868 lines
26 KiB
C++
868 lines
26 KiB
C++
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/*!
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* @file Adafruit_BNO055.cpp
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*
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* @mainpage Adafruit BNO055 Orientation Sensor
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*
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* @section intro_sec Introduction
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*
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* This is a library for the BNO055 orientation sensor
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*
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* Designed specifically to work with the Adafruit BNO055 9-DOF Breakout.
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*
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* Pick one up today in the adafruit shop!
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* ------> https://www.adafruit.com/product/2472
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*
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* These sensors use I2C to communicate, 2 pins are required to interface.
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit andopen-source hardware by purchasing products
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* from Adafruit!
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*
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* @section author Author
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*
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* K.Townsend (Adafruit Industries)
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*
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* @section license License
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*
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* MIT license, all text above must be included in any redistribution
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*/
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#include "Arduino.h"
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#include <limits.h>
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#include <math.h>
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#include "Adafruit_BNO055.h"
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/*!
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* @brief Instantiates a new Adafruit_BNO055 class
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* @param sensorID
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* sensor ID
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* @param address
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* i2c address
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* @param theWire
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* Wire object
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*/
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address,
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TwoWire *theWire) {
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// BNO055 clock stretches for 500us or more!
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#ifdef ESP8266
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theWire->setClockStretchLimit(1000); // Allow for 1000us of clock stretching
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#endif
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_sensorID = sensorID;
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i2c_dev = new Adafruit_I2CDevice(address, theWire);
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}
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/*!
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* @brief Sets up the HW
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* @param mode
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* mode values
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* [OPERATION_MODE_CONFIG,
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* OPERATION_MODE_ACCONLY,
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* OPERATION_MODE_MAGONLY,
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* OPERATION_MODE_GYRONLY,
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* OPERATION_MODE_ACCMAG,
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* OPERATION_MODE_ACCGYRO,
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* OPERATION_MODE_MAGGYRO,
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* OPERATION_MODE_AMG,
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* OPERATION_MODE_IMUPLUS,
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* OPERATION_MODE_COMPASS,
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* OPERATION_MODE_M4G,
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* OPERATION_MODE_NDOF_FMC_OFF,
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* OPERATION_MODE_NDOF]
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* @return true if process is successful
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*/
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
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// Start without a detection
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i2c_dev->begin(false);
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#if defined(TARGET_RP2040)
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// philhower core seems to work with this speed?
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i2c_dev->setSpeed(50000);
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#endif
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// can take 850 ms to boot!
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int timeout = 850; // in ms
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while (timeout > 0) {
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if (i2c_dev->begin()) {
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break;
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}
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// wasnt detected... we'll retry!
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delay(10);
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timeout -= 10;
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}
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if (timeout <= 0)
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return false;
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/* Make sure we have the right device */
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uint8_t id = read8(BNO055_CHIP_ID_ADDR);
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if (id != BNO055_ID) {
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delay(1000); // hold on for boot
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id = read8(BNO055_CHIP_ID_ADDR);
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if (id != BNO055_ID) {
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return false; // still not? ok bail
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}
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}
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG);
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/* Reset */
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write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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/* Delay incrased to 30ms due to power issues https://tinyurl.com/y375z699 */
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delay(30);
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while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
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delay(10);
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}
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delay(50);
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/* Set to normal power mode */
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write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
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delay(10);
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* Set the output units */
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/*
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uint8_t unitsel = (0 << 7) | // Orientation = Android
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(0 << 4) | // Temperature = Celsius
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(0 << 2) | // Euler = Degrees
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(1 << 1) | // Gyro = Rads
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(0 << 0); // Accelerometer = m/s^2
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write8(BNO055_UNIT_SEL_ADDR, unitsel);
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*/
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/* Configure axis mapping (see section 3.4) */
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/*
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1
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delay(10);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1
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delay(10);
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*/
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write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(mode);
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delay(20);
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return true;
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}
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/*!
