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!

  ------> 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!

  Written by KTOWN for Adafruit Industries.

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

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

 #include "Arduino.h"

 #include "WProgram.h"

 #include <TinyWireM.h>

 #define Wire TinyWireM

 #include <Wire.h>

#define BNO055_ID        (0xA0)

typedef struct

{

    int16_t accel_offset_x;

    int16_t accel_offset_y;

    int16_t accel_offset_z;

    int16_t mag_offset_x;

    int16_t mag_offset_y;

    int16_t mag_offset_z;

    int16_t gyro_offset_x;

    int16_t gyro_offset_y;

    int16_t gyro_offset_z;

    int16_t accel_radius;

    int16_t mag_radius;

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 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;

    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;

    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;

#if defined (ARDUINO_SAMD_ZERO) && ! (ARDUINO_SAMD_FEATHER_M0)

#error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."

    Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );

    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  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  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(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(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;