BNO055.hpp

00001 #ifndef BNO055_H
00002 #define BNO055_H
00003 
00004 #include "mbed.h"
00005 
00006 #define BNOAddress (0x28 << 1)
00007 //Register definitions
00008 #define pi 3.141592653589793238
00009 /* Page id register definition */ 
00010 #define BNO055_PAGE_ID_ADDR          0x07
00011 /* PAGE0 REGISTER DEFINITION START*/ 
00012 #define BNO055_CHIP_ID_ADDR          0x00 
00013 #define BNO055_ACCEL_REV_ID_ADDR     0x01
00014 #define BNO055_MAG_REV_ID_ADDR       0x02
00015 #define BNO055_GYRO_REV_ID_ADDR      0x03
00016 #define BNO055_SW_REV_ID_LSB_ADDR    0x04
00017 #define BNO055_SW_REV_ID_MSB_ADDR    0x05
00018 #define BNO055_BL_REV_ID_ADDR        0x06
00019 /* Accel data register */ 
00020 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
00021 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
00022 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
00023 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
00024 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
00025 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
00026 /* Mag data register */ 
00027 #define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
00028 #define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
00029 #define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
00030 #define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
00031 #define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
00032 #define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
00033 /* Gyro data registers */ 
00034 #define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
00035 #define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
00036 #define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
00037 #define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
00038 #define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
00039 #define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
00040 /* Euler data registers */ 
00041 #define BNO055_EULER_H_LSB_ADDR      0x1A
00042 #define BNO055_EULER_H_MSB_ADDR      0x1B
00043 #define BNO055_EULER_R_LSB_ADDR      0x1C
00044 #define BNO055_EULER_R_MSB_ADDR      0x1D
00045 #define BNO055_EULER_P_LSB_ADDR      0x1E
00046 #define BNO055_EULER_P_MSB_ADDR      0x1F
00047 /* Quaternion data registers */ 
00048 #define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
00049 #define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
00050 #define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
00051 #define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
00052 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
00053 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
00054 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
00055 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
00056 /* Linear acceleration data registers */ 
00057 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
00058 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
00059 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
00060 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
00061 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
00062 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
00063 /* Gravity data registers */ 
00064 #define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
00065 #define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
00066 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
00067 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
00068 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
00069 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
00070 /* Temperature data register */ 
00071 #define BNO055_TEMP_ADDR                    0x34 
00072 /* Status registers */ 
00073 #define BNO055_CALIB_STAT_ADDR              0x35 
00074 #define BNO055_SELFTEST_RESULT_ADDR         0x36 
00075 #define BNO055_INTR_STAT_ADDR               0x37 
00076 #define BNO055_SYS_CLK_STAT_ADDR            0x38 
00077 #define BNO055_SYS_STAT_ADDR                0x39 
00078 #define BNO055_SYS_ERR_ADDR                 0x3A 
00079 /* Unit selection register */ 
00080 #define BNO055_UNIT_SEL_ADDR                0x3B 
00081 #define BNO055_DATA_SELECT_ADDR             0x3C 
00082 /* Mode registers */ 
00083 #define BNO055_OPR_MODE_ADDR                0x3D 
00084 #define BNO055_PWR_MODE_ADDR                0x3E 
00085 #define BNO055_SYS_TRIGGER_ADDR             0x3F 
00086 #define BNO055_TEMP_SOURCE_ADDR             0x40 
00087 /* Axis remap registers */ 
00088 #define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
00089 #define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
00090 /* Accelerometer Offset registers */ 
00091 #define ACCEL_OFFSET_X_LSB_ADDR             0x55 
00092 #define ACCEL_OFFSET_X_MSB_ADDR             0x56 
00093 #define ACCEL_OFFSET_Y_LSB_ADDR             0x57
00094 #define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
00095 #define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
00096 #define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
00097 /* Magnetometer Offset registers */ 
00098 #define MAG_OFFSET_X_LSB_ADDR               0x5B
00099 #define MAG_OFFSET_X_MSB_ADDR               0x5C
00100 #define MAG_OFFSET_Y_LSB_ADDR               0x5D
00101 #define MAG_OFFSET_Y_MSB_ADDR               0x5E
00102 #define MAG_OFFSET_Z_LSB_ADDR               0x5F
00103 #define MAG_OFFSET_Z_MSB_ADDR               0x60
00104 /* Gyroscope Offset registers*/ 
00105 #define GYRO_OFFSET_X_LSB_ADDR              0x61
00106 #define GYRO_OFFSET_X_MSB_ADDR              0x62
00107 #define GYRO_OFFSET_Y_LSB_ADDR              0x63
00108 #define GYRO_OFFSET_Y_MSB_ADDR              0x64
00109 #define GYRO_OFFSET_Z_LSB_ADDR              0x65
00110 #define GYRO_OFFSET_Z_MSB_ADDR              0x66
00111 /* Radius registers */ 
00112 #define ACCEL_RADIUS_LSB_ADDR               0x67 
00113 #define ACCEL_RADIUS_MSB_ADDR               0x68 
00114 #define MAG_RADIUS_LSB_ADDR                 0x69 
00115 #define MAG_RADIUS_MSB_ADDR                 0x6A 
00116 
