c2-utopia/lib/RTIMULib/RTIMUBNO055.h

86 lines
2.8 KiB
C++

////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib-Arduino
//
// Copyright (c) 2014-2015, richards-tech
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#ifndef _RTIMUBNO055_H
#define _RTIMUBNO055_H
#include "RTIMU.h"
// I2C Slave Addresses
#define BNO055_ADDRESS0 0x28
#define BNO055_ADDRESS1 0x29
#define BNO055_ID 0xa0
// Register map
#define BNO055_WHO_AM_I 0x00
#define BNO055_PAGE_ID 0x07
#define BNO055_ACCEL_DATA 0x08
#define BNO055_MAG_DATA 0x0e
#define BNO055_GYRO_DATA 0x14
#define BNO055_FUSED_EULER 0x1a
#define BNO055_FUSED_QUAT 0x20
#define BNO055_UNIT_SEL 0x3b
#define BNO055_OPER_MODE 0x3d
#define BNO055_PWR_MODE 0x3e
#define BNO055_SYS_TRIGGER 0x3f
#define BNO055_AXIS_MAP_CONFIG 0x41
#define BNO055_AXIS_MAP_SIGN 0x42
// Operation modes
#define BNO055_OPER_MODE_CONFIG 0x00
#define BNO055_OPER_MODE_NDOF 0x0c
// Power modes
#define BNO055_PWR_MODE_NORMAL 0x00
class RTIMUBNO055 : public RTIMU
{
public:
RTIMUBNO055(RTIMUSettings *settings);
~RTIMUBNO055();
inline const RTVector3& getFusionPose() { return m_fusionPose; }
inline const RTQuaternion& getFusionQPose() { return m_fusionQPose; }
virtual const char *IMUName() { return "BNO055"; }
virtual int IMUType() { return RTIMU_TYPE_BNO055; }
virtual int IMUInit();
virtual int IMUGetPollInterval();
virtual bool IMURead();
private:
unsigned char m_slaveAddr; // I2C address of BNO055
uint64_t m_lastReadTime;
RTQuaternion m_fusionQPose;
RTVector3 m_fusionPose;
};
#endif // _RTIMUBNO055_H