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partest.h
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partest.h
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/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef PARTEST_H
#define PARTEST_H
/* Xilinx includes. */
#include "xgpio.h"
#include "xspips.h"
#include "xparameters.h"
void vParTestInitialise( void );
void vParTestSetLED( UBaseType_t uxLED, BaseType_t xValue );
void vParTestToggleLED( UBaseType_t uxLED );
/*---------------- init PROTOTYPE DEFINITIONS ---------------*/
//void initGPIO(void);
//void initI2C(void);
void initSPI(void);
/*---------------- IMU PROTOTYPE DEFINITIONS ----------------*/
void readIMU();
void writePWM();
/*************** bno055_support.h **************************/
#define BNO055_I2C_BUS_WRITE_ARRAY_INDEX ((u8)1)
/* \Brief: The API is used as I2C bus read
* \Return : Status of the I2C read
* \param dev_addr : The device address of the sensor
* \param reg_addr : Address of the first register,
* will data is going to be read
* \param reg_data : This data read from the sensor,
* which is hold in an array
* \param cnt : The no of byte of data to be read
*/
s8 BNO055_I2C_bus_read(u8 *reg_data, u8 cnt);
/* \Brief: The API is used as SPI bus write
* \Return : Status of the SPI write
* \param dev_addr : The device address of the sensor
* \param reg_addr : Address of the first register,
* will data is going to be written
* \param reg_data : It is a value hold in the array,
* will be used for write the value into the register
* \param cnt : The no of byte of data to be write
*/
s8 BNO055_I2C_bus_write(u8 *reg_data, u8 cnt);
/*
* \Brief: I2C init routine
*/
s8 I2C_routine(u16 DeviceId);
/* Brief : The delay routine
* \param : delay in ms
*/
void BNO055_delay_msek(u32 msek);
/********************************************************/
/************************ bno055.h **********************/
/****************************************************************/
/**\name DATA TYPES INCLUDES */
/************************************************************/
/*!
* @brief The following definition uses for define the data types
*
* @note While porting the API please consider the following
* @note Please check the version of C standard
* @note Are you using Linux platform
*/
/*!
* @brief For the Linux platform support
* Please use the types.h for your data types definitions
*/
#ifdef __KERNEL__
#include <linux/types.h>
/* singed integer type*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
typedef u_int8_t u8;/**< used for unsigned 8bit */
typedef u_int16_t u16;/**< used for unsigned 16bit */
typedef u_int32_t u32;/**< used for unsigned 32bit */
typedef u_int64_t u64;/**< used for unsigned 64bit */
#else /* ! __KERNEL__ */
/**********************************************************
* These definition uses for define the C
* standard version data types
***********************************************************/
# if !defined(__STDC_VERSION__)
/************************************************
* compiler is C11 C standard
************************************************/
#if (__STDC_VERSION__ == 201112L)
/************************************************/
#include <stdint.h>
/************************************************/
/*unsigned integer types*/
typedef uint8_t u8;/**< used for unsigned 8bit */
typedef uint16_t u16;/**< used for unsigned 16bit */
typedef uint32_t u32;/**< used for unsigned 32bit */
typedef uint64_t u64;/**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
/************************************************
* compiler is C99 C standard
************************************************/
#elif (__STDC_VERSION__ == 199901L)
/* stdint.h is a C99 supported c library.
which is used to fixed the integer size*/
/************************************************/
#include <stdint.h>
/************************************************/
/*unsigned integer types*/
typedef uint8_t u8;/**< used for unsigned 8bit */
typedef uint16_t u16;/**< used for unsigned 16bit */
typedef uint32_t u32;/**< used for unsigned 32bit */
typedef uint64_t u64;/**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8;/**< used for signed 8bit */
typedef int16_t s16;/**< used for signed 16bit */
typedef int32_t s32;/**< used for signed 32bit */
typedef int64_t s64;/**< used for signed 64bit */
/************************************************
* compiler is C89 or other C standard
************************************************/
#else /* !defined(__STDC_VERSION__) */
/*!
