miki sumito
/
four_wheel_omni
四輪オムニの足回りを動かすプログラム
BNO055/BNO055.hpp@1:cb4a6d5c77c8, 22 months ago (annotated)
- Committer:
- m_smt
- Date:
- Sat Oct 08 11:14:39 2022 +0000
- Revision:
- 1:cb4a6d5c77c8
- Parent:
- 0:39c2bb18192b
move four wheel omni
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m_smt | 0:39c2bb18192b | 1 | #ifndef BNO055_H |
m_smt | 0:39c2bb18192b | 2 | #define BNO055_H |
m_smt | 0:39c2bb18192b | 3 | |
m_smt | 0:39c2bb18192b | 4 | #include "mbed.h" |
m_smt | 0:39c2bb18192b | 5 | |
m_smt | 0:39c2bb18192b | 6 | #define BNOAddress (0x28 << 1) |
m_smt | 0:39c2bb18192b | 7 | //Register definitions |
m_smt | 0:39c2bb18192b | 8 | #define pi 3.141592653589793238 |
m_smt | 0:39c2bb18192b | 9 | /* Page id register definition */ |
m_smt | 0:39c2bb18192b | 10 | #define BNO055_PAGE_ID_ADDR 0x07 |
m_smt | 0:39c2bb18192b | 11 | /* PAGE0 REGISTER DEFINITION START*/ |
m_smt | 0:39c2bb18192b | 12 | #define BNO055_CHIP_ID_ADDR 0x00 |
m_smt | 0:39c2bb18192b | 13 | #define BNO055_ACCEL_REV_ID_ADDR 0x01 |
m_smt | 0:39c2bb18192b | 14 | #define BNO055_MAG_REV_ID_ADDR 0x02 |
m_smt | 0:39c2bb18192b | 15 | #define BNO055_GYRO_REV_ID_ADDR 0x03 |
m_smt | 0:39c2bb18192b | 16 | #define BNO055_SW_REV_ID_LSB_ADDR 0x04 |
m_smt | 0:39c2bb18192b | 17 | #define BNO055_SW_REV_ID_MSB_ADDR 0x05 |
m_smt | 0:39c2bb18192b | 18 | #define BNO055_BL_REV_ID_ADDR 0x06 |
m_smt | 0:39c2bb18192b | 19 | /* Accel data register */ |
m_smt | 0:39c2bb18192b | 20 | #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08 |
m_smt | 0:39c2bb18192b | 21 | #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09 |
m_smt | 0:39c2bb18192b | 22 | #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A |
m_smt | 0:39c2bb18192b | 23 | #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B |
m_smt | 0:39c2bb18192b | 24 | #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C |
m_smt | 0:39c2bb18192b | 25 | #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D |
m_smt | 0:39c2bb18192b | 26 | /* Mag data register */ |
m_smt | 0:39c2bb18192b | 27 | #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E |
m_smt | 0:39c2bb18192b | 28 | #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F |
m_smt | 0:39c2bb18192b | 29 | #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10 |
m_smt | 0:39c2bb18192b | 30 | #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11 |
m_smt | 0:39c2bb18192b | 31 | #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12 |
m_smt | 0:39c2bb18192b | 32 | #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13 |
m_smt | 0:39c2bb18192b | 33 | /* Gyro data registers */ |
m_smt | 0:39c2bb18192b | 34 | #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14 |
m_smt | 0:39c2bb18192b | 35 | #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15 |
m_smt | 0:39c2bb18192b | 36 | #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16 |
m_smt | 0:39c2bb18192b | 37 | #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17 |
m_smt | 0:39c2bb18192b | 38 | #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18 |
m_smt | 0:39c2bb18192b | 39 | #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19 |
