Revision 312a5b9e Adafruit_BNO055.h
| Adafruit_BNO055.h | ||
|---|---|---|
| 15 | 15 |
Written by KTOWN for Adafruit Industries. |
| 16 | 16 |
|
| 17 | 17 |
MIT license, all text above must be included in any redistribution |
| 18 |
***************************************************************************/ |
|
| 18 |
***************************************************************************/
|
|
| 19 | 19 |
|
| 20 | 20 |
#ifndef __ADAFRUIT_BNO055_H__ |
| 21 | 21 |
#define __ADAFRUIT_BNO055_H__ |
| 22 | 22 |
|
| 23 | 23 |
#if (ARDUINO >= 100) |
| 24 |
#include "Arduino.h"
|
|
| 24 |
#include "Arduino.h" |
|
| 25 | 25 |
#else |
| 26 |
#include "WProgram.h"
|
|
| 26 |
#include "WProgram.h" |
|
| 27 | 27 |
#endif |
| 28 | 28 |
|
| 29 | 29 |
#ifdef __AVR_ATtiny85__ |
| 30 |
#include <TinyWireM.h>
|
|
| 31 |
#define Wire TinyWireM
|
|
| 30 |
#include <TinyWireM.h> |
|
| 31 |
#define Wire TinyWireM |
|
| 32 | 32 |
#else |
| 33 |
#include <Wire.h>
|
|
| 33 |
#include <Wire.h> |
|
| 34 | 34 |
#endif |
| 35 | 35 |
|
| 36 | 36 |
#include <Adafruit_Sensor.h> |
| ... | ... | |
| 40 | 40 |
#define BNO055_ADDRESS_B (0x29) |
| 41 | 41 |
#define BNO055_ID (0xA0) |
| 42 | 42 |
|
| 43 |
#define NUM_BNO055_OFFSET_REGISTERS (22) |
|
| 44 |
|
|
| 45 |
typedef struct |
|
| 46 |
{
|
|
| 47 |
int16_t accel_offset_x; |
|
| 48 |
int16_t accel_offset_y; |
|
| 49 |
int16_t accel_offset_z; |
|
| 50 |
int16_t gyro_offset_x; |
|
| 51 |
int16_t gyro_offset_y; |
|
| 52 |
int16_t gyro_offset_z; |
|
| 53 |
int16_t mag_offset_x; |
|
| 54 |
int16_t mag_offset_y; |
|
| 55 |
int16_t mag_offset_z; |
|
| 56 |
|
|
| 57 |
int16_t accel_radius; |
|
| 58 |
int16_t mag_radius; |
|
| 59 |
} adafruit_bno055_offsets_t; |
|
| 60 |
|
|
| 43 | 61 |
class Adafruit_BNO055 : public Adafruit_Sensor |
| 44 | 62 |
{
|
| 45 |
public: |
|
| 46 |
typedef enum |
|
| 47 |
{
|
|
| 48 |
/* Page id register definition */ |
|
| 49 |
BNO055_PAGE_ID_ADDR = 0X07, |
|
| 50 |
|
|
| 51 |
/* PAGE0 REGISTER DEFINITION START*/ |
|
| 52 |
BNO055_CHIP_ID_ADDR = 0x00, |
|
| 53 |
BNO055_ACCEL_REV_ID_ADDR = 0x01, |
|
| 54 |
BNO055_MAG_REV_ID_ADDR = 0x02, |
|
| 55 |
BNO055_GYRO_REV_ID_ADDR = 0x03, |
|
| 56 |
BNO055_SW_REV_ID_LSB_ADDR = 0x04, |
|
| 57 |
BNO055_SW_REV_ID_MSB_ADDR = 0x05, |
|
| 58 |
BNO055_BL_REV_ID_ADDR = 0X06, |
|
| 59 |
|
|
| 60 |
/* Accel data register */ |
|
| 61 |
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08, |
|
| 62 |
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09, |
|
| 63 |
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A, |
|
| 64 |
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B, |
|
| 65 |
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C, |
|
| 66 |
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D, |
|
| 67 |
|
|
| 68 |
/* Mag data register */ |
|
| 69 |
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E, |
|
| 70 |
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F, |
|
| 71 |
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10, |
|
| 72 |
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11, |
|
| 73 |
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12, |
|
| 74 |
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13, |
|
| 75 |
|
|
| 76 |
