kenjiArai 0:86a17116e8be 82 int16_t z;
kenjiArai 0:86a17116e8be 83 int16_t w;
kenjiArai 0:86a17116e8be 84 } BNO055_QUATERNION_TypeDef;
kenjiArai 0:86a17116e8be 85
kenjiArai 0:86a17116e8be 86 typedef struct {
kenjiArai 0:86a17116e8be 87 double x;
kenjiArai 0:86a17116e8be 88 double y;
kenjiArai 0:86a17116e8be 89 double z;
kenjiArai 0:86a17116e8be 90 } BNO055_LIN_ACC_TypeDef;
kenjiArai 0:86a17116e8be 91
kenjiArai 0:86a17116e8be 92 typedef struct {
kenjiArai 0:86a17116e8be 93 double x;
kenjiArai 0:86a17116e8be 94 double y;
kenjiArai 0:86a17116e8be 95 double z;
kenjiArai 0:86a17116e8be 96 } BNO055_GRAVITY_TypeDef;
kenjiArai 0:86a17116e8be 97
kenjiArai 0:86a17116e8be 98 typedef struct {
kenjiArai 0:86a17116e8be 99 int8_t acc_chip;
kenjiArai 0:86a17116e8be 100 int8_t gyr_chip;
kenjiArai 0:86a17116e8be 101 } BNO055_TEMPERATURE_TypeDef;
kenjiArai 0:86a17116e8be 102
kenjiArai 0:86a17116e8be 103 enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7};
kenjiArai 0:86a17116e8be 104
kenjiArai 0:86a17116e8be 105 /** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor
kenjiArai 0:86a17116e8be 106 * Chip: BNO055
kenjiArai 0:86a17116e8be 107 *
kenjiArai 0:86a17116e8be 108 * @code
kenjiArai 0:86a17116e8be 109 * #include "mbed.h"
kenjiArai 0:86a17116e8be 110 * #include "BNO055.h"
kenjiArai 0:86a17116e8be 111 *
kenjiArai 0:86a17116e8be 112 * Serial pc(USBTX,USBRX);
kenjiArai 0:86a17116e8be 113 * I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 1:cb7e19c0a702 114 * BNO055 imu(i2c, PA_8); // Reset
kenjiArai 0:86a17116e8be 115 *
kenjiArai 0:86a17116e8be 116 * BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:86a17116e8be 117 * BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:86a17116e8be 118 *
kenjiArai 0:86a17116e8be 119 * int main() {
kenjiArai 0:86a17116e8be 120 * if (imu.chip_ready() == 0){
kenjiArai 7:b48d96169302 121 * printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 0:86a17116e8be 122 * }
kenjiArai 0:86a17116e8be 123 * imu.read_id_inf(&bno055_id_inf);
kenjiArai 7:b48d96169302 124 * printf(
kenjiArai 7:b48d96169302 125 * "CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x,",
kenjiArai 7:b48d96169302 126 * bno055_id_inf.chip_id, bno055_id_inf.acc_id,
kenjiArai 7:b48d96169302 127 * bno055_id_inf.mag_id, bno055_id_inf.gyr_id);
kenjiArai 7:b48d96169302 128 * printf(" , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 7:b48d96169302 129 * bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id)
kenjiArai 0:86a17116e8be 130 * while(1) {
kenjiArai 0:86a17116e8be 131 * imu.get_Euler_Angles(&euler_angles);
kenjiArai 7:b48d96169302 132 * printf(
kenjiArai 7:b48d96169302 133 * "Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
kenjiArai 7:b48d96169302 134 * euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 7:b48d96169302 135 * ThisThread::sleep_for(500ms);
kenjiArai 0:86a17116e8be 136 * }
kenjiArai 0:86a17116e8be 137 * }
kenjiArai 0:86a17116e8be 138 * @endcode
kenjiArai 0:86a17116e8be 139 */
kenjiArai 0:86a17116e8be 140
kenjiArai 0:86a17116e8be 141 class BNO055
kenjiArai 0:86a17116e8be 142 {
kenjiArai 0:86a17116e8be 143 public:
kenjiArai 0:86a17116e8be 144 /** Configure data pin
kenjiArai 0:86a17116e8be 145 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 146 * @param device address
kenjiArai 0:86a17116e8be 147 */
kenjiArai 7:b48d96169302 148 BNO055(
kenjiArai 7:b48d96169302 149 PinName p_sda, PinName p_scl,
kenjiArai 7:b48d96169302 150 PinName p_reset, uint8_t addr, uint8_t mode
kenjiArai 7:b48d96169302 151 );
kenjiArai 0:86a17116e8be 152
kenjiArai 0:86a17116e8be 153 /** Configure data pin
kenjiArai 0:86a17116e8be 154 * @param data SDA and SCL pins
kenjiArai 0:86a17116e8be 155 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 156 */
kenjiArai 1:cb7e19c0a702 157 BNO055(PinName p_sda, PinName p_scl, PinName p_reset);
kenjiArai 0:86a17116e8be 158
kenjiArai 0:86a17116e8be 159 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 160 * @param I2C previous definition