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* @brief Puts the chip in the specified operating mode
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* @param mode
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* mode values
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* [OPERATION_MODE_CONFIG,
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* OPERATION_MODE_ACCONLY,
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* OPERATION_MODE_MAGONLY,
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* OPERATION_MODE_GYRONLY,
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* OPERATION_MODE_ACCMAG,
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* OPERATION_MODE_ACCGYRO,
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* OPERATION_MODE_MAGGYRO,
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* OPERATION_MODE_AMG,
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* OPERATION_MODE_IMUPLUS,
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* OPERATION_MODE_COMPASS,
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* OPERATION_MODE_M4G,
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* OPERATION_MODE_NDOF_FMC_OFF,
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* OPERATION_MODE_NDOF]
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*/
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
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_mode = mode;
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write8(BNO055_OPR_MODE_ADDR, _mode);
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delay(30);
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}
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/*!
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* @brief Gets the current operating mode of the chip
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* @return operating_mode in integer which can be mapped in Section 3.3
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* for example: a return of 12 (0X0C) => NDOF
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*/
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adafruit_bno055_opmode_t Adafruit_BNO055::getMode() {
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return (adafruit_bno055_opmode_t)read8(BNO055_OPR_MODE_ADDR);
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}
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/*!
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* @brief Changes the chip's axis remap
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* @param remapcode
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* remap code possible values
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* [REMAP_CONFIG_P0
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* REMAP_CONFIG_P1 (default)
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* REMAP_CONFIG_P2
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* REMAP_CONFIG_P3
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* REMAP_CONFIG_P4
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* REMAP_CONFIG_P5
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* REMAP_CONFIG_P6
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* REMAP_CONFIG_P7]
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*/
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void Adafruit_BNO055::setAxisRemap(
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adafruit_bno055_axis_remap_config_t remapcode) {
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adafruit_bno055_opmode_t modeback = _mode;
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback);
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delay(20);
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}
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/*!
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* @brief Changes the chip's axis signs
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* @param remapsign
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* remap sign possible values
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* [REMAP_SIGN_P0
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* REMAP_SIGN_P1 (default)
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* REMAP_SIGN_P2
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* REMAP_SIGN_P3
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* REMAP_SIGN_P4
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* REMAP_SIGN_P5
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* REMAP_SIGN_P6
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* REMAP_SIGN_P7]
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*/
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void Adafruit_BNO055::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
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adafruit_bno055_opmode_t modeback = _mode;
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, remapsign);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback);
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delay(20);
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}
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/*!
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* @brief Use the external 32.768KHz crystal
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* @param usextal
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* use external crystal boolean
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*/
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void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
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adafruit_bno055_opmode_t modeback = _mode;
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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write8(BNO055_PAGE_ID_ADDR, 0);
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if (usextal) {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
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} else {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
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}
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback);
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delay(20);
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}
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/*!
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* @brief Gets the latest system status info
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* @param system_status
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* system status info
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* @param self_test_result
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* self test result
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* @param system_error
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* system error info
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*/
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void Adafruit_BNO055::getSystemStatus(uint8_t *system_status,
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uint8_t *self_test_result,
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uint8_t *system_error) {
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* System Status (see section 4.3.58)
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0 = Idle
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1 = System Error
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2 = Initializing Peripherals
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3 = System Iniitalization
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4 = Executing Self-Test
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5 = Sensor fusio algorithm running
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6 = System running without fusion algorithms
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*/
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if (system_status != 0)
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*system_status = read8(BNO055_SYS_STAT_ADDR);
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/* Self Test Results
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1 = test passed, 0 = test failed
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Bit 0 = Accelerometer self test
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Bit 1 = Magnetometer self test
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Bit 2 = Gyroscope self test
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Bit 3 = MCU self test
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0x0F = all good!
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*/
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if (self_test_result != 0)
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*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
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/* System Error (see section 4.3.59)
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0 = No error
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1 = Peripheral initialization error
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2 = System initialization error
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3 = Self test result failed
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4 = Register map value out of range
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5 = Register map address out of range
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6 = Register map write error
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7 = BNO low power mode not available for selected operat ion mode
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8 = Accelerometer power mode not available
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9 = Fusion algorithm configuration error
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A = Sensor configuration error
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*/
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if (system_error != 0)
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*system_error = read8(BNO055_SYS_ERR_ADDR);
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delay(200);
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}
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/*!
