Tsungta Wu / BNO055_AS7000

Combine AS7000 into BNO055

Fork of BNO055 by Sog Yang

BNO055.h@1:2c3322a8d417, 2015-05-30 (annotated)

Committer:
StressedDave
Date:
Sat May 30 18:36:36 2015 +0000
Revision:
1:2c3322a8d417
Parent:
0:24f23c36dd24
Child:
2:695c6e5d239a
Added device orientation changes as per p25 of datasheet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
StressedDave 0:24f23c36dd24 1 #ifndef BNO055_H
StressedDave 0:24f23c36dd24 2 #define BNO055_H
StressedDave 0:24f23c36dd24 3
StressedDave 0:24f23c36dd24 4 #include "mbed.h"
StressedDave 0:24f23c36dd24 5 //
StressedDave 0:24f23c36dd24 6 #define BNOAddress (0x28 << 1)
StressedDave 0:24f23c36dd24 7 //Register definitions
StressedDave 0:24f23c36dd24 8 /* Page id register definition */
StressedDave 0:24f23c36dd24 9 #define BNO055_PAGE_ID_ADDR 0x07
StressedDave 0:24f23c36dd24 10 /* PAGE0 REGISTER DEFINITION START*/
StressedDave 0:24f23c36dd24 11 #define BNO055_CHIP_ID_ADDR 0x00
StressedDave 0:24f23c36dd24 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
StressedDave 0:24f23c36dd24 13 #define BNO055_MAG_REV_ID_ADDR 0x02
StressedDave 0:24f23c36dd24 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
StressedDave 0:24f23c36dd24 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
StressedDave 0:24f23c36dd24 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
StressedDave 0:24f23c36dd24 17 #define BNO055_BL_REV_ID_ADDR 0x06
StressedDave 0:24f23c36dd24 18 /* Accel data register */
StressedDave 0:24f23c36dd24 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
StressedDave 0:24f23c36dd24 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
StressedDave 0:24f23c36dd24 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
StressedDave 0:24f23c36dd24 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
StressedDave 0:24f23c36dd24 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
StressedDave 0:24f23c36dd24 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
StressedDave 0:24f23c36dd24 25 /* Mag data register */
StressedDave 0:24f23c36dd24 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
StressedDave 0:24f23c36dd24 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
StressedDave 0:24f23c36dd24 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
StressedDave 0:24f23c36dd24 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
StressedDave 0:24f23c36dd24 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
StressedDave 0:24f23c36dd24 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
StressedDave 0:24f23c36dd24 32 /* Gyro data registers */
StressedDave 0:24f23c36dd24 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
StressedDave 0:24f23c36dd24 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
StressedDave 0:24f23c36dd24 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
StressedDave 0:24f23c36dd24 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
StressedDave 0:24f23c36dd24 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
StressedDave 0:24f23c36dd24 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
StressedDave 0:24f23c36dd24 39 /* Euler data registers */
StressedDave 0:24f23c36dd24 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
StressedDave 0:24f23c36dd24 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
StressedDave 0:24f23c36dd24 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
StressedDave 0:24f23c36dd24 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
StressedDave 0:24f23c36dd24 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
StressedDave 0:24f23c36dd24 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
StressedDave 0:24f23c36dd24 46 /* Quaternion data registers */
StressedDave 0:24f23c36dd24 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
StressedDave 0:24f23c36dd24 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