* @brief By default it is defined as 32 bit machine configuration
* define your data types based on your
* machine/compiler/controller configuration
*/
#define MACHINE_32_BIT
/*! @brief
* If your machine support 16 bit
* define the MACHINE_16_BIT
*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed long int s32;/**< used for signed 32bit */
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned long int u32;/**< used for unsigned 32bit */
/* If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
#include "xil_types.h"
//typedef signed int s32;/**< used for signed 32bit */
typedef signed long long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
//typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
/*** This else will execute for the compilers
* which are not supported the C standards
* Like C89/C99/C11***/
#else
/*!
* @brief By default it is defined as 32 bit machine configuration
* define your data types based on your
* machine/compiler/controller configuration
*/
#define MACHINE_32_BIT
/* If your machine support 16 bit
define the MACHINE_16_BIT*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed long int s32;/**< used for signed 32bit */
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;/**< used for signed 64bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;/**< used for signed 64bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned long int u32;/**< used for unsigned 32bit */
/*! @brief If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long long int u64;/**< used for unsigned 64bit */
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char s8;/**< used for signed 8bit */
typedef signed short int s16;/**< used for signed 16bit */
typedef signed int s32;/**< used for signed 32bit */
typedef signed long int s64;/**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8;/**< used for unsigned 8bit */
typedef unsigned short int u16;/**< used for unsigned 16bit */
typedef unsigned int u32;/**< used for unsigned 32bit */
typedef unsigned long int u64;/**< used for unsigned 64bit */
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
#endif
/***************************************************************/
/**\name BUS READ AND WRITE FUNCTIONS */
/***************************************************************/
#define BNO055_WR_FUNC_PTR s8 (*bus_write)\
(u8 *, u8)
#define BNO055_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
bus_write(reg_data, wr_len)
#define BNO055_RD_FUNC_PTR s8 \
(*bus_read)(u8 *, u8)
#define BNO055_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
bus_read(reg_data, r_len)
#define BNO055_DELAY_RETURN_TYPE void
#define BNO055_DELAY_PARAM_TYPES u32
#define BNO055_DELAY_FUNC(delay_in_msec)\
delay_func(delay_in_msec)
/********************************************************/
/**\name I2C ADDRESS DEFINITION FOR BNO055 */
/********************************************************/
/* bno055 I2C Address */
#define BNO055_I2C_ADDR1 (0x28)
#define BNO055_I2C_ADDR2 (0x29)
/***************************************************/
/**\name REGISTER ADDRESS DEFINITION */
/***************************************************/
/* 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)
/* SIC registers*/
#define BNO055_SIC_MATRIX_0_LSB_ADDR (0X43)
#define BNO055_SIC_MATRIX_0_MSB_ADDR (0X44)
#define BNO055_SIC_MATRIX_1_LSB_ADDR (0X45)
#define BNO055_SIC_MATRIX_1_MSB_ADDR (0X46)
#define BNO055_SIC_MATRIX_2_LSB_ADDR (0X47)
#define BNO055_SIC_MATRIX_2_MSB_ADDR (0X48)
#define BNO055_SIC_MATRIX_3_LSB_ADDR (0X49)
#define BNO055_SIC_MATRIX_3_MSB_ADDR (0X4A)
#define BNO055_SIC_MATRIX_4_LSB_ADDR (0X4B)
#define BNO055_SIC_MATRIX_4_MSB_ADDR (0X4C)
#define BNO055_SIC_MATRIX_5_LSB_ADDR (0X4D)
#define BNO055_SIC_MATRIX_5_MSB_ADDR (0X4E)