kenjiArai 0:86a17116e8be 161 * @param device address
kenjiArai 0:86a17116e8be 162 */
kenjiArai 1:cb7e19c0a702 163 BNO055(I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode);
kenjiArai 0:86a17116e8be 164
kenjiArai 0:86a17116e8be 165 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:86a17116e8be 166 * @param I2C previous definition
kenjiArai 0:86a17116e8be 167 * @param Other parameters are set default data
kenjiArai 0:86a17116e8be 168 */
kenjiArai 1:cb7e19c0a702 169 BNO055(I2C& p_i2c, PinName p_reset);
kenjiArai 0:86a17116e8be 170
kenjiArai 0:86a17116e8be 171 /** Get Euler Angles
kenjiArai 0:86a17116e8be 172 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 173 */
kenjiArai 0:86a17116e8be 174 void get_Euler_Angles(BNO055_EULER_TypeDef *el);
kenjiArai 0:86a17116e8be 175
kenjiArai 0:86a17116e8be 176 /** Get Quaternion XYZ&W
kenjiArai 0:86a17116e8be 177 * @param int16_t type of 4D data address
kenjiArai 0:86a17116e8be 178 */
kenjiArai 0:86a17116e8be 179 void get_quaternion(BNO055_QUATERNION_TypeDef *qua);
kenjiArai 0:86a17116e8be 180
kenjiArai 0:86a17116e8be 181 /** Get Linear accel data
kenjiArai 0:86a17116e8be 182 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 183 */
kenjiArai 0:86a17116e8be 184 void get_linear_accel(BNO055_LIN_ACC_TypeDef *la);
kenjiArai 0:86a17116e8be 185
kenjiArai 0:86a17116e8be 186 /** Get Gravity data
kenjiArai 0:86a17116e8be 187 * @param double type of 3D data address
kenjiArai 0:86a17116e8be 188 */
kenjiArai 0:86a17116e8be 189 void get_gravity(BNO055_GRAVITY_TypeDef *gr);
kenjiArai 0:86a17116e8be 190
kenjiArai 0:86a17116e8be 191 /** Get Chip temperature data both Acc & Gyro
kenjiArai 0:86a17116e8be 192 * @param int8_t type of data address
kenjiArai 0:86a17116e8be 193 */
kenjiArai 0:86a17116e8be 194 void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp);
kenjiArai 0:86a17116e8be 195
kenjiArai 0:86a17116e8be 196 /** Change fusion mode
kenjiArai 0:86a17116e8be 197 * @param fusion mode
kenjiArai 0:86a17116e8be 198 * @return none
kenjiArai 0:86a17116e8be 199 */
kenjiArai 0:86a17116e8be 200 void change_fusion_mode(uint8_t mode);
kenjiArai 0:86a17116e8be 201
kenjiArai 0:86a17116e8be 202 /** Set Mouting position
kenjiArai 0:86a17116e8be 203 * Please make sure your mounting direction of BNO055 chip
kenjiArai 0:86a17116e8be 204 * refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap
kenjiArai 0:86a17116e8be 205 * @param Set P0 to P7 mounting position data
kenjiArai 0:86a17116e8be 206 * @return none
kenjiArai 0:86a17116e8be 207 */
kenjiArai 0:86a17116e8be 208 void set_mounting_position(uint8_t position);
kenjiArai 0:86a17116e8be 209
kenjiArai 0:86a17116e8be 210 /** Read BNO055 ID information
kenjiArai 0:86a17116e8be 211 * @param ID information address
kenjiArai 0:86a17116e8be 212 * @return none
kenjiArai 0:86a17116e8be 213 */
kenjiArai 0:86a17116e8be 214 void read_id_inf(BNO055_ID_INF_TypeDef *id);
kenjiArai 0:86a17116e8be 215
kenjiArai 0:86a17116e8be 216 /** Check chip is avairable or not
kenjiArai 0:86a17116e8be 217 * @param none
kenjiArai 0:86a17116e8be 218 * @return OK = 1, NG = 0;
kenjiArai 0:86a17116e8be 219 */
kenjiArai 0:86a17116e8be 220 uint8_t chip_ready(void);
kenjiArai 0:86a17116e8be 221
kenjiArai 2:0f225b686cd5 222 /** Read calibration status
kenjiArai 2:0f225b686cd5 223 * @param none
kenjiArai 2:0f225b686cd5 224 * @return SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet
kenjiArai 2:0f225b686cd5 225 */
kenjiArai 2:0f225b686cd5 226 uint8_t read_calib_status(void);
kenjiArai 2:0f225b686cd5 227
kenjiArai 1:cb7e19c0a702 228 /** Reset
kenjiArai 1:cb7e19c0a702 229 * @param none
kenjiArai 3:0ad6f85b178f 230 * @return 0 = sucess, 1 = Not available chip
kenjiArai 1:cb7e19c0a702 231 */
kenjiArai 1:cb7e19c0a702 232 uint8_t reset(void);
kenjiArai 1:cb7e19c0a702 233
kenjiArai 0:86a17116e8be 234 /** Set I2C clock frequency
kenjiArai 0:86a17116e8be 235 * @param freq.
