yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

sensor/BNO055.h@2:e7b09385d197, 2022-03-27 (annotated)

Committer:
yootee
Date:
Sun Mar 27 04:39:16 2022 +0000
Revision:
2:e7b09385d197
Parent:
BNO055.h@0:1456b6f84c75
Child:
20:4e0fa6fba27c
arrc?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 0:1456b6f84c75 1 #ifndef BNO055_H
yootee 0:1456b6f84c75 2 #define BNO055_H
yootee 0:1456b6f84c75 3
yootee 0:1456b6f84c75 4 #include "mbed.h"
yootee 0:1456b6f84c75 5 //
yootee 0:1456b6f84c75 6 #define BNOAddress (0x28 << 1)
yootee 0:1456b6f84c75 7 //Register definitions
yootee 0:1456b6f84c75 8 /* Page id register definition */
yootee 0:1456b6f84c75 9 #define BNO055_PAGE_ID_ADDR 0x07
yootee 0:1456b6f84c75 10 /* PAGE0 REGISTER DEFINITION START*/
yootee 0:1456b6f84c75 11 #define BNO055_CHIP_ID_ADDR 0x00
yootee 0:1456b6f84c75 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
yootee 0:1456b6f84c75 13 #define BNO055_MAG_REV_ID_ADDR 0x02
yootee 0:1456b6f84c75 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
yootee 0:1456b6f84c75 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
yootee 0:1456b6f84c75 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
yootee 0:1456b6f84c75 17 #define BNO055_BL_REV_ID_ADDR 0x06
yootee 0:1456b6f84c75 18 /* Accel data register */
yootee 0:1456b6f84c75 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
yootee 0:1456b6f84c75 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
yootee 0:1456b6f84c75 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
yootee 0:1456b6f84c75 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
yootee 0:1456b6f84c75 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
yootee 0:1456b6f84c75 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
yootee 0:1456b6f84c75 25 /* Mag data register */
yootee 0:1456b6f84c75 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
yootee 0:1456b6f84c75 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
yootee 0:1456b6f84c75 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
yootee 0:1456b6f84c75 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
yootee 0:1456b6f84c75 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
yootee 0:1456b6f84c75 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
yootee 0:1456b6f84c75 32 /* Gyro data registers */
yootee 0:1456b6f84c75 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
yootee 0:1456b6f84c75 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
yootee 0:1456b6f84c75 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
yootee 0:1456b6f84c75 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
yootee 0:1456b6f84c75 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
yootee 0:1456b6f84c75 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
yootee 0:1456b6f84c75 39 /* Euler data registers */
yootee 0:1456b6f84c75 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
yootee 0:1456b6f84c75 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
yootee 0:1456b6f84c75 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
yootee 0:1456b6f84c75 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
yootee 0:1456b6f84c75 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
yootee 0:1456b6f84c75 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
yootee 0:1456b6f84c75 46 /* Quaternion data registers */
yootee 0:1456b6f84c75 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
yootee 0:1456b6f84c75 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
yootee 0:1456b6f84c75 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
yootee 0:1456b6f84c75 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
yootee 0:1456b6f84c75 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
yootee 0:1456b6f84c75 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
yootee 0:1456b6f84c75 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
yootee 0:1456b6f84c75 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
yootee 0:1456b6f84c75 55 /* Linear acceleration data registers */
yootee 0:1456b6f84c75 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
yootee 0:1456b6f84c75 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
yootee 0:1456b6f84c75 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
