Darren Ulrich
Found this library on Github and so far it is as complete as the Arduino Adafruit library.
Fork of
BNO055_fusion
by 
Darren Ulrich
Major bugs
Diff: BNO055.h
- Revision:
- 6:59ad1c98647c
- Parent:
- 5:eae056708af1
--- a/BNO055.h Fri Jan 20 20:45:12 2017 +0000
+++ b/BNO055.h Fri Mar 03 02:52:03 2017 +0000
@@ -1,538 +1,301 @@
-/*
- * mbed library program
- * BNO055 Intelligent 9-axis absolute orientation sensor
- * by Bosch Sensortec
- *
- * Copyright (c) 2015 Kenji Arai / JH1PJL
- * http://www.page.sannet.ne.jp/kenjia/index.html
- * http://mbed.org/users/kenjiArai/
- * Created: March 30th, 2015
- * Revised: April 16th, 2015
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
- * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
- * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-/*
- *---------------- REFERENCE ----------------------------------------------------------------------
- * Original Information
- * https://www.bosch-sensortec.com/en/homepage/products_3/sensor_hubs/iot_solutions/bno055_1/bno055_4
- * Intelligent 9-axis absolute orientation sensor / Data Sheet BST_BNO055_DS000_12 Nov. 2014 rev.1.2
- * Sample software https://github.com/BoschSensortec/BNO055_driver
- * Sensor board
- * https://www.rutronik24.com/product/bosch+se/bno055+shuttle+board+mems/6431291.html
- * http://microcontrollershop.com/product_info.php?products_id=7140&osCsid=10645k86db2crld4tfi0vol5g5
- */
-
#ifndef BNO055_H
#define BNO055_H
#include "mbed.h"
-// BNO055
-// 7bit address = 0b010100x(0x28 or 0x29 depends on COM3)
-#define BNO055_G_CHIP_ADDR (0x28 << 1) // COM3 = GND
-#define BNO055_V_CHIP_ADDR (0x29 << 1) // COM3 = Vdd
-
-// Fusion mode
-#define CONFIGMODE 0x00
-#define MODE_IMU 0x08
-#define MODE_COMPASS 0x09
-#define MODE_M4G 0x0a
-#define MODE_NDOF_FMC_OFF 0x0b
-#define MODE_NDOF 0x0c
-
-// UNIT
-#define UNIT_ACC_MSS 0x00 // acc m/s2
-#define UNIT_ACC_MG 0x01 // acc mg
-#define UNIT_GYR_DPS 0x00 // gyro Dps
-#define UNIT_GYR_RPS 0x02 // gyro Rps
-#define UNIT_EULER_DEG 0x00 // euler Degrees
-#define UNIT_EULER_RAD 0x04 // euler Radians
-#define UNIT_TEMP_C 0x00 // temperature degC
-#define UNIT_TEMP_F 0x10 // temperature degF
-#define UNIT_ORI_WIN 0x00 // Windows orientation
-#define UNIT_ORI_ANDROID 0x80 // Android orientation
-
-// ID's
-#define I_AM_BNO055_CHIP 0xa0 // CHIP ID
-#define I_AM_BNO055_ACC 0xfb // ACC ID
-#define I_AM_BNO055_MAG 0x32 // MAG ID
-#define I_AM_BNO055_GYR 0x0f // GYR ID
-
-////////////// DATA TYPE DEFINITION ///////////////////////
-typedef struct {
- uint8_t chip_id;
- uint8_t acc_id;
- uint8_t mag_id;
- uint8_t gyr_id;
- uint8_t bootldr_rev_id;
- uint16_t sw_rev_id;
-} BNO055_ID_INF_TypeDef;
-
-typedef struct {
- double h;
- double r;
- double p;
-} BNO055_EULER_TypeDef;
+#define BNOAddress (0x28 << 1)
+//Register definitions
+/* Page id register definition */
+#define BNO055_PAGE_ID_ADDR 0x07
+/* PAGE0 REGISTER DEFINITION START*/
+#define BNO055_CHIP_ID_ADDR 0x00
+#define BNO055_ACCEL_REV_ID_ADDR 0x01
+#define BNO055_MAG_REV_ID_ADDR 0x02
+#define BNO055_GYRO_REV_ID_ADDR 0x03
+#define BNO055_SW_REV_ID_LSB_ADDR 0x04
+#define BNO055_SW_REV_ID_MSB_ADDR 0x05
+#define BNO055_BL_REV_ID_ADDR 0x06
+/* Accel data register */
+#define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
+#define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