/* Gyro data registers */ |
|
| 77 |
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14, |
|
| 78 |
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15, |
|
| 79 |
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16, |
|
| 80 |
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17, |
|
| 81 |
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18, |
|
| 82 |
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19, |
|
| 83 |
|
|
| 84 |
/* Euler data registers */ |
|
| 85 |
BNO055_EULER_H_LSB_ADDR = 0X1A, |
|
| 86 |
BNO055_EULER_H_MSB_ADDR = 0X1B, |
|
| 87 |
BNO055_EULER_R_LSB_ADDR = 0X1C, |
|
| 88 |
BNO055_EULER_R_MSB_ADDR = 0X1D, |
|
| 89 |
BNO055_EULER_P_LSB_ADDR = 0X1E, |
|
| 90 |
BNO055_EULER_P_MSB_ADDR = 0X1F, |
|
| 91 |
|
|
| 92 |
/* Quaternion data registers */ |
|
| 93 |
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20, |
|
| 94 |
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21, |
|
| 95 |
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22, |
|
| 96 |
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23, |
|
| 97 |
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24, |
|
| 98 |
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25, |
|
| 99 |
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26, |
|
| 100 |
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27, |
|
| 101 |
|
|
| 102 |
/* Linear acceleration data registers */ |
|
| 103 |
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28, |
|
| 104 |
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29, |
|
| 105 |
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A, |
|
| 106 |
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B, |
|
| 107 |
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C, |
|
| 108 |
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D, |
|
| 109 |
|
|
| 110 |
/* Gravity data registers */ |
|
| 111 |
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E, |
|
| 112 |
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F, |
|
| 113 |
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30, |
|
| 114 |
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31, |
|
| 115 |
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32, |
|
| 116 |
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33, |
|
| 117 |
|
|
| 118 |
/* Temperature data register */ |
|
| 119 |
BNO055_TEMP_ADDR = 0X34, |
|
| 120 |
|
|
| 121 |
/* Status registers */ |
|
| 122 |
BNO055_CALIB_STAT_ADDR = 0X35, |
|
| 123 |
BNO055_SELFTEST_RESULT_ADDR = 0X36, |
|
| 124 |
BNO055_INTR_STAT_ADDR = 0X37, |
|
| 125 |
|
|
| 126 |
BNO055_SYS_CLK_STAT_ADDR = 0X38, |
|
| 127 |
BNO055_SYS_STAT_ADDR = 0X39, |
|
| 128 |
BNO055_SYS_ERR_ADDR = 0X3A, |
|
| 129 |
|
|
| 130 |
/* Unit selection register */ |
|
| 131 |
BNO055_UNIT_SEL_ADDR = 0X3B, |
|
| 132 |
BNO055_DATA_SELECT_ADDR = 0X3C, |
|
| 133 |
|
|
| 134 |
/* Mode registers */ |
|
| 135 |
BNO055_OPR_MODE_ADDR = 0X3D, |
|
| 136 |
BNO055_PWR_MODE_ADDR = 0X3E, |
|
| 137 |
|
|
| 138 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
|
| 139 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
|
| 140 |
|
|
| 141 |
/* Axis remap registers */ |
|
| 142 |
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41, |
|