m_smt | 0:39c2bb18192b | 40 | /* Euler data registers */ |
m_smt | 0:39c2bb18192b | 41 | #define BNO055_EULER_H_LSB_ADDR 0x1A |
m_smt | 0:39c2bb18192b | 42 | #define BNO055_EULER_H_MSB_ADDR 0x1B |
m_smt | 0:39c2bb18192b | 43 | #define BNO055_EULER_R_LSB_ADDR 0x1C |
m_smt | 0:39c2bb18192b | 44 | #define BNO055_EULER_R_MSB_ADDR 0x1D |
m_smt | 0:39c2bb18192b | 45 | #define BNO055_EULER_P_LSB_ADDR 0x1E |
m_smt | 0:39c2bb18192b | 46 | #define BNO055_EULER_P_MSB_ADDR 0x1F |
m_smt | 0:39c2bb18192b | 47 | /* Quaternion data registers */ |
m_smt | 0:39c2bb18192b | 48 | #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20 |
m_smt | 0:39c2bb18192b | 49 | #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21 |
m_smt | 0:39c2bb18192b | 50 | #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22 |
m_smt | 0:39c2bb18192b | 51 | #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23 |
m_smt | 0:39c2bb18192b | 52 | #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24 |
m_smt | 0:39c2bb18192b | 53 | #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25 |
m_smt | 0:39c2bb18192b | 54 | #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26 |
m_smt | 0:39c2bb18192b | 55 | #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27 |
m_smt | 0:39c2bb18192b | 56 | /* Linear acceleration data registers */ |
m_smt | 0:39c2bb18192b | 57 | #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28 |
m_smt | 0:39c2bb18192b | 58 | #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29 |
m_smt | 0:39c2bb18192b | 59 | #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A |
m_smt | 0:39c2bb18192b | 60 | #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B |
m_smt | 0:39c2bb18192b | 61 | #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C |
m_smt | 0:39c2bb18192b | 62 | #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D |
m_smt | 0:39c2bb18192b | 63 | /* Gravity data registers */ |
m_smt | 0:39c2bb18192b | 64 | #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E |
m_smt | 0:39c2bb18192b | 65 | #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F |
m_smt | 0:39c2bb18192b | 66 | #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30 |
m_smt | 0:39c2bb18192b | 67 | #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31 |
m_smt | 0:39c2bb18192b | 68 | #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32 |
m_smt | 0:39c2bb18192b | 69 | #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33 |
m_smt | 0:39c2bb18192b | 70 | /* Temperature data register */ |
m_smt | 0:39c2bb18192b | 71 | #define BNO055_TEMP_ADDR 0x34 |
m_smt | 0:39c2bb18192b | 72 | /* Status registers */ |
m_smt | 0:39c2bb18192b | 73 | #define BNO055_CALIB_STAT_ADDR 0x35 |
m_smt | 0:39c2bb18192b | 74 | #define BNO055_SELFTEST_RESULT_ADDR 0x36 |
m_smt | 0:39c2bb18192b | 75 | #define BNO055_INTR_STAT_ADDR 0x37 |
m_smt | 0:39c2bb18192b | 76 | #define BNO055_SYS_CLK_STAT_ADDR 0x38 |
m_smt | 0:39c2bb18192b | 77 | #define BNO055_SYS_STAT_ADDR 0x39 |
m_smt | 0:39c2bb18192b | 78 | #define BNO055_SYS_ERR_ADDR 0x3A |
m_smt | 0:39c2bb18192b | 79 | /* Unit selection register */ |
m_smt | 0:39c2bb18192b | 80 | #define BNO055_UNIT_SEL_ADDR 0x3B |