kenjiArai 0:86a17116e8be 236 * @return none
kenjiArai 0:86a17116e8be 237 */
kenjiArai 0:86a17116e8be 238 void frequency(int hz);
kenjiArai 0:86a17116e8be 239
kenjiArai 0:86a17116e8be 240 /** Read page 0 register
kenjiArai 0:86a17116e8be 241 * @param register's address
kenjiArai 0:86a17116e8be 242 * @return register data
kenjiArai 0:86a17116e8be 243 */
kenjiArai 0:86a17116e8be 244 uint8_t read_reg0(uint8_t addr);
kenjiArai 0:86a17116e8be 245
kenjiArai 0:86a17116e8be 246 /** Write page 0 register
kenjiArai 0:86a17116e8be 247 * @param register's address
kenjiArai 0:86a17116e8be 248 * @param data
kenjiArai 0:86a17116e8be 249 * @return register data
kenjiArai 0:86a17116e8be 250 */
kenjiArai 0:86a17116e8be 251 uint8_t write_reg0(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 252
kenjiArai 0:86a17116e8be 253 /** Read page 1 register
kenjiArai 0:86a17116e8be 254 * @param register's address
kenjiArai 0:86a17116e8be 255 * @return register data
kenjiArai 0:86a17116e8be 256 */
kenjiArai 0:86a17116e8be 257 uint8_t read_reg1(uint8_t addr);
kenjiArai 0:86a17116e8be 258
kenjiArai 0:86a17116e8be 259 /** Write page 1 register
kenjiArai 0:86a17116e8be 260 * @param register's address
kenjiArai 0:86a17116e8be 261 * @param data
kenjiArai 0:86a17116e8be 262 * @return register data
kenjiArai 0:86a17116e8be 263 */
kenjiArai 0:86a17116e8be 264 uint8_t write_reg1(uint8_t addr, uint8_t data);
kenjiArai 0:86a17116e8be 265
kenjiArai 0:86a17116e8be 266 protected:
kenjiArai 0:86a17116e8be 267 void initialize(void);
kenjiArai 0:86a17116e8be 268 void check_id(void);
kenjiArai 0:86a17116e8be 269 void set_initial_dt_to_regs(void);
kenjiArai 0:86a17116e8be 270 void unit_selection(void);
kenjiArai 0:86a17116e8be 271 uint8_t check_operating_mode(void);
kenjiArai 0:86a17116e8be 272 uint8_t select_page(uint8_t page);
kenjiArai 0:86a17116e8be 273
kenjiArai 5:cf33bcfe976c 274 I2C *_i2c_p;
kenjiArai 5:cf33bcfe976c 275 I2C &_i2c;
kenjiArai 1:cb7e19c0a702 276 DigitalOut _res;
kenjiArai 0:86a17116e8be 277
kenjiArai 0:86a17116e8be 278 private:
kenjiArai 0:86a17116e8be 279 char dt[10]; // working buffer
kenjiArai 0:86a17116e8be 280 uint8_t chip_addr;
kenjiArai 0:86a17116e8be 281 uint8_t chip_mode;
kenjiArai 3:0ad6f85b178f 282 uint8_t ready_flag;
kenjiArai 3:0ad6f85b178f 283 uint8_t page_flag;
kenjiArai 0:86a17116e8be 284
kenjiArai 0:86a17116e8be 285 uint8_t chip_id;
kenjiArai 0:86a17116e8be 286 uint8_t acc_id;
kenjiArai 0:86a17116e8be 287 uint8_t mag_id;
kenjiArai 0:86a17116e8be 288 uint8_t gyr_id;
kenjiArai 0:86a17116e8be 289 uint8_t bootldr_rev_id;
kenjiArai 0:86a17116e8be 290 uint16_t sw_rev_id;
kenjiArai 0:86a17116e8be 291
kenjiArai 0:86a17116e8be 292 };
kenjiArai 0:86a17116e8be 293
kenjiArai 7:b48d96169302 294 //------------------------------------------------------------------------------
kenjiArai 7:b48d96169302 295 //----- Register's definition --------------------------------------------------