#define BNO055_SIC_MATRIX_6_LSB_ADDR (0X4F)
#define BNO055_SIC_MATRIX_6_MSB_ADDR (0X50)
#define BNO055_SIC_MATRIX_7_LSB_ADDR (0X51)
#define BNO055_SIC_MATRIX_7_MSB_ADDR (0X52)
#define BNO055_SIC_MATRIX_8_LSB_ADDR (0X53)
#define BNO055_SIC_MATRIX_8_MSB_ADDR (0X54)
/* Accelerometer Offset registers*/
#define BNO055_ACCEL_OFFSET_X_LSB_ADDR (0X55)
#define BNO055_ACCEL_OFFSET_X_MSB_ADDR (0X56)
#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR (0X57)
#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR (0X58)
#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR (0X59)
#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR (0X5A)
/* Magnetometer Offset registers*/
#define BNO055_MAG_OFFSET_X_LSB_ADDR (0X5B)
#define BNO055_MAG_OFFSET_X_MSB_ADDR (0X5C)
#define BNO055_MAG_OFFSET_Y_LSB_ADDR (0X5D)
#define BNO055_MAG_OFFSET_Y_MSB_ADDR (0X5E)
#define BNO055_MAG_OFFSET_Z_LSB_ADDR (0X5F)
#define BNO055_MAG_OFFSET_Z_MSB_ADDR (0X60)
/* Gyroscope Offset registers*/
#define BNO055_GYRO_OFFSET_X_LSB_ADDR (0X61)
#define BNO055_GYRO_OFFSET_X_MSB_ADDR (0X62)
#define BNO055_GYRO_OFFSET_Y_LSB_ADDR (0X63)
#define BNO055_GYRO_OFFSET_Y_MSB_ADDR (0X64)
#define BNO055_GYRO_OFFSET_Z_LSB_ADDR (0X65)
#define BNO055_GYRO_OFFSET_Z_MSB_ADDR (0X66)
/* Radius registers*/
#define BNO055_ACCEL_RADIUS_LSB_ADDR (0X67)
#define BNO055_ACCEL_RADIUS_MSB_ADDR (0X68)
#define BNO055_MAG_RADIUS_LSB_ADDR (0X69)
#define BNO055_MAG_RADIUS_MSB_ADDR (0X6A)
/* PAGE0 REGISTERS DEFINITION END*/
/* PAGE1 REGISTERS DEFINITION START*/
/* Configuration registers*/
#define BNO055_ACCEL_CONFIG_ADDR (0X08)
#define BNO055_MAG_CONFIG_ADDR (0X09)
#define BNO055_GYRO_CONFIG_ADDR (0X0A)
#define BNO055_GYRO_MODE_CONFIG_ADDR (0X0B)
#define BNO055_ACCEL_SLEEP_CONFIG_ADDR (0X0C)
#define BNO055_GYRO_SLEEP_CONFIG_ADDR (0X0D)
#define BNO055_MAG_SLEEP_CONFIG_ADDR (0x0E)
/* Interrupt registers*/
#define BNO055_INT_MASK_ADDR (0X0F)
#define BNO055_INT_ADDR (0X10)
#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR (0X11)
#define BNO055_ACCEL_INTR_SETTINGS_ADDR (0X12)
#define BNO055_ACCEL_HIGH_G_DURN_ADDR (0X13)
#define BNO055_ACCEL_HIGH_G_THRES_ADDR (0X14)
#define BNO055_ACCEL_NO_MOTION_THRES_ADDR (0X15)
#define BNO055_ACCEL_NO_MOTION_SET_ADDR (0X16)
#define BNO055_GYRO_INTR_SETING_ADDR (0X17)
#define BNO055_GYRO_HIGHRATE_X_SET_ADDR (0X18)
#define BNO055_GYRO_DURN_X_ADDR (0X19)
#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR (0X1A)
#define BNO055_GYRO_DURN_Y_ADDR (0X1B)
#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR (0X1C)
#define BNO055_GYRO_DURN_Z_ADDR (0X1D)
#define BNO055_GYRO_ANY_MOTION_THRES_ADDR (0X1E)
#define BNO055_GYRO_ANY_MOTION_SET_ADDR (0X1F)
/* PAGE1 REGISTERS DEFINITION END*/
#define BNO055_MDELAY_DATA_TYPE u32
/*< This refers BNO055 return type as s8 */
#define BNO055_RETURN_FUNCTION_TYPE s8
/* Compile switch definition for Float and double*/
#define BNO055_FLOAT_ENABLE
#define BNO055_DOUBLE_ENABLE
/**************************************************************/
/**\name STRUCTURE DEFINITIONS */
/**************************************************************/
/*!
* @brief bno055 struct
*/
struct bno055_t {
u8 chip_id;/**< chip_id of bno055 */
u16 sw_rev_id;/**< software revision id of bno055 */
u8 page_id;/**< page_id of bno055 */
u8 accel_rev_id;/**< accel revision id of bno055 */
u8 mag_rev_id;/**< mag revision id of bno055 */
u8 gyro_rev_id;/**< gyro revision id of bno055 */
u8 bl_rev_id;/**< boot loader revision id of bno055 */
u8 dev_addr;/**< i2c device address of bno055 */
BNO055_WR_FUNC_PTR;/**< bus write function pointer */
BNO055_RD_FUNC_PTR;/**<bus read function pointer */
void (*delay_msec)(BNO055_MDELAY_DATA_TYPE);/**< delay function pointer */
};
/*!