m_smt | 0:39c2bb18192b | 81 | #define BNO055_DATA_SELECT_ADDR 0x3C |
m_smt | 0:39c2bb18192b | 82 | /* Mode registers */ |
m_smt | 0:39c2bb18192b | 83 | #define BNO055_OPR_MODE_ADDR 0x3D |
m_smt | 0:39c2bb18192b | 84 | #define BNO055_PWR_MODE_ADDR 0x3E |
m_smt | 0:39c2bb18192b | 85 | #define BNO055_SYS_TRIGGER_ADDR 0x3F |
m_smt | 0:39c2bb18192b | 86 | #define BNO055_TEMP_SOURCE_ADDR 0x40 |
m_smt | 0:39c2bb18192b | 87 | /* Axis remap registers */ |
m_smt | 0:39c2bb18192b | 88 | #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41 |
m_smt | 0:39c2bb18192b | 89 | #define BNO055_AXIS_MAP_SIGN_ADDR 0x42 |
m_smt | 0:39c2bb18192b | 90 | /* Accelerometer Offset registers */ |
m_smt | 0:39c2bb18192b | 91 | #define ACCEL_OFFSET_X_LSB_ADDR 0x55 |
m_smt | 0:39c2bb18192b | 92 | #define ACCEL_OFFSET_X_MSB_ADDR 0x56 |
m_smt | 0:39c2bb18192b | 93 | #define ACCEL_OFFSET_Y_LSB_ADDR 0x57 |
m_smt | 0:39c2bb18192b | 94 | #define ACCEL_OFFSET_Y_MSB_ADDR 0x58 |
m_smt | 0:39c2bb18192b | 95 | #define ACCEL_OFFSET_Z_LSB_ADDR 0x59 |
m_smt | 0:39c2bb18192b | 96 | #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A |
m_smt | 0:39c2bb18192b | 97 | /* Magnetometer Offset registers */ |
m_smt | 0:39c2bb18192b | 98 | #define MAG_OFFSET_X_LSB_ADDR 0x5B |
m_smt | 0:39c2bb18192b | 99 | #define MAG_OFFSET_X_MSB_ADDR 0x5C |
m_smt | 0:39c2bb18192b | 100 | #define MAG_OFFSET_Y_LSB_ADDR 0x5D |
m_smt | 0:39c2bb18192b | 101 | #define MAG_OFFSET_Y_MSB_ADDR 0x5E |
m_smt | 0:39c2bb18192b | 102 | #define MAG_OFFSET_Z_LSB_ADDR 0x5F |
m_smt | 0:39c2bb18192b | 103 | #define MAG_OFFSET_Z_MSB_ADDR 0x60 |
m_smt | 0:39c2bb18192b | 104 | /* Gyroscope Offset registers*/ |
m_smt | 0:39c2bb18192b | 105 | #define GYRO_OFFSET_X_LSB_ADDR 0x61 |
m_smt | 0:39c2bb18192b | 106 | #define GYRO_OFFSET_X_MSB_ADDR 0x62 |
m_smt | 0:39c2bb18192b | 107 | #define GYRO_OFFSET_Y_LSB_ADDR 0x63 |
m_smt | 0:39c2bb18192b | 108 | #define GYRO_OFFSET_Y_MSB_ADDR 0x64 |
m_smt | 0:39c2bb18192b | 109 | #define GYRO_OFFSET_Z_LSB_ADDR 0x65 |
m_smt | 0:39c2bb18192b | 110 | #define GYRO_OFFSET_Z_MSB_ADDR 0x66 |
m_smt | 0:39c2bb18192b | 111 | /* Radius registers */ |
m_smt | 0:39c2bb18192b | 112 | #define ACCEL_RADIUS_LSB_ADDR 0x67 |
m_smt | 0:39c2bb18192b | 113 | #define ACCEL_RADIUS_MSB_ADDR 0x68 |
m_smt | 0:39c2bb18192b | 114 | #define MAG_RADIUS_LSB_ADDR 0x69 |
m_smt | 0:39c2bb18192b | 115 | #define MAG_RADIUS_MSB_ADDR 0x6A |
m_smt | 0:39c2bb18192b | 116 | |
m_smt | 0:39c2bb18192b | 117 | /* Page 1 registers */ |
m_smt | 0:39c2bb18192b | 118 | #define BNO055_UNIQUE_ID_ADDR 0x50 |
m_smt | 0:39c2bb18192b | 119 | |
m_smt | 0:39c2bb18192b | 120 | //Definitions for unit selection |
m_smt | 0:39c2bb18192b | 121 | #define MPERSPERS 0x00 |
m_smt | 0:39c2bb18192b | 122 | #define MILLIG 0x01 |
m_smt | 0:39c2bb18192b | 123 | #define DEG_PER_SEC 0x00 |
m_smt | 0:39c2bb18192b | 124 | #define RAD_PER_SEC 0x02 |
m_smt | 0:39c2bb18192b | 125 | #define DEGREES 0x00 |
m_smt | 0:39c2bb18192b | 126 | #define RADIANS 0x04 |
m_smt | 0:39c2bb18192b | 127 | #define CENTIGRADE 0x00 |
m_smt | 0:39c2bb18192b | 128 | #define FAHRENHEIT 0x10 |
