Sheila Pham / BNOWrapper

start the wrapper burrito

BNO080Constants.h@8:217f510db255, 2019-07-29 (annotated)

Committer:
sepham
Date:
Mon Jul 29 17:55:43 2019 +0000
Revision:
8:217f510db255
Parent:
3:197ad972fb7c 
strating the wrapper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jamie Smith 1:aac28ffd63ed 1 //
Jamie Smith 1:aac28ffd63ed 2 // Constants used in communication with the BNO080
Jamie Smith 1:aac28ffd63ed 3 //
Jamie Smith 1:aac28ffd63ed 4
Jamie Smith 1:aac28ffd63ed 5 #ifndef HAMSTER_BNO080CONSTANTS_H
Jamie Smith 1:aac28ffd63ed 6 #define HAMSTER_BNO080CONSTANTS_H
Jamie Smith 1:aac28ffd63ed 7
Jamie Smith 1:aac28ffd63ed 8
Jamie Smith 1:aac28ffd63ed 9 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Jamie Smith 1:aac28ffd63ed 10
Jamie Smith 3:197ad972fb7c 11 // Channels
Jamie Smith 1:aac28ffd63ed 12 #define CHANNEL_COMMAND 0
Jamie Smith 1:aac28ffd63ed 13 #define CHANNEL_EXECUTABLE 1
Jamie Smith 1:aac28ffd63ed 14 #define CHANNEL_CONTROL 2
Jamie Smith 1:aac28ffd63ed 15 #define CHANNEL_REPORTS 3
Jamie Smith 1:aac28ffd63ed 16 #define CHANNEL_WAKE_REPORTS 4
Jamie Smith 1:aac28ffd63ed 17 #define CHANNEL_GYRO 5
Jamie Smith 1:aac28ffd63ed 18
Jamie Smith 1:aac28ffd63ed 19 // Report IDs on the command channel.
Jamie Smith 1:aac28ffd63ed 20 // Unlike the other constants, these come from the Sensor Hub Transport Protocol datasheet, section 5.1
Jamie Smith 1:aac28ffd63ed 21 #define COMMAND_REPORTID_ADVERTISEMENT 0x0
Jamie Smith 1:aac28ffd63ed 22 #define COMMAND_REPORTID_ERRORLIST 0x1
Jamie Smith 1:aac28ffd63ed 23
Jamie Smith 1:aac28ffd63ed 24 //All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual
Jamie Smith 1:aac28ffd63ed 25 //These are used for low level communication with the sensor, on channel 2
Jamie Smith 1:aac28ffd63ed 26 #define SHTP_REPORT_COMMAND_RESPONSE 0xF1
Jamie Smith 1:aac28ffd63ed 27 #define SHTP_REPORT_COMMAND_REQUEST 0xF2
Jamie Smith 1:aac28ffd63ed 28 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3
Jamie Smith 1:aac28ffd63ed 29 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4
Jamie Smith 3:197ad972fb7c 30 #define SHTP_REPORT_FRS_WRITE_RESPONSE 0xF5
Jamie Smith 3:197ad972fb7c 31 #define SHTP_REPORT_FRS_WRITE_DATA 0xF6
Jamie Smith 3:197ad972fb7c 32 #define SHTP_REPORT_FRS_WRITE_REQUEST 0xF7
Jamie Smith 1:aac28ffd63ed 33 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8
Jamie Smith 1:aac28ffd63ed 34 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9
Jamie Smith 1:aac28ffd63ed 35 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB
Jamie Smith 1:aac28ffd63ed 36 #define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD
Jamie Smith 1:aac28ffd63ed 37 #define SHTP_REPORT_GET_FEATURE_RESPONSE 0xFC
Jamie Smith 1:aac28ffd63ed 38
Jamie Smith 1:aac28ffd63ed 39 //All the different sensors and features we can get reports from
Jamie Smith 1:aac28ffd63ed 40 //These are used when enabling a given sensor
Jamie Smith 1:aac28ffd63ed 41 #define SENSOR_REPORTID_TIMESTAMP_REBASE 0xFA
Jamie Smith 1:aac28ffd63ed 42 #define SENSOR_REPORTID_ACCELEROMETER 0x01
Jamie Smith 1:aac28ffd63ed 43 #define SENSOR_REPORTID_GYROSCOPE_CALIBRATED 0x02
Jamie Smith 1:aac28ffd63ed 44 #define SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED 0x03
Jamie Smith 1:aac28ffd63ed 45 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04
Jamie Smith 1:aac28ffd63ed 46 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05
Jamie Smith 1:aac28ffd63ed 47 #define SENSOR_REPORTID_GRAVITY 0x06
Jamie Smith 1:aac28ffd63ed 48 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08
Jamie Smith 1:aac28ffd63ed 49 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09
Jamie Smith 1:aac28ffd63ed 50 #define SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED 0x0F
Jamie Smith 1:aac28ffd63ed 51 #define SENSOR_REPORTID_TAP_DETECTOR 0x10