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* @brief Gets the chip revision numbers
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* @param info
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* revision info
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*/
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void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t *info) {
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uint8_t a, b;
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memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
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/* Check the accelerometer revision */
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info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
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/* Check the magnetometer revision */
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info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
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/* Check the gyroscope revision */
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
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/* Check the SW revision */
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);
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a = read8(BNO055_SW_REV_ID_LSB_ADDR);
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b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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}
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|
||
|
/*!
|
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|
* @brief Gets current calibration state. Each value should be a uint8_t
|
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|
* pointer and it will be set to 0 if not calibrated and 3 if
|
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* fully calibrated.
|
||
|
* See section 34.3.54
|
||
|
* @param sys
|
||
|
* Current system calibration status, depends on status of all sensors,
|
||
|
* read-only
|
||
|
* @param gyro
|
||
|
* Current calibration status of Gyroscope, read-only
|
||
|
* @param accel
|
||
|
* Current calibration status of Accelerometer, read-only
|
||
|
* @param mag
|
||
|
* Current calibration status of Magnetometer, read-only
|
||
|
*/
|
||
|
void Adafruit_BNO055::getCalibration(uint8_t *sys, uint8_t *gyro,
|
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uint8_t *accel, uint8_t *mag) {
|
||
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uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
|
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|
if (sys != NULL) {
|
||
|
*sys = (calData >> 6) & 0x03;
|
||
|
}
|
||
|
if (gyro != NULL) {
|
||
|
*gyro = (calData >> 4) & 0x03;
|
||
|
}
|
||
|
if (accel != NULL) {
|
||
|
*accel = (calData >> 2) & 0x03;
|
||
|
}
|
||
|
if (mag != NULL) {
|
||
|
*mag = calData & 0x03;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Gets the temperature in degrees celsius
|
||
|
* @return temperature in degrees celsius
|
||
|
*/
|
||
|
int8_t Adafruit_BNO055::getTemp() {
|
||
|
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
|
||
|
return temp;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Gets a vector reading from the specified source
|
||
|
* @param vector_type
|
||
|
* possible vector type values
|
||
|
* [VECTOR_ACCELEROMETER
|
||
|
* VECTOR_MAGNETOMETER
|
||
|
* VECTOR_GYROSCOPE
|
||
|
* VECTOR_EULER
|
||
|
* VECTOR_LINEARACCEL
|
||
|
* VECTOR_GRAVITY]
|
||
|
* @return vector from specified source
|
||
|
*/
|
||
|
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
|
||
|
imu::Vector<3> xyz;
|
||
|
uint8_t buffer[6];
|
||
|
memset(buffer, 0, 6);
|
||
|
|
||
|
int16_t x, y, z;
|
||
|
x = y = z = 0;
|
||
|
|
||
|
/* Read vector data (6 bytes) */
|
||
|
readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
|
||
|
|
||
|
x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
|
||
|
y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
|
||
|
z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
|
||
|
|
||
|
/*!