StressedDave 0:24f23c36dd24 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
StressedDave 0:24f23c36dd24 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
StressedDave 0:24f23c36dd24 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
StressedDave 0:24f23c36dd24 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
StressedDave 0:24f23c36dd24 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
StressedDave 0:24f23c36dd24 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
StressedDave 0:24f23c36dd24 55 /* Linear acceleration data registers */
StressedDave 0:24f23c36dd24 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
StressedDave 0:24f23c36dd24 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
StressedDave 0:24f23c36dd24 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
StressedDave 0:24f23c36dd24 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
StressedDave 0:24f23c36dd24 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
StressedDave 0:24f23c36dd24 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
StressedDave 0:24f23c36dd24 62 /* Gravity data registers */
StressedDave 0:24f23c36dd24 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
StressedDave 0:24f23c36dd24 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
StressedDave 0:24f23c36dd24 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
StressedDave 0:24f23c36dd24 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
StressedDave 0:24f23c36dd24 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
StressedDave 0:24f23c36dd24 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
StressedDave 0:24f23c36dd24 69 /* Temperature data register */
StressedDave 0:24f23c36dd24 70 #define BNO055_TEMP_ADDR 0x34
StressedDave 0:24f23c36dd24 71 /* Status registers */
StressedDave 0:24f23c36dd24 72 #define BNO055_CALIB_STAT_ADDR 0x35
StressedDave 0:24f23c36dd24 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
StressedDave 0:24f23c36dd24 74 #define BNO055_INTR_STAT_ADDR 0x37
StressedDave 0:24f23c36dd24 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
StressedDave 0:24f23c36dd24 76 #define BNO055_SYS_STAT_ADDR 0x39
StressedDave 0:24f23c36dd24 77 #define BNO055_SYS_ERR_ADDR 0x3A
StressedDave 0:24f23c36dd24 78 /* Unit selection register */
StressedDave 0:24f23c36dd24 79 #define BNO055_UNIT_SEL_ADDR 0x3B
StressedDave 0:24f23c36dd24 80 #define BNO055_DATA_SELECT_ADDR 0x3C
StressedDave 0:24f23c36dd24 81 /* Mode registers */
StressedDave 0:24f23c36dd24 82 #define BNO055_OPR_MODE_ADDR 0x3D
StressedDave 0:24f23c36dd24 83 #define BNO055_PWR_MODE_ADDR 0x3E
StressedDave 0:24f23c36dd24 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
StressedDave 0:24f23c36dd24 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
StressedDave 0:24f23c36dd24 86 /* Axis remap registers */
StressedDave 0:24f23c36dd24 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
StressedDave 0:24f23c36dd24 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
StressedDave 0:24f23c36dd24 89 /* Accelerometer Offset registers */
StressedDave 0:24f23c36dd24 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
StressedDave 0:24f23c36dd24 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
StressedDave 0:24f23c36dd24 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
StressedDave 0:24f23c36dd24 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
StressedDave 0:24f23c36dd24 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
StressedDave 0:24f23c36dd24 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
StressedDave 0:24f23c36dd24 96 /* Magnetometer Offset registers */
StressedDave 0:24f23c36dd24 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
StressedDave 0:24f23c36dd24 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
StressedDave 0:24f23c36dd24 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
StressedDave 0:24f23c36dd24 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