m_smt | 0:39c2bb18192b | 129 | #define WINDOWS 0x00 |
m_smt | 0:39c2bb18192b | 130 | #define ANDROID 0x80 |
m_smt | 0:39c2bb18192b | 131 | |
m_smt | 0:39c2bb18192b | 132 | //Definitions for power mode |
m_smt | 0:39c2bb18192b | 133 | #define POWER_MODE_NORMAL 0x00 |
m_smt | 0:39c2bb18192b | 134 | #define POWER_MODE_LOWPOWER 0x01 |
m_smt | 0:39c2bb18192b | 135 | #define POWER_MODE_SUSPEND 0x02 |
m_smt | 0:39c2bb18192b | 136 | |
m_smt | 0:39c2bb18192b | 137 | //Definitions for operating mode |
m_smt | 0:39c2bb18192b | 138 | #define OPERATION_MODE_CONFIG 0x00 |
m_smt | 0:39c2bb18192b | 139 | #define OPERATION_MODE_ACCONLY 0x01 |
m_smt | 0:39c2bb18192b | 140 | #define OPERATION_MODE_MAGONLY 0x02 |
m_smt | 0:39c2bb18192b | 141 | #define OPERATION_MODE_GYRONLY 0x03 |
m_smt | 0:39c2bb18192b | 142 | #define OPERATION_MODE_ACCMAG 0x04 |
m_smt | 0:39c2bb18192b | 143 | #define OPERATION_MODE_ACCGYRO 0x05 |
m_smt | 0:39c2bb18192b | 144 | #define OPERATION_MODE_MAGGYRO 0x06 |
m_smt | 0:39c2bb18192b | 145 | #define OPERATION_MODE_AMG 0x07 |
m_smt | 0:39c2bb18192b | 146 | #define OPERATION_MODE_IMUPLUS 0x08 |
m_smt | 0:39c2bb18192b | 147 | #define OPERATION_MODE_COMPASS 0x09 |
m_smt | 0:39c2bb18192b | 148 | #define OPERATION_MODE_M4G 0x0A |
m_smt | 0:39c2bb18192b | 149 | #define OPERATION_MODE_NDOF_FMC_OFF 0x0B |
m_smt | 0:39c2bb18192b | 150 | #define OPERATION_MODE_NDOF 0x0C |
m_smt | 0:39c2bb18192b | 151 | |
m_smt | 0:39c2bb18192b | 152 | typedef struct values{ |
m_smt | 0:39c2bb18192b | 153 | int16_t rawx,rawy,rawz; |
m_smt | 0:39c2bb18192b | 154 | float x,y,z; |
m_smt | 0:39c2bb18192b | 155 | }values; |
m_smt | 0:39c2bb18192b | 156 | |
m_smt | 0:39c2bb18192b | 157 | typedef struct angles{ |
m_smt | 0:39c2bb18192b | 158 | int16_t rawroll,rawpitch,rawyaw; |
m_smt | 0:39c2bb18192b | 159 | float roll, pitch, yaw; |
m_smt | 0:39c2bb18192b | 160 | } angles; |
m_smt | 0:39c2bb18192b | 161 | |
m_smt | 0:39c2bb18192b | 162 | typedef struct quaternion{ |
m_smt | 0:39c2bb18192b | 163 | int16_t raww,rawx,rawy,rawz; |
m_smt | 0:39c2bb18192b | 164 | float w,x,y,z; |
m_smt | 0:39c2bb18192b | 165 | }quaternion; |
m_smt | 0:39c2bb18192b | 166 | |
m_smt | 0:39c2bb18192b | 167 | typedef struct chip{ |
m_smt | 0:39c2bb18192b | 168 | char id; |
m_smt | 0:39c2bb18192b | 169 | char accel; |
m_smt | 0:39c2bb18192b | 170 | char gyro; |
m_smt | 0:39c2bb18192b | 171 | char mag; |
m_smt | 0:39c2bb18192b | 172 | char sw[2]; |
m_smt | 0:39c2bb18192b | 173 | char bootload; |
m_smt | 0:39c2bb18192b | 174 | char serial[16]; |
m_smt | 0:39c2bb18192b | 175 | }chip; |
m_smt | 0:39c2bb18192b | 176 | |
m_smt | 0:39c2bb18192b | 177 | /** Class for operating Bosch BNO055 sensor over I2C **/ |
m_smt | 0:39c2bb18192b | 178 | class BNO055 |
m_smt | 0:39c2bb18192b | 179 | { |
m_smt | 0:39c2bb18192b | 180 | public: |
m_smt | 0:39c2bb18192b | 181 | |
m_smt | 0:39c2bb18192b | 182 | /** Create BNO055 instance **/ |
m_smt | 0:39c2bb18192b | 183 | BNO055(PinName SDA, PinName SCL); |
m_smt | 0:39c2bb18192b | 184 | |
m_smt | 0:39c2bb18192b | 185 | /** Perform a power-on reset of the BNO055 **/ |
m_smt | 0:39c2bb18192b | 186 | void reset(); |
