329 lines
10 KiB
C
329 lines
10 KiB
C
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/*!
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* @file Adafruit_BNO055.h
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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 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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* K.Townsend (Adafruit Industries)
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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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#ifndef __ADAFRUIT_BNO055_H__
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#define __ADAFRUIT_BNO055_H__
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#include "Arduino.h"
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#include "utility/imumaths.h"
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#include <Adafruit_I2CDevice.h>
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#include <Adafruit_Sensor.h>
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/** BNO055 Address A **/
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#define BNO055_ADDRESS_A (0x28)
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/** BNO055 Address B **/
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#define BNO055_ADDRESS_B (0x29)
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/** BNO055 ID **/
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#define BNO055_ID (0xA0)
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/** Offsets registers **/
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#define NUM_BNO055_OFFSET_REGISTERS (22)
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/** A structure to represent offsets **/
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typedef struct {
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int16_t accel_offset_x; /**< x acceleration offset */
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int16_t accel_offset_y; /**< y acceleration offset */
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int16_t accel_offset_z; /**< z acceleration offset */
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int16_t mag_offset_x; /**< x magnetometer offset */
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int16_t mag_offset_y; /**< y magnetometer offset */
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int16_t mag_offset_z; /**< z magnetometer offset */
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int16_t gyro_offset_x; /**< x gyroscrope offset */
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int16_t gyro_offset_y; /**< y gyroscrope offset */
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int16_t gyro_offset_z; /**< z gyroscrope offset */
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int16_t accel_radius; /**< acceleration radius */
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int16_t mag_radius; /**< magnetometer radius */
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} adafruit_bno055_offsets_t;
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/** Operation mode settings **/
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typedef enum {
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OPERATION_MODE_CONFIG = 0X00,
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OPERATION_MODE_ACCONLY = 0X01,
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OPERATION_MODE_MAGONLY = 0X02,
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OPERATION_MODE_GYRONLY = 0X03,
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OPERATION_MODE_ACCMAG = 0X04,
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OPERATION_MODE_ACCGYRO = 0X05,
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OPERATION_MODE_MAGGYRO = 0X06,
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OPERATION_MODE_AMG = 0X07,
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OPERATION_MODE_IMUPLUS = 0X08,
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OPERATION_MODE_COMPASS = 0X09,
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OPERATION_MODE_M4G = 0X0A,
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OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
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OPERATION_MODE_NDOF = 0X0C
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} adafruit_bno055_opmode_t;
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/*!
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* @brief Class that stores state and functions for interacting with
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* BNO055 Sensor
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*/
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class Adafruit_BNO055 : public Adafruit_Sensor {
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public:
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/** BNO055 Registers **/
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typedef enum {
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/* Page id register definition */
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BNO055_PAGE_ID_ADDR = 0X07,
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/* PAGE0 REGISTER DEFINITION START*/
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BNO055_CHIP_ID_ADDR = 0x00,
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BNO055_ACCEL_REV_ID_ADDR = 0x01,
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BNO055_MAG_REV_ID_ADDR = 0x02,
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BNO055_GYRO_REV_ID_ADDR = 0x03,
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BNO055_SW_REV_ID_LSB_ADDR = 0x04,
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BNO055_SW_REV_ID_MSB_ADDR = 0x05,
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BNO055_BL_REV_ID_ADDR = 0X06,
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/* Accel data register */
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BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
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BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
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BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
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BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
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BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
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BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
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/* Mag data register */
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BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
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BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
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BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
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BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
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BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
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BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
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/* Gyro data registers */
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BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
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BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
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BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
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BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
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BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
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BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
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/* Euler data registers */
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BNO055_EULER_H_LSB_ADDR = 0X1A,
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BNO055_EULER_H_MSB_ADDR = 0X1B,
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BNO055_EULER_R_LSB_ADDR = 0X1C,
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BNO055_EULER_R_MSB_ADDR = 0X1D,
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BNO055_EULER_P_LSB_ADDR = 0X1E,
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BNO055_EULER_P_MSB_ADDR = 0X1F,
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/* Quaternion data registers */
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BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
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BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
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BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
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BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
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BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
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BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
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BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
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BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
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/* Linear acceleration data registers */
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BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
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BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
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BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
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BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
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BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
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BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
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/* Gravity data registers */
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BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
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BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
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BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
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BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
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BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
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BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
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/* Temperature data register */
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BNO055_TEMP_ADDR = 0X34,
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/* Status registers */
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BNO055_CALIB_STAT_ADDR = 0X35,
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BNO055_SELFTEST_RESULT_ADDR = 0X36,
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BNO055_INTR_STAT_ADDR = 0X37,
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BNO055_SYS_CLK_STAT_ADDR = 0X38,
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BNO055_SYS_STAT_ADDR = 0X39,
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BNO055_SYS_ERR_ADDR = 0X3A,
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/* Unit selection register */
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BNO055_UNIT_SEL_ADDR = 0X3B,
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/* Mode registers */
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BNO055_OPR_MODE_ADDR = 0X3D,