* @brief struct for accel data read from registers
*/
struct bno055_accel_t {
s16 x;/**< accel x data */
s16 y;/**< accel y data */
s16 z;/**< accel z data */
};
/*!
* @brief struct for Mag data read from registers
*/
struct bno055_mag_t {
s16 x;/**< mag x data */
s16 y;/**< mag y data */
s16 z;/**< mag z data */
};
/*!
* @brief struct for Gyro data read from registers
*/
struct bno055_gyro_t {
s16 x;/**< gyro x data */
s16 y;/**< gyro y data */
s16 z;/**< gyro z data */
};
/*!
* @brief struct for Euler data read from registers
*/
struct bno055_euler_t {
s16 h;/**< Euler h data */
s16 r;/**< Euler r data */
s16 p;/**< Euler p data */
};
/*!
* @brief struct for Quaternion data read from registers
*/
struct bno055_quaternion_t {
s16 w;/**< Quaternion w data */
s16 x;/**< Quaternion x data */
s16 y;/**< Quaternion y data */
s16 z;/**< Quaternion z data */
};
/*!
* @brief struct for Linear Accel data read from registers
*/
struct bno055_linear_accel_t {
s16 x; /**< Linear Accel x data */
s16 y; /**< Linear Accel y data */
s16 z; /**< Linear Accel z data */
};
/*!
* @brief struct for Gravity data read from registers
*/
struct bno055_gravity_t {
s16 x;/**< Gravity x data */
s16 y;/**< Gravity y data */
s16 z;/**< Gravity z data */
};
#ifdef BNO055_DOUBLE_ENABLE
/*!
* @brief struct for Accel-output data of precision double
*/
struct bno055_accel_double_t {
double x;/**< Accel x double data */
double y;/**< Accel y double data */
double z;/**< Accel z double data */
};
/*!
* @brief struct for Mag-output data of precision double
*/
struct bno055_mag_double_t {
double x;/**< Mag x double data */
double y;/**< Mag y double data */
double z;/**< Mag z double data */
};
/*!
* @brief struct for Gyro-output data of precision double
*/
struct bno055_gyro_double_t {
double x;/**< Gyro x double data */
double y;/**< Gyro y double data */
double z;/**< Gyro z double data */
};
/*!
* @brief struct for Euler-output data of precision double
*/
struct bno055_euler_double_t {
double h;/**< Euler h double data */
double r;/**< Euler r double data */
double p;/**< Euler p double data */
};
/*!
* @brief struct for Linear Accel-output data of precision double
*/
struct bno055_linear_accel_double_t {
double x;/**< linear accel x double data */
double y;/**< linear accel y double data */
double z;/**< linear accel z double data */
};
/*!
* @brief struct for Gravity-output data of precision double
*/
struct bno055_gravity_double_t {
double x;/**< Gravity x double data */
double y;/**< Gravity y double data */
double z;/**< Gravity z double data */
};
#endif
#ifdef BNO055_FLOAT_ENABLE
/*!
* @brief struct for Accel-output data of precision float
*/
struct bno055_accel_float_t {
float x;/**< accel x float data */
float y;/**< accel y float data */
float z;/**< accel z float data */
};
/*!
* @brief struct for Mag-output data of precision float
*/
struct bno055_mag_float_t {
float x;/**< Mag x float data */
float y;/**< Mag y float data */
float z;/**< Mag z float data */
};
/*!
* @brief struct for Gyro-output data of precision float
*/
struct bno055_gyro_float_t {
float x;/**< Gyro x float data */
float y;/**< Gyro y float data */
float z;/**< Gyro z float data */
};
/*!
* @brief struct for Euler-output data of precision float
*/
struct bno055_euler_float_t {
float h;/**< Euler h float data */
float r;/**< Euler r float data */
float p;/**< Euler p float data */
};
/*!
* @brief struct for Linear accel-output data of precision float
*/
struct bno055_linear_accel_float_t {
float x;/**< Linear accel x float data */
float y;/**< Linear accel y float data */
float z;/**< Linear accel z float data */
};
/*!