| 143 |
BNO055_AXIS_MAP_SIGN_ADDR = 0X42, |
|
| 144 |
|
|
| 145 |
/* SIC registers */ |
|
| 146 |
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43, |
|
| 147 |
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44, |
|
| 148 |
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45, |
|
| 149 |
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46, |
|
| 150 |
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47, |
|
| 151 |
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48, |
|
| 152 |
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49, |
|
| 153 |
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A, |
|
| 154 |
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B, |
|
| 155 |
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C, |
|
| 156 |
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D, |
|
| 157 |
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E, |
|
| 158 |
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F, |
|
| 159 |
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50, |
|
| 160 |
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51, |
|
| 161 |
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52, |
|
| 162 |
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53, |
|
| 163 |
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54, |
|
| 164 |
|
|
| 165 |
/* Accelerometer Offset registers */ |
|
| 166 |
ACCEL_OFFSET_X_LSB_ADDR = 0X55, |
|
| 167 |
ACCEL_OFFSET_X_MSB_ADDR = 0X56, |
|
| 168 |
ACCEL_OFFSET_Y_LSB_ADDR = 0X57, |
|
| 169 |
ACCEL_OFFSET_Y_MSB_ADDR = 0X58, |
|
| 170 |
ACCEL_OFFSET_Z_LSB_ADDR = 0X59, |
|
| 171 |
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A, |
|
| 172 |
|
|
| 173 |
/* Magnetometer Offset registers */ |
|
| 174 |
MAG_OFFSET_X_LSB_ADDR = 0X5B, |
|
| 175 |
MAG_OFFSET_X_MSB_ADDR = 0X5C, |
|
| 176 |
MAG_OFFSET_Y_LSB_ADDR = 0X5D, |
|
| 177 |
MAG_OFFSET_Y_MSB_ADDR = 0X5E, |
|
| 178 |
MAG_OFFSET_Z_LSB_ADDR = 0X5F, |
|
| 179 |
MAG_OFFSET_Z_MSB_ADDR = 0X60, |
|
| 180 |
|
|
| 181 |
/* Gyroscope Offset register s*/ |
|
| 182 |
GYRO_OFFSET_X_LSB_ADDR = 0X61, |
|
| 183 |
GYRO_OFFSET_X_MSB_ADDR = 0X62, |
|
| 184 |
GYRO_OFFSET_Y_LSB_ADDR = 0X63, |
|
| 185 |
GYRO_OFFSET_Y_MSB_ADDR = 0X64, |
|
| 186 |
GYRO_OFFSET_Z_LSB_ADDR = 0X65, |
|
| 187 |
GYRO_OFFSET_Z_MSB_ADDR = 0X66, |
|
| 188 |
|
|
| 189 |
/* Radius registers */ |
|
| 190 |
ACCEL_RADIUS_LSB_ADDR = 0X67, |
|
| 191 |
ACCEL_RADIUS_MSB_ADDR = 0X68, |
|
| 192 |
MAG_RADIUS_LSB_ADDR = 0X69, |
|
| 193 |
MAG_RADIUS_MSB_ADDR = 0X6A |
|
| 194 |
} adafruit_bno055_reg_t; |
|
| 195 |
|
|
| 196 |
typedef enum |
|
| 197 |
{
|
|
| 198 |
POWER_MODE_NORMAL = 0X00, |
|
| 199 |
POWER_MODE_LOWPOWER = 0X01, |
|
| 200 |
POWER_MODE_SUSPEND = 0X02 |
|
| 201 |
} adafruit_bno055_powermode_t; |
|
| 202 |
|
|
| 203 |
typedef enum |
|
| 204 |
{
|
|
| 205 |
/* Operation mode settings*/ |
|
| 206 |
OPERATION_MODE_CONFIG = 0X00, |
|
| 207 |
OPERATION_MODE_ACCONLY = 0X01, |
|
| 208 |
OPERATION_MODE_MAGONLY = 0X02, |
|
| 209 |
OPERATION_MODE_GYRONLY = 0X03, |
|
| 210 |
OPERATION_MODE_ACCMAG = 0X04, |
|
| 211 |
OPERATION_MODE_ACCGYRO = 0X05, |
|
| 212 |
OPERATION_MODE_MAGGYRO = 0X06, |
|
| 213 |
OPERATION_MODE_AMG = 0X07, |
|
| 214 |
OPERATION_MODE_IMUPLUS = 0X08, |
