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

 */

#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)

/** A structure to represent offsets **/

typedef struct {

  int16_t accel_offset_x; /**< x acceleration offset */

  int16_t accel_offset_y; /**< y acceleration offset */

  int16_t accel_offset_z; /**< z acceleration offset */

  int16_t mag_offset_x; /**< x magnetometer offset */

  int16_t mag_offset_y; /**< y magnetometer offset */

  int16_t mag_offset_z; /**< z magnetometer offset */

  int16_t gyro_offset_x; /**< x gyroscrope offset */

  int16_t gyro_offset_y; /**< y gyroscrope offset */

  int16_t gyro_offset_z; /**< z gyroscrope offset */

  int16_t accel_radius; /**< acceleration radius */

  int16_t mag_radius; /**< magnetometer radius */

} adafruit_bno055_offsets_t;

/*!

 *  @brief  Class that stores state and functions for interacting with

 *          BNO055 Sensor

 */

class Adafruit_BNO055 : public Adafruit_Sensor {

public:

  /** BNO055 Registers **/

  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;

  /** BNO055 power settings */

  typedef enum {

    POWER_MODE_NORMAL = 0X00,

    POWER_MODE_LOWPOWER = 0X01,

    POWER_MODE_SUSPEND = 0X02

  } adafruit_bno055_powermode_t;

  /** Operation mode settings