m_smt | 0:39c2bb18192b | 187 | /** Check that the BNO055 is connected and download the software details |
m_smt | 0:39c2bb18192b | 188 | and serial number of chip and store in ID structure **/ |
m_smt | 0:39c2bb18192b | 189 | bool check(); |
m_smt | 0:39c2bb18192b | 190 | /** Turn the external timing crystal on/off **/ |
m_smt | 0:39c2bb18192b | 191 | void SetExternalCrystal(bool yn); |
m_smt | 0:39c2bb18192b | 192 | /** Set the operation mode of the sensor **/ |
m_smt | 0:39c2bb18192b | 193 | void setmode(char mode); |
m_smt | 0:39c2bb18192b | 194 | /** Set the power mode of the sensor **/ |
m_smt | 0:39c2bb18192b | 195 | void setpowermode(char mode); |
m_smt | 0:39c2bb18192b | 196 | |
m_smt | 0:39c2bb18192b | 197 | /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/ |
m_smt | 0:39c2bb18192b | 198 | void set_accel_units(char units); |
m_smt | 0:39c2bb18192b | 199 | /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/ |
m_smt | 0:39c2bb18192b | 200 | void set_anglerate_units(char units); |
m_smt | 0:39c2bb18192b | 201 | /** Set the output units from the IMU, either DEGREES or RADIANS **/ |
m_smt | 0:39c2bb18192b | 202 | void set_angle_units(char units); |
m_smt | 0:39c2bb18192b | 203 | /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/ |
m_smt | 0:39c2bb18192b | 204 | void set_temp_units(char units); |
m_smt | 0:39c2bb18192b | 205 | /** Set the data output format to either WINDOWS or ANDROID **/ |
m_smt | 0:39c2bb18192b | 206 | void set_orientation(char units); |
m_smt | 0:39c2bb18192b | 207 | /** Set the mapping of the exes/directions as per page 25 of datasheet |
m_smt | 0:39c2bb18192b | 208 | range 0-7, any value outside this will set the orientation to P1 (default at power up) **/ |
m_smt | 0:39c2bb18192b | 209 | void set_mapping(char orient); |
m_smt | 0:39c2bb18192b | 210 | |
m_smt | 0:39c2bb18192b | 211 | /** Get the current values from the accelerometer **/ |
m_smt | 0:39c2bb18192b | 212 | void get_accel(void); |
m_smt | 0:39c2bb18192b | 213 | /** Get the current values from the gyroscope **/ |
m_smt | 0:39c2bb18192b | 214 | void get_gyro(void); |
m_smt | 0:39c2bb18192b | 215 | /** Get the current values from the magnetometer **/ |
m_smt | 0:39c2bb18192b | 216 | void get_mag(void); |
m_smt | 0:39c2bb18192b | 217 | /** Get the corrected linear acceleration **/ |
m_smt | 0:39c2bb18192b | 218 | void get_lia(void); |
m_smt | 0:39c2bb18192b | 219 | /** Get the current gravity vector **/ |
m_smt | 0:39c2bb18192b | 220 | void get_grv(void); |
m_smt | 0:39c2bb18192b | 221 | /** Get the output quaternion **/ |
m_smt | 0:39c2bb18192b | 222 | void get_quat(void); |
m_smt | 0:39c2bb18192b | 223 | /** Get the current Euler angles **/ |
m_smt | 0:39c2bb18192b | 224 | void get_angles(void); |
m_smt | 0:39c2bb18192b | 225 | /** Get the current temperature **/ |
m_smt | 0:39c2bb18192b | 226 | void get_temp(void); |
m_smt | 0:39c2bb18192b | 227 | |
m_smt | 0:39c2bb18192b | 228 | /** Read the calibration status register and store the result in the calib variable **/ |
m_smt | 0:39c2bb18192b | 229 | void get_calib(void); |
m_smt | 0:39c2bb18192b | 230 | /** Read the offset and radius values into the calibration array**/ |
