Will Church
/
BNO055_fusion_tom
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Fork of
BNO055_fusion
by 
Tom Rasmussen
Revision 3:0ad6f85b178f, committed 2015-04-10
- Comitter:
- kenjiArai
- Date:
- Fri Apr 10 11:18:12 2015 +0000
- Parent:
- 2:0f225b686cd5
- Child:
- 4:9e6fead1e93e
- Commit message:
- improved select_page() function.
Changed in this revision
| BNO055.cpp | Show annotated file Show diff for this revision Revisions of this file |
| BNO055.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/BNO055.cpp Wed Apr 08 11:27:57 2015 +0000
+++ b/BNO055.cpp Fri Apr 10 11:18:12 2015 +0000
@@ -7,7 +7,7 @@
* http://www.page.sannet.ne.jp/kenjia/index.html
* http://mbed.org/users/kenjiArai/
* Created: March 30th, 2015
- * Revised: April 8th, 2015
+ * Revised: April 10th, 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
@@ -204,6 +204,8 @@
#else
_i2c.frequency(400000);
#endif
+ page_flag = 0xff;
+ select_page(0);
// Check Acc & Mag & Gyro are available of not
check_id();
// Set initial data
@@ -224,17 +226,20 @@
uint8_t BNO055::select_page(uint8_t page)
{
- dt[0] = BNO055_PAGE_ID;
- if (page == 1) {
- dt[1] = 1; // select page 1
- } else {
- dt[1] = 0; // select page 0
+ if (page != page_flag){
+ dt[0] = BNO055_PAGE_ID;
+ if (page == 1) {
+ dt[1] = 1; // select page 1
+ } else {
+ dt[1] = 0; // select page 0
+ }
+ _i2c.write(chip_addr, dt, 2, false);
+ dt[0] = BNO055_PAGE_ID;
+ _i2c.write(chip_addr, dt, 1, true);
+ _i2c.read(chip_addr, dt, 1, false);
+ page_flag = dt[0];
}
- _i2c.write(chip_addr, dt, 2, false);
- dt[0] = BNO055_PAGE_ID;
- _i2c.write(chip_addr, dt, 1, true);
- _i2c.read(chip_addr, dt, 1, false);
- return dt[0];
+ return page_flag;
}
uint8_t BNO055::reset(void)
@@ -249,6 +254,8 @@
_i2c.frequency(400000);
#endif
_i2c.stop();
+ page_flag = 0xff;
+ select_page(0);
check_id();
if (chip_id != I_AM_BNO055_CHIP){
return 1;
@@ -275,21 +282,21 @@
_i2c.read(chip_addr, dt, 7, false);
chip_id = dt[0];
if (chip_id == I_AM_BNO055_CHIP) {
- ready_flg = 1;
+ ready_flag = 1;
} else {
- ready_flg = 0;
+ ready_flag = 0;
}
acc_id = dt[1];
if (acc_id == I_AM_BNO055_ACC) {
- ready_flg |= 2;
+ ready_flag |= 2;
}
mag_id = dt[2];
if (mag_id == I_AM_BNO055_MAG) {
- ready_flg |= 4;
+ ready_flag |= 4;
}
gyr_id = dt[3];
if (mag_id == I_AM_BNO055_MAG) {
- ready_flg |= 8;
+ ready_flag |= 8;
}
bootldr_rev_id = dt[5]<< 8 | dt[4];
sw_rev_id = dt[6];
@@ -308,7 +315,7 @@
/////////////// Check chip ready or not //////////////////
uint8_t BNO055::chip_ready(void)
{
- if (ready_flg == 0x0f) {
+ if (ready_flag == 0x0f) {
return 1;
}
return 0;
--- a/BNO055.h Wed Apr 08 11:27:57 2015 +0000
+++ b/BNO055.h Fri Apr 10 11:18:12 2015 +0000
@@ -7,7 +7,7 @@
* http://www.page.sannet.ne.jp/kenjia/index.html
* http://mbed.org/users/kenjiArai/
* Created: March 30th, 2015
- * Revised: April 8th, 2015
+ * Revised: April 10th, 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
@@ -223,7 +223,7 @@
/** Reset
* @param none
- * @return 0 = sucess, 1 = Not avirable chip
+ * @return 0 = sucess, 1 = Not available chip
*/
uint8_t reset(void);
@@ -274,7 +274,8 @@
char dt[10]; // working buffer
uint8_t chip_addr;
uint8_t chip_mode;
- uint8_t ready_flg;
+ uint8_t ready_flag;
+ uint8_t page_flag;
uint8_t chip_id;
uint8_t acc_id;
@@ -464,4 +465,74 @@
#define GYRO_ANY_MOTION_THRES 0x1e
#define GYRO_ANY_MOTION_SET 0x1f
+//---------------------------------------------------------
+//----- Calibration example -------------------------------
+//---------------------------------------------------------
+#if 0
+// Calibration
+// Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
+void bno055_calbration(void){
+ uint8_t d;
+
+ pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
+ //---------- Gyroscope Caliblation ------------------------------------------------------------
+ // (a) Place the device in a single stable position for a period of few seconds to allow the
+ // gyroscope to calibrate
+ pc.printf("Step1) Please wait few seconds\r\n");
+ t.start();
+ while (t.read() < 10){
+ d = imu.read_calib_status();
+ pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
+ if ((d & 0x30) == 0x30){
+ break;
+ }
+ wait(1.0);
+ }
+ pc.printf("-> Step1) is done\r\n\r\n");
+ //---------- Magnetometer Caliblation ---------------------------------------------------------
+ // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
+ // CALIB_STAT register indicates fully calibrated.
+ // (b) It takes more calibration movements to get the magnetometer calibrated than in the
+ // NDOF mode.
+ pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
+ t.start();
+ while (t.read() < 30){
+ d = imu.read_calib_status();
+ pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
+ if ((d & 0x03) == 0x03){
+ break;
+ }
+ wait(1.0);
+ }
+ pc.printf("-> Step2) is done\r\n\r\n");
+ //---------- Magnetometer Caliblation ---------------------------------------------------------
+ // a) Place the device in 6 different stable positions for a period of few seconds
+ // to allow the accelerometer to calibrate.
+ // b) Make sure that there is slow movement between 2 stable positions
+ // The 6 stable positions could be in any direction, but make sure that the device is
+ // lying at least once perpendicular to the x, y and z axis.
+ pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
+ pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
+ pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
+ pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
+ pc.printf(" If you will give up, hit any key.\r\n", d);
+ t.stop();
+ while (true){
+ d = imu.read_calib_status();
+ imu.get_gravity(&gravity);
+ pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n",
+ d, gravity.x, gravity.y, gravity.z);
+ if (d == 0xff){ break;}
+ if (pc.readable()){ break;}
+ wait(1.0);
+ }
+ if (imu.read_calib_status() == 0xff){
+ pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
+ } else {
+ pc.printf("-> Calibration steps are suspended!\r\n\r\n");
+ }
+ t.stop();
+}
+#endif
+
#endif // BNO055_H