adafruit_bno055 / Adafruit_BNO055.h @ 3f9d2401
History | View | Annotate | Download (10.371 KB)
| 1 | 4bc1c0c1 | Kevin Townsend | /***************************************************************************
|
|---|---|---|---|
| 2 | This is a library for the BNO055 orientation sensor
|
||
| 3 | |||
| 4 | Designed specifically to work with the Adafruit BNO055 Breakout.
|
||
| 5 | |||
| 6 | Pick one up today in the adafruit shop!
|
||
| 7 | ------> http://www.adafruit.com/products
|
||
| 8 | |||
| 9 | These sensors use I2C to communicate, 2 pins are required to interface.
|
||
| 10 | |||
| 11 | Adafruit invests time and resources providing this open source code,
|
||
| 12 | please support Adafruit andopen-source hardware by purchasing products
|
||
| 13 | from Adafruit!
|
||
| 14 | |||
| 15 | Written by KTOWN for Adafruit Industries.
|
||
| 16 | |||
| 17 | MIT license, all text above must be included in any redistribution
|
||
| 18 | ***************************************************************************/
|
||
| 19 | |||
| 20 | #ifndef __ADAFRUIT_BNO055_H__
|
||
| 21 | #define __ADAFRUIT_BNO055_H__
|
||
| 22 | |||
| 23 | #if (ARDUINO >= 100) |
||
| 24 | #include "Arduino.h" |
||
| 25 | #else
|
||
| 26 | #include "WProgram.h" |
||
| 27 | #endif
|
||
| 28 | #include "Wire.h" |
||
| 29 | |||
| 30 | #include <Adafruit_Sensor.h> |
||
| 31 | #include <utility/imumaths.h> |
||
| 32 | |||
| 33 | #define BNO055_ADDRESS_A (0x28) |
||
| 34 | #define BNO055_ADDRESS_B (0x29) |
||
| 35 | #define BNO055_ID (0xA0) |
||
| 36 | |||
| 37 | 3f9d2401 | Kevin Townsend | class Adafruit_BNO055 : public Adafruit_Sensor |
| 38 | 4bc1c0c1 | Kevin Townsend | {
|
| 39 | public:
|
||
| 40 | typedef enum |
||
| 41 | {
|
||
| 42 | /* Page id register definition */
|
||
| 43 | BNO055_PAGE_ID_ADDR = 0X07,
|
||
| 44 | |||
| 45 | /* PAGE0 REGISTER DEFINITION START*/
|
||
| 46 | BNO055_CHIP_ID_ADDR = 0x00,
|
||
| 47 | BNO055_ACCEL_REV_ID_ADDR = 0x01,
|
||
| 48 | BNO055_MAG_REV_ID_ADDR = 0x02,
|
||
| 49 | BNO055_GYRO_REV_ID_ADDR = 0x03,
|
||
| 50 | BNO055_SW_REV_ID_LSB_ADDR = 0x04,
|
||
| 51 | BNO055_SW_REV_ID_MSB_ADDR = 0x05,
|
||
| 52 | BNO055_BL_REV_ID_ADDR = 0X06,
|
||
| 53 | |||
| 54 | /* Accel data register */
|
||
| 55 | BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
|
||
| 56 | BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
|
||
| 57 | BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
|
||
| 58 | BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
|
||
| 59 | BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
|
||
| 60 | BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
|
||
| 61 | |||
| 62 | /* Mag data register */
|
||
| 63 | BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
|
||
| 64 | BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
|
||
| 65 | BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
|
||
| 66 | BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
|
||
| 67 | BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
|
||
| 68 | BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
|
||
| 69 | |||
| 70 | /* Gyro data registers */
|
||
| 71 | BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
|
||
| 72 | BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
|
||
| 73 | BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
|
||
| 74 | BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
|
||
| 75 | BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
|
||
| 76 | BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
|
||
| 77 | |||
| 78 | /* Euler data registers */
|
||
| 79 | BNO055_EULER_H_LSB_ADDR = 0X1A,
|
||
| 80 | BNO055_EULER_H_MSB_ADDR = 0X1B,
|
||
| 81 | BNO055_EULER_R_LSB_ADDR = 0X1C,
|
||
| 82 | BNO055_EULER_R_MSB_ADDR = 0X1D,
|
||
| 83 | BNO055_EULER_P_LSB_ADDR = 0X1E,
|
||
| 84 | BNO055_EULER_P_MSB_ADDR = 0X1F,
|
||
| 85 | |||
| 86 | /* Quaternion data registers */
|
||
| 87 | BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
|
||
| 88 | BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
|
||
| 89 | BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
