-
Notifications
You must be signed in to change notification settings - Fork 298
/
Adafruit_BNO055.h
328 lines (281 loc) · 10.2 KB
/
Adafruit_BNO055.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
/*!
* @file Adafruit_BNO055.h
*
* This is a library for the BNO055 orientation sensor
*
* Designed specifically to work with the Adafruit BNO055 Breakout.
*
* Pick one up today in the adafruit shop!
* ------> https://www.adafruit.com/product/2472
*
* These sensors use I2C to communicate, 2 pins are required to interface.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit andopen-source hardware by purchasing products
* from Adafruit!
*
* K.Townsend (Adafruit Industries)
*
* MIT license, all text above must be included in any redistribution
*/
#ifndef __ADAFRUIT_BNO055_H__
#define __ADAFRUIT_BNO055_H__
#include "Arduino.h"
#include "utility/imumaths.h"
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
/** BNO055 Address A **/
#define BNO055_ADDRESS_A (0x28)
/** BNO055 Address B **/
#define BNO055_ADDRESS_B (0x29)
/** BNO055 ID **/
#define BNO055_ID (0xA0)
/** Offsets registers **/
#define NUM_BNO055_OFFSET_REGISTERS (22)
/** A structure to represent offsets **/
typedef struct {
int16_t accel_offset_x; /**< x acceleration offset */
int16_t accel_offset_y; /**< y acceleration offset */
int16_t accel_offset_z; /**< z acceleration offset */
int16_t mag_offset_x; /**< x magnetometer offset */
int16_t mag_offset_y; /**< y magnetometer offset */
int16_t mag_offset_z; /**< z magnetometer offset */
int16_t gyro_offset_x; /**< x gyroscrope offset */
int16_t gyro_offset_y; /**< y gyroscrope offset */
int16_t gyro_offset_z; /**< z gyroscrope offset */
int16_t accel_radius; /**< acceleration radius */
int16_t mag_radius; /**< magnetometer radius */
} adafruit_bno055_offsets_t;
/** Operation mode settings **/
typedef enum {
OPERATION_MODE_CONFIG = 0X00,
OPERATION_MODE_ACCONLY = 0X01,
OPERATION_MODE_MAGONLY = 0X02,
OPERATION_MODE_GYRONLY = 0X03,
OPERATION_MODE_ACCMAG = 0X04,
OPERATION_MODE_ACCGYRO = 0X05,
OPERATION_MODE_MAGGYRO = 0X06,
OPERATION_MODE_AMG = 0X07,
OPERATION_MODE_IMUPLUS = 0X08,
OPERATION_MODE_COMPASS = 0X09,
OPERATION_MODE_M4G = 0X0A,
OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
OPERATION_MODE_NDOF = 0X0C
} adafruit_bno055_opmode_t;
/*!
* @brief Class that stores state and functions for interacting with
* BNO055 Sensor
*/
class Adafruit_BNO055 : public Adafruit_Sensor {
public:
/** BNO055 Registers **/
typedef enum {
/* Page id register definition */
BNO055_PAGE_ID_ADDR = 0X07,
/* PAGE0 REGISTER DEFINITION START*/
BNO055_CHIP_ID_ADDR = 0x00,
BNO055_ACCEL_REV_ID_ADDR = 0x01,
BNO055_MAG_REV_ID_ADDR = 0x02,
BNO055_GYRO_REV_ID_ADDR = 0x03,
BNO055_SW_REV_ID_LSB_ADDR = 0x04,
BNO055_SW_REV_ID_MSB_ADDR = 0x05,
BNO055_BL_REV_ID_ADDR = 0X06,
/* Accel data register */
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
/* Mag data register */
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
/* Gyro data registers */
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
/* Euler data registers */
BNO055_EULER_H_LSB_ADDR = 0X1A,
BNO055_EULER_H_MSB_ADDR = 0X1B,
BNO055_EULER_R_LSB_ADDR = 0X1C,
BNO055_EULER_R_MSB_ADDR = 0X1D,
BNO055_EULER_P_LSB_ADDR = 0X1E,
BNO055_EULER_P_MSB_ADDR = 0X1F,
/* Quaternion data registers */
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
/* Linear acceleration data registers */
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
/* Gravity data registers */
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
/* Temperature data register */
BNO055_TEMP_ADDR = 0X34,
/* Status registers */
BNO055_CALIB_STAT_ADDR = 0X35,
BNO055_SELFTEST_RESULT_ADDR = 0X36,