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BNO055_PWR_MODE_ADDR = 0X3E,
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BNO055_SYS_TRIGGER_ADDR = 0X3F,
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BNO055_TEMP_SOURCE_ADDR = 0X40,
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/* Axis remap registers */
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BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
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BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
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/* SIC registers */
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BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
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BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
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BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
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BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
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BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
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BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
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BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
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BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
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BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
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BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
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BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
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BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
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BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
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BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
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BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
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BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
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BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
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BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
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/* Accelerometer Offset registers */
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ACCEL_OFFSET_X_LSB_ADDR = 0X55,
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ACCEL_OFFSET_X_MSB_ADDR = 0X56,
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ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
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ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
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ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
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ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
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/* Magnetometer Offset registers */
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MAG_OFFSET_X_LSB_ADDR = 0X5B,
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MAG_OFFSET_X_MSB_ADDR = 0X5C,
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MAG_OFFSET_Y_LSB_ADDR = 0X5D,
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MAG_OFFSET_Y_MSB_ADDR = 0X5E,
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MAG_OFFSET_Z_LSB_ADDR = 0X5F,
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MAG_OFFSET_Z_MSB_ADDR = 0X60,
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/* Gyroscope Offset register s*/
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GYRO_OFFSET_X_LSB_ADDR = 0X61,
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GYRO_OFFSET_X_MSB_ADDR = 0X62,
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GYRO_OFFSET_Y_LSB_ADDR = 0X63,
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GYRO_OFFSET_Y_MSB_ADDR = 0X64,
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GYRO_OFFSET_Z_LSB_ADDR = 0X65,
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GYRO_OFFSET_Z_MSB_ADDR = 0X66,
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/* Radius registers */
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ACCEL_RADIUS_LSB_ADDR = 0X67,
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ACCEL_RADIUS_MSB_ADDR = 0X68,
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MAG_RADIUS_LSB_ADDR = 0X69,
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MAG_RADIUS_MSB_ADDR = 0X6A
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} adafruit_bno055_reg_t;
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/** BNO055 power settings */
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typedef enum {
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POWER_MODE_NORMAL = 0X00,
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POWER_MODE_LOWPOWER = 0X01,
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POWER_MODE_SUSPEND = 0X02
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} adafruit_bno055_powermode_t;
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/** Remap settings **/
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typedef enum {
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REMAP_CONFIG_P0 = 0x21,
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REMAP_CONFIG_P1 = 0x24, // default
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REMAP_CONFIG_P2 = 0x24,
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REMAP_CONFIG_P3 = 0x21,
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REMAP_CONFIG_P4 = 0x24,
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REMAP_CONFIG_P5 = 0x21,
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REMAP_CONFIG_P6 = 0x21,
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REMAP_CONFIG_P7 = 0x24
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} adafruit_bno055_axis_remap_config_t;
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/** Remap Signs **/
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typedef enum {
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REMAP_SIGN_P0 = 0x04,
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REMAP_SIGN_P1 = 0x00, // default
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REMAP_SIGN_P2 = 0x06,
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REMAP_SIGN_P3 = 0x02,
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REMAP_SIGN_P4 = 0x03,
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REMAP_SIGN_P5 = 0x01,
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REMAP_SIGN_P6 = 0x07,
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REMAP_SIGN_P7 = 0x05
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} adafruit_bno055_axis_remap_sign_t;
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/** A structure to represent revisions **/
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typedef struct {
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uint8_t accel_rev; /**< acceleration rev */
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uint8_t mag_rev; /**< magnetometer rev */
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uint8_t gyro_rev; /**< gyroscrope rev */
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uint16_t sw_rev; /**< SW rev */
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uint8_t bl_rev; /**< bootloader rev */
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} adafruit_bno055_rev_info_t;
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/** Vector Mappings **/
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typedef enum {
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VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
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VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
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VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
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VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
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VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
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VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
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} adafruit_vector_type_t;
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Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A,
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TwoWire *theWire = &Wire);
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bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
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void setMode(adafruit_bno055_opmode_t mode);
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adafruit_bno055_opmode_t getMode();
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void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
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void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
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void getRevInfo(adafruit_bno055_rev_info_t *);
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void setExtCrystalUse(boolean usextal);
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void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
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uint8_t *system_error);
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void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
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uint8_t *mag);
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imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
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imu::Quaternion getQuat();
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int8_t getTemp();
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/* Adafruit_Sensor implementation */
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bool getEvent(sensors_event_t *);
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bool getEvent(sensors_event_t *, adafruit_vector_type_t);
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void getSensor(sensor_t *);
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/* Functions to deal with raw calibration data */
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bool getSensorOffsets(uint8_t *calibData);
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bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
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void setSensorOffsets(const uint8_t *calibData);
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void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
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||
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bool isFullyCalibrated();
|
||
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||
|
|
/* Power managments functions */
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||
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|
void enterSuspendMode();
|
||
|
|
void enterNormalMode();
|
||
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||
|
|
private:
|
||
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|
byte read8(adafruit_bno055_reg_t);
|
||
|
|
bool readLen(adafruit_bno055_reg_t, byte *buffer, uint8_t len);
|
||
|
|
bool write8(adafruit_bno055_reg_t, byte value);
|
||
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|
|
||
|
|
Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
|
||
|
|
|
||
|
|
int32_t _sensorID;
|
||
|
|
adafruit_bno055_opmode_t _mode;
|
||
|
|
};
|
||
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|
||
|
|
#endif
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