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Added support for any motion and slo-no motion interrupts #47

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Added support for any motion and slo-no motion interrupts #47

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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
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.DS_Store
307 changes: 303 additions & 4 deletions Adafruit_BNO055.cpp
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Expand Up @@ -88,7 +88,7 @@ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
delay(10);

write8(BNO055_PAGE_ID_ADDR, 0);
setPage(PAGE_0);

/* Set the output units */
/*
Expand Down Expand Up @@ -117,6 +117,18 @@ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
return true;
}

/**************************************************************************/
/*!
@brief Puts the chip on the specified register page
*/
/**************************************************************************/
void Adafruit_BNO055::setPage(adafruit_bno055_page_t page)
{
_page = page;
write8(BNO055_PAGE_ID_ADDR, _page);
delay(30);
}

/**************************************************************************/
/*!
@brief Puts the chip in the specified operating mode
Expand All @@ -141,7 +153,7 @@ void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
/* Switch to config mode (just in case since this is the default) */
setMode(OPERATION_MODE_CONFIG);
delay(25);
write8(BNO055_PAGE_ID_ADDR, 0);
setPage(PAGE_0);
if (usextal) {
write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
} else {
Expand All @@ -153,6 +165,282 @@ void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
delay(20);
}

/**************************************************************************/
/*!
@brief Resets all interrupts
*/
/**************************************************************************/
void Adafruit_BNO055::resetInterrupts()
{
// Read to get the current settings
int8_t sysTrigger = (int8_t)(read8(BNO055_SYS_TRIGGER_ADDR));

// Set the flags as requested
sysTrigger = sliceValueIntoRegister(0x01, sysTrigger, BNO055_SYS_TRIGGER_ADDR_RST_INT_MSK, BNO055_SYS_TRIGGER_ADDR_RST_INT_POS);

// Write back the entire register
write8(BNO055_SYS_TRIGGER_ADDR, sysTrigger);
delay(30);
}

/**************************************************************************/
/*!
@brief Enables the interrupts on specific axes
*/
/**************************************************************************/
void Adafruit_BNO055::enableInterruptsOnXYZ(uint8_t x, uint8_t y, uint8_t z)
{
// TODO: this may be a good flow for any config register setting methods,
// so could be worth a look at the those methods for rework

// Need to be on page 0 to get into config mode
adafruit_bno055_page_t lastPage = _page;
if (lastPage != PAGE_0) setPage(PAGE_0);

// Must be in config mode, so force it
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);

// Change to page 1 for interrupt settings
setPage(PAGE_1);

// Read to get the current settings
int8_t intSettings = (int8_t)(read8(ACC_INT_Settings_ADDR));

// Set the flags as requested--binary choice, so set or unset
intSettings = sliceValueIntoRegister(x ? 0x01 : 0x00, intSettings, ACC_INT_Settings_ACC_X_MSK, ACC_INT_Settings_ACC_X_POS);
intSettings = sliceValueIntoRegister(y ? 0x01 : 0x00, intSettings, ACC_INT_Settings_ACC_Y_MSK, ACC_INT_Settings_ACC_Y_POS);
intSettings = sliceValueIntoRegister(z ? 0x01 : 0x00, intSettings, ACC_INT_Settings_ACC_Z_MSK, ACC_INT_Settings_ACC_Z_POS);

// Write back the entire register
write8(ACC_INT_Settings_ADDR, intSettings);
delay(30);

// Return the mode to the last mode
setPage(PAGE_0);
setMode(lastMode);

// Change the page back to whichever it was initially
if (lastPage != PAGE_0) setPage(lastPage);
}

/**************************************************************************/
/*!
@brief Enables the the slow/no motion interrupt, specifying settings
*/
/**************************************************************************/
void Adafruit_BNO055::enableSlowNoMotion(uint8_t threshold, uint8_t duration, uint8_t motionType)
{
// TODO: this may be a good flow for any config register setting methods,
// so could be worth a look at the those methods for rework

// Need to be on page 0 to get into config mode
adafruit_bno055_page_t lastPage = _page;
if (lastPage != PAGE_0) setPage(PAGE_0);