+/* Mag data register */
+#define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
+#define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
+#define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
+#define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
+#define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
+#define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
+/* Gyro data registers */
+#define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
+#define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
+#define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
+#define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
+#define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
+#define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
+/* Euler data registers */
+#define BNO055_EULER_H_LSB_ADDR 0x1A
+#define BNO055_EULER_H_MSB_ADDR 0x1B
+#define BNO055_EULER_R_LSB_ADDR 0x1C
+#define BNO055_EULER_R_MSB_ADDR 0x1D
+#define BNO055_EULER_P_LSB_ADDR 0x1E
+#define BNO055_EULER_P_MSB_ADDR 0x1F
+/* Quaternion data registers */
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
+/* Linear acceleration data registers */
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
+/* Gravity data registers */
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
+/* Temperature data register */
+#define BNO055_TEMP_ADDR 0x34
+/* Status registers */
+#define BNO055_CALIB_STAT_ADDR 0x35
+#define BNO055_SELFTEST_RESULT_ADDR 0x36
+#define BNO055_INTR_STAT_ADDR 0x37
+#define BNO055_SYS_CLK_STAT_ADDR 0x38
+#define BNO055_SYS_STAT_ADDR 0x39
+#define BNO055_SYS_ERR_ADDR 0x3A
+/* Unit selection register */
+#define BNO055_UNIT_SEL_ADDR 0x3B
+#define BNO055_DATA_SELECT_ADDR 0x3C
+/* Mode registers */
+#define BNO055_OPR_MODE_ADDR 0x3D
+#define BNO055_PWR_MODE_ADDR 0x3E
+#define BNO055_SYS_TRIGGER_ADDR 0x3F
+#define BNO055_TEMP_SOURCE_ADDR 0x40
+/* Axis remap registers */
+#define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
+#define BNO055_AXIS_MAP_SIGN_ADDR 0x42
+/* Accelerometer Offset registers */
+#define ACCEL_OFFSET_X_LSB_ADDR 0x55
+#define ACCEL_OFFSET_X_MSB_ADDR 0x56
+#define ACCEL_OFFSET_Y_LSB_ADDR 0x57
+#define ACCEL_OFFSET_Y_MSB_ADDR 0x58
+#define ACCEL_OFFSET_Z_LSB_ADDR 0x59
+#define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
+/* Magnetometer Offset registers */
+#define MAG_OFFSET_X_LSB_ADDR 0x5B
+#define MAG_OFFSET_X_MSB_ADDR 0x5C
+#define MAG_OFFSET_Y_LSB_ADDR 0x5D
+#define MAG_OFFSET_Y_MSB_ADDR 0x5E
+#define MAG_OFFSET_Z_LSB_ADDR 0x5F
+#define MAG_OFFSET_Z_MSB_ADDR 0x60
+/* Gyroscope Offset registers*/
+#define GYRO_OFFSET_X_LSB_ADDR 0x61
+#define GYRO_OFFSET_X_MSB_ADDR 0x62
+#define GYRO_OFFSET_Y_LSB_ADDR 0x63
+#define GYRO_OFFSET_Y_MSB_ADDR 0x64
+#define GYRO_OFFSET_Z_LSB_ADDR 0x65
+#define GYRO_OFFSET_Z_MSB_ADDR 0x66
+/* Radius registers */
+#define ACCEL_RADIUS_LSB_ADDR 0x67
+#define ACCEL_RADIUS_MSB_ADDR 0x68
+#define MAG_RADIUS_LSB_ADDR 0x69
+#define MAG_RADIUS_MSB_ADDR 0x6A
-typedef struct {
- int16_t x;
- int16_t y;
- int16_t z;
- int16_t w;
-} BNO055_QUATERNION_TypeDef;
+/* Page 1 registers */
+#define BNO055_UNIQUE_ID_ADDR 0x50
-typedef struct {
- double x;
- double y;
- double z;
-} BNO055_LIN_ACC_TypeDef;
+//Definitions for unit selection
+#define MPERSPERS 0x00
+#define MILLIG 0x01
+#define DEG_PER_SEC 0x00
