File content as of revision 6:59ad1c98647c:

#ifndef BNO055_H
#define BNO055_H

#include "mbed.h"

#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

/* Page 1 registers */
#define BNO055_UNIQUE_ID_ADDR               0x50

//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

//Definitions for power mode
#define POWER_MODE_NORMAL   0x00
#define POWER_MODE_LOWPOWER 0x01
#define POWER_MODE_SUSPEND  0x02

//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

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:

  /** Create BNO055 instance **/
  BNO055(PinName SDA, PinName SCL);
  //BNO055(I2C& p_i2c);

  /** 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);

  /** 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);

  /** 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 the calibration status register and store the result in the calib variable **/
  void get_calib(void);

  /** 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);

  /** 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;

  /** 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;

  /** 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:

  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;

  void readchar(char location)
  {
    tx[0] = location;
    _i2c.write(address,tx,1,true);
    _i2c.read(address,&rx,1,false);
  }

  void writechar(char location, char value)
  {
    tx[0] = location;
    tx[1] = value;
    _i2c.write(address,tx,2);
  }

  void setpage(char value)
  {
    writechar(BNO055_PAGE_ID_ADDR,value);
  }
};
#endif