|
| 215 |
OPERATION_MODE_COMPASS = 0X09, |
|
| 216 |
OPERATION_MODE_M4G = 0X0A, |
|
| 217 |
OPERATION_MODE_NDOF_FMC_OFF = 0X0B, |
|
| 218 |
OPERATION_MODE_NDOF = 0X0C |
|
| 219 |
} adafruit_bno055_opmode_t; |
|
| 220 |
|
|
| 221 |
typedef struct |
|
| 222 |
{
|
|
| 223 |
uint8_t accel_rev; |
|
| 224 |
uint8_t mag_rev; |
|
| 225 |
uint8_t gyro_rev; |
|
| 226 |
uint16_t sw_rev; |
|
| 227 |
uint8_t bl_rev; |
|
| 228 |
} adafruit_bno055_rev_info_t; |
|
| 229 |
|
|
| 230 |
typedef enum |
|
| 231 |
{
|
|
| 232 |
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
|
| 233 |
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, |
|
| 234 |
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, |
|
| 235 |
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, |
|
| 236 |
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, |
|
| 237 |
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR |
|
| 238 |
} adafruit_vector_type_t; |
|
| 239 |
|
|
| 240 |
Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A ); |
|
| 241 |
|
|
| 242 |
bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF ); |
|
| 243 |
void setMode ( adafruit_bno055_opmode_t mode ); |
|
| 244 |
void getRevInfo ( adafruit_bno055_rev_info_t* ); |
|
| 245 |
void displayRevInfo ( void ); |
|
| 246 |
void setExtCrystalUse ( boolean usextal ); |
|
| 247 |
void getSystemStatus ( uint8_t *system_status, |
|
| 248 |
uint8_t *self_test_result, |
|
| 249 |
uint8_t *system_error); |
|
| 250 |
void displaySystemStatus ( void ); |
|
| 251 |
void getCalibration ( uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag); |
|
| 252 |
|
|
| 253 |
imu::Vector<3> getVector ( adafruit_vector_type_t vector_type ); |
|
| 254 |
imu::Quaternion getQuat ( void ); |
|
| 255 |
int8_t getTemp ( void ); |
|
| 256 |
|
|
| 257 |
/* Adafruit_Sensor implementation */ |
|
| 258 |
bool getEvent ( sensors_event_t* ); |
|
| 259 |
void getSensor ( sensor_t* ); |
|
| 260 |
|
|
| 261 |
private: |
|
| 262 |
byte read8 ( adafruit_bno055_reg_t ); |
|
| 263 |
bool readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len ); |
|
| 264 |
bool write8 ( adafruit_bno055_reg_t, byte value ); |
|
| 265 |
|
|
| 266 |
uint8_t _address; |
|
| 267 |
int32_t _sensorID; |
|
| 268 |
adafruit_bno055_opmode_t _mode; |
|
| 63 |
public: |
|
| 64 |
typedef enum |
|
| 65 |
{
|
|
| 66 |
/* Page id register definition */ |
|
| 67 |
BNO055_PAGE_ID_ADDR = 0X07, |
|
| 68 |
|
|
| 69 |
/* PAGE0 REGISTER DEFINITION START*/ |
|
| 70 |
BNO055_CHIP_ID_ADDR = 0x00, |
|
| 71 |
BNO055_ACCEL_REV_ID_ADDR = 0x01, |
|
| 72 |
BNO055_MAG_REV_ID_ADDR = 0x02, |
|
| 73 |
BNO055_GYRO_REV_ID_ADDR = 0x03, |
|
| 74 |
BNO055_SW_REV_ID_LSB_ADDR = 0x04, |
|
| 75 |
BNO055_SW_REV_ID_MSB_ADDR = 0x05, |
|
| 76 |
BNO055_BL_REV_ID_ADDR = 0X06, |
|
| 77 |
|
|
| 78 |
/* Accel data register */ |
|
| 79 |
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08, |
|
| 80 |
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09, |
|
| 81 |
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A, |
|
| 82 |
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B, |
|
| 83 |
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C, |
|
| 84 |
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D, |