* @brief struct for Gravity-output data of precision float
*/
struct bno055_gravity_float_t {
float x;/**< Gravity x float data */
float y;/**< Gravity y float data */
float z;/**< Gravity z float data */
};
#endif
/*!
* @brief struct for Accel offset
*/
struct bno055_accel_offset_t {
s16 x;/**< Accel offset x data */
s16 y;/**< Accel offset y data */
s16 z;/**< Accel offset z data */
s16 r;/**< Accel radius r data */
};
/*!
* @brief struct for Gyro offset
*/
struct bno055_gyro_offset_t {
s16 x;/**< Gyro offset x data */
s16 y;/**< Gyro offset y data */
s16 z;/**< Gyro offset z data */
};
/*!
* @brief struct for Mag offset
*/
struct bno055_mag_offset_t {
s16 x;/**< Mag offset x data */
s16 y;/**< Mag offset y data */
s16 z;/**< Mag offset z data */
s16 r;/**< Mag radius x data */
};
/*!
* @brief struct for soft iron calibration matrix
*/
struct bno055_sic_matrix_t {
s16 sic_0;/**< soft iron calibration matrix 0 data */
s16 sic_1;/**< soft iron calibration matrix 1 data */
s16 sic_2;/**< soft iron calibration matrix 2 data */
s16 sic_3;/**< soft iron calibration matrix 3 data */
s16 sic_4;/**< soft iron calibration matrix 4 data */
s16 sic_5;/**< soft iron calibration matrix 5 data */
s16 sic_6;/**< soft iron calibration matrix 6 data */
s16 sic_7;/**< soft iron calibration matrix 7 data */
s16 sic_8;/**< soft iron calibration matrix 8 data */
};
/***************************************************/
/**\name CONSTANT DEFINITIONS */
/***************************************************/
#define BNO055_INIT_VALUE ((u8)0)
#define BNO055_GEN_READ_WRITE_LENGTH ((u8)1)
#define BNO055_LSB_MSB_READ_LENGTH ((u8)2)
#define BNO055_MAG_POWER_MODE_RANGE ((u8)4)
#define BNO055_MAG_OPR_MODE_RANGE ((u8)5)
#define BNO055_ACCEL_POWER_MODE_RANGE ((u8)6)
#define BNO055_ACCEL_SLEEP_DURATION_RANGE ((u8)16)
#define BNO055_GYRO_AUTO_SLEEP_DURATION_RANGE ((u8)8)
#define BNO055_ACCEL_GYRO_BW_RANGE ((u8)8)
#define BNO055_MAG_OUTPUT_RANGE ((u8)8)
#define BNO055_ACCEL_RANGE ((u8)5)
#define BNO055_SHIFT_EIGHT_BITS ((u8)8)
#define BNO055_GYRO_RANGE ((u8)5)
#define BNO055_ACCEL_SLEEP_MODE_RANGE ((u8)2)
/* BNO055 API BNO055_ERROR codes */
#define BNO055_E_NULL_PTR ((s8)-127)
#define BNO055_OUT_OF_RANGE ((s8)-2)
#define BNO055_SUCCESS ((u8)0)
#define BNO055_ERROR ((s8)-1)
/* Selection for bit enable and disable */
#define BNO055_BIT_ENABLE (0x01)
#define BNO055_BIT_DISABLE (0x00)
/* Page ID */
#define BNO055_PAGE_ZERO (0X00)
#define BNO055_PAGE_ONE (0X01)
/* Enable the temperature source */
#define BNO055_ACCEL_TEMP_EN (0x00)
#define BNO055_GYRO_TEMP_EN (0x01)
#define BNO055_MCU_TEMP_EN (0x03)
/*Accel unit*/
#define BNO055_ACCEL_UNIT_MSQ (0x00)
#define BNO055_ACCEL_UNIT_MG (0x01)