StressedDave 0:24f23c36dd24 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
StressedDave 0:24f23c36dd24 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
StressedDave 0:24f23c36dd24 103 /* Gyroscope Offset registers*/
StressedDave 0:24f23c36dd24 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
StressedDave 0:24f23c36dd24 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
StressedDave 0:24f23c36dd24 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
StressedDave 0:24f23c36dd24 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
StressedDave 0:24f23c36dd24 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
StressedDave 0:24f23c36dd24 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
StressedDave 0:24f23c36dd24 110 /* Radius registers */
StressedDave 0:24f23c36dd24 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
StressedDave 0:24f23c36dd24 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
StressedDave 0:24f23c36dd24 113 #define MAG_RADIUS_LSB_ADDR 0x69
StressedDave 0:24f23c36dd24 114 #define MAG_RADIUS_MSB_ADDR 0x6A
StressedDave 0:24f23c36dd24 115
StressedDave 0:24f23c36dd24 116 /* Page 1 registers */
StressedDave 0:24f23c36dd24 117 #define BNO055_UNIQUE_ID_ADDR 0x50
StressedDave 0:24f23c36dd24 118
StressedDave 0:24f23c36dd24 119 //Definitions for unit selection
StressedDave 0:24f23c36dd24 120 #define MPERSPERS 0x00
StressedDave 0:24f23c36dd24 121 #define MILLIG 0x01
StressedDave 0:24f23c36dd24 122 #define DEG_PER_SEC 0x00
StressedDave 0:24f23c36dd24 123 #define RAD_PER_SEC 0x02
StressedDave 0:24f23c36dd24 124 #define DEGREES 0x00
StressedDave 1:2c3322a8d417 125 #define RADIANS 0x04
StressedDave 0:24f23c36dd24 126 #define CENTIGRADE 0x00
StressedDave 1:2c3322a8d417 127 #define FAHRENHEIT 0x10
StressedDave 1:2c3322a8d417 128 #define WINDOWS 0x00
StressedDave 1:2c3322a8d417 129 #define ANDROID 0x80
StressedDave 0:24f23c36dd24 130
StressedDave 0:24f23c36dd24 131 //Definitions for power mode
StressedDave 0:24f23c36dd24 132 #define POWER_MODE_NORMAL 0x00
StressedDave 0:24f23c36dd24 133 #define POWER_MODE_LOWPOWER 0x01
StressedDave 0:24f23c36dd24 134 #define POWER_MODE_SUSPEND 0x02
StressedDave 0:24f23c36dd24 135
StressedDave 0:24f23c36dd24 136 //Definitions for operating mode
StressedDave 1:2c3322a8d417 137 #define OPERATION_MODE_CONFIG 0x00
StressedDave 0:24f23c36dd24 138 #define OPERATION_MODE_ACCONLY 0x01
StressedDave 0:24f23c36dd24 139 #define OPERATION_MODE_MAGONLY 0x02
StressedDave 0:24f23c36dd24 140 #define OPERATION_MODE_GYRONLY 0x03
StressedDave 0:24f23c36dd24 141 #define OPERATION_MODE_ACCMAG 0x04
StressedDave 0:24f23c36dd24 142 #define OPERATION_MODE_ACCGYRO 0x05
StressedDave 0:24f23c36dd24 143 #define OPERATION_MODE_MAGGYRO 0x06
StressedDave 0:24f23c36dd24 144 #define OPERATION_MODE_AMG 0x07
StressedDave 0:24f23c36dd24 145 #define OPERATION_MODE_IMUPLUS 0x08
StressedDave 0:24f23c36dd24 146 #define OPERATION_MODE_COMPASS 0x09
StressedDave 0:24f23c36dd24 147 #define OPERATION_MODE_M4G 0x0A
StressedDave 0:24f23c36dd24 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
StressedDave 0:24f23c36dd24 149 #define OPERATION_MODE_NDOF 0x0C
StressedDave 0:24f23c36dd24 150
StressedDave 0:24f23c36dd24 151 typedef struct values{
StressedDave 0:24f23c36dd24 152 int16_t rawx,rawy,rawz;
StressedDave 0:24f23c36dd24 153 float x,y,z;
StressedDave 0:24f23c36dd24 154 }values;
StressedDave 0:24f23c36dd24 155
StressedDave 0:24f23c36dd24 156 typedef struct angles{
StressedDave 0:24f23c36dd24 157 int16_t rawroll,rawpitch,rawyaw;
StressedDave 0:24f23c36dd24 158 float roll, pitch, yaw;
StressedDave 0:24f23c36dd24 159 } angles;
StressedDave 0:24f23c36dd24 160
StressedDave 0:24f23c36dd24 161 typedef struct quaternion{
StressedDave 0:24f23c36dd24 162 int16_t raww,rawx,rawy,rawz;
StressedDave 0:24f23c36dd24 163 float w,x,y,z;
StressedDave 0:24f23c36dd24 164 }quaternion;