+#define RAD_PER_SEC 0x02
+#define DEGREES 0x00
+#define RADIANS 0x04
+#define CENTIGRADE 0x00
+#define FAHRENHEIT 0x10
+#define WINDOWS 0x00
+#define ANDROID 0x80
-typedef struct {
- double x;
- double y;
- double z;
-} BNO055_GRAVITY_TypeDef;
+//Definitions for power mode
+#define POWER_MODE_NORMAL 0x00
+#define POWER_MODE_LOWPOWER 0x01
+#define POWER_MODE_SUSPEND 0x02
-typedef struct {
- int8_t acc_chip;
- int8_t gyr_chip;
-} BNO055_TEMPERATURE_TypeDef;
-
-enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7};
+//Definitions for operating mode
+#define OPERATION_MODE_CONFIG 0x00
+#define OPERATION_MODE_ACCONLY 0x01
+#define OPERATION_MODE_MAGONLY 0x02
+#define OPERATION_MODE_GYRONLY 0x03
+#define OPERATION_MODE_ACCMAG 0x04
+#define OPERATION_MODE_ACCGYRO 0x05
+#define OPERATION_MODE_MAGGYRO 0x06
+#define OPERATION_MODE_AMG 0x07
+#define OPERATION_MODE_IMUPLUS 0x08
+#define OPERATION_MODE_COMPASS 0x09
+#define OPERATION_MODE_M4G 0x0A
+#define OPERATION_MODE_NDOF_FMC_OFF 0x0B
+#define OPERATION_MODE_NDOF 0x0C
-/** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor
- * Chip: BNO055
- *
- * @code
- * #include "mbed.h"
- * #include "BNO055.h"
- *
- * Serial pc(USBTX,USBRX);
- * I2C i2c(PB_9, PB_8); // SDA, SCL
- * BNO055 imu(i2c, PA_8); // Reset
- *
- * BNO055_ID_INF_TypeDef bno055_id_inf;
- * BNO055_EULER_TypeDef euler_angles;
- *
- * int main() {
- * pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
- * if (imu.chip_ready() == 0){
- * pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
- * }
- * imu.read_id_inf(&bno055_id_inf);
- * pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
- * bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
- * bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
- * while(1) {
- * imu.get_Euler_Angles(&euler_angles);
- * pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
- * euler_angles.h, euler_angles.r, euler_angles.p);
- * wait(0.5);
- * }
- * }
- * @endcode
- */
+typedef struct values
+{
+ int16_t rawx,rawy,rawz;
+ float x,y,z;
+} values;
+
+typedef struct angles
+{
+ int16_t rawroll,rawpitch,rawyaw;
+ float roll, pitch, yaw;
+} angles;
+
+typedef struct quaternion
+{
+ int16_t raww,rawx,rawy,rawz;
+ float w,x,y,z;
+} quaternion;
+typedef struct calstatus
+{
+ char raw; // Raw byte from calibration register
+ int mag; // Bits 0,1
+ int accel; // Bits 2,3
+ int gyro; // Bits 4,5
+ int system; // Bits 6,7
+} calstatus;
+
+typedef struct chip
+{
+ char id;
+ char accel;
+ char gyro;
+ char mag;
+ char sw[2];
+ char bootload;
+ char serial[16];
+} chip;
+
+/** Class for operating Bosch BNO055 sensor over I2C **/
class BNO055
{
public:
- /** Configure data pin
- * @param data SDA and SCL pins
- * @param device address
- */
- BNO055(PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode);
- /** Configure data pin
- * @param data SDA and SCL pins
- * @param Other parameters are set default data
- */
- BNO055(PinName p_sda, PinName p_scl, PinName p_reset);
-
- /** Configure data pin (with other devices on I2C line)
- * @param I2C previous definition
- * @param device address
- */
- BNO055(I2C& p_i2c, PinName p_reset, uint8_t addr, uint8_t mode);
-
- /** Configure data pin (with other devices on I2C line)
- * @param I2C previous definition
- * @param Other parameters are set default data
- */
- BNO055(I2C& p_i2c, PinName p_reset);
-