|
||
|
* Convert the value to an appropriate range (section 3.6.4)
|
||
|
* and assign the value to the Vector type
|
||
|
*/
|
||
|
switch (vector_type) {
|
||
|
case VECTOR_MAGNETOMETER:
|
||
|
/* 1uT = 16 LSB */
|
||
|
xyz[0] = ((double)x) / 16.0;
|
||
|
xyz[1] = ((double)y) / 16.0;
|
||
|
xyz[2] = ((double)z) / 16.0;
|
||
|
break;
|
||
|
case VECTOR_GYROSCOPE:
|
||
|
/* 1dps = 16 LSB */
|
||
|
xyz[0] = ((double)x) / 16.0;
|
||
|
xyz[1] = ((double)y) / 16.0;
|
||
|
xyz[2] = ((double)z) / 16.0;
|
||
|
break;
|
||
|
case VECTOR_EULER:
|
||
|
/* 1 degree = 16 LSB */
|
||
|
xyz[0] = ((double)x) / 16.0;
|
||
|
xyz[1] = ((double)y) / 16.0;
|
||
|
xyz[2] = ((double)z) / 16.0;
|
||
|
break;
|
||
|
case VECTOR_ACCELEROMETER:
|
||
|
/* 1m/s^2 = 100 LSB */
|
||
|
xyz[0] = ((double)x) / 100.0;
|
||
|
xyz[1] = ((double)y) / 100.0;
|
||
|
xyz[2] = ((double)z) / 100.0;
|
||
|
break;
|
||
|
case VECTOR_LINEARACCEL:
|
||
|
/* 1m/s^2 = 100 LSB */
|
||
|
xyz[0] = ((double)x) / 100.0;
|
||
|
xyz[1] = ((double)y) / 100.0;
|
||
|
xyz[2] = ((double)z) / 100.0;
|
||
|
break;
|
||
|
case VECTOR_GRAVITY:
|
||
|
/* 1m/s^2 = 100 LSB */
|
||
|
xyz[0] = ((double)x) / 100.0;
|
||
|
xyz[1] = ((double)y) / 100.0;
|
||
|
xyz[2] = ((double)z) / 100.0;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
return xyz;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Gets a quaternion reading from the specified source
|
||
|
* @return quaternion reading
|
||
|
*/
|
||
|
imu::Quaternion Adafruit_BNO055::getQuat() {
|
||
|
uint8_t buffer[8];
|
||
|
memset(buffer, 0, 8);
|
||
|
|
||
|
int16_t x, y, z, w;
|
||
|
x = y = z = w = 0;
|
||
|
|
||
|
/* Read quat data (8 bytes) */
|
||
|
readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
|
||
|
w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
|
||
|
x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
|
||
|
y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
|
||
|
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
|
||
|
|
||
|
/*!
|
||
|
* Assign to Quaternion
|
||
|
* See
|
||
|
* https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
|
||
|
* 3.6.5.5 Orientation (Quaternion)
|
||
|
*/
|
||
|
const double scale = (1.0 / (1 << 14));
|
||
|
imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
|
||
|
return quat;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Provides the sensor_t data for this sensor
|
||
|
* @param sensor
|
||
|
* Sensor description
|
||
|
*/
|
||
|
void Adafruit_BNO055::getSensor(sensor_t *sensor) {
|
||
|
/* Clear the sensor_t object */
|
||
|
memset(sensor, 0, sizeof(sensor_t));
|
||
|
|
||
|
/* Insert the sensor name in the fixed length char array */
|
||
|
strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1);
|
||
|
sensor->name[sizeof(sensor->name) - 1] = 0;
|
||
|
sensor->version = 1;
|
||
|
sensor->sensor_id = _sensorID;
|
||
|
sensor->type = SENSOR_TYPE_ORIENTATION;
|
||
|
sensor->min_delay = 0;
|
||
|
sensor->max_value = 0.0F;
|
||
|
sensor->min_value = 0.0F;
|
||
|
sensor->resolution = 0.01F;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads the sensor and returns the data as a sensors_event_t
|
||
|
* @param event
|
||
|
* Event description
|
||
|
* @return always returns true
|
||
|
*/
|
||
|
bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
|
||
|
/* Clear the event */
|
||
|
memset(event, 0, sizeof(sensors_event_t));
|
||
|
|
||
|
event->version = sizeof(sensors_event_t);
|
||
|
event->sensor_id = _sensorID;
|
||
|
event->type = SENSOR_TYPE_ORIENTATION;
|
||
|
event->timestamp = millis();
|
||
|
|
||
|
/* Get a Euler angle sample for orientation */
|
||
|
imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
|
||
|
event->orientation.x = euler.x();
|
||
|
event->orientation.y = euler.y();
|
||
|
event->orientation.z = euler.z();
|
||
|
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads the sensor and returns the data as a sensors_event_t
|
||
|
* @param event
|
||
|
* Event description
|
||
|
* @param vec_type
|
||
|
* specify the type of reading
|
||
|
* @return always returns true
|
||
|
*/
|
||
|
bool Adafruit_BNO055::getEvent(sensors_event_t *event,
|
||
|