/*Gyro unit*/
#define BNO055_GYRO_UNIT_DPS (0x00)
#define BNO055_GYRO_UNIT_RPS (0x01)
/* Euler unit*/
#define BNO055_EULER_UNIT_DEG (0x00)
#define BNO055_EULER_UNIT_RAD (0x01)
/*Temperature unit*/
#define BNO055_TEMP_UNIT_CELSIUS (0x00)
#define BNO055_TEMP_UNIT_FAHRENHEIT (0x01)
/*Accel division factor*/
#define BNO055_ACCEL_DIV_MSQ (100.0)
#define BNO055_ACCEL_DIV_MG (1)
/*Mag division factor*/
#define BNO055_MAG_DIV_UT (16.0)
/*Gyro division factor*/
#define BNO055_GYRO_DIV_DPS (16.0)
#define BNO055_GYRO_DIV_RPS (900.0)
/*Euler division factor*/
#define BNO055_EULER_DIV_DEG (16.0)
#define BNO055_EULER_DIV_RAD (900.0)
/*Linear accel division factor*/
#define BNO055_LINEAR_ACCEL_DIV_MSQ (100.0)
/*Gravity accel division factor*/
#define BNO055_GRAVITY_DIV_MSQ (100.0)
/* Temperature division factor*/
#define BNO055_TEMP_DIV_FAHRENHEIT (0.5)
#define BNO055_TEMP_DIV_CELSIUS (1)
#define BNO055_MODE_SWITCHING_DELAY (600)
#define BNO055_CONFIG_MODE_SWITCHING_DELAY ((u8)20)
/* Operation mode settings*/
#define BNO055_OPERATION_MODE_CONFIG (0X00)
#define BNO055_OPERATION_MODE_ACCONLY (0X01)
#define BNO055_OPERATION_MODE_MAGONLY (0X02)
#define BNO055_OPERATION_MODE_GYRONLY (0X03)
#define BNO055_OPERATION_MODE_ACCMAG (0X04)
#define BNO055_OPERATION_MODE_ACCGYRO (0X05)
#define BNO055_OPERATION_MODE_MAGGYRO (0X06)
#define BNO055_OPERATION_MODE_AMG (0X07)
#define BNO055_OPERATION_MODE_IMUPLUS (0X08)
#define BNO055_OPERATION_MODE_COMPASS (0X09)
#define BNO055_OPERATION_MODE_M4G (0X0A)
#define BNO055_OPERATION_MODE_NDOF_FMC_OFF (0X0B)
#define BNO055_OPERATION_MODE_NDOF (0X0C)
/* Power mode*/
#define BNO055_POWER_MODE_NORMAL (0X00)
#define BNO055_POWER_MODE_LOWPOWER (0X01)
#define BNO055_POWER_MODE_SUSPEND (0X02)
/* PAGE-1 definitions*/
/* Accel Range */
#define BNO055_ACCEL_RANGE_2G (0X00)
#define BNO055_ACCEL_RANGE_4G (0X01)
#define BNO055_ACCEL_RANGE_8G (0X02)
#define BNO055_ACCEL_RANGE_16G (0X03)
/* Accel Bandwidth*/
#define BNO055_ACCEL_BW_7_81HZ (0x00)
#define BNO055_ACCEL_BW_15_63HZ (0x01)
#define BNO055_ACCEL_BW_31_25HZ (0x02)
#define BNO055_ACCEL_BW_62_5HZ (0X03)
#define BNO055_ACCEL_BW_125HZ (0X04)
#define BNO055_ACCEL_BW_250HZ (0X05)
#define BNO055_ACCEL_BW_500HZ (0X06)
#define BNO055_ACCEL_BW_1000HZ (0X07)
/* Accel Power mode*/
#define BNO055_ACCEL_NORMAL (0X00)
#define BNO055_ACCEL_SUSPEND (0X01)
#define BNO055_ACCEL_LOWPOWER_1 (0X02)
#define BNO055_ACCEL_STANDBY (0X03)
#define BNO055_ACCEL_LOWPOWER_2 (0X04)
#define BNO055_ACCEL_DEEPSUSPEND (0X05)
/* Mag data output rate*/
#define BNO055_MAG_DATA_OUTRATE_2HZ (0X00)
#define BNO055_MAG_DATA_OUTRATE_6HZ (0X01)
#define BNO055_MAG_DATA_OUTRATE_8HZ (0X02)
#define BNO055_MAG_DATA_OUTRATE_10HZ (0X03)