- /** Get Euler Angles
- * @param double type of 3D data address
- */
- void get_Euler_Angles(BNO055_EULER_TypeDef *el);
+ /** Create BNO055 instance **/
+ BNO055(PinName SDA, PinName SCL);
+ //BNO055(I2C& p_i2c);
- /** Get Quaternion XYZ&W
- * @param int16_t type of 4D data address
- */
- void get_quaternion(BNO055_QUATERNION_TypeDef *qua);
-
- /** Get Linear accel data
- * @param double type of 3D data address
- */
- void get_linear_accel(BNO055_LIN_ACC_TypeDef *la);
-
- /** Get Gravity data
- * @param double type of 3D data address
- */
- void get_gravity(BNO055_GRAVITY_TypeDef *gr);
+ /** Perform a power-on reset of the BNO055 **/
+ void reset();
+ /** Check that the BNO055 is connected and download the software details
+ and serial number of chip and store in ID structure **/
+ bool check();
+ /** Turn the external timing crystal on/off **/
+ void SetExternalCrystal(bool yn);
+ /** Set the operation mode of the sensor **/
+ void setmode(char mode);
+ /** Set the power mode of the sensor **/
+ void setpowermode(char mode);
- /** Get Chip temperature data both Acc & Gyro
- * @param int8_t type of data address
- */
- void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp);
-
- /** Change fusion mode
- * @param fusion mode
- * @return none
- */
- void change_fusion_mode(uint8_t mode);
-
- /** Set Mouting position
- * Please make sure your mounting direction of BNO055 chip
- * refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap
- * @param Set P0 to P7 mounting position data
- * @return none
- */
- void set_mounting_position(uint8_t position);
+ /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
+ void set_accel_units(char units);
+ /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
+ void set_anglerate_units(char units);
+ /** Set the output units from the IMU, either DEGREES or RADIANS **/
+ void set_angle_units(char units);
+ /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
+ void set_temp_units(char units);
+ /** Set the data output format to either WINDOWS or ANDROID **/
+ void set_orientation(char units);
+ /** Set the mapping of the exes/directions as per page 25 of datasheet
+ range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
+ void set_mapping(char orient);
- /** Read BNO055 ID information
- * @param ID information address
- * @return none
- */
- void read_id_inf(BNO055_ID_INF_TypeDef *id);
-
- /** Check chip is avairable or not
- * @param none
- * @return OK = 1, NG = 0;
- */
- uint8_t chip_ready(void);
+ /** Get the current values from the accelerometer **/
+ void get_accel(void);
+ /** Get the current values from the gyroscope **/
+ void get_gyro(void);
+ /** Get the current values from the magnetometer **/
+ void get_mag(void);
+ /** Get the corrected linear acceleration **/
+ void get_lia(void);
+ /** Get the current gravity vector **/
+ void get_grv(void);
+ /** Get the output quaternion **/
+ void get_quat(void);
+ /** Get the current Euler angles **/
+ void get_angles(void);
+ /** Get the current temperature **/
+ void get_temp(void);
- /** Read calibration status
- * @param none
- * @return SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet
- */
- uint8_t read_calib_status(void);
-
- /** Reset
- * @param none
- * @return 0 = sucess, 1 = Not available chip
- */
- uint8_t reset(void);
-
- /** Set I2C clock frequency
- * @param freq.