StressedDave 0:24f23c36dd24 165
StressedDave 0:24f23c36dd24 166 typedef struct chip{
StressedDave 0:24f23c36dd24 167 char id;
StressedDave 0:24f23c36dd24 168 char accel;
StressedDave 0:24f23c36dd24 169 char gyro;
StressedDave 0:24f23c36dd24 170 char mag;
StressedDave 0:24f23c36dd24 171 char sw[2];
StressedDave 0:24f23c36dd24 172 char bootload;
StressedDave 0:24f23c36dd24 173 char serial[16];
StressedDave 0:24f23c36dd24 174 }chip;
StressedDave 0:24f23c36dd24 175
StressedDave 0:24f23c36dd24 176 class BNO055
StressedDave 0:24f23c36dd24 177 {
StressedDave 0:24f23c36dd24 178 public:
StressedDave 0:24f23c36dd24 179
StressedDave 0:24f23c36dd24 180 BNO055(PinName SDA, PinName SCL);
StressedDave 0:24f23c36dd24 181 void reset();
StressedDave 0:24f23c36dd24 182 bool check();
StressedDave 0:24f23c36dd24 183 void SetExternalCrystal(bool yn);
StressedDave 0:24f23c36dd24 184
StressedDave 0:24f23c36dd24 185 void setmode(char mode);
StressedDave 0:24f23c36dd24 186 void setpowermode(char mode);
StressedDave 0:24f23c36dd24 187
StressedDave 0:24f23c36dd24 188 void set_accel_units(char units);
StressedDave 0:24f23c36dd24 189 void set_anglerate_units(char units);
StressedDave 0:24f23c36dd24 190 void set_angle_units(char units);
StressedDave 0:24f23c36dd24 191 void set_temp_units(char units);
StressedDave 1:2c3322a8d417 192 void set_orientation(char units);
StressedDave 1:2c3322a8d417 193 void set_mapping(char orient);
StressedDave 1:2c3322a8d417 194
StressedDave 0:24f23c36dd24 195 void get_accel(void);
StressedDave 0:24f23c36dd24 196 void get_gyro(void);
StressedDave 0:24f23c36dd24 197 void get_mag(void);
StressedDave 0:24f23c36dd24 198 void get_lia(void);
StressedDave 0:24f23c36dd24 199 void get_grv(void);
StressedDave 0:24f23c36dd24 200 void get_quat(void);
StressedDave 1:2c3322a8d417 201 void get_temp(void);
StressedDave 1:2c3322a8d417 202
StressedDave 0:24f23c36dd24 203 void get_calib(void);
StressedDave 1:2c3322a8d417 204 void read_calibration_data(void);
StressedDave 1:2c3322a8d417 205 void write_calibration_data(void);
StressedDave 0:24f23c36dd24 206
StressedDave 0:24f23c36dd24 207 values accel,gyro,mag,lia,gravity;
StressedDave 0:24f23c36dd24 208 angles euler;
StressedDave 0:24f23c36dd24 209 quaternion quat;
StressedDave 0:24f23c36dd24 210 char calib;
StressedDave 0:24f23c36dd24 211 char status;
StressedDave 0:24f23c36dd24 212 char calibration[22];
StressedDave 0:24f23c36dd24 213 chip ID;
StressedDave 1:2c3322a8d417 214 int temperature;
StressedDave 1:2c3322a8d417 215
StressedDave 0:24f23c36dd24 216 private:
StressedDave 0:24f23c36dd24 217
StressedDave 0:24f23c36dd24 218 I2C _i2c;
StressedDave 0:24f23c36dd24 219 char rx,tx[2],address; //I2C variables
StressedDave 1:2c3322a8d417 220 char rawdata[22]; //Temporary array for input data values
StressedDave 0:24f23c36dd24 221 char op_mode;
StressedDave 0:24f23c36dd24 222 char pwr_mode;
StressedDave 1:2c3322a8d417 223 float accel_scale,rate_scale,angle_scale;
StressedDave 1:2c3322a8d417 224 int temp_scale;
StressedDave 0:24f23c36dd24 225
StressedDave 0:24f23c36dd24 226 void readchar(char location){
StressedDave 0:24f23c36dd24 227 tx[0] = location;
StressedDave 0:24f23c36dd24 228 _i2c.write(address,tx,1,true);
StressedDave 0:24f23c36dd24 229 _i2c.read(address,&rx,1,false);
StressedDave 0:24f23c36dd24 230 }
StressedDave 0:24f23c36dd24 231
StressedDave 0:24f23c36dd24 232 void writechar(char location, char value){
StressedDave 0:24f23c36dd24 233 tx[0] = location;
StressedDave 0:24f23c36dd24 234 tx[1] = value;
StressedDave 0:24f23c36dd24 235 _i2c.write(address,tx,2);
StressedDave 0:24f23c36dd24 236 }
StressedDave 0:24f23c36dd24 237
StressedDave 0:24f23c36dd24 238 void setpage(char value){
StressedDave 0:24f23c36dd24 239 writechar(BNO055_PAGE_ID_ADDR,value);
StressedDave 0:24f23c36dd24 240 }
StressedDave 0:24f23c36dd24 241 };
StressedDave 0:24f23c36dd24 242 #endif