BNO055.h

00001 #ifndef BNO055_H
00002 #define BNO055_H
00003 
00004 #include "mbed.h"
00005 
00006 #define BNOAddress (0x28 << 1)
00007 //Register definitions
00008 /* Page id register definition */
00009 #define BNO055_PAGE_ID_ADDR          0x07
00010 /* PAGE0 REGISTER DEFINITION START*/
00011 #define BNO055_CHIP_ID_ADDR          0x00
00012 #define BNO055_ACCEL_REV_ID_ADDR     0x01
00013 #define BNO055_MAG_REV_ID_ADDR       0x02
00014 #define BNO055_GYRO_REV_ID_ADDR      0x03
00015 #define BNO055_SW_REV_ID_LSB_ADDR    0x04
00016 #define BNO055_SW_REV_ID_MSB_ADDR    0x05
00017 #define BNO055_BL_REV_ID_ADDR        0x06
00018 /* Accel data register */
00019 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
00020 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
00021 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
00022 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
00023 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
00024 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
00025 /* Mag data register */
00026 #define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
00027 #define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
00028 #define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
00029 #define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
00030 #define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
00031 #define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
00032 /* Gyro data registers */
00033 #define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
00034 #define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
00035 #define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
00036 #define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
00037 #define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
00038 #define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
00039 /* Euler data registers */
00040 #define BNO055_EULER_H_LSB_ADDR      0x1A
00041 #define BNO055_EULER_H_MSB_ADDR      0x1B
00042 #define BNO055_EULER_R_LSB_ADDR      0x1C
00043 #define BNO055_EULER_R_MSB_ADDR      0x1D
00044 #define BNO055_EULER_P_LSB_ADDR      0x1E
00045 #define BNO055_EULER_P_MSB_ADDR      0x1F
00046 /* Quaternion data registers */
00047 #define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
00048 #define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
00049 #define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
00050 #define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
00051 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
00052 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
00053 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
00054 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
00055 /* Linear acceleration data registers */
00056 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
00057 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
00058 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
00059 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
00060 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
00061 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
00062 /* Gravity data registers */
00063 #define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
00064 #define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
00065 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
00066 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
00067 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
00068 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
00069 /* Temperature data register */
00070 #define BNO055_TEMP_ADDR                    0x34
00071 /* Status registers */
00072 #define BNO055_CALIB_STAT_ADDR              0x35
00073 #define BNO055_SELFTEST_RESULT_ADDR         0x36
00074 #define BNO055_INTR_STAT_ADDR               0x37
00075 #define BNO055_SYS_CLK_STAT_ADDR            0x38
00076 #define BNO055_SYS_STAT_ADDR                0x39
00077 #define BNO055_SYS_ERR_ADDR                 0x3A
00078 /* Unit selection register */