Jamie Smith 1:aac28ffd63ed 52 #define SENSOR_REPORTID_STEP_COUNTER 0x11
Jamie Smith 1:aac28ffd63ed 53 #define SENSOR_REPORTID_SIGNIFICANT_MOTION 0x12
Jamie Smith 1:aac28ffd63ed 54 #define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13
Jamie Smith 1:aac28ffd63ed 55 #define SENSOR_REPORTID_STEP_DETECTOR 0x18
Jamie Smith 1:aac28ffd63ed 56 #define SENSOR_REPORTID_SHAKE_DETECTOR 0x19
Jamie Smith 1:aac28ffd63ed 57
Jamie Smith 1:aac28ffd63ed 58 // sensor report ID with the largest numeric value
Jamie Smith 1:aac28ffd63ed 59 #define MAX_SENSOR_REPORTID SENSOR_REPORTID_SHAKE_DETECTOR
Jamie Smith 1:aac28ffd63ed 60
Jamie Smith 1:aac28ffd63ed 61 // Q points for various sensor data elements
Jamie Smith 1:aac28ffd63ed 62 #define ACCELEROMETER_Q_POINT 8 // for accelerometer based data
Jamie Smith 1:aac28ffd63ed 63 #define GYRO_Q_POINT 9 // for gyroscope data
Jamie Smith 1:aac28ffd63ed 64 #define MAGNETOMETER_Q_POINT 4 // for magnetometer data
Jamie Smith 1:aac28ffd63ed 65 #define ROTATION_Q_POINT 14 // for rotation data
Jamie Smith 1:aac28ffd63ed 66 #define ROTATION_ACCURACY_Q_POINT 12 // for rotation accuracy data
Jamie Smith 1:aac28ffd63ed 67 #define POWER_Q_POINT 10 // for power information in the metadata
Jamie Smith 1:aac28ffd63ed 68 #define ORIENTATION_QUAT_Q_POINT 14 // for the set orientation command
Jamie Smith 3:197ad972fb7c 69 #define FRS_ORIENTATION_Q_POINT 30 // for the sensor orientation FRS record
Jamie Smith 1:aac28ffd63ed 70
Jamie Smith 1:aac28ffd63ed 71 // Report IDs on the Executable channel
Jamie Smith 1:aac28ffd63ed 72 // See Figure 1-27 in the BNO080 datasheet
Jamie Smith 1:aac28ffd63ed 73 #define EXECUTABLE_REPORTID_RESET 0x1
Jamie Smith 1:aac28ffd63ed 74
Jamie Smith 1:aac28ffd63ed 75 //Record IDs from SH-2 figure 28
Jamie Smith 1:aac28ffd63ed 76 //These are used to read and set various configuration options
Jamie Smith 1:aac28ffd63ed 77 #define FRS_RECORDID_SERIAL_NUMBER 0x4B4B
Jamie Smith 3:197ad972fb7c 78 #define FRS_RECORDID_SYSTEM_ORIENTATION 0x2D3E
Jamie Smith 1:aac28ffd63ed 79
Jamie Smith 1:aac28ffd63ed 80 //Command IDs from section 6.4, page 42
Jamie Smith 1:aac28ffd63ed 81 //These are used to calibrate, initialize, set orientation, tare etc the sensor
Jamie Smith 1:aac28ffd63ed 82 #define COMMAND_ERRORS 1
Jamie Smith 1:aac28ffd63ed 83 #define COMMAND_COUNTER 2
Jamie Smith 1:aac28ffd63ed 84 #define COMMAND_TARE 3
Jamie Smith 1:aac28ffd63ed 85 #define COMMAND_INITIALIZE 4
Jamie Smith 1:aac28ffd63ed 86 #define COMMAND_SAVE_DCD 6
Jamie Smith 1:aac28ffd63ed 87 #define COMMAND_ME_CALIBRATE 7
Jamie Smith 1:aac28ffd63ed 88 #define COMMAND_DCD_PERIOD_SAVE 9
Jamie Smith 1:aac28ffd63ed 89 #define COMMAND_OSCILLATOR 10
Jamie Smith 1:aac28ffd63ed 90 #define COMMAND_CLEAR_DCD 11
Jamie Smith 1:aac28ffd63ed 91 #define COMMAND_UNSOLICITED_INITIALIZE 0x84
Jamie Smith 1:aac28ffd63ed 92
Jamie Smith 1:aac28ffd63ed 93 #define CALIBRATE_ACCEL 0
Jamie Smith 1:aac28ffd63ed 94 #define CALIBRATE_GYRO 1
Jamie Smith 1:aac28ffd63ed 95 #define CALIBRATE_MAG 2
Jamie Smith 1:aac28ffd63ed 96 #define CALIBRATE_PLANAR_ACCEL 3
Jamie Smith 1:aac28ffd63ed 97 #define CALIBRATE_ACCEL_GYRO_MAG 4
Jamie Smith 1:aac28ffd63ed 98 #define CALIBRATE_STOP 5
Jamie Smith 1:aac28ffd63ed 99
Jamie Smith 1:aac28ffd63ed 100 // timing for reset
Jamie Smith 1:aac28ffd63ed 101 // per my measurement, reset takes about 90ms, so let's take twice that
Jamie Smith 3:197ad972fb7c 102 // By the way, I discovered (by accident) that a symptom of brownout is the chip taking
Jamie Smith 3:197ad972fb7c 103 // a long time to reset. So if you had to increase this, check that your Vcc is
Jamie Smith 3:197ad972fb7c 104 // within the allowed range.
Jamie Smith 1:aac28ffd63ed 105 #define BNO080_RESET_TIMEOUT .18f
Jamie Smith 1:aac28ffd63ed 106
Jamie Smith 1:aac28ffd63ed 107 #endif //HAMSTER_BNO080CONSTANTS_H