- * @return none
- */
- void frequency(int hz);
+ /** Read the calibration status register and store the result in the calib variable **/
+ void get_calib(void);
- /** Read page 0 register
- * @param register's address
- * @return register data
- */
- uint8_t read_reg0(uint8_t addr);
+ /** Read the offset and radius values into the calibration array**/
+ void read_calibration_data(void);
+ /** Write the contents of the calibration array into the registers **/
+ void write_calibration_data(void);
- /** Write page 0 register
- * @param register's address
- * @param data
- * @return register data
- */
- uint8_t write_reg0(uint8_t addr, uint8_t data);
+ /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
+ x,y,z are the scale floating point values and
+ rawx, rawy, rawz are the int16_t values read from the sensors **/
+ values accel,gyro,mag,lia,gravity;
+
+ /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
+ and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
+ angles euler;
- /** Read page 1 register
- * @param register's address
- * @return register data
- */
- uint8_t read_reg1(uint8_t addr);
+ /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+ registers **/
+ quaternion quat;
+
+ /** Current contents of calibration status register **/
+ calstatus cal;
- /** Write page 1 register
- * @param register's address
- * @param data
- * @return register data
- */
- uint8_t write_reg1(uint8_t addr, uint8_t data);
-
-protected:
- void initialize(void);
- void check_id(void);
- void set_initial_dt_to_regs(void);
- void unit_selection(void);
- uint8_t check_operating_mode(void);
- uint8_t select_page(uint8_t page);
-
- I2C _i2c;
- DigitalOut _res;
+ /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
+ char calibration[22];
+ /** Structure containing sensor numbers, software version and chip UID **/
+ chip ID;
+ /** Current temperature **/
+ int temperature;
private:
- char dt[10]; // working buffer
- uint8_t chip_addr;
- uint8_t chip_mode;
- uint8_t ready_flag;
- uint8_t page_flag;
- uint8_t chip_id;
- uint8_t acc_id;
- uint8_t mag_id;
- uint8_t gyr_id;
- uint8_t bootldr_rev_id;
- uint16_t sw_rev_id;
-
-};
-
-//---------------------------------------------------------
-//----- Register's definition -----------------------------
-//---------------------------------------------------------
-// Page id register definition
-#define BNO055_PAGE_ID 0x07
-
-//----- page0 ---------------------------------------------
-#define BNO055_CHIP_ID 0x00
-#define BNO055_ACCEL_REV_ID 0x01
-#define BNO055_MAG_REV_ID 0x02
-#define BNO055_GYRO_REV_ID 0x03
-#define BNO055_SW_REV_ID_LSB 0x04
-#define BNO055_SW_REV_ID_MSB 0x05
-#define BNO055_BL_REV_ID 0x06
-
-// Accel data register*/
-#define BNO055_ACC_X_LSB 0x08
-#define BNO055_ACC_X_MSB 0x09
-#define BNO055_ACC_Y_LSB 0x0a
-#define BNO055_ACC_Y_MSB 0x0b
-#define BNO055_ACC_Z_LSB 0x0c
-#define BNO055_ACC_Z_MSB 0x0d
-
-// Mag data register
-#define BNO055_MAG_X_LSB 0x0e
-#define BNO055_MAG_X_MSB 0x0f
-#define BNO055_MAG_Y_LSB 0x10
-#define BNO055_MAG_Y_MSB 0x11
-#define BNO055_MAG_Z_LSB 0x12
-#define BNO055_MAG_Z_MSB 0x13
-
-// Gyro data registers
-#define BNO055_GYR_X_LSB 0x14
-#define BNO055_GYR_X_MSB 0x15
-#define BNO055_GYR_Y_LSB 0x16
-#define BNO055_GYR_Y_MSB 0x17
-#define BNO055_GYR_Z_LSB 0x18
-#define BNO055_GYR_Z_MSB 0x19
-
