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Diff: BNO055.h
- Revision:
- 0:1456b6f84c75
diff -r 000000000000 -r 1456b6f84c75 BNO055.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.h Fri Feb 25 05:20:11 2022 +0000 @@ -0,0 +1,280 @@ +#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 0x04 +#define CENTIGRADE 0x00 +#define FAHRENHEIT 0x10 +#define WINDOWS 0x00 +#define ANDROID 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 for operating Bosch BNO055 sensor over I2C **/ +class BNO055 +{ +public: + +/** Create BNO055 instance **/ + BNO055(PinName SDA, PinName SCL); + +/** Perform a power-on reset of the BNO055 **/ + void reset(); +/** Check that the BNO055 is connected and download the software details +and serial number of chip and store in ID structure **/ + bool check(); +/** Turn the external timing crystal on/off **/ + void SetExternalCrystal(bool yn); +/** Set the operation mode of the sensor **/ + void setmode(char mode); +/** Set the power mode of the sensor **/ + void setpowermode(char mode); + +/** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/ + void set_accel_units(char units); +/** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/ + void set_anglerate_units(char units); +/** Set the output units from the IMU, either DEGREES or RADIANS **/ + void set_angle_units(char units); +/** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/ + void set_temp_units(char units); +/** Set the data output format to either WINDOWS or ANDROID **/ + void set_orientation(char units); +/** Set the mapping of the exes/directions as per page 25 of datasheet + range 0-7, any value outside this will set the orientation to P1 (default at power up) **/ + void set_mapping(char orient); + +/** Get the current values from the accelerometer **/ + void get_accel(void); +/** Get the current values from the gyroscope **/ + void get_gyro(void); +/** Get the current values from the magnetometer **/ + void get_mag(void); +/** Get the corrected linear acceleration **/ + void get_lia(void); +/** Get the current gravity vector **/ + void get_grv(void); +/** Get the output quaternion **/ + void get_quat(void); +/** Get the current Euler angles **/ + void get_angles(void); +/** Get the current temperature **/ + void get_temp(void); + +/** Read the calibration status register and store the result in the calib variable **/ + void get_calib(void); +/** Read the offset and radius values into the calibration array**/ + void read_calibration_data(void); +/** Write the contents of the calibration array into the registers **/ + void write_calibration_data(void); + +/** Structures containing 3-axis data for acceleration, rate of turn and magnetic field. + x,y,z are the scale floating point values and + rawx, rawy, rawz are the int16_t values read from the sensors **/ + values accel,gyro,mag,lia,gravity; +/** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point + and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/ + angles euler; +/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the + registers **/ + quaternion quat; + +/** Current contents of calibration status register **/ + char calib; +/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/ + char calibration[22]; +/** Structure containing sensor numbers, software version and chip UID **/ + chip ID; +/** Current temperature **/ + int temperature; + + private: + + I2C _i2c; + char rx,tx[2],address; //I2C variables + char rawdata[22]; //Temporary array for input data values + char op_mode; + char pwr_mode; + float accel_scale,rate_scale,angle_scale; + int 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