00117 /* Page 1 registers */
00118 #define BNO055_UNIQUE_ID_ADDR               0x50
00119 
00120 //Definitions for unit selection
00121 #define MPERSPERS   0x00
00122 #define MILLIG      0x01
00123 #define DEG_PER_SEC 0x00
00124 #define RAD_PER_SEC 0x02
00125 #define DEGREES     0x00
00126 #define RADIANS     0x04
00127 #define CENTIGRADE  0x00
00128 #define FAHRENHEIT  0x10
00129 #define WINDOWS     0x00
00130 #define ANDROID     0x80
00131 
00132 //Definitions for power mode
00133 #define POWER_MODE_NORMAL   0x00 
00134 #define POWER_MODE_LOWPOWER 0x01 
00135 #define POWER_MODE_SUSPEND  0x02 
00136 
00137 //Definitions for operating mode
00138 #define OPERATION_MODE_CONFIG        0x00 
00139 #define OPERATION_MODE_ACCONLY       0x01 
00140 #define OPERATION_MODE_MAGONLY       0x02 
00141 #define OPERATION_MODE_GYRONLY       0x03 
00142 #define OPERATION_MODE_ACCMAG        0x04 
00143 #define OPERATION_MODE_ACCGYRO       0x05 
00144 #define OPERATION_MODE_MAGGYRO       0x06 
00145 #define OPERATION_MODE_AMG           0x07 
00146 #define OPERATION_MODE_IMUPLUS       0x08 
00147 #define OPERATION_MODE_COMPASS       0x09 
00148 #define OPERATION_MODE_M4G           0x0A 
00149 #define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
00150 #define OPERATION_MODE_NDOF          0x0C 
00151 
00152 typedef struct values{
00153     int16_t rawx,rawy,rawz;
00154     float x,y,z;
00155     }values;
00156     
00157 typedef struct angles{
00158     int16_t rawroll,rawpitch,rawyaw;
00159     float roll, pitch, yaw;
00160     } angles;
00161     
00162 typedef struct quaternion{
00163     int16_t raww,rawx,rawy,rawz;
00164     float w,x,y,z;
00165     }quaternion;
00166 
00167 typedef struct chip{
00168     char id;
00169     char accel;
00170     char gyro;
00171     char mag;
00172     char sw[2];
00173     char bootload;
00174     char serial[16];
00175     }chip;
00176 
00177 /** Class for operating Bosch BNO055 sensor over I2C **/
00178 class BNO055 
00179 { 
00180 public: 
00181 
00182 /** Create BNO055 instance **/
00183     BNO055(PinName SDA, PinName SCL); 
00184     
00185 /** Perform a power-on reset of the BNO055 **/
00186     void reset();
00187 /** Check that the BNO055 is connected and download the software details 
00188 and serial number of chip and store in ID structure **/
00189     bool check();
00190 /** Turn the external timing crystal on/off **/
00191     void SetExternalCrystal(bool yn);
00192 /** Set the operation mode of the sensor **/    
00193     void setmode(char mode);
00194 /** Set the power mode of the sensor **/
00195     void setpowermode(char mode);
00196     
00197 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
00198     void set_accel_units(char units);
00199 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
00200     void set_anglerate_units(char units);
00201 /** Set the output units from the IMU, either DEGREES or RADIANS **/
00202     void set_angle_units(char units);
00203 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
00204     void set_temp_units(char units);
00205 /** Set the data output format to either WINDOWS or ANDROID **/    
00206     void set_orientation(char units);
00207 /** Set the mapping of the exes/directions as per page 25 of datasheet
00208     range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
00209     void set_mapping(char orient);
00210     
00211 /** Get the current values from the accelerometer **/
00212     void get_accel(void);
00213 /** Get the current values from the gyroscope **/
00214     void get_gyro(void);
00215 /** Get the current values from the magnetometer **/
00216     void get_mag(void);
00217 /** Get the corrected linear acceleration **/
00218     void get_lia(void);
00219 /** Get the current gravity vector **/
00220     void get_grv(void);
00221 /** Get the output quaternion **/
00222     void get_quat(void);
00223 /** Get the current Euler angles **/
00224     void get_angles(void);
00225 /** Get the current temperature **/
00226     void get_temp(void);
00227 
00228 /** Read the calibration status register and store the result in the calib variable **/
00229     void get_calib(void);
00230 /** Read the offset and radius values into the calibration array**/
00231     void read_calibration_data(void);
00232 /** Write the contents of the calibration array into the registers **/    
00233     void write_calibration_data(void);
00234     
00235 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
00236     x,y,z are the scale floating point values and
00237     rawx, rawy, rawz are the int16_t values read from the sensors **/
00238     values accel,gyro,mag,lia,gravity;
00239 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
00240     and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
00241     angles euler;
00242 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
00243     registers **/    
00244     quaternion quat;
00245 
00246 /** Current contents of calibration status register **/
00247     char calib;
00248 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
00249     char calibration[22];
00250 /** Structure containing sensor numbers, software version and chip UID **/
00251     chip ID;
00252 /** Current temperature **/
00253     int temperature;
00254     
00255     double gyroo;
00256     
00257     private:
00258     
00259         I2C _i2c;
00260         char rx,tx[2],address;  //I2C variables
00261         char rawdata[22]; //Temporary array for input data values
00262         char op_mode;
00263         char pwr_mode;
00264         float accel_scale,rate_scale,angle_scale;
00265         int temp_scale;
00266         
00267 void readchar(char location){
00268     tx[0] = location;
00269     _i2c.write(address,tx,1,true);
00270     _i2c.read(address,&rx,1,false);
00271 }
00272 
00273 void writechar(char location, char value){
00274     tx[0] = location;
00275     tx[1] = value;
00276     _i2c.write(address,tx,2);
00277 }
00278 
00279 void setpage(char value){
00280     writechar(BNO055_PAGE_ID_ADDR,value);
00281 }
00282     };
00283 #endif