|
| 85 |
|
|
| 86 |
/* Mag data register */ |
|
| 87 |
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E, |
|
| 88 |
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F, |
|
| 89 |
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10, |
|
| 90 |
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11, |
|
| 91 |
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12, |
|
| 92 |
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13, |
|
| 93 |
|
|
| 94 |
/* Gyro data registers */ |
|
| 95 |
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14, |
|
| 96 |
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15, |
|
| 97 |
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16, |
|
| 98 |
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17, |
|
| 99 |
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18, |
|
| 100 |
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19, |
|
| 101 |
|
|
| 102 |
/* Euler data registers */ |
|
| 103 |
BNO055_EULER_H_LSB_ADDR = 0X1A, |
|
| 104 |
BNO055_EULER_H_MSB_ADDR = 0X1B, |
|
| 105 |
BNO055_EULER_R_LSB_ADDR = 0X1C, |
|
| 106 |
BNO055_EULER_R_MSB_ADDR = 0X1D, |
|
| 107 |
BNO055_EULER_P_LSB_ADDR = 0X1E, |
|
| 108 |
BNO055_EULER_P_MSB_ADDR = 0X1F, |
|
| 109 |
|
|
| 110 |
/* Quaternion data registers */ |
|
| 111 |
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20, |
|
| 112 |
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21, |
|
| 113 |
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22, |
|
| 114 |
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23, |
|
| 115 |
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24, |
|
| 116 |
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25, |
|
| 117 |
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26, |
|
| 118 |
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27, |
|
| 119 |
|
|
| 120 |
/* Linear acceleration data registers */ |
|
| 121 |
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28, |
|
| 122 |
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29, |
|
| 123 |
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A, |
|
| 124 |
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B, |
|
| 125 |
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C, |
|
| 126 |
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D, |
|
| 127 |
|
|
| 128 |
/* Gravity data registers */ |
|
| 129 |
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E, |
|
| 130 |
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F, |
|
| 131 |
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30, |
|
| 132 |
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31, |
|
| 133 |
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32, |
|
| 134 |
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33, |
|
| 135 |
|
|
| 136 |
/* Temperature data register */ |
|
| 137 |
BNO055_TEMP_ADDR = 0X34, |
|
| 138 |
|
|
| 139 |
/* Status registers */ |
|
| 140 |
BNO055_CALIB_STAT_ADDR = 0X35, |
|
| 141 |
BNO055_SELFTEST_RESULT_ADDR = 0X36, |
|
| 142 |
BNO055_INTR_STAT_ADDR = 0X37, |
|
| 143 |
|
|
| 144 |
BNO055_SYS_CLK_STAT_ADDR = 0X38, |
|
| 145 |
BNO055_SYS_STAT_ADDR = 0X39, |
|
| 146 |
BNO055_SYS_ERR_ADDR = 0X3A, |
|
| 147 |
|
|
| 148 |