kenjiArai 7:b48d96169302 296 //------------------------------------------------------------------------------
kenjiArai 0:86a17116e8be 297 // Page id register definition
kenjiArai 0:86a17116e8be 298 #define BNO055_PAGE_ID 0x07
kenjiArai 0:86a17116e8be 299
kenjiArai 7:b48d96169302 300 //----- page0 ------------------------------------------------------------------
kenjiArai 0:86a17116e8be 301 #define BNO055_CHIP_ID 0x00
kenjiArai 0:86a17116e8be 302 #define BNO055_ACCEL_REV_ID 0x01
kenjiArai 0:86a17116e8be 303 #define BNO055_MAG_REV_ID 0x02
kenjiArai 0:86a17116e8be 304 #define BNO055_GYRO_REV_ID 0x03
kenjiArai 0:86a17116e8be 305 #define BNO055_SW_REV_ID_LSB 0x04
kenjiArai 0:86a17116e8be 306 #define BNO055_SW_REV_ID_MSB 0x05
kenjiArai 0:86a17116e8be 307 #define BNO055_BL_REV_ID 0x06
kenjiArai 0:86a17116e8be 308
kenjiArai 0:86a17116e8be 309 // Accel data register*/
kenjiArai 0:86a17116e8be 310 #define BNO055_ACC_X_LSB 0x08
kenjiArai 0:86a17116e8be 311 #define BNO055_ACC_X_MSB 0x09
kenjiArai 0:86a17116e8be 312 #define BNO055_ACC_Y_LSB 0x0a
kenjiArai 0:86a17116e8be 313 #define BNO055_ACC_Y_MSB 0x0b
kenjiArai 0:86a17116e8be 314 #define BNO055_ACC_Z_LSB 0x0c
kenjiArai 0:86a17116e8be 315 #define BNO055_ACC_Z_MSB 0x0d
kenjiArai 0:86a17116e8be 316
kenjiArai 0:86a17116e8be 317 // Mag data register
kenjiArai 0:86a17116e8be 318 #define BNO055_MAG_X_LSB 0x0e
kenjiArai 0:86a17116e8be 319 #define BNO055_MAG_X_MSB 0x0f
kenjiArai 0:86a17116e8be 320 #define BNO055_MAG_Y_LSB 0x10
kenjiArai 0:86a17116e8be 321 #define BNO055_MAG_Y_MSB 0x11
kenjiArai 0:86a17116e8be 322 #define BNO055_MAG_Z_LSB 0x12
kenjiArai 0:86a17116e8be 323 #define BNO055_MAG_Z_MSB 0x13
kenjiArai 0:86a17116e8be 324
kenjiArai 0:86a17116e8be 325 // Gyro data registers
kenjiArai 0:86a17116e8be 326 #define BNO055_GYR_X_LSB 0x14
kenjiArai 0:86a17116e8be 327 #define BNO055_GYR_X_MSB 0x15
kenjiArai 0:86a17116e8be 328 #define BNO055_GYR_Y_LSB 0x16
kenjiArai 0:86a17116e8be 329 #define BNO055_GYR_Y_MSB 0x17
kenjiArai 0:86a17116e8be 330 #define BNO055_GYR_Z_LSB 0x18
kenjiArai 0:86a17116e8be 331 #define BNO055_GYR_Z_MSB 0x19
kenjiArai 0:86a17116e8be 332
kenjiArai 0:86a17116e8be 333 // Euler data registers
kenjiArai 0:86a17116e8be 334 #define BNO055_EULER_H_LSB 0x1a
kenjiArai 0:86a17116e8be 335 #define BNO055_EULER_H_MSB 0x1b
kenjiArai 0:86a17116e8be 336
kenjiArai 0:86a17116e8be 337 #define BNO055_EULER_R_LSB 0x1c
kenjiArai 0:86a17116e8be 338 #define BNO055_EULER_R_MSB 0x1d
kenjiArai 0:86a17116e8be 339
kenjiArai 0:86a17116e8be 340 #define BNO055_EULER_P_LSB 0x1e
kenjiArai 0:86a17116e8be 341 #define BNO055_EULER_P_MSB 0x1f
kenjiArai 0:86a17116e8be 342
kenjiArai 0:86a17116e8be 343 // Quaternion data registers
kenjiArai 0:86a17116e8be 344 #define BNO055_QUATERNION_W_LSB 0x20
kenjiArai 0:86a17116e8be 345 #define BNO055_QUATERNION_W_MSB 0x21
kenjiArai 0:86a17116e8be 346 #define BNO055_QUATERNION_X_LSB 0x22
kenjiArai 0:86a17116e8be 347 #define BNO055_QUATERNION_X_MSB 0x23
kenjiArai 0:86a17116e8be 348 #define BNO055_QUATERNION_Y_LSB 0x24