|
||
| 90 | BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
|
||
| 91 | BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
|
||
| 92 | BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
|
||
| 93 | BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
|
||
| 94 | BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
|
||
| 95 | |||
| 96 | /* Linear acceleration data registers */
|
||
| 97 | BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
|
||
| 98 | BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
|
||
| 99 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
|
||
| 100 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
|
||
| 101 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
|
||
| 102 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
|
||
| 103 | |||
| 104 | /* Gravity data registers */
|
||
| 105 | BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
|
||
| 106 | BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
|
||
| 107 | BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
|
||
| 108 | BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
|
||
| 109 | BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
|
||
| 110 | BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
|
||
| 111 | |||
| 112 | /* Temperature data register */
|
||
| 113 | BNO055_TEMP_ADDR = 0X34,
|
||
| 114 | |||
| 115 | /* Status registers */
|
||
| 116 | BNO055_CALIB_STAT_ADDR = 0X35,
|
||
| 117 | BNO055_SELFTEST_RESULT_ADDR = 0X36,
|
||
| 118 | BNO055_INTR_STAT_ADDR = 0X37,
|
||
| 119 | |||
| 120 | BNO055_SYS_CLK_STAT_ADDR = 0X38,
|
||
| 121 | BNO055_SYS_STAT_ADDR = 0X39,
|
||
| 122 | BNO055_SYS_ERR_ADDR = 0X3A,
|
||
| 123 | |||
| 124 | /* Unit selection register */
|
||
| 125 | BNO055_UNIT_SEL_ADDR = 0X3B,
|
||
| 126 | BNO055_DATA_SELECT_ADDR = 0X3C,
|
||
| 127 | |||
| 128 | /* Mode registers */
|
||
| 129 | BNO055_OPR_MODE_ADDR = 0X3D,
|
||
| 130 | BNO055_PWR_MODE_ADDR = 0X3E,
|
||
| 131 | |||
| 132 | BNO055_SYS_TRIGGER_ADDR = 0X3F,
|
||
| 133 | BNO055_TEMP_SOURCE_ADDR = 0X40,
|
||
| 134 | |||
| 135 | /* Axis remap registers */
|
||
| 136 | BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
|
||
| 137 | BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
|
||
| 138 | |||
| 139 | /* SIC registers */
|
||
| 140 | BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
|
||
| 141 | BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
|
||
| 142 | BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
|
||
| 143 | BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
|
||
| 144 | BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
|
||
| 145 | BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
|
||
| 146 | BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
|
||
| 147 | BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
|
||
| 148 | BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
|
||
| 149 | BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
|
||
| 150 | BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
|
||
| 151 | BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
|
||
| 152 | BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
|
||
| 153 | BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
|
||
| 154 | BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
|
||
| 155 | BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
|
||
| 156 | BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
|
||
| 157 | BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
|
||
| 158 | |||
| 159 | /* Accelerometer Offset registers */
|
||
| 160 | ACCEL_OFFSET_X_LSB_ADDR = 0X55,
|
||
| 161 | ACCEL_OFFSET_X_MSB_ADDR = 0X56,
|
||
| 162 | ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
|
||
| 163 | ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
|
||
| 164 | ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
|
||
| 165 | ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
|
||
| 166 | |||
| 167 | /* Magnetometer Offset registers */
|
||
| 168 | MAG_OFFSET_X_LSB_ADDR = 0X5B,
|
||