adafruit_vector_type_t vec_type) {
|
||
|
/* Clear the event */
|
||
|
memset(event, 0, sizeof(sensors_event_t));
|
||
|
|
||
|
event->version = sizeof(sensors_event_t);
|
||
|
event->sensor_id = _sensorID;
|
||
|
event->timestamp = millis();
|
||
|
|
||
|
// read the data according to vec_type
|
||
|
imu::Vector<3> vec;
|
||
|
if (vec_type == Adafruit_BNO055::VECTOR_LINEARACCEL) {
|
||
|
event->type = SENSOR_TYPE_LINEAR_ACCELERATION;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
|
||
|
|
||
|
event->acceleration.x = vec.x();
|
||
|
event->acceleration.y = vec.y();
|
||
|
event->acceleration.z = vec.z();
|
||
|
} else if (vec_type == Adafruit_BNO055::VECTOR_ACCELEROMETER) {
|
||
|
event->type = SENSOR_TYPE_ACCELEROMETER;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
|
||
|
|
||
|
event->acceleration.x = vec.x();
|
||
|
event->acceleration.y = vec.y();
|
||
|
event->acceleration.z = vec.z();
|
||
|
} else if (vec_type == Adafruit_BNO055::VECTOR_GRAVITY) {
|
||
|
event->type = SENSOR_TYPE_GRAVITY;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_GRAVITY);
|
||
|
|
||
|
event->acceleration.x = vec.x();
|
||
|
event->acceleration.y = vec.y();
|
||
|
event->acceleration.z = vec.z();
|
||
|
} else if (vec_type == Adafruit_BNO055::VECTOR_EULER) {
|
||
|
event->type = SENSOR_TYPE_ORIENTATION;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_EULER);
|
||
|
|
||
|
event->orientation.x = vec.x();
|
||
|
event->orientation.y = vec.y();
|
||
|
event->orientation.z = vec.z();
|
||
|
} else if (vec_type == Adafruit_BNO055::VECTOR_GYROSCOPE) {
|
||
|
event->type = SENSOR_TYPE_GYROSCOPE;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
|
||
|
|
||
|
event->gyro.x = vec.x() * SENSORS_DPS_TO_RADS;
|
||
|
event->gyro.y = vec.y() * SENSORS_DPS_TO_RADS;
|
||
|
event->gyro.z = vec.z() * SENSORS_DPS_TO_RADS;
|
||
|
} else if (vec_type == Adafruit_BNO055::VECTOR_MAGNETOMETER) {
|
||
|
event->type = SENSOR_TYPE_MAGNETIC_FIELD;
|
||
|
vec = getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
|
||
|
|
||
|
event->magnetic.x = vec.x();
|
||
|
event->magnetic.y = vec.y();
|
||
|
event->magnetic.z = vec.z();
|
||
|
}
|
||
|
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads the sensor's offset registers into a byte array
|
||
|
* @param calibData
|
||
|
* Calibration offset (buffer size should be 22)
|
||
|
* @return true if read is successful
|
||
|
*/
|
||
|
bool Adafruit_BNO055::getSensorOffsets(uint8_t *calibData) {
|
||
|
if (isFullyCalibrated()) {
|
||
|
adafruit_bno055_opmode_t lastMode = _mode;
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
|
||
|
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
|
||
|
|
||
|
setMode(lastMode);
|
||
|
return true;
|
||
|
}
|
||
|
return false;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads the sensor's offset registers into an offset struct
|
||
|
* @param offsets_type
|
||
|
* type of offsets
|
||
|
* @return true if read is successful
|
||
|
*/
|
||
|
bool Adafruit_BNO055::getSensorOffsets(
|
||
|
adafruit_bno055_offsets_t &offsets_type) {
|
||
|
if (isFullyCalibrated()) {
|
||
|
adafruit_bno055_opmode_t lastMode = _mode;
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
delay(25);
|
||
|
|
||
|
/* Accel offset range depends on the G-range:
|
||
|
+/-2g = +/- 2000 mg
|
||
|
+/-4g = +/- 4000 mg
|
||
|
+/-8g = +/- 8000 mg
|
||
|
+/-1§g = +/- 16000 mg */
|
||
|
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) |
|
||
|
(read8(ACCEL_OFFSET_X_LSB_ADDR));
|
||
|
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) |
|
||
|
(read8(ACCEL_OFFSET_Y_LSB_ADDR));
|
||
|
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) |
|
||
|
(read8(ACCEL_OFFSET_Z_LSB_ADDR));
|
||
|
|
||
|
/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
|
||
|
offsets_type.mag_offset_x =
|
||
|
(read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
|
||
|
offsets_type.mag_offset_y =
|
||
|
(read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
|
||
|
offsets_type.mag_offset_z =
|
||
|
(read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
|
||
|
|
||
|
/* Gyro offset range depends on the DPS range:
|
||