kenjiArai 0:86a17116e8be 349 #define BNO055_QUATERNION_Y_MSB 0x25
kenjiArai 0:86a17116e8be 350 #define BNO055_QUATERNION_Z_LSB 0x26
kenjiArai 0:86a17116e8be 351 #define BNO055_QUATERNION_Z_MSB 0x27
kenjiArai 0:86a17116e8be 352
kenjiArai 0:86a17116e8be 353 // Linear acceleration data registers
kenjiArai 0:86a17116e8be 354 #define BNO055_LINEAR_ACC_X_LSB 0x28
kenjiArai 0:86a17116e8be 355 #define BNO055_LINEAR_ACC_X_MSB 0x29
kenjiArai 0:86a17116e8be 356 #define BNO055_LINEAR_ACC_Y_LSB 0x2a
kenjiArai 0:86a17116e8be 357 #define BNO055_LINEAR_ACC_Y_MSB 0x2b
kenjiArai 0:86a17116e8be 358 #define BNO055_LINEAR_ACC_Z_LSB 0x2c
kenjiArai 0:86a17116e8be 359 #define BNO055_LINEAR_ACC_Z_MSB 0x2d
kenjiArai 0:86a17116e8be 360
kenjiArai 0:86a17116e8be 361 // Gravity data registers
kenjiArai 0:86a17116e8be 362 #define BNO055_GRAVITY_X_LSB 0x2e
kenjiArai 0:86a17116e8be 363 #define BNO055_GRAVITY_X_MSB 0x2f
kenjiArai 0:86a17116e8be 364 #define BNO055_GRAVITY_Y_LSB 0x30
kenjiArai 0:86a17116e8be 365 #define BNO055_GRAVITY_Y_MSB 0x31
kenjiArai 0:86a17116e8be 366 #define BNO055_GRAVITY_Z_LSB 0x32
kenjiArai 0:86a17116e8be 367 #define BNO055_GRAVITY_Z_MSB 0x33
kenjiArai 0:86a17116e8be 368
kenjiArai 0:86a17116e8be 369 // Temperature data register
kenjiArai 0:86a17116e8be 370 #define BNO055_TEMP 0x34
kenjiArai 0:86a17116e8be 371
kenjiArai 0:86a17116e8be 372 // Status registers
kenjiArai 0:86a17116e8be 373 #define BNO055_CALIB_STAT 0x35
kenjiArai 0:86a17116e8be 374 #define BNO055_SELFTEST_RESULT 0x36
kenjiArai 0:86a17116e8be 375 #define BNO055_INTR_STAT 0x37
kenjiArai 0:86a17116e8be 376 #define BNO055_SYS_CLK_STAT 0x38
kenjiArai 0:86a17116e8be 377 #define BNO055_SYS_STAT 0x39
kenjiArai 0:86a17116e8be 378 #define BNO055_SYS_ERR 0x3a
kenjiArai 0:86a17116e8be 379
kenjiArai 0:86a17116e8be 380 // Unit selection register
kenjiArai 0:86a17116e8be 381 #define BNO055_UNIT_SEL 0x3b
kenjiArai 0:86a17116e8be 382 #define BNO055_DATA_SELECT 0x3c
kenjiArai 0:86a17116e8be 383
kenjiArai 0:86a17116e8be 384 // Mode registers
kenjiArai 0:86a17116e8be 385 #define BNO055_OPR_MODE 0x3d
kenjiArai 0:86a17116e8be 386 #define BNO055_PWR_MODE 0x3e
kenjiArai 0:86a17116e8be 387 #define BNO055_SYS_TRIGGER 0x3f
kenjiArai 0:86a17116e8be 388 #define BNO055_TEMP_SOURCE 0x40
kenjiArai 0:86a17116e8be 389
kenjiArai 0:86a17116e8be 390 // Axis remap registers
kenjiArai 0:86a17116e8be 391 #define BNO055_AXIS_MAP_CONFIG 0x41
kenjiArai 0:86a17116e8be 392 #define BNO055_AXIS_MAP_SIGN 0x42
kenjiArai 0:86a17116e8be 393
kenjiArai 0:86a17116e8be 394 // SIC registers
kenjiArai 0:86a17116e8be 395 #define BNO055_SIC_MTRX_0_LSB 0x43
kenjiArai 0:86a17116e8be 396 #define BNO055_SIC_MTRX_0_MSB 0x44
kenjiArai 0:86a17116e8be 397 #define BNO055_SIC_MTRX_1_LSB 0x45
kenjiArai 0:86a17116e8be 398 #define BNO055_SIC_MTRX_1_MSB 0x46
kenjiArai 0:86a17116e8be 399 #define BNO055_SIC_MTRX_2_LSB 0x47
kenjiArai 0:86a17116e8be 400 #define BNO055_SIC_MTRX_2_MSB 0x48
kenjiArai 0:86a17116e8be 401 #define BNO055_SIC_MTRX_3_LSB 0x49