/* Unit selection register */ |
|
| 149 |
BNO055_UNIT_SEL_ADDR = 0X3B, |
|
| 150 |
BNO055_DATA_SELECT_ADDR = 0X3C, |
|
| 151 |
|
|
| 152 |
/* Mode registers */ |
|
| 153 |
BNO055_OPR_MODE_ADDR = 0X3D, |
|
| 154 |
BNO055_PWR_MODE_ADDR = 0X3E, |
|
| 155 |
|
|
| 156 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
|
| 157 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
|
| 158 |
|
|
| 159 |
/* Axis remap registers */ |
|
| 160 |
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41, |
|
| 161 |
BNO055_AXIS_MAP_SIGN_ADDR = 0X42, |
|
| 162 |
|
|
| 163 |
/* SIC registers */ |
|
| 164 |
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43, |
|
| 165 |
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44, |
|
| 166 |
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45, |
|
| 167 |
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46, |
|
| 168 |
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47, |
|
| 169 |
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48, |
|
| 170 |
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49, |
|
| 171 |
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A, |
|
| 172 |
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B, |
|
| 173 |
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C, |
|
| 174 |
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D, |
|
| 175 |
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E, |
|
| 176 |
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F, |
|
| 177 |
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50, |
|
| 178 |
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51, |
|
| 179 |
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52, |
|
| 180 |
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53, |
|
| 181 |
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54, |
|
| 182 |
|
|
| 183 |
/* Accelerometer Offset registers */ |
|
| 184 |
ACCEL_OFFSET_X_LSB_ADDR = 0X55, |
|
| 185 |
ACCEL_OFFSET_X_MSB_ADDR = 0X56, |
|
| 186 |
ACCEL_OFFSET_Y_LSB_ADDR = 0X57, |
|
| 187 |
ACCEL_OFFSET_Y_MSB_ADDR = 0X58, |
|
| 188 |
ACCEL_OFFSET_Z_LSB_ADDR = 0X59, |
|
| 189 |
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A, |
|
| 190 |
|
|
| 191 |
/* Magnetometer Offset registers */ |
|
| 192 |
MAG_OFFSET_X_LSB_ADDR = 0X5B, |
|
| 193 |
MAG_OFFSET_X_MSB_ADDR = 0X5C, |
|
| 194 |
MAG_OFFSET_Y_LSB_ADDR = 0X5D, |
|
| 195 |
MAG_OFFSET_Y_MSB_ADDR = 0X5E, |
|
| 196 |
MAG_OFFSET_Z_LSB_ADDR = 0X5F, |
|
| 197 |
MAG_OFFSET_Z_MSB_ADDR = 0X60, |
|
| 198 |
|
|
| 199 |
/* Gyroscope Offset register s*/ |
|
| 200 |
GYRO_OFFSET_X_LSB_ADDR = 0X61, |
|
| 201 |
GYRO_OFFSET_X_MSB_ADDR = 0X62, |
|
| 202 |
GYRO_OFFSET_Y_LSB_ADDR = 0X63, |
|
| 203 |
GYRO_OFFSET_Y_MSB_ADDR = 0X64, |
|
| 204 |
GYRO_OFFSET_Z_LSB_ADDR = 0X65, |
|
| 205 |
GYRO_OFFSET_Z_MSB_ADDR = 0X66, |
|
| 206 |
|
|
| 207 |
/* Radius registers */ |
|
| 208 |
ACCEL_RADIUS_LSB_ADDR = 0X67, |
|
| 209 |
ACCEL_RADIUS_MSB_ADDR = 0X68, |
|
| 210 |
MAG_RADIUS_LSB_ADDR = 0X69, |
|
| 211 |
MAG_RADIUS_MSB_ADDR = 0X6A |
|
| 212 |
} adafruit_bno055_reg_t; |
|
| 213 |
|
|
| 214 |
typedef enum |
|
| 215 |
{
|
|
| 216 |
POWER_MODE_NORMAL = 0X00, |
|
| 217 |
POWER_MODE_LOWPOWER = 0X01, |
|
| 218 |
POWER_MODE_SUSPEND = 0X02 |
|
| 219 |