|
2000 dps = +/- 32000 LSB
|
||
|
1000 dps = +/- 16000 LSB
|
||
|
500 dps = +/- 8000 LSB
|
||
|
250 dps = +/- 4000 LSB
|
||
|
125 dps = +/- 2000 LSB
|
||
|
... where 1 DPS = 16 LSB */
|
||
|
offsets_type.gyro_offset_x =
|
||
|
(read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
|
||
|
offsets_type.gyro_offset_y =
|
||
|
(read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
|
||
|
offsets_type.gyro_offset_z =
|
||
|
(read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
|
||
|
|
||
|
/* Accelerometer radius = +/- 1000 LSB */
|
||
|
offsets_type.accel_radius =
|
||
|
(read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
|
||
|
|
||
|
/* Magnetometer radius = +/- 960 LSB */
|
||
|
offsets_type.mag_radius =
|
||
|
(read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
|
||
|
|
||
|
setMode(lastMode);
|
||
|
return true;
|
||
|
}
|
||
|
return false;
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Writes an array of calibration values to the sensor's offset
|
||
|
* @param calibData
|
||
|
* calibration data
|
||
|
*/
|
||
|
void Adafruit_BNO055::setSensorOffsets(const uint8_t *calibData) {
|
||
|
adafruit_bno055_opmode_t lastMode = _mode;
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
delay(25);
|
||
|
|
||
|
/* Note: Configuration will take place only when user writes to the last
|
||
|
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
||
|
Therefore the last byte must be written whenever the user wants to
|
||
|
changes the configuration. */
|
||
|
|
||
|
/* A writeLen() would make this much cleaner */
|
||
|
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
|
||
|
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
|
||
|
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
|
||
|
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
|
||
|
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
|
||
|
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
|
||
|
|
||
|
write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
|
||
|
write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
|
||
|
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
|
||
|
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
|
||
|
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
|
||
|
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
|
||
|
|
||
|
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
|
||
|
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
|
||
|
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
|
||
|
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
|
||
|
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
|
||
|
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
|
||
|
|
||
|
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
|
||
|
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
|
||
|
|
||
|
write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
|
||
|
write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
|
||
|
|
||
|
setMode(lastMode);
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Writes to the sensor's offset registers from an offset struct
|
||
|
* @param offsets_type
|
||
|
* accel_offset_x = acceleration offset x
|
||
|
* accel_offset_y = acceleration offset y
|
||
|
* accel_offset_z = acceleration offset z
|
||
|
*
|
||
|
* mag_offset_x = magnetometer offset x
|
||
|
* mag_offset_y = magnetometer offset y
|
||
|
* mag_offset_z = magnetometer offset z
|
||
|
*
|
||
|
* gyro_offset_x = gyroscrope offset x
|
||
|
* gyro_offset_y = gyroscrope offset y
|
||
|
* gyro_offset_z = gyroscrope offset z
|
||
|
*/
|
||
|
void Adafruit_BNO055::setSensorOffsets(
|
||
|
const adafruit_bno055_offsets_t &offsets_type) {
|
||
|
adafruit_bno055_opmode_t lastMode = _mode;
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
delay(25);
|
||
|
|
||
|
/* Note: Configuration will take place only when user writes to the last
|
||
|
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
||
|
Therefore the last byte must be written whenever the user wants to
|
||
|
changes the configuration. */
|
||
|
|
||
|
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
|
||
|
