Diff: BNO055.h

Revision:

0:24f23c36dd24

Child:

1:2c3322a8d417

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Thu May 28 19:22:25 2015 +0000
@@ -0,0 +1,231 @@
+#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     0x40
+#define CENTIGRADE  0x00
+#define FAHRENHEIT  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 chip{
+    char id;
+    char accel;
+    char gyro;
+    char mag;
+    char sw[2];
+    char bootload;
+    char serial[16];
+    }chip;
+        
+
+class BNO055 
+{ 
+public: 
+
+    BNO055(PinName SDA, PinName SCL); 
+    void reset();
+    bool check();
+    void SetExternalCrystal(bool yn);
+    
+    void setmode(char mode);
+    void setpowermode(char mode);
+    
+    void set_accel_units(char units);
+    void set_anglerate_units(char units);
+    void set_angle_units(char units);
+    void set_temp_units(char units);
+    void get_accel(void);
+    void get_gyro(void);
+    void get_mag(void);
+    void get_lia(void);
+    void get_grv(void);
+    void get_quat(void);
+    void get_calib(void);
+    
+    values accel,gyro,mag,lia,gravity;
+    angles euler;
+    quaternion quat;
+    char calib;
+    char status;
+    char calibration[22];
+    chip ID;
+    private:
+    
+        I2C _i2c;
+        char rx,tx[2],address;  //I2C variables
+        char rawdata[16]; //Temporary array for input data values
+        char op_mode;
+        char pwr_mode;
+        float accel_scale,rate_scale,angle_scale,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
\ No newline at end of file