-// Euler data registers
-#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
-
-// Quaternion data registers
-#define BNO055_QUATERNION_W_LSB 0x20
-#define BNO055_QUATERNION_W_MSB 0x21
-#define BNO055_QUATERNION_X_LSB 0x22
-#define BNO055_QUATERNION_X_MSB 0x23
-#define BNO055_QUATERNION_Y_LSB 0x24
-#define BNO055_QUATERNION_Y_MSB 0x25
-#define BNO055_QUATERNION_Z_LSB 0x26
-#define BNO055_QUATERNION_Z_MSB 0x27
-
-// Linear acceleration data registers
-#define BNO055_LINEAR_ACC_X_LSB 0x28
-#define BNO055_LINEAR_ACC_X_MSB 0x29
-#define BNO055_LINEAR_ACC_Y_LSB 0x2a
-#define BNO055_LINEAR_ACC_Y_MSB 0x2b
-#define BNO055_LINEAR_ACC_Z_LSB 0x2c
-#define BNO055_LINEAR_ACC_Z_MSB 0x2d
-
-// Gravity data registers
-#define BNO055_GRAVITY_X_LSB 0x2e
-#define BNO055_GRAVITY_X_MSB 0x2f
-#define BNO055_GRAVITY_Y_LSB 0x30
-#define BNO055_GRAVITY_Y_MSB 0x31
-#define BNO055_GRAVITY_Z_LSB 0x32
-#define BNO055_GRAVITY_Z_MSB 0x33
-
-// Temperature data register
-#define BNO055_TEMP 0x34
-
-// Status registers
-#define BNO055_CALIB_STAT 0x35
-#define BNO055_SELFTEST_RESULT 0x36
-#define BNO055_INTR_STAT 0x37
-#define BNO055_SYS_CLK_STAT 0x38
-#define BNO055_SYS_STAT 0x39
-#define BNO055_SYS_ERR 0x3a
-
-// Unit selection register
-#define BNO055_UNIT_SEL 0x3b
-#define BNO055_DATA_SELECT 0x3c
-
-// Mode registers
-#define BNO055_OPR_MODE 0x3d
-#define BNO055_PWR_MODE 0x3e
-#define BNO055_SYS_TRIGGER 0x3f
-#define BNO055_TEMP_SOURCE 0x40
-
-// Axis remap registers
-#define BNO055_AXIS_MAP_CONFIG 0x41
-#define BNO055_AXIS_MAP_SIGN 0x42
+ I2C _i2c;
+ char rx,tx[2],address; //I2C variables
+ char rawdata[22]; //Temporary array for input data values
+ char op_mode;
+ char pwr_mode;
+ float accel_scale,rate_scale,angle_scale;
+ int temp_scale;
-// SIC registers
-#define BNO055_SIC_MTRX_0_LSB 0x43
-#define BNO055_SIC_MTRX_0_MSB 0x44
-#define BNO055_SIC_MTRX_1_LSB 0x45
-#define BNO055_SIC_MTRX_1_MSB 0x46
-#define BNO055_SIC_MTRX_2_LSB 0x47
-#define BNO055_SIC_MTRX_2_MSB 0x48
-#define BNO055_SIC_MTRX_3_LSB 0x49
-#define BNO055_SIC_MTRX_3_MSB 0x4a
-#define BNO055_SIC_MTRX_4_LSB 0x4b
-#define BNO055_SIC_MTRX_4_MSB 0x4c
-#define BNO055_SIC_MTRX_5_LSB 0x4d
-#define BNO055_SIC_MTRX_5_MSB 0x4e
-#define BNO055_SIC_MTRX_6_LSB 0x4f
-#define BNO055_SIC_MTRX_6_MSB 0x50
-#define BNO055_SIC_MTRX_7_LSB 0x51
-#define BNO055_SIC_MTRX_7_MSB 0x52
-#define BNO055_SIC_MTRX_8_LSB 0x53
-#define BNO055_SIC_MTRX_8_MSB 0x54
-
-// Accelerometer Offset registers
-#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
-
-// Magnetometer Offset registers
-#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
-
-// Gyroscope Offset registers
-#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
-
-// Radius registers
-#define ACCEL_RADIUS_LSB 0x67
-#define ACCEL_RADIUS_MSB 0x68
-#define MAG_RADIUS_LSB 0x69
-#define MAG_RADIUS_MSB 0x6a
-
-//----- page1 ---------------------------------------------
-// Configuration registers
-#define ACCEL_CONFIG 0x08
-#define MAG_CONFIG 0x09
-#define GYRO_CONFIG 0x0a
-#define GYRO_MODE_CONFIG 0x0b
-#define ACCEL_SLEEP_CONFIG 0x0c
-#define GYRO_SLEEP_CONFIG 0x0d
-#define MAG_SLEEP_CONFIG 0x0e
+ void readchar(char location)
+ {
+ tx[0] = location;
+ _i2c.write(address,tx,1,true);
+ _i2c.read(address,&rx,1,false);
+ }
-// Interrupt registers
-#define INT_MASK 0x0f
-#define INT 0x10
-#define ACCEL_ANY_MOTION_THRES 0x11