// Must be in config mode, so force it
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);

// Change to page 1 for interrupt settings
setPage(PAGE_1);

// Enable which one: slow motion or no motion
// Set duration (bits 1-6), first
int8_t smnmSettings = (int8_t)(read8(ACC_NM_SET_ADDR));
smnmSettings = sliceValueIntoRegister(motionType, smnmSettings, ACC_NM_SET_SLOWNO_MSK, ACC_NM_SET_SLOWNO_POS);
smnmSettings = sliceValueIntoRegister(duration, smnmSettings, ACC_NM_SET_DUR_MSK, ACC_NM_SET_DUR_POS);
write8(ACC_NM_SET_ADDR, smnmSettings);

// Set the threshold (full byte)
int8_t threshSettings = (int8_t)(read8(ACC_NM_THRES_ADDR));
threshSettings = sliceValueIntoRegister(threshold, threshSettings, ACC_NM_THRES_MSK, ACC_NM_THRES_POS);
write8(ACC_NM_THRES_ADDR, threshSettings);

// Enable the interrupt
setInterruptEnableAccelNM(ENABLE);

// Fire on the pin
setInterruptMaskAccelNM(ENABLE);

delay(30);

// Return the mode to the last mode
setPage(PAGE_0);
setMode(lastMode);

// Change the page back to whichever it was initially
if (lastPage != PAGE_0) setPage(lastPage);
}

/**************************************************************************/
/*!
@brief Disable the the slow/no motion interrupt
*/
/**************************************************************************/
void Adafruit_BNO055::disableSlowNoMotion()
{
// TODO: this may be a good flow for any config register setting methods,
// so could be worth a look at the those methods for rework

// Need to be on page 0 to get into config mode
adafruit_bno055_page_t lastPage = _page;
if (lastPage != PAGE_0) setPage(PAGE_0);

// Must be in config mode, so force it
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);

// Change to page 1 for interrupt settings
setPage(PAGE_1);

// Disable the interrupt
setInterruptEnableAccelNM(DISABLE);

// Stop firing on the pin
setInterruptMaskAccelNM(DISABLE);

delay(30);

// Return the mode to the last mode
setPage(PAGE_0);
setMode(lastMode);

// Change the page back to whichever it was initially
if (lastPage != PAGE_0) setPage(lastPage);
}

/**************************************************************************/
/*!
@brief Enables the the any motion interrupt, specifying settings
*/
/**************************************************************************/
void Adafruit_BNO055::enableAnyMotion(uint8_t threshold, uint8_t duration)
{
// TODO: this may be a good flow for any config register setting methods,
// so could be worth a look at the those methods for rework

// Need to be on page 0 to get into config mode
adafruit_bno055_page_t lastPage = _page;
if (lastPage != PAGE_0) setPage(PAGE_0);

// Must be in config mode, so force it
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);

// Change to page 1 for interrupt settings
setPage(PAGE_1);

// Set duration (bits 1-6)
int8_t intSettings = (int8_t)(read8(ACC_INT_Settings_ADDR));
intSettings = sliceValueIntoRegister(duration, intSettings, ACC_INT_Settings_AM_DUR_MSK, ACC_INT_Settings_AM_DUR_POS);
write8(ACC_INT_Settings_ADDR, intSettings);

// Set the threshold (full byte)
int8_t threshSettings = (int8_t)(read8(ACC_AM_THRES_ADDR));
threshSettings = sliceValueIntoRegister(threshold, threshSettings, ACC_AM_THRES_MSK, ACC_AM_THRES_POS);
write8(ACC_AM_THRES_ADDR, threshSettings);

// Enable the interrupt
setInterruptEnableAccelAM(ENABLE);

// Fire on the pin
setInterruptMaskAccelAM(ENABLE);

delay(30);

// Return the mode to the last mode
setPage(PAGE_0);
setMode(lastMode);

// Change the page back to whichever it was initially
if (lastPage != PAGE_0) setPage(lastPage);
}

