Leander Brandl / KeplerBRAIN_V4

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Files at this revision

API Documentation at this revision

Revision 5:5953e6862d35, committed 2017-01-27

Comitter:
lbrandl
Date:
Fri Jan 27 13:08:03 2017 +0000
Parent:
4:dfd8d0b5b997
Commit message:
KeplerBRAIN_V4

Changed in this revision

KeplerBRAIN_V4.h Show annotated file Show diff for this revision Revisions of this file 
--- a/KeplerBRAIN_V4.h	Tue Nov 15 10:05:50 2016 +0000
+++ b/KeplerBRAIN_V4.h	Fri Jan 27 13:08:03 2017 +0000
@@ -605,6 +605,173 @@
   return wert;
 }
 
+
+// *** I2C BNO055 ***
+
+#define BNO055_ADDR      (0x28 << 1) 
+#define BNO055_CHIP_ID          0x00
+#define BNO055_CHIP_ID_VALUE    0xa0   
+#define BNO055_AXIS_MAP_CONFIG  0x41
+#define BNO055_OPR_MODE         0x3d
+#define CONFIGMODE              0x00
+#define MODE_NDOF               0x0c 
+#define ACCEL_OFFSET_X_LSB      0x55
+#define ACCEL_OFFSET_X_MSB      0x56
+#define ACCEL_OFFSET_Y_LSB      0x57
+#define ACCEL_OFFSET_Y_MSB      0x58
+#define ACCEL_OFFSET_Z_LSB      0x59
+#define ACCEL_OFFSET_Z_MSB      0x5a
+#define MAG_OFFSET_X_LSB        0x5b
+#define MAG_OFFSET_X_MSB        0x5c
+#define MAG_OFFSET_Y_LSB        0x5d
+#define MAG_OFFSET_Y_MSB        0x5e
+#define MAG_OFFSET_Z_LSB        0x5f
+#define MAG_OFFSET_Z_MSB        0x60
+#define GYRO_OFFSET_X_LSB       0x61
+#define GYRO_OFFSET_X_MSB       0x62
+#define GYRO_OFFSET_Y_LSB       0x63
+#define GYRO_OFFSET_Y_MSB       0x64
+#define GYRO_OFFSET_Z_LSB       0x65
+#define GYRO_OFFSET_Z_MSB       0x66
+#define ACCEL_RADIUS_LSB        0x67
+#define ACCEL_RADIUS_MSB        0x68
+#define MAG_RADIUS_LSB          0x69
+#define MAG_RADIUS_MSB          0x6a
+#define BNO055_EULER_H_LSB      0x1a
+#define BNO055_EULER_H_MSB      0x1b
+#define BNO055_EULER_R_LSB      0x1c
+#define BNO055_EULER_R_MSB      0x1d
+#define BNO055_EULER_P_LSB      0x1e
+#define BNO055_EULER_P_MSB      0x1f
+
+void SET_I2C_BNO055()
+{
+  char data[7];
+  char chip_id;
+    
+  char accel_offset_x_lsb_value = 8; 
+  char accel_offset_x_msb_value = 0;
+  char accel_offset_y_lsb_value = 34;
+  char accel_offset_y_msb_value = 0;
+  char accel_offset_z_lsb_value = 7;
+  char accel_offset_z_msb_value = 0;
+
+  char mag_offset_x_lsb_value = 45;
+  char mag_offset_x_msb_value = 255;
+  char mag_offset_y_lsb_value = 116;
+  char mag_offset_y_msb_value = 0;
+  char mag_offset_z_lsb_value = 90;
+  char mag_offset_z_msb_value = 1;
+
+  char gyro_offset_x_lsb_value = 1;
+  char gyro_offset_x_msb_value = 0;
+  char gyro_offset_y_lsb_value = 1;
+  char gyro_offset_y_msb_value = 0;
+  char gyro_offset_z_lsb_value = 0;
+  char gyro_offset_z_msb_value = 0;
+
+  char accel_radius_lsb_value = 0; 
+  char accel_radius_msb_value = 3;
+  char mag_radius_lsb_value = 66;
+  char mag_radius_msb_value = 2;
+    
+  data[0] = BNO055_CHIP_ID;
+  i2c.write(BNO055_ADDR, data, 1, true);
+  i2c.read(BNO055_ADDR, data, 7, false);
+  chip_id = data[0];
+  
+  while (chip_id != BNO055_CHIP_ID_VALUE)
+  {
+    data[0] = BNO055_CHIP_ID;
+    i2c.write(BNO055_ADDR, data, 1, true);
+    i2c.read(BNO055_ADDR, data, 7, false);
+    chip_id = data[0];
+  }
+  
+  data[0] = BNO055_OPR_MODE;
+  data[1] = CONFIGMODE;
+  i2c.write(BNO055_ADDR, data, 2);