#define BNO055_MAG_DATA_OUTRATE_15HZ (0X04)
#define BNO055_MAG_DATA_OUTRATE_20HZ (0X05)
#define BNO055_MAG_DATA_OUTRATE_25HZ (0X06)
#define BNO055_MAG_DATA_OUTRATE_30HZ (0X07)
/* Mag Operation mode*/
#define BNO055_MAG_OPERATION_MODE_LOWPOWER (0X00)
#define BNO055_MAG_OPERATION_MODE_REGULAR (0X01)
#define BNO055_MAG_OPERATION_MODE_ENHANCED_REGULAR (0X02)
#define BNO055_MAG_OPERATION_MODE_HIGH_ACCURACY (0X03)
/* Mag power mode*/
#define BNO055_MAG_POWER_MODE_NORMAL (0X00)
#define BNO055_MAG_POWER_MODE_SLEEP (0X01)
#define BNO055_MAG_POWER_MODE_SUSPEND (0X02)
#define BNO055_MAG_POWER_MODE_FORCE_MODE (0X03)
/* Gyro range*/
#define BNO055_GYRO_RANGE_2000DPS (0x00)
#define BNO055_GYRO_RANGE_1000DPS (0x01)
#define BNO055_GYRO_RANGE_500DPS (0x02)
#define BNO055_GYRO_RANGE_250DPS (0x03)
#define BNO055_GYRO_RANGE_125DPS (0x04)
/* Gyro Bandwidth*/
#define BNO055_GYRO_BW_523HZ (0x00)
#define BNO055_GYRO_BW_230HZ (0x01)
#define BNO055_GYRO_BW_116HZ (0x02)
#define BNO055_GYRO_BW_47HZ (0x03)
#define BNO055_GYRO_BW_23HZ (0x04)
#define BNO055_GYRO_BW_12HZ (0x05)
#define BNO055_GYRO_BW_64HZ (0x06)
#define BNO055_GYRO_BW_32HZ (0x07)
/* Gyro power mode*/
#define BNO055_GYRO_POWER_MODE_NORMAL (0X00)
#define BNO055_GYRO_POWER_MODE_FASTPOWERUP (0X01)
#define BNO055_GYRO_POWER_MODE_DEEPSUSPEND (0X02)
#define BNO055_GYRO_POWER_MODE_SUSPEND (0X03)
#define BNO055_GYRO_POWER_MODE_ADVANCE_POWERSAVE (0X04)
/* Accel Sleep Duration */
#define BNO055_ACCEL_SLEEP_DURN_0_5MS (0x05)
/* sets sleep duration to 0.5 ms */
#define BNO055_ACCEL_SLEEP_DURN_1MS (0x06)
/* sets sleep duration to 1 ms */
#define BNO055_ACCEL_SLEEP_DURN_2MS (0x07)
/* sets sleep duration to 2 ms */
#define BNO055_ACCEL_SLEEP_DURN_4MS (0x08)
/* sets sleep duration to 4 ms */
#define BNO055_ACCEL_SLEEP_DURN_6MS (0x09)
/* sets sleep duration to 6 ms*/
#define BNO055_ACCEL_SLEEP_DURN_10MS (0x0A)
/* sets sleep duration to 10 ms */
#define BNO055_ACCEL_SLEEP_DURN_25MS (0x0B)
/* sets sleep duration to 25 ms */
#define BNO055_ACCEL_SLEEP_DURN_50MS (0x0C)
/* sets sleep duration to 50 ms */
#define BNO055_ACCEL_SLEEP_DURN_100MS (0x0D)
/* sets sleep duration to 100 ms */
#define BNO055_ACCEL_SLEEP_DURN_500MS (0x0E)
/* sets sleep duration to 500 ms */
#define BNO055_ACCEL_SLEEP_DURN_1S (0x0F)
/* sets sleep duration to 1 s */
/* Gyro Auto sleep duration*/
#define BNO055_GYRO_No_AUTOSLPDUR (0x00)
#define BNO055_GYRO_4MS_AUTOSLPDUR (0x01)
#define BNO055_GYRO_5MS_AUTOSLPDUR (0x02)
#define BNO055_GYRO_8MS_AUTOSLPDUR (0x03)
#define BNO055_GYRO_10MS_AUTOSLPDUR (0x04)
#define BNO055_GYRO_15MS_AUTOSLPDUR (0x05)
#define BNO055_GYRO_20MS_AUTOSLPDUR (0x06)
#define BNO055_GYRO_40MS_AUTOSLPDUR (0x07)
/* Accel Any/No motion axis selection*/