kenjiArai 0:86a17116e8be 402 #define BNO055_SIC_MTRX_3_MSB 0x4a
kenjiArai 0:86a17116e8be 403 #define BNO055_SIC_MTRX_4_LSB 0x4b
kenjiArai 0:86a17116e8be 404 #define BNO055_SIC_MTRX_4_MSB 0x4c
kenjiArai 0:86a17116e8be 405 #define BNO055_SIC_MTRX_5_LSB 0x4d
kenjiArai 0:86a17116e8be 406 #define BNO055_SIC_MTRX_5_MSB 0x4e
kenjiArai 0:86a17116e8be 407 #define BNO055_SIC_MTRX_6_LSB 0x4f
kenjiArai 0:86a17116e8be 408 #define BNO055_SIC_MTRX_6_MSB 0x50
kenjiArai 0:86a17116e8be 409 #define BNO055_SIC_MTRX_7_LSB 0x51
kenjiArai 0:86a17116e8be 410 #define BNO055_SIC_MTRX_7_MSB 0x52
kenjiArai 0:86a17116e8be 411 #define BNO055_SIC_MTRX_8_LSB 0x53
kenjiArai 0:86a17116e8be 412 #define BNO055_SIC_MTRX_8_MSB 0x54
kenjiArai 0:86a17116e8be 413
kenjiArai 0:86a17116e8be 414 // Accelerometer Offset registers
kenjiArai 0:86a17116e8be 415 #define ACCEL_OFFSET_X_LSB 0x55
kenjiArai 0:86a17116e8be 416 #define ACCEL_OFFSET_X_MSB 0x56
kenjiArai 0:86a17116e8be 417 #define ACCEL_OFFSET_Y_LSB 0x57
kenjiArai 0:86a17116e8be 418 #define ACCEL_OFFSET_Y_MSB 0x58
kenjiArai 0:86a17116e8be 419 #define ACCEL_OFFSET_Z_LSB 0x59
kenjiArai 0:86a17116e8be 420 #define ACCEL_OFFSET_Z_MSB 0x5a
kenjiArai 0:86a17116e8be 421
kenjiArai 0:86a17116e8be 422 // Magnetometer Offset registers
kenjiArai 0:86a17116e8be 423 #define MAG_OFFSET_X_LSB 0x5b
kenjiArai 0:86a17116e8be 424 #define MAG_OFFSET_X_MSB 0x5c
kenjiArai 0:86a17116e8be 425 #define MAG_OFFSET_Y_LSB 0x5d
kenjiArai 0:86a17116e8be 426 #define MAG_OFFSET_Y_MSB 0x5e
kenjiArai 0:86a17116e8be 427 #define MAG_OFFSET_Z_LSB 0x5f
kenjiArai 0:86a17116e8be 428 #define MAG_OFFSET_Z_MSB 0x60
kenjiArai 0:86a17116e8be 429
kenjiArai 0:86a17116e8be 430 // Gyroscope Offset registers
kenjiArai 0:86a17116e8be 431 #define GYRO_OFFSET_X_LSB 0x61
kenjiArai 0:86a17116e8be 432 #define GYRO_OFFSET_X_MSB 0x62
kenjiArai 0:86a17116e8be 433 #define GYRO_OFFSET_Y_LSB 0x63
kenjiArai 0:86a17116e8be 434 #define GYRO_OFFSET_Y_MSB 0x64
kenjiArai 0:86a17116e8be 435 #define GYRO_OFFSET_Z_LSB 0x65
kenjiArai 0:86a17116e8be 436 #define GYRO_OFFSET_Z_MSB 0x66
kenjiArai 0:86a17116e8be 437
kenjiArai 0:86a17116e8be 438 // Radius registers
kenjiArai 0:86a17116e8be 439 #define ACCEL_RADIUS_LSB 0x67
kenjiArai 0:86a17116e8be 440 #define ACCEL_RADIUS_MSB 0x68
kenjiArai 0:86a17116e8be 441 #define MAG_RADIUS_LSB 0x69
kenjiArai 0:86a17116e8be 442 #define MAG_RADIUS_MSB 0x6a
kenjiArai 0:86a17116e8be 443
kenjiArai 7:b48d96169302 444 //----- page1 ------------------------------------------------------------------
kenjiArai 0:86a17116e8be 445 // Configuration registers
kenjiArai 0:86a17116e8be 446 #define ACCEL_CONFIG 0x08
kenjiArai 0:86a17116e8be 447 #define MAG_CONFIG 0x09
kenjiArai 0:86a17116e8be 448 #define GYRO_CONFIG 0x0a
kenjiArai 0:86a17116e8be 449 #define GYRO_MODE_CONFIG 0x0b
kenjiArai 0:86a17116e8be 450 #define ACCEL_SLEEP_CONFIG 0x0c
kenjiArai 0:86a17116e8be 451 #define GYRO_SLEEP_CONFIG 0x0d