BNO055_INTR_STAT_ADDR = 0X37,
BNO055_SYS_CLK_STAT_ADDR = 0X38,
BNO055_SYS_STAT_ADDR = 0X39,
BNO055_SYS_ERR_ADDR = 0X3A,
/* Unit selection register */
BNO055_UNIT_SEL_ADDR = 0X3B,
/* Mode registers */
BNO055_OPR_MODE_ADDR = 0X3D,
BNO055_PWR_MODE_ADDR = 0X3E,
BNO055_SYS_TRIGGER_ADDR = 0X3F,
BNO055_TEMP_SOURCE_ADDR = 0X40,
/* Axis remap registers */
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
/* SIC registers */
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
/* Accelerometer Offset registers */
ACCEL_OFFSET_X_LSB_ADDR = 0X55,
ACCEL_OFFSET_X_MSB_ADDR = 0X56,
ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
/* Magnetometer Offset registers */
MAG_OFFSET_X_LSB_ADDR = 0X5B,
MAG_OFFSET_X_MSB_ADDR = 0X5C,
MAG_OFFSET_Y_LSB_ADDR = 0X5D,
MAG_OFFSET_Y_MSB_ADDR = 0X5E,
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
MAG_OFFSET_Z_MSB_ADDR = 0X60,
/* Gyroscope Offset register s*/
GYRO_OFFSET_X_LSB_ADDR = 0X61,
GYRO_OFFSET_X_MSB_ADDR = 0X62,
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
GYRO_OFFSET_Y_MSB_ADDR = 0X64,
GYRO_OFFSET_Z_LSB_ADDR = 0X65,
GYRO_OFFSET_Z_MSB_ADDR = 0X66,
/* Radius registers */
ACCEL_RADIUS_LSB_ADDR = 0X67,
ACCEL_RADIUS_MSB_ADDR = 0X68,
MAG_RADIUS_LSB_ADDR = 0X69,
MAG_RADIUS_MSB_ADDR = 0X6A
} adafruit_bno055_reg_t;
/** BNO055 power settings */
typedef enum {
POWER_MODE_NORMAL = 0X00,
POWER_MODE_LOWPOWER = 0X01,
POWER_MODE_SUSPEND = 0X02
} adafruit_bno055_powermode_t;
/** Remap settings **/
typedef enum {
REMAP_CONFIG_P0 = 0x21,
REMAP_CONFIG_P1 = 0x24, // default
REMAP_CONFIG_P2 = 0x24,
REMAP_CONFIG_P3 = 0x21,
REMAP_CONFIG_P4 = 0x24,
REMAP_CONFIG_P5 = 0x21,
REMAP_CONFIG_P6 = 0x21,
REMAP_CONFIG_P7 = 0x24
} adafruit_bno055_axis_remap_config_t;
/** Remap Signs **/
typedef enum {
REMAP_SIGN_P0 = 0x04,
REMAP_SIGN_P1 = 0x00, // default
REMAP_SIGN_P2 = 0x06,
REMAP_SIGN_P3 = 0x02,
REMAP_SIGN_P4 = 0x03,
REMAP_SIGN_P5 = 0x01,
REMAP_SIGN_P6 = 0x07,
REMAP_SIGN_P7 = 0x05
} adafruit_bno055_axis_remap_sign_t;
/** A structure to represent revisions **/
typedef struct {
uint8_t accel_rev; /**< acceleration rev */
uint8_t mag_rev; /**< magnetometer rev */
uint8_t gyro_rev; /**< gyroscrope rev */
uint16_t sw_rev; /**< SW rev */
uint8_t bl_rev; /**< bootloader rev */
} adafruit_bno055_rev_info_t;
/** Vector Mappings **/
typedef enum {
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
} adafruit_vector_type_t;
Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A,
TwoWire *theWire = &Wire);
bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
void setMode(adafruit_bno055_opmode_t mode);
adafruit_bno055_opmode_t getMode();
void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
void getRevInfo(adafruit_bno055_rev_info_t *);
void setExtCrystalUse(boolean usextal);
void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
uint8_t *system_error);
void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
uint8_t *mag);
imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
imu::Quaternion getQuat();
int8_t getTemp();
/* Adafruit_Sensor implementation */
bool getEvent(sensors_event_t *);
bool getEvent(sensors_event_t *, adafruit_vector_type_t);
void getSensor(sensor_t *);
/* Functions to deal with raw calibration data */
bool getSensorOffsets(uint8_t *calibData);
bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
void setSensorOffsets(const uint8_t *calibData);
void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
bool isFullyCalibrated();
/* Power managments functions */
void enterSuspendMode();
void enterNormalMode();
private:
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);
Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
int32_t _sensorID;
adafruit_bno055_opmode_t _mode;
};
#endif