| 169 | MAG_OFFSET_X_MSB_ADDR = 0X5C,
|
||
| 170 | MAG_OFFSET_Y_LSB_ADDR = 0X5D,
|
||
| 171 | MAG_OFFSET_Y_MSB_ADDR = 0X5E,
|
||
| 172 | MAG_OFFSET_Z_LSB_ADDR = 0X5F,
|
||
| 173 | MAG_OFFSET_Z_MSB_ADDR = 0X60,
|
||
| 174 | |||
| 175 | /* Gyroscope Offset register s*/
|
||
| 176 | GYRO_OFFSET_X_LSB_ADDR = 0X61,
|
||
| 177 | GYRO_OFFSET_X_MSB_ADDR = 0X62,
|
||
| 178 | GYRO_OFFSET_Y_LSB_ADDR = 0X63,
|
||
| 179 | GYRO_OFFSET_Y_MSB_ADDR = 0X64,
|
||
| 180 | GYRO_OFFSET_Z_LSB_ADDR = 0X65,
|
||
| 181 | GYRO_OFFSET_Z_MSB_ADDR = 0X66,
|
||
| 182 | |||
| 183 | /* Radius registers */
|
||
| 184 | ACCEL_RADIUS_LSB_ADDR = 0X67,
|
||
| 185 | ACCEL_RADIUS_MSB_ADDR = 0X68,
|
||
| 186 | MAG_RADIUS_LSB_ADDR = 0X69,
|
||
| 187 | MAG_RADIUS_MSB_ADDR = 0X6A
|
||
| 188 | } adafruit_bno055_reg_t; |
||
| 189 | |||
| 190 | typedef enum |
||
| 191 | {
|
||
| 192 | POWER_MODE_NORMAL = 0X00,
|
||
| 193 | POWER_MODE_LOWPOWER = 0X01,
|
||
| 194 | POWER_MODE_SUSPEND = 0X02
|
||
| 195 | } adafruit_bno055_powermode_t; |
||
| 196 | |||
| 197 | typedef enum |
||
| 198 | {
|
||
| 199 | /* Operation mode settings*/
|
||
| 200 | OPERATION_MODE_CONFIG = 0X00,
|
||
| 201 | OPERATION_MODE_ACCONLY = 0X01,
|
||
| 202 | OPERATION_MODE_MAGONLY = 0X02,
|
||
| 203 | OPERATION_MODE_GYRONLY = 0X03,
|
||
| 204 | OPERATION_MODE_ACCMAG = 0X04,
|
||
| 205 | OPERATION_MODE_ACCGYRO = 0X05,
|
||
| 206 | OPERATION_MODE_MAGGYRO = 0X06,
|
||
| 207 | OPERATION_MODE_AMG = 0X07,
|
||
| 208 | OPERATION_MODE_IMUPLUS = 0X08,
|
||
| 209 | OPERATION_MODE_COMPASS = 0X09,
|
||
| 210 | OPERATION_MODE_M4G = 0X0A,
|
||
| 211 | OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
|
||
| 212 | OPERATION_MODE_NDOF = 0X0C
|
||
| 213 | } adafruit_bno055_opmode_t; |
||
| 214 | |||
| 215 | typedef struct |
||
| 216 | {
|
||
| 217 | uint8_t accel_rev; |
||
| 218 | uint8_t mag_rev; |
||
| 219 | uint8_t gyro_rev; |
||
| 220 | uint16_t sw_rev; |
||
| 221 | uint8_t bl_rev; |
||
| 222 | } adafruit_bno055_rev_info_t; |
||
| 223 | |||
| 224 | 48741e1f | Kevin Townsend | typedef enum |
| 225 | {
|
||
| 226 | VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
||
| 227 | VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, |
||
| 228 | VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, |
||
| 229 | VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, |
||
| 230 | VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, |
||
| 231 | VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR |
||
| 232 | } adafruit_vector_type_t; |
||
| 233 | 4bc1c0c1 | Kevin Townsend | |
| 234 | Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
|
||
| 235 | |||
| 236 | bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
|
||
| 237 | void setMode ( adafruit_bno055_opmode_t mode );
|
||
| 238 | void getRevInfo ( adafruit_bno055_rev_info_t* );
|
||
| 239 | void displayRevInfo ( void ); |
||
| 240 | 3b2655dc | ladyada | // void getSystemStatus ( adafruit_bno055_system_status_t* );
|
| 241 | void getSystemStatus ( uint8_t *system_status,
|
||
| 242 | uint8_t *self_test_result, |
||
| 243 | uint8_t *system_error); |
||
| 244 | 4bc1c0c1 | Kevin Townsend | void displaySystemStatus ( void ); |
| 245 | fcd68623 | Kevin Townsend | void printDouble ( double val, unsigned int precision ); |
| 246 | 4bc1c0c1 | Kevin Townsend | |
| 247 | 48741e1f | Kevin Townsend | imu::Vector<3> getVector ( adafruit_vector_type_t vector_type );
|
| 248 | imu::Quaternion getQuat ( void );
|
||
| 249 | 0e2e2723 | Kevin Townsend | int8_t getTemp ( void );
|
| 250 | 4bc1c0c1 | Kevin Townsend | |
| 251 | /* Adafruit_Sensor implementation */
|
||
| 252 | bool getEvent ( sensors_event_t* );
|
||
| 253 | void getSensor ( sensor_t* );
|
||
| 254 | |||
| 255 | private:
|
||
| 256 | byte read8 ( adafruit_bno055_reg_t ); |
||
| 257 | bool readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
|
||
| 258 | bool write8 ( adafruit_bno055_reg_t, byte value );
|
||
| 259 | |||
| 260 | uint8_t _address; |
||
| 261 | int32_t _sensorID; |
||
| 262 | adafruit_bno055_opmode_t _mode; |
||
| 263 | }; |
||
| 264 | |||
| 265 | #endif |