} adafruit_bno055_powermode_t; |
|
| 220 |
|
|
| 221 |
typedef enum |
|
| 222 |
{
|
|
| 223 |
/* Operation mode settings*/ |
|
| 224 |
OPERATION_MODE_CONFIG = 0X00, |
|
| 225 |
OPERATION_MODE_ACCONLY = 0X01, |
|
| 226 |
OPERATION_MODE_MAGONLY = 0X02, |
|
| 227 |
OPERATION_MODE_GYRONLY = 0X03, |
|
| 228 |
OPERATION_MODE_ACCMAG = 0X04, |
|
| 229 |
OPERATION_MODE_ACCGYRO = 0X05, |
|
| 230 |
OPERATION_MODE_MAGGYRO = 0X06, |
|
| 231 |
OPERATION_MODE_AMG = 0X07, |
|
| 232 |
OPERATION_MODE_IMUPLUS = 0X08, |
|
| 233 |
OPERATION_MODE_COMPASS = 0X09, |
|
| 234 |
OPERATION_MODE_M4G = 0X0A, |
|
| 235 |
OPERATION_MODE_NDOF_FMC_OFF = 0X0B, |
|
| 236 |
OPERATION_MODE_NDOF = 0X0C |
|
| 237 |
} adafruit_bno055_opmode_t; |
|
| 238 |
|
|
| 239 |
typedef struct |
|
| 240 |
{
|
|
| 241 |
uint8_t accel_rev; |
|
| 242 |
uint8_t mag_rev; |
|
| 243 |
uint8_t gyro_rev; |
|
| 244 |
uint16_t sw_rev; |
|
| 245 |
uint8_t bl_rev; |
|
| 246 |
} adafruit_bno055_rev_info_t; |
|
| 247 |
|
|
| 248 |
typedef enum |
|
| 249 |
{
|
|
| 250 |
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
|
| 251 |
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, |
|
| 252 |
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, |
|
| 253 |
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, |
|
| 254 |
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, |
|
| 255 |
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR |
|
| 256 |
} adafruit_vector_type_t; |
|
| 257 |
|
|
| 258 |
|
|
| 259 |
|
|
| 260 |
Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A); |
|
| 261 |
|
|
| 262 |
bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF); |
|
| 263 |
void setMode(adafruit_bno055_opmode_t mode); |
|
| 264 |
void getRevInfo(adafruit_bno055_rev_info_t*); |
|
| 265 |
void displayRevInfo(void); |
|
| 266 |
void setExtCrystalUse(boolean usextal); |
|
| 267 |
void getSystemStatus(uint8_t *system_status, |
|
| 268 |
uint8_t *self_test_result, |
|
| 269 |
uint8_t *system_error); |
|
| 270 |
void displaySystemStatus(void); |
|
| 271 |
void getCalibration(uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag); |
|
| 272 |
|
|
| 273 |
imu::Vector<3> getVector(adafruit_vector_type_t vector_type); |
|
| 274 |
imu::Quaternion getQuat(void); |
|
| 275 |
int8_t getTemp(void); |
|
| 276 |
|
|
| 277 |
/* Adafruit_Sensor implementation */ |
|
| 278 |
bool getEvent(sensors_event_t*); |
|
| 279 |
void getSensor(sensor_t*); |
|
| 280 |
|
|
| 281 |
/* Functions to deal with raw calibration data */ |
|
| 282 |
bool getSensorOffsets(int8_t* calibData); |
|
| 283 |
bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type); |
|
| 284 |
void setSensorOffsets(const int8_t* calibData); |
|
| 285 |
void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type); |
|
| 286 |
bool isFullyCalibrated(void); |
|
| 287 |
|
|
| 288 |
private: |
|
| 289 |
byte read8(adafruit_bno055_reg_t); |
|
| 290 |
bool readLen(adafruit_bno055_reg_t, byte* buffer, uint8_t len); |
|
| 291 |
bool write8(adafruit_bno055_reg_t, byte value); |
|
| 292 |
|
|
| 293 |
uint8_t _address; |
|
| 294 |
int32_t _sensorID; |
|
| 295 |
adafruit_bno055_opmode_t _mode; |
|
| 269 | 296 |
}; |
| 270 | 297 |
|
| 271 | 298 |
#endif |
Also available in: Unified diff