kenjiArai 0:86a17116e8be 452 #define MAG_SLEEP_CONFIG 0x0e
kenjiArai 0:86a17116e8be 453
kenjiArai 0:86a17116e8be 454 // Interrupt registers
kenjiArai 0:86a17116e8be 455 #define INT_MASK 0x0f
kenjiArai 0:86a17116e8be 456 #define INT 0x10
kenjiArai 0:86a17116e8be 457 #define ACCEL_ANY_MOTION_THRES 0x11
kenjiArai 0:86a17116e8be 458 #define ACCEL_INTR_SETTINGS 0x12
kenjiArai 0:86a17116e8be 459 #define ACCEL_HIGH_G_DURN 0x13
kenjiArai 0:86a17116e8be 460 #define ACCEL_HIGH_G_THRES 0x14
kenjiArai 0:86a17116e8be 461 #define ACCEL_NO_MOTION_THRES 0x15
kenjiArai 0:86a17116e8be 462 #define ACCEL_NO_MOTION_SET 0x16
kenjiArai 0:86a17116e8be 463 #define GYRO_INTR_SETING 0x17
kenjiArai 0:86a17116e8be 464 #define GYRO_HIGHRATE_X_SET 0x18
kenjiArai 0:86a17116e8be 465 #define GYRO_DURN_X 0x19
kenjiArai 0:86a17116e8be 466 #define GYRO_HIGHRATE_Y_SET 0x1a
kenjiArai 0:86a17116e8be 467 #define GYRO_DURN_Y 0x1b
kenjiArai 0:86a17116e8be 468 #define GYRO_HIGHRATE_Z_SET 0x1c
kenjiArai 0:86a17116e8be 469 #define GYRO_DURN_Z 0x1d
kenjiArai 0:86a17116e8be 470 #define GYRO_ANY_MOTION_THRES 0x1e
kenjiArai 0:86a17116e8be 471 #define GYRO_ANY_MOTION_SET 0x1f
kenjiArai 0:86a17116e8be 472
kenjiArai 7:b48d96169302 473 //------------------------------------------------------------------------------
kenjiArai 7:b48d96169302 474 //----- Calibration example ----------------------------------------------------
kenjiArai 7:b48d96169302 475 //------------------------------------------------------------------------------
kenjiArai 3:0ad6f85b178f 476 #if 0
kenjiArai 3:0ad6f85b178f 477 // Calibration
kenjiArai 3:0ad6f85b178f 478 // Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 7:b48d96169302 479 void bno055_calbration(void)
kenjiArai 7:b48d96169302 480 {
kenjiArai 3:0ad6f85b178f 481 uint8_t d;
kenjiArai 3:0ad6f85b178f 482
kenjiArai 7:b48d96169302 483 printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 3:0ad6f85b178f 484 //---------- Gyroscope Caliblation ------------------------------------------------------------
kenjiArai 3:0ad6f85b178f 485 // (a) Place the device in a single stable position for a period of few seconds to allow the
kenjiArai 3:0ad6f85b178f 486 // gyroscope to calibrate
kenjiArai 7:b48d96169302 487 printf("Step1) Please wait few seconds\r\n");
kenjiArai 3:0ad6f85b178f 488 t.start();
kenjiArai 7:b48d96169302 489 while (t.read() < 10) {
kenjiArai 3:0ad6f85b178f 490 d = imu.read_calib_status();
kenjiArai 7:b48d96169302 491 printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 7:b48d96169302 492 if ((d & 0x30) == 0x30) {
kenjiArai 3:0ad6f85b178f 493 break;
kenjiArai 3:0ad6f85b178f 494 }
kenjiArai 3:0ad6f85b178f 495 wait(1.0);
kenjiArai 3:0ad6f85b178f 496 }
kenjiArai 7:b48d96169302 497 printf("-> Step1) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 498 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 499 // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
kenjiArai 3:0ad6f85b178f 500 // CALIB_STAT register indicates fully calibrated.