+  wait_ms(50);
+  
+  data[0] = BNO055_AXIS_MAP_CONFIG; 
+  data[1] = 0x24; 
+  data[2] = 0x00;
+  i2c.write(BNO055_ADDR, data, 2);
+    
+  data[0] = ACCEL_OFFSET_X_LSB; data[1] = accel_offset_x_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_OFFSET_X_MSB; data[1] = accel_offset_x_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_OFFSET_Y_LSB; data[1] = accel_offset_y_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_OFFSET_Y_LSB; data[1] = accel_offset_y_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_OFFSET_Z_LSB; data[1] = accel_offset_z_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_OFFSET_Z_LSB; data[1] = accel_offset_z_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+   
+  data[0] = MAG_OFFSET_X_LSB; data[1] = mag_offset_x_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_OFFSET_X_MSB; data[1] = mag_offset_x_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_OFFSET_Y_LSB; data[1] = mag_offset_y_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_OFFSET_Y_LSB; data[1] = mag_offset_y_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_OFFSET_Z_LSB; data[1] = mag_offset_z_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_OFFSET_Z_LSB; data[1] = mag_offset_z_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+   
+  data[0] = GYRO_OFFSET_X_LSB; data[1] = gyro_offset_x_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = GYRO_OFFSET_X_MSB; data[1] = gyro_offset_x_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = GYRO_OFFSET_Y_LSB; data[1] = gyro_offset_y_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = GYRO_OFFSET_Y_LSB; data[1] = gyro_offset_y_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = GYRO_OFFSET_Z_LSB; data[1] = gyro_offset_z_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = GYRO_OFFSET_Z_LSB; data[1] = gyro_offset_z_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+   
+  data[0] = ACCEL_RADIUS_LSB; data[1] = accel_radius_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = ACCEL_RADIUS_MSB; data[1] = accel_radius_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_RADIUS_LSB; data[1] = mag_radius_lsb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+  data[0] = MAG_RADIUS_MSB; data[1] = mag_radius_msb_value; i2c.write(BNO055_ADDR, data, 2); wait_ms(20);
+   
+  data[0] = BNO055_OPR_MODE;
+  data[1] = MODE_NDOF;
+  i2c.write(BNO055_ADDR, data, 2);
+  wait_ms(10);
+}
+
+int READ_I2C_BNO055_YAW()
+{ 
+  int16_t wert;
+  char data[3];
+  
+  data[0] = BNO055_EULER_H_LSB;
+  i2c.write(BNO055_ADDR, data, 1, true);
+  i2c.read(BNO055_ADDR, data, 2, false);
+  
+  wert = data[1] << 8 | data[0];
+  wert = (double)wert/16;
+  return wert;
+}
+
+int READ_I2C_BNO055_PITCH()
+{ 
+  int16_t wert;
+  char data[3];
+  
+  data[0] = BNO055_EULER_P_LSB;
+  i2c.write(BNO055_ADDR, data, 1, true);
+  i2c.read(BNO055_ADDR, data, 2, false);
+  
+  wert = data[1] << 8 | data[0];
+  wert = (double)wert/16;
+  return wert;
+}
+
+int READ_I2C_BNO055_ROLL()
+{ 
+  int16_t wert;
+  char data[3];
+  
+  data[0] = BNO055_EULER_R_LSB;
+  i2c.write(BNO055_ADDR, data, 1, true);
+  i2c.read(BNO055_ADDR, data, 2, false);
+  
+  wert = data[1] << 8 | data[0];
+  wert = (double)wert/16;
+  return wert;
+}
+
 // *** SPI ***
 
 // PA_6 SPI MISO