Darren Ulrich
Forked NO055 IMU No Changes From Origional
Fork of
BNO055_fusion
by 
Kenji Arai
Diff: BNO055.h
- Revision:
- 0:86a17116e8be
- Child:
- 1:cb7e19c0a702
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h Sun Apr 05 04:12:58 2015 +0000
@@ -0,0 +1,454 @@
+/*
+ * 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 5th, 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;
+
+typedef struct {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+ int16_t w;
+} BNO055_QUATERNION_TypeDef;
+
+typedef struct {
+ double x;
+ double y;
+ double z;
+} BNO055_LIN_ACC_TypeDef;
+
+typedef struct {
+ double x;
+ double y;
+ double z;
+} BNO055_GRAVITY_TypeDef;
+
+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};
+
+/** 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);
+ *
+ * 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
+ */
+
+class BNO055
+{
+public:
+ /** Configure data pin
+ * @param data SDA and SCL pins
+ * @param device address
+ */
+ BNO055(PinName p_sda, PinName p_scl, 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);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @param device address
+ */
+ BNO055(I2C& p_i2c, 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);
+
+ /** Get Euler Angles
+ * @param double type of 3D data address
+ */
+ void get_Euler_Angles(BNO055_EULER_TypeDef *el);
+
+ /** 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);
+
+ /** 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);
+
+ /** 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);
+
+ /** Set I2C clock frequency
+ * @param freq.
+ * @return none
+ */
+ void frequency(int hz);
+
+ /** Read page 0 register
+ * @param register's address
+ * @return register data
+ */
+ uint8_t read_reg0(uint8_t addr);
+
+ /** Write page 0 register
+ * @param register's address
+ * @param data
+ * @return register data
+ */
+ uint8_t write_reg0(uint8_t addr, uint8_t data);
+
+ /** Read page 1 register
+ * @param register's address
+ * @return register data
+ */
+ uint8_t read_reg1(uint8_t addr);
+
+ /** 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;
+
+private:
+ char dt[10]; // working buffer
+ uint8_t chip_addr;
+ uint8_t chip_mode;
+ uint8_t ready_flg;
+
+ 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
+
+// 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
+
+// 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
+
+#endif // BNO055_H