BRIX5

/***************************************************************************

  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!

  ------> http://www.adafruit.com/products

  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!

  Written by KTOWN for Adafruit Industries.

  MIT license, all text above must be included in any redistribution

  ***************************************************************************/

#ifndef __ADAFRUIT_BNO055_H__

#define __ADAFRUIT_BNO055_H__

#if (ARDUINO >= 100)

#include "Arduino.h"

#else

#include "WProgram.h"

#endif

#ifdef __AVR_ATtiny85__

#include <TinyWireM.h>

#define Wire TinyWireM

#else

#include <Wire.h>

#endif

#include <Adafruit_Sensor.h>

#include <utility/imumaths.h>

#define BNO055_ADDRESS_A (0x28)

#define BNO055_ADDRESS_B (0x29)

#define BNO055_ID        (0xA0)

#define NUM_BNO055_OFFSET_REGISTERS (22)

typedef struct

{

        int16_t accel_offset_x;

        int16_t accel_offset_y;

        int16_t accel_offset_z;

        int16_t gyro_offset_x;

        int16_t gyro_offset_y;

        int16_t gyro_offset_z;

        int16_t mag_offset_x;

        int16_t mag_offset_y;

        int16_t mag_offset_z;

        int16_t accel_radius;

        int16_t mag_radius;

} adafruit_bno055_offsets_t;

class Adafruit_BNO055 : public Adafruit_Sensor

{

public:

        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,

                BNO055_DATA_SELECT_ADDR = 0X3C,

                /* 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;

        typedef enum

        {

                POWER_MODE_NORMAL = 0X00,

                POWER_MODE_LOWPOWER = 0X01,

                POWER_MODE_SUSPEND = 0X02

        } adafruit_bno055_powermode_t;

        typedef enum

        {

                /* Operation mode settings*/

                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;

        typedef struct

        {

                uint8_t  accel_rev;

                uint8_t  mag_rev;

                uint8_t  gyro_rev;

                uint16_t sw_rev;

                uint8_t  bl_rev;

        } adafruit_bno055_rev_info_t;

        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);

        bool  begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);

        void  setMode(adafruit_bno055_opmode_t mode);

        void  getRevInfo(adafruit_bno055_rev_info_t*);

        void  displayRevInfo(void);

        void  setExtCrystalUse(boolean usextal);

        void  getSystemStatus(uint8_t *system_status,

                uint8_t *self_test_result,

                uint8_t *system_error);

        void  displaySystemStatus(void);

        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(void);

        int8_t          getTemp(void);

        /* Adafruit_Sensor implementation */

        bool  getEvent(sensors_event_t*);

        void  getSensor(sensor_t*);

        /* Functions to deal with raw calibration data */

        bool  getSensorOffsets(int8_t* calibData);

        bool  getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);

        void  setSensorOffsets(const int8_t* calibData);

        void  setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);

        bool  isFullyCalibrated(void);

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);

        uint8_t _address;

        int32_t _sensorID;

        adafruit_bno055_opmode_t _mode;

};

#endif