yootee 0:1456b6f84c75 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
yootee 0:1456b6f84c75 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
yootee 0:1456b6f84c75 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
yootee 0:1456b6f84c75 62 /* Gravity data registers */
yootee 0:1456b6f84c75 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
yootee 0:1456b6f84c75 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
yootee 0:1456b6f84c75 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
yootee 0:1456b6f84c75 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
yootee 0:1456b6f84c75 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
yootee 0:1456b6f84c75 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
yootee 0:1456b6f84c75 69 /* Temperature data register */
yootee 0:1456b6f84c75 70 #define BNO055_TEMP_ADDR 0x34
yootee 0:1456b6f84c75 71 /* Status registers */
yootee 0:1456b6f84c75 72 #define BNO055_CALIB_STAT_ADDR 0x35
yootee 0:1456b6f84c75 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
yootee 0:1456b6f84c75 74 #define BNO055_INTR_STAT_ADDR 0x37
yootee 0:1456b6f84c75 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
yootee 0:1456b6f84c75 76 #define BNO055_SYS_STAT_ADDR 0x39
yootee 0:1456b6f84c75 77 #define BNO055_SYS_ERR_ADDR 0x3A
yootee 0:1456b6f84c75 78 /* Unit selection register */
yootee 0:1456b6f84c75 79 #define BNO055_UNIT_SEL_ADDR 0x3B
yootee 0:1456b6f84c75 80 #define BNO055_DATA_SELECT_ADDR 0x3C
yootee 0:1456b6f84c75 81 /* Mode registers */
yootee 0:1456b6f84c75 82 #define BNO055_OPR_MODE_ADDR 0x3D
yootee 0:1456b6f84c75 83 #define BNO055_PWR_MODE_ADDR 0x3E
yootee 0:1456b6f84c75 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
yootee 0:1456b6f84c75 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
yootee 0:1456b6f84c75 86 /* Axis remap registers */
yootee 0:1456b6f84c75 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
yootee 0:1456b6f84c75 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
yootee 0:1456b6f84c75 89 /* Accelerometer Offset registers */
yootee 0:1456b6f84c75 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
yootee 0:1456b6f84c75 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
yootee 0:1456b6f84c75 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
yootee 0:1456b6f84c75 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
yootee 0:1456b6f84c75 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
yootee 0:1456b6f84c75 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
yootee 0:1456b6f84c75 96 /* Magnetometer Offset registers */
yootee 0:1456b6f84c75 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
yootee 0:1456b6f84c75 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
yootee 0:1456b6f84c75 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
yootee 0:1456b6f84c75 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
yootee 0:1456b6f84c75 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
yootee 0:1456b6f84c75 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
yootee 0:1456b6f84c75 103 /* Gyroscope Offset registers*/
yootee 0:1456b6f84c75 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
yootee 0:1456b6f84c75 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
yootee 0:1456b6f84c75 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
yootee 0:1456b6f84c75 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
yootee 0:1456b6f84c75 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
yootee 0:1456b6f84c75 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
yootee 0:1456b6f84c75 110 /* Radius registers */
yootee 0:1456b6f84c75 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
yootee 0:1456b6f84c75 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
yootee 0:1456b6f84c75 113 #define MAG_RADIUS_LSB_ADDR 0x69
yootee 0:1456b6f84c75 114 #define MAG_RADIUS_MSB_ADDR 0x6A
yootee 0:1456b6f84c75 115
yootee 0:1456b6f84c75 116 /* Page 1 registers */
yootee 0:1456b6f84c75 117 #define BNO055_UNIQUE_ID_ADDR 0x50
yootee 0:1456b6f84c75 118
yootee 0:1456b6f84c75 119 //Definitions for unit selection
yootee 0:1456b6f84c75 120 #define MPERSPERS 0x00
yootee 0:1456b6f84c75 121 #define MILLIG 0x01
yootee 0:1456b6f84c75 122 #define DEG_PER_SEC 0x00