m_smt | 0:39c2bb18192b | 231 | void read_calibration_data(void); |
m_smt | 0:39c2bb18192b | 232 | /** Write the contents of the calibration array into the registers **/ |
m_smt | 0:39c2bb18192b | 233 | void write_calibration_data(void); |
m_smt | 0:39c2bb18192b | 234 | |
m_smt | 0:39c2bb18192b | 235 | /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field. |
m_smt | 0:39c2bb18192b | 236 | x,y,z are the scale floating point values and |
m_smt | 0:39c2bb18192b | 237 | rawx, rawy, rawz are the int16_t values read from the sensors **/ |
m_smt | 0:39c2bb18192b | 238 | values accel,gyro,mag,lia,gravity; |
m_smt | 0:39c2bb18192b | 239 | /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point |
m_smt | 0:39c2bb18192b | 240 | and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/ |
m_smt | 0:39c2bb18192b | 241 | angles euler; |
m_smt | 0:39c2bb18192b | 242 | /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the |
m_smt | 0:39c2bb18192b | 243 | registers **/ |
m_smt | 0:39c2bb18192b | 244 | quaternion quat; |
m_smt | 0:39c2bb18192b | 245 | |
m_smt | 0:39c2bb18192b | 246 | /** Current contents of calibration status register **/ |
m_smt | 0:39c2bb18192b | 247 | char calib; |
m_smt | 0:39c2bb18192b | 248 | /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/ |
m_smt | 0:39c2bb18192b | 249 | char calibration[22]; |
m_smt | 0:39c2bb18192b | 250 | /** Structure containing sensor numbers, software version and chip UID **/ |
m_smt | 0:39c2bb18192b | 251 | chip ID; |
m_smt | 0:39c2bb18192b | 252 | /** Current temperature **/ |
m_smt | 0:39c2bb18192b | 253 | int temperature; |
m_smt | 0:39c2bb18192b | 254 | |
m_smt | 0:39c2bb18192b | 255 | double gyroo; |
m_smt | 0:39c2bb18192b | 256 | |
m_smt | 0:39c2bb18192b | 257 | private: |
m_smt | 0:39c2bb18192b | 258 | |
m_smt | 0:39c2bb18192b | 259 | I2C _i2c; |
m_smt | 0:39c2bb18192b | 260 | char rx,tx[2],address; //I2C variables |
m_smt | 0:39c2bb18192b | 261 | char rawdata[22]; //Temporary array for input data values |
m_smt | 0:39c2bb18192b | 262 | char op_mode; |
m_smt | 0:39c2bb18192b | 263 | char pwr_mode; |
m_smt | 0:39c2bb18192b | 264 | float accel_scale,rate_scale,angle_scale; |
m_smt | 0:39c2bb18192b | 265 | int temp_scale; |
m_smt | 0:39c2bb18192b | 266 | |
m_smt | 0:39c2bb18192b | 267 | void readchar(char location){ |
m_smt | 0:39c2bb18192b | 268 | tx[0] = location; |
m_smt | 0:39c2bb18192b | 269 | _i2c.write(address,tx,1,true); |
m_smt | 0:39c2bb18192b | 270 | _i2c.read(address,&rx,1,false); |
m_smt | 0:39c2bb18192b | 271 | } |
m_smt | 0:39c2bb18192b | 272 | |
m_smt | 0:39c2bb18192b | 273 | void writechar(char location, char value){ |
m_smt | 0:39c2bb18192b | 274 | tx[0] = location; |
m_smt | 0:39c2bb18192b | 275 | tx[1] = value; |
m_smt | 0:39c2bb18192b | 276 | _i2c.write(address,tx,2); |
m_smt | 0:39c2bb18192b | 277 | } |
m_smt | 0:39c2bb18192b | 278 | |
m_smt | 0:39c2bb18192b | 279 | void setpage(char value){ |
m_smt | 0:39c2bb18192b | 280 | writechar(BNO055_PAGE_ID_ADDR,value); |
m_smt | 0:39c2bb18192b | 281 | } |
m_smt | 0:39c2bb18192b | 282 | }; |
m_smt | 0:39c2bb18192b | 283 | #endif |