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Diff: sensor/BNO055.cpp
- Revision:
- 2:e7b09385d197
- Parent:
- 0:1456b6f84c75
- Child:
- 7:1c09bcc18c14
diff -r 744e1f66d5dc -r e7b09385d197 sensor/BNO055.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor/BNO055.cpp Sun Mar 27 04:39:16 2022 +0000 @@ -0,0 +1,299 @@ +#include "BNO055.h" +#include "mbed.h" + +BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL) +{ + //Set I2C fast and bring reset line high + _i2c.frequency(400000); + address = BNOAddress; + accel_scale = 0.001f; + rate_scale = 1.0f/16.0f; + angle_scale = 1.0f/16.0f; + temp_scale = 1; +} + +void BNO055::reset() +{ +//Perform a power-on-reset + readchar(BNO055_SYS_TRIGGER_ADDR); + rx = rx | 0x20; + writechar(BNO055_SYS_TRIGGER_ADDR,rx); +//Wait for the system to come back up again (datasheet says 650ms) + wait_ms(675); +} + +bool BNO055::check() +{ +//Check we have communication link with the chip + readchar(BNO055_CHIP_ID_ADDR); + if (rx != 0xA0) return false; +//Grab the chip ID and software versions + tx[0] = BNO055_CHIP_ID_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,7,false); + ID.id = rawdata[0]; + ID.accel = rawdata[1]; + ID.mag = rawdata[2]; + ID.gyro = rawdata[3]; + ID.sw[0] = rawdata[4]; + ID.sw[1] = rawdata[5]; + ID.bootload = rawdata[6]; + setpage(1); + tx[0] = BNO055_UNIQUE_ID_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,ID.serial,16,false); + setpage(0); + return true; +} + +void BNO055::SetExternalCrystal(bool yn) +{ +// Read the current status from the device + readchar(BNO055_SYS_TRIGGER_ADDR); + if (yn) rx = rx | 0x80; + else rx = rx & 0x7F; + writechar(BNO055_SYS_TRIGGER_ADDR,rx); +} + +void BNO055::set_accel_units(char units) +{ + readchar(BNO055_UNIT_SEL_ADDR); + if(units == MPERSPERS) { + rx = rx & 0xFE; + accel_scale = 0.01f; + } else { + rx = rx | units; + accel_scale = 0.001f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_anglerate_units(char units) +{ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == DEG_PER_SEC) { + rx = rx & 0xFD; + rate_scale = 1.0f/16.0f; + } else { + rx = rx | units; + rate_scale = 1.0f/900.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_angle_units(char units) +{ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == DEGREES) { + rx = rx & 0xFB; + angle_scale = 1.0f/16.0f; + } else { + rx = rx | units; + rate_scale = 1.0f/900.0f; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_temp_units(char units) +{ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == CENTIGRADE) { + rx = rx & 0xEF; + temp_scale = 1; + } else { + rx = rx | units; + temp_scale = 2; + } + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::set_orientation(char units) +{ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == WINDOWS) rx = rx &0x7F; + else rx = rx | units; + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + +void BNO055::setmode(char omode) +{ + writechar(BNO055_OPR_MODE_ADDR,omode); + op_mode = omode; +} + +void BNO055::setpowermode(char pmode) +{ + writechar(BNO055_PWR_MODE_ADDR,pmode); + pwr_mode = pmode; +} + +void BNO055::get_accel(void) +{ + tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + accel.rawx = (rawdata[1] << 8 | rawdata[0]); + accel.rawy = (rawdata[3] << 8 | rawdata[2]); + accel.rawz = (rawdata[5] << 8 | rawdata[4]); + accel.x = float(accel.rawx)*accel_scale; + accel.y = float(accel.rawy)*accel_scale; + accel.z = float(accel.rawz)*accel_scale; +} + +void BNO055::get_gyro(void) +{ + tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + gyro.rawx = (rawdata[1] << 8 | rawdata[0]); + gyro.rawy = (rawdata[3] << 8 | rawdata[2]); + gyro.rawz = (rawdata[5] << 8 | rawdata[4]); + gyro.x = float(gyro.rawx)*rate_scale; + gyro.y = float(gyro.rawy)*rate_scale; + gyro.z = float(gyro.rawz)*rate_scale; +} + +void BNO055::get_mag(void) +{ + tx[0] = BNO055_MAG_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + mag.rawx = (rawdata[1] << 8 | rawdata[0]); + mag.rawy = (rawdata[3] << 8 | rawdata[2]); + mag.rawz = (rawdata[5] << 8 | rawdata[4]); + mag.x = float(mag.rawx); + mag.y = float(mag.rawy); + mag.z = float(mag.rawz); +} + +void BNO055::get_lia(void) +{ + tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + lia.rawx = (rawdata[1] << 8 | rawdata[0]); + lia.rawy = (rawdata[3] << 8 | rawdata[2]); + lia.rawz = (rawdata[5] << 8 | rawdata[4]); + lia.x = float(lia.rawx)*accel_scale; + lia.y = float(lia.rawy)*accel_scale; + lia.z = float(lia.rawz)*accel_scale; +} + +void BNO055::get_grv(void) +{ + tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,6,0); + gravity.rawx = (rawdata[1] << 8 | rawdata[0]); + gravity.rawy = (rawdata[3] << 8 | rawdata[2]); + gravity.rawz = (rawdata[5] << 8 | rawdata[4]); + gravity.x = float(gravity.rawx)*accel_scale; + gravity.y = float(gravity.rawy)*accel_scale; + gravity.z = float(gravity.rawz)*accel_scale; +} + +void BNO055::get_quat(void) +{ + tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,8,0); + quat.raww = (rawdata[1] << 8 | rawdata[0]); + quat.rawx = (rawdata[3] << 8 | rawdata[2]); + quat.rawy = (rawdata[5] << 8 | rawdata[4]); + quat.rawz = (rawdata[7] << 8 | rawdata[6]); + quat.w = float(quat.raww)/16384.0f; + quat.x = float(quat.rawx)/16384.0f; + quat.y = float(quat.rawy)/16384.0f; + quat.z = float(quat.rawz)/16384.0f; +} + +void BNO055::get_angles(void) +{ + tx[0] = BNO055_EULER_H_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,2,0); + euler.rawyaw = (rawdata[1] << 8 | rawdata[0]); + //euler.rawroll = (rawdata[3] << 8 | rawdata[2]); + //euler.rawpitch = (rawdata[5] << 8 | rawdata[4]); + euler.yaw = float(euler.rawyaw)*angle_scale; + //euler.roll = float(euler.rawroll)*angle_scale; + //euler.pitch = float(euler.rawpitch)*angle_scale; +} + + +void BNO055::get_temp(void) +{ + readchar(BNO055_TEMP_ADDR); + temperature = rx / temp_scale; +} + +void BNO055::get_calib(void) +{ + readchar(BNO055_CALIB_STAT_ADDR); + calib = rx; +} + +void BNO055::read_calibration_data(void) +{ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::write_calibration_data(void) +{ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.write(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::set_mapping(char orient) +{ + switch (orient) { + case 0: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04); + break; + case 1: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 2: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 3: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02); + break; + case 4: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03); + break; + case 5: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01); + break; + case 6: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07); + break; + case 7: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05); + break; + default: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + } +} \ No newline at end of file