yootee 0:1456b6f84c75 123 #define RAD_PER_SEC 0x02
yootee 0:1456b6f84c75 124 #define DEGREES 0x00
yootee 0:1456b6f84c75 125 #define RADIANS 0x04
yootee 0:1456b6f84c75 126 #define CENTIGRADE 0x00
yootee 0:1456b6f84c75 127 #define FAHRENHEIT 0x10
yootee 0:1456b6f84c75 128 #define WINDOWS 0x00
yootee 0:1456b6f84c75 129 #define ANDROID 0x80
yootee 0:1456b6f84c75 130
yootee 0:1456b6f84c75 131 //Definitions for power mode
yootee 0:1456b6f84c75 132 #define POWER_MODE_NORMAL 0x00
yootee 0:1456b6f84c75 133 #define POWER_MODE_LOWPOWER 0x01
yootee 0:1456b6f84c75 134 #define POWER_MODE_SUSPEND 0x02
yootee 0:1456b6f84c75 135
yootee 0:1456b6f84c75 136 //Definitions for operating mode
yootee 0:1456b6f84c75 137 #define OPERATION_MODE_CONFIG 0x00
yootee 0:1456b6f84c75 138 #define OPERATION_MODE_ACCONLY 0x01
yootee 0:1456b6f84c75 139 #define OPERATION_MODE_MAGONLY 0x02
yootee 0:1456b6f84c75 140 #define OPERATION_MODE_GYRONLY 0x03
yootee 0:1456b6f84c75 141 #define OPERATION_MODE_ACCMAG 0x04
yootee 0:1456b6f84c75 142 #define OPERATION_MODE_ACCGYRO 0x05
yootee 0:1456b6f84c75 143 #define OPERATION_MODE_MAGGYRO 0x06
yootee 0:1456b6f84c75 144 #define OPERATION_MODE_AMG 0x07
yootee 0:1456b6f84c75 145 #define OPERATION_MODE_IMUPLUS 0x08
yootee 0:1456b6f84c75 146 #define OPERATION_MODE_COMPASS 0x09
yootee 0:1456b6f84c75 147 #define OPERATION_MODE_M4G 0x0A
yootee 0:1456b6f84c75 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
yootee 0:1456b6f84c75 149 #define OPERATION_MODE_NDOF 0x0C
yootee 0:1456b6f84c75 150
yootee 0:1456b6f84c75 151 typedef struct values{
yootee 0:1456b6f84c75 152 int16_t rawx,rawy,rawz;
yootee 0:1456b6f84c75 153 float x,y,z;
yootee 0:1456b6f84c75 154 }values;
yootee 0:1456b6f84c75 155
yootee 0:1456b6f84c75 156 typedef struct angles{
yootee 0:1456b6f84c75 157 int16_t rawroll,rawpitch,rawyaw;
yootee 0:1456b6f84c75 158 float roll, pitch, yaw;
yootee 0:1456b6f84c75 159 } angles;
yootee 0:1456b6f84c75 160
yootee 0:1456b6f84c75 161 typedef struct quaternion{
yootee 0:1456b6f84c75 162 int16_t raww,rawx,rawy,rawz;
yootee 0:1456b6f84c75 163 float w,x,y,z;
yootee 0:1456b6f84c75 164 }quaternion;
yootee 0:1456b6f84c75 165
yootee 0:1456b6f84c75 166 typedef struct chip{
yootee 0:1456b6f84c75 167 char id;
yootee 0:1456b6f84c75 168 char accel;
yootee 0:1456b6f84c75 169 char gyro;
yootee 0:1456b6f84c75 170 char mag;
yootee 0:1456b6f84c75 171 char sw[2];
yootee 0:1456b6f84c75 172 char bootload;
yootee 0:1456b6f84c75 173 char serial[16];
yootee 0:1456b6f84c75 174 }chip;
yootee 0:1456b6f84c75 175
yootee 0:1456b6f84c75 176 /** Class for operating Bosch BNO055 sensor over I2C **/
yootee 0:1456b6f84c75 177 class BNO055
yootee 0:1456b6f84c75 178 {
yootee 0:1456b6f84c75 179 public:
yootee 0:1456b6f84c75 180
yootee 0:1456b6f84c75 181 /** Create BNO055 instance **/
yootee 0:1456b6f84c75 182 BNO055(PinName SDA, PinName SCL);
yootee 0:1456b6f84c75 183
yootee 0:1456b6f84c75 184 /** Perform a power-on reset of the BNO055 **/
yootee 0:1456b6f84c75 185 void reset();
yootee 0:1456b6f84c75 186 /** Check that the BNO055 is connected and download the software details
yootee 0:1456b6f84c75 187 and serial number of chip and store in ID structure **/
yootee 0:1456b6f84c75 188 bool check();
yootee 0:1456b6f84c75 189 /** Turn the external timing crystal on/off **/
yootee 0:1456b6f84c75 190 void SetExternalCrystal(bool yn);
yootee 0:1456b6f84c75 191 /** Set the operation mode of the sensor **/
yootee 0:1456b6f84c75 192 void setmode(char mode);
yootee 0:1456b6f84c75 193 /** Set the power mode of the sensor **/
yootee 0:1456b6f84c75 194 void setpowermode(char mode);
yootee 0:1456b6f84c75 195
yootee 0:1456b6f84c75 196 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
yootee 0:1456b6f84c75 197 void set_accel_units(char units);
yootee 0:1456b6f84c75 198 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
yootee 0:1456b6f84c75 199 void set_anglerate_units(char units);
yootee 0:1456b6f84c75 200 /** Set the output units from the IMU, either DEGREES or RADIANS **/
yootee 0:1456b6f84c75 201 void set_angle_units(char units);
yootee 0:1456b6f84c75 202 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
yootee 0:1456b6f84c75 203 void set_temp_units(char units);