/**************************************************************************/
/*!
@brief Disable the the any motion interrupt
*/
/**************************************************************************/
void Adafruit_BNO055::disableAnyMotion()
{
// TODO: this may be a good flow for any config register setting methods,
// so could be worth a look at the those methods for rework

// Need to be on page 0 to get into config mode
adafruit_bno055_page_t lastPage = _page;
if (lastPage != PAGE_0) setPage(PAGE_0);

// Must be in config mode, so force it
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);

// Change to page 1 for interrupt settings
setPage(PAGE_1);

// Disable the interrupt
setInterruptEnableAccelAM(DISABLE);

// Stop firing on the pin
setInterruptMaskAccelAM(DISABLE);

delay(30);

// Return the mode to the last mode
setPage(PAGE_0);
setMode(lastMode);

// Change the page back to whichever it was initially
if (lastPage != PAGE_0) setPage(lastPage);
}

/**************************************************************************/
/*!
@brief Enable or disable the slow/no motion interrupt entirely
*/
/**************************************************************************/
// WARNING: ONLY CALL INSIDE PAGE/CONFIG WRAPPER
void Adafruit_BNO055::setInterruptEnableAccelNM(uint8_t enable) {
int8_t intEnable = (int8_t)(read8(INT_EN_ADDR));
intEnable = sliceValueIntoRegister(enable, intEnable, INT_EN_ACC_NM_MSK, INT_EN_ACC_NM_POS);
write8(INT_EN_ADDR, intEnable);
}

/**************************************************************************/
/*!
@brief Tell slow/no interrupt to set pin and output or just set the output
*/
/**************************************************************************/
// WARNING: ONLY CALL INSIDE PAGE/CONFIG WRAPPER
void Adafruit_BNO055::setInterruptMaskAccelNM(uint8_t enable) {
int8_t intMask = (int8_t)(read8(INT_MSK_ADDR));
intMask = sliceValueIntoRegister(enable, intMask, INT_MSK_ACC_NM_MSK, INT_MSK_ACC_NM_POS);
write8(INT_MSK_ADDR, intMask);
}

/**************************************************************************/
/*!
@brief Enable or disable the any motion interrupt entirely
*/
/**************************************************************************/
// WARNING: ONLY CALL INSIDE PAGE/CONFIG WRAPPER
void Adafruit_BNO055::setInterruptEnableAccelAM(uint8_t enable) {
int8_t intEnable = (int8_t)(read8(INT_EN_ADDR));
intEnable = sliceValueIntoRegister(enable, intEnable, INT_EN_ACC_AM_MSK, INT_EN_ACC_AM_POS);
write8(INT_EN_ADDR, intEnable);
}

/**************************************************************************/
/*!
@brief Tell any motion interrupt to set pin and output or just set the output
*/
/**************************************************************************/
// WARNING: ONLY CALL INSIDE PAGE/CONFIG WRAPPER
void Adafruit_BNO055::setInterruptMaskAccelAM(uint8_t enable) {
int8_t intMask = (int8_t)(read8(INT_MSK_ADDR));
intMask = sliceValueIntoRegister(enable, intMask, INT_MSK_ACC_AM_MSK, INT_MSK_ACC_AM_POS);
write8(INT_MSK_ADDR, intMask);
}

/**************************************************************************/
/*!
Expand All @@ -161,7 +449,7 @@ void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
/**************************************************************************/
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
{
write8(BNO055_PAGE_ID_ADDR, 0);
setPage(PAGE_0);

/* System Status (see section 4.3.58)
---------------------------------
Expand Down Expand Up @@ -570,7 +858,8 @@ bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
Wire.send(value);
#endif
Wire.endTransmission();

delayMicroseconds(150);
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Why did you add this delay?


/* ToDo: Check for error! */
return true;
}
Expand Down Expand Up @@ -629,3 +918,13 @@ bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t
/* ToDo: Check for errors! */
return true;
}

/**************************************************************************/
/*!
@brief Sets the value of the partial (or full) register
*/
/**************************************************************************/
uint8_t Adafruit_BNO055::sliceValueIntoRegister(uint8_t value, uint8_t reg, uint8_t mask, uint8_t position) {
return (reg & ~mask) | ((value << position) & mask);
}

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