kenjiArai 3:0ad6f85b178f 501 // (b) It takes more calibration movements to get the magnetometer calibrated than in the
kenjiArai 3:0ad6f85b178f 502 // NDOF mode.
kenjiArai 7:b48d96169302 503 printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 3:0ad6f85b178f 504 t.start();
kenjiArai 7:b48d96169302 505 while (t.read() < 30) {
kenjiArai 3:0ad6f85b178f 506 d = imu.read_calib_status();
kenjiArai 7:b48d96169302 507 printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 7:b48d96169302 508 if ((d & 0x03) == 0x03) {
kenjiArai 3:0ad6f85b178f 509 break;
kenjiArai 3:0ad6f85b178f 510 }
kenjiArai 7:b48d96169302 511 wait(1.0);
kenjiArai 3:0ad6f85b178f 512 }
kenjiArai 7:b48d96169302 513 printf("-> Step2) is done\r\n\r\n");
kenjiArai 3:0ad6f85b178f 514 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 3:0ad6f85b178f 515 // a) Place the device in 6 different stable positions for a period of few seconds
kenjiArai 3:0ad6f85b178f 516 // to allow the accelerometer to calibrate.
kenjiArai 3:0ad6f85b178f 517 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 3:0ad6f85b178f 518 // The 6 stable positions could be in any direction, but make sure that the device is
kenjiArai 3:0ad6f85b178f 519 // lying at least once perpendicular to the x, y and z axis.
kenjiArai 7:b48d96169302 520 printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 7:b48d96169302 521 printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 7:b48d96169302 522 printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 7:b48d96169302 523 printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 7:b48d96169302 524 printf(" If you will give up, hit any key.\r\n", d);
kenjiArai 3:0ad6f85b178f 525 t.stop();
kenjiArai 7:b48d96169302 526 while (true) {
kenjiArai 3:0ad6f85b178f 527 d = imu.read_calib_status();
kenjiArai 3:0ad6f85b178f 528 imu.get_gravity(&gravity);
kenjiArai 7:b48d96169302 529 printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n",
kenjiArai 7:b48d96169302 530 d, gravity.x, gravity.y, gravity.z);
kenjiArai 7:b48d96169302 531 if (d == 0xff) {
kenjiArai 7:b48d96169302 532 break;
kenjiArai 7:b48d96169302 533 }
kenjiArai 7:b48d96169302 534 if (pc.readable()) {
kenjiArai 7:b48d96169302 535 break;
kenjiArai 7:b48d96169302 536 }
kenjiArai 3:0ad6f85b178f 537 wait(1.0);
kenjiArai 3:0ad6f85b178f 538 }
kenjiArai 7:b48d96169302 539 if (imu.read_calib_status() == 0xff) {
kenjiArai 7:b48d96169302 540 printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 541 } else {
kenjiArai 7:b48d96169302 542 printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 3:0ad6f85b178f 543 }
kenjiArai 3:0ad6f85b178f 544 t.stop();
kenjiArai 3:0ad6f85b178f 545 }
kenjiArai 3:0ad6f85b178f 546 #endif
kenjiArai 3:0ad6f85b178f 547
kenjiArai 0:86a17116e8be 548 #endif // BNO055_H