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
|
||
|
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
|
||
|
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
|
||
|
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
|
||
|
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
|
||
|
|
||
|
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
|
||
|
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
|
||
|
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
|
||
|
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
|
||
|
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
|
||
|
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
|
||
|
|
||
|
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
|
||
|
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
|
||
|
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
|
||
|
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
|
||
|
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
|
||
|
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
|
||
|
|
||
|
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
|
||
|
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
|
||
|
|
||
|
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
|
||
|
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
|
||
|
|
||
|
setMode(lastMode);
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Checks of all cal status values are set to 3 (fully calibrated)
|
||
|
* @return status of calibration
|
||
|
*/
|
||
|
bool Adafruit_BNO055::isFullyCalibrated() {
|
||
|
uint8_t system, gyro, accel, mag;
|
||
|
getCalibration(&system, &gyro, &accel, &mag);
|
||
|
|
||
|
switch (_mode) {
|
||
|
case OPERATION_MODE_ACCONLY:
|
||
|
return (accel == 3);
|
||
|
case OPERATION_MODE_MAGONLY:
|
||
|
return (mag == 3);
|
||
|
case OPERATION_MODE_GYRONLY:
|
||
|
case OPERATION_MODE_M4G: /* No magnetometer calibration required. */
|
||
|
return (gyro == 3);
|
||
|
case OPERATION_MODE_ACCMAG:
|
||
|
case OPERATION_MODE_COMPASS:
|
||
|
return (accel == 3 && mag == 3);
|
||
|
case OPERATION_MODE_ACCGYRO:
|
||
|
case OPERATION_MODE_IMUPLUS:
|
||
|
return (accel == 3 && gyro == 3);
|
||
|
case OPERATION_MODE_MAGGYRO:
|
||
|
return (mag == 3 && gyro == 3);
|
||
|
default:
|
||
|
return (system == 3 && gyro == 3 && accel == 3 && mag == 3);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Enter Suspend mode (i.e., sleep)
|
||
|
*/
|
||
|
void Adafruit_BNO055::enterSuspendMode() {
|
||
|
adafruit_bno055_opmode_t modeback = _mode;
|
||
|
|
||
|
/* Switch to config mode (just in case since this is the default) */
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
delay(25);
|
||
|
write8(BNO055_PWR_MODE_ADDR, 0x02);
|
||
|
/* Set the requested operating mode (see section 3.3) */
|
||
|
setMode(modeback);
|
||
|
delay(20);
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Enter Normal mode (i.e., wake)
|
||
|
*/
|
||
|
void Adafruit_BNO055::enterNormalMode() {
|
||
|
adafruit_bno055_opmode_t modeback = _mode;
|
||
|
|
||
|
/* Switch to config mode (just in case since this is the default) */
|
||
|
setMode(OPERATION_MODE_CONFIG);
|
||
|
delay(25);
|
||
|
write8(BNO055_PWR_MODE_ADDR, 0x00);
|
||
|
/* Set the requested operating mode (see section 3.3) */
|
||
|
setMode(modeback);
|
||
|
delay(20);
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Writes an 8 bit value over I2C
|
||
|
*/
|
||
|
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) {
|
||
|
uint8_t buffer[2] = {(uint8_t)reg, (uint8_t)value};
|
||
|
return i2c_dev->write(buffer, 2);
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads an 8 bit value over I2C
|
||
|
*/
|
||
|
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg) {
|
||
|
uint8_t buffer[1] = {reg};
|
||
|
i2c_dev->write_then_read(buffer, 1, buffer, 1);
|
||
|
return (byte)buffer[0];
|
||
|
}
|
||
|
|
||
|
/*!
|
||
|
* @brief Reads the specified number of bytes over I2C
|
||
|
*/
|
||
|
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte *buffer,
|
||
|
uint8_t len) {
|
||
|
uint8_t reg_buf[1] = {(uint8_t)reg};
|
||
|
return i2c_dev->write_then_read(reg_buf, 1, buffer, len);
|
||
|
}
|