00079 #define BNO055_UNIT_SEL_ADDR                0x3B
00080 #define BNO055_DATA_SELECT_ADDR             0x3C
00081 /* Mode registers */
00082 #define BNO055_OPR_MODE_ADDR                0x3D
00083 #define BNO055_PWR_MODE_ADDR                0x3E
00084 #define BNO055_SYS_TRIGGER_ADDR             0x3F
00085 #define BNO055_TEMP_SOURCE_ADDR             0x40
00086 /* Axis remap registers */
00087 #define BNO055_AXIS_MAP_CONFIG_ADDR         0x41
00088 #define BNO055_AXIS_MAP_SIGN_ADDR           0x42
00089 /* Accelerometer Offset registers */
00090 #define ACCEL_OFFSET_X_LSB_ADDR             0x55
00091 #define ACCEL_OFFSET_X_MSB_ADDR             0x56
00092 #define ACCEL_OFFSET_Y_LSB_ADDR             0x57
00093 #define ACCEL_OFFSET_Y_MSB_ADDR             0x58
00094 #define ACCEL_OFFSET_Z_LSB_ADDR             0x59
00095 #define ACCEL_OFFSET_Z_MSB_ADDR             0x5A
00096 /* Magnetometer Offset registers */
00097 #define MAG_OFFSET_X_LSB_ADDR               0x5B
00098 #define MAG_OFFSET_X_MSB_ADDR               0x5C
00099 #define MAG_OFFSET_Y_LSB_ADDR               0x5D
00100 #define MAG_OFFSET_Y_MSB_ADDR               0x5E
00101 #define MAG_OFFSET_Z_LSB_ADDR               0x5F
00102 #define MAG_OFFSET_Z_MSB_ADDR               0x60
00103 /* Gyroscope Offset registers*/
00104 #define GYRO_OFFSET_X_LSB_ADDR              0x61
00105 #define GYRO_OFFSET_X_MSB_ADDR              0x62
00106 #define GYRO_OFFSET_Y_LSB_ADDR              0x63
00107 #define GYRO_OFFSET_Y_MSB_ADDR              0x64
00108 #define GYRO_OFFSET_Z_LSB_ADDR              0x65
00109 #define GYRO_OFFSET_Z_MSB_ADDR              0x66
00110 /* Radius registers */
00111 #define ACCEL_RADIUS_LSB_ADDR               0x67
00112 #define ACCEL_RADIUS_MSB_ADDR               0x68
00113 #define MAG_RADIUS_LSB_ADDR                 0x69
00114 #define MAG_RADIUS_MSB_ADDR                 0x6A
00115 
00116 /* Page 1 registers */
00117 #define BNO055_UNIQUE_ID_ADDR               0x50
00118 
00119 //Definitions for unit selection
00120 #define MPERSPERS   0x00
00121 #define MILLIG      0x01
00122 #define DEG_PER_SEC 0x00
00123 #define RAD_PER_SEC 0x02
00124 #define DEGREES     0x00
00125 #define RADIANS     0x04
00126 #define CENTIGRADE  0x00
00127 #define FAHRENHEIT  0x10
00128 #define WINDOWS     0x00
00129 #define ANDROID     0x80
00130 
00131 //Definitions for power mode
00132 #define POWER_MODE_NORMAL   0x00
00133 #define POWER_MODE_LOWPOWER 0x01
00134 #define POWER_MODE_SUSPEND  0x02
00135 
00136 //Definitions for operating mode
00137 #define OPERATION_MODE_CONFIG        0x00
00138 #define OPERATION_MODE_ACCONLY       0x01
00139 #define OPERATION_MODE_MAGONLY       0x02
00140 #define OPERATION_MODE_GYRONLY       0x03
00141 #define OPERATION_MODE_ACCMAG        0x04
00142 #define OPERATION_MODE_ACCGYRO       0x05
00143 #define OPERATION_MODE_MAGGYRO       0x06
00144 #define OPERATION_MODE_AMG           0x07
00145 #define OPERATION_MODE_IMUPLUS       0x08
00146 #define OPERATION_MODE_COMPASS       0x09
00147 #define OPERATION_MODE_M4G           0x0A
00148 #define OPERATION_MODE_NDOF_FMC_OFF  0x0B
00149 #define OPERATION_MODE_NDOF          0x0C
00150 
00151 typedef struct values
00152 {
00153   int16_t rawx,rawy,rawz;
00154   float x,y,z;
00155 } values;
00156 
00157 typedef struct angles
00158 {
00159   int16_t rawroll,rawpitch,rawyaw;
00160   float roll, pitch, yaw;
00161 } angles;
00162 
00163 typedef struct quaternion
00164 {
00165   int16_t raww,rawx,rawy,rawz;
00166   float w,x,y,z;
00167 } quaternion;
00168 
00169 typedef struct calstatus
00170 {
00171   char raw;   // Raw byte from calibration register
00172   int mag;    // Bits 0,1
00173   int accel;  // Bits 2,3
00174   int gyro;   // Bits 4,5
00175   int system; // Bits 6,7
00176 } calstatus;
00177 
00178 typedef struct chip
00179 {
00180   char id;
00181   char accel;
00182   char gyro;
00183   char mag;
00184   char sw[2];
00185   char bootload;
00186   char serial[16];
00187 } chip;
00188 
00189 /** Class for operating Bosch BNO055 sensor over I2C **/
00190 class BNO055
00191 {
00192 public:
00193 
00194   /** Create BNO055 instance **/
00195   BNO055(PinName SDA, PinName SCL);
00196   //BNO055(I2C& p_i2c);
00197 
00198   /** Perform a power-on reset of the BNO055 **/
00199   void reset();
00200   /** Check that the BNO055 is connected and download the software details
00201   and serial number of chip and store in ID structure **/
00202   bool check();
00203   /** Turn the external timing crystal on/off **/
00204   void SetExternalCrystal(bool yn);
00205   /** Set the operation mode of the sensor **/
00206   void setmode(char mode);
00207   /** Set the power mode of the sensor **/
00208   void setpowermode(char mode);
00209 
00210   /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
00211   void set_accel_units(char units);
00212   /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
00213   void set_anglerate_units(char units);
00214   /** Set the output units from the IMU, either DEGREES or RADIANS **/
00215   void set_angle_units(char units);
00216   /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
00217   void set_temp_units(char units);
00218   /** Set the data output format to either WINDOWS or ANDROID **/
00219   void set_orientation(char units);
00220   /** Set the mapping of the exes/directions as per page 25 of datasheet
00221       range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
00222   void set_mapping(char orient);
00223 
00224   /** Get the current values from the accelerometer **/
00225   void get_accel(void);
00226   /** Get the current values from the gyroscope **/
00227   void get_gyro(void);
00228   /** Get the current values from the magnetometer **/
00229   void get_mag(void);
00230   /** Get the corrected linear acceleration **/
00231   void get_lia(void);
00232   /** Get the current gravity vector **/
00233   void get_grv(void);
00234   /** Get the output quaternion **/
00235   void get_quat(void);
00236   /** Get the current Euler angles **/
00237   void get_angles(void);
00238   /** Get the current temperature **/
00239   void get_temp(void);
00240 
00241   /** Read the calibration status register and store the result in the calib variable **/
00242   void get_calib(void);
00243 
00244   /** Read the offset and radius values into the calibration array**/
00245   void read_calibration_data(void);
00246   /** Write the contents of the calibration array into the registers **/
00247   void write_calibration_data(void);
00248 
00249   /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
00250       x,y,z are the scale floating point values and
00251       rawx, rawy, rawz are the int16_t values read from the sensors **/
00252   values accel,gyro,mag,lia,gravity;
00253 
00254   /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
00255       and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
00256   angles euler;
00257 
00258   /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
00259       registers **/
00260   quaternion quat;
00261 
00262   /** Current contents of calibration status register **/
00263   calstatus cal;
00264 
00265   /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
00266   char calibration[22];
00267   /** Structure containing sensor numbers, software version and chip UID **/
00268   chip ID;
00269   /** Current temperature **/
00270   int temperature;
00271 
00272 private:
00273 
00274   I2C _i2c;
00275   char rx,tx[2],address;  //I2C variables
00276   char rawdata[22]; //Temporary array for input data values
00277   char op_mode;
00278   char pwr_mode;
00279   float accel_scale,rate_scale,angle_scale;
00280   int temp_scale;
00281 
00282   void readchar(char location)
00283   {
00284     tx[0] = location;
00285     _i2c.write(address,tx,1,true);
00286     _i2c.read(address,&rx,1,false);
00287   }
00288 
00289   void writechar(char location, char value)
00290   {
00291     tx[0] = location;
00292     tx[1] = value;
00293     _i2c.write(address,tx,2);
00294   }
00295 
00296   void setpage(char value)
00297   {
00298     writechar(BNO055_PAGE_ID_ADDR,value);
00299   }
00300 };
00301 #endif