yootee 0:1456b6f84c75 204 /** Set the data output format to either WINDOWS or ANDROID **/
yootee 0:1456b6f84c75 205 void set_orientation(char units);
yootee 0:1456b6f84c75 206 /** Set the mapping of the exes/directions as per page 25 of datasheet
yootee 0:1456b6f84c75 207 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
yootee 0:1456b6f84c75 208 void set_mapping(char orient);
yootee 0:1456b6f84c75 209
yootee 0:1456b6f84c75 210 /** Get the current values from the accelerometer **/
yootee 0:1456b6f84c75 211 void get_accel(void);
yootee 0:1456b6f84c75 212 /** Get the current values from the gyroscope **/
yootee 0:1456b6f84c75 213 void get_gyro(void);
yootee 0:1456b6f84c75 214 /** Get the current values from the magnetometer **/
yootee 0:1456b6f84c75 215 void get_mag(void);
yootee 0:1456b6f84c75 216 /** Get the corrected linear acceleration **/
yootee 0:1456b6f84c75 217 void get_lia(void);
yootee 0:1456b6f84c75 218 /** Get the current gravity vector **/
yootee 0:1456b6f84c75 219 void get_grv(void);
yootee 0:1456b6f84c75 220 /** Get the output quaternion **/
yootee 0:1456b6f84c75 221 void get_quat(void);
yootee 0:1456b6f84c75 222 /** Get the current Euler angles **/
yootee 0:1456b6f84c75 223 void get_angles(void);
yootee 0:1456b6f84c75 224 /** Get the current temperature **/
yootee 0:1456b6f84c75 225 void get_temp(void);
yootee 0:1456b6f84c75 226
yootee 0:1456b6f84c75 227 /** Read the calibration status register and store the result in the calib variable **/
yootee 0:1456b6f84c75 228 void get_calib(void);
yootee 0:1456b6f84c75 229 /** Read the offset and radius values into the calibration array**/
yootee 0:1456b6f84c75 230 void read_calibration_data(void);
yootee 0:1456b6f84c75 231 /** Write the contents of the calibration array into the registers **/
yootee 0:1456b6f84c75 232 void write_calibration_data(void);
yootee 0:1456b6f84c75 233
yootee 0:1456b6f84c75 234 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
yootee 0:1456b6f84c75 235 x,y,z are the scale floating point values and
yootee 0:1456b6f84c75 236 rawx, rawy, rawz are the int16_t values read from the sensors **/
yootee 0:1456b6f84c75 237 values accel,gyro,mag,lia,gravity;
yootee 0:1456b6f84c75 238 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
yootee 0:1456b6f84c75 239 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
yootee 0:1456b6f84c75 240 angles euler;
yootee 0:1456b6f84c75 241 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
yootee 0:1456b6f84c75 242 registers **/
yootee 0:1456b6f84c75 243 quaternion quat;
yootee 0:1456b6f84c75 244
yootee 0:1456b6f84c75 245 /** Current contents of calibration status register **/
yootee 0:1456b6f84c75 246 char calib;
yootee 0:1456b6f84c75 247 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
yootee 0:1456b6f84c75 248 char calibration[22];
yootee 0:1456b6f84c75 249 /** Structure containing sensor numbers, software version and chip UID **/
yootee 0:1456b6f84c75 250 chip ID;
yootee 0:1456b6f84c75 251 /** Current temperature **/
yootee 0:1456b6f84c75 252 int temperature;
yootee 0:1456b6f84c75 253
yootee 0:1456b6f84c75 254 private:
yootee 0:1456b6f84c75 255
yootee 0:1456b6f84c75 256 I2C _i2c;
yootee 0:1456b6f84c75 257 char rx,tx[2],address; //I2C variables
yootee 0:1456b6f84c75 258 char rawdata[22]; //Temporary array for input data values
yootee 0:1456b6f84c75 259 char op_mode;
yootee 0:1456b6f84c75 260 char pwr_mode;
yootee 0:1456b6f84c75 261 float accel_scale,rate_scale,angle_scale;
yootee 0:1456b6f84c75 262 int temp_scale;
yootee 0:1456b6f84c75 263
yootee 0:1456b6f84c75 264 void readchar(char location){
yootee 0:1456b6f84c75 265 tx[0] = location;
yootee 0:1456b6f84c75 266 _i2c.write(address,tx,1,true);
yootee 0:1456b6f84c75 267 _i2c.read(address,&rx,1,false);
yootee 0:1456b6f84c75 268 }
yootee 0:1456b6f84c75 269
yootee 0:1456b6f84c75 270 void writechar(char location, char value){
yootee 0:1456b6f84c75 271 tx[0] = location;
yootee 0:1456b6f84c75 272 tx[1] = value;
yootee 0:1456b6f84c75 273 _i2c.write(address,tx,2);
yootee 0:1456b6f84c75 274 }
yootee 0:1456b6f84c75 275
yootee 0:1456b6f84c75 276 void setpage(char value){
yootee 0:1456b6f84c75 277 writechar(BNO055_PAGE_ID_ADDR,value);
yootee 0:1456b6f84c75 278 }
yootee 0:1456b6f84c75 279 };
yootee 0:1456b6f84c75 280 #endif