-#define ACCEL_INTR_SETTINGS 0x12
-#define ACCEL_HIGH_G_DURN 0x13
-#define ACCEL_HIGH_G_THRES 0x14
-#define ACCEL_NO_MOTION_THRES 0x15
-#define ACCEL_NO_MOTION_SET 0x16
-#define GYRO_INTR_SETING 0x17
-#define GYRO_HIGHRATE_X_SET 0x18
-#define GYRO_DURN_X 0x19
-#define GYRO_HIGHRATE_Y_SET 0x1a
-#define GYRO_DURN_Y 0x1b
-#define GYRO_HIGHRATE_Z_SET 0x1c
-#define GYRO_DURN_Z 0x1d
-#define GYRO_ANY_MOTION_THRES 0x1e
-#define GYRO_ANY_MOTION_SET 0x1f
-
-//---------------------------------------------------------
-//----- Calibration example -------------------------------
-//---------------------------------------------------------
-#if 0
-// Calibration
-// Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
-void bno055_calbration(void){
- uint8_t d;
+ void writechar(char location, char value)
+ {
+ tx[0] = location;
+ tx[1] = value;
+ _i2c.write(address,tx,2);
+ }
- pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
- //---------- Gyroscope Caliblation ------------------------------------------------------------
- // (a) Place the device in a single stable position for a period of few seconds to allow the
- // gyroscope to calibrate
- pc.printf("Step1) Please wait few seconds\r\n");
- t.start();
- while (t.read() < 10){
- d = imu.read_calib_status();
- pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
- if ((d & 0x30) == 0x30){
- break;
- }
- wait(1.0);
- }
- pc.printf("-> Step1) is done\r\n\r\n");
- //---------- Magnetometer Caliblation ---------------------------------------------------------
- // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
- // CALIB_STAT register indicates fully calibrated.
- // (b) It takes more calibration movements to get the magnetometer calibrated than in the
- // NDOF mode.
- pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
- t.start();
- while (t.read() < 30){
- d = imu.read_calib_status();
- pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
- if ((d & 0x03) == 0x03){
- break;
- }
- wait(1.0);
- }
- pc.printf("-> Step2) is done\r\n\r\n");
- //---------- Magnetometer Caliblation ---------------------------------------------------------
- // a) Place the device in 6 different stable positions for a period of few seconds
- // to allow the accelerometer to calibrate.
- // b) Make sure that there is slow movement between 2 stable positions
- // The 6 stable positions could be in any direction, but make sure that the device is
- // lying at least once perpendicular to the x, y and z axis.
- pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
- pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
- pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
- pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
- pc.printf(" If you will give up, hit any key.\r\n", d);
- t.stop();
- while (true){
- d = imu.read_calib_status();
- imu.get_gravity(&gravity);
- pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n",
- d, gravity.x, gravity.y, gravity.z);
- if (d == 0xff){ break;}
- if (pc.readable()){ break;}
- wait(1.0);
- }
- if (imu.read_calib_status() == 0xff){
- pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
- } else {
- pc.printf("-> Calibration steps are suspended!\r\n\r\n");
- }
- t.stop();
-}
+ void setpage(char value)
+ {
+ writechar(BNO055_PAGE_ID_ADDR,value);
+ }
+};
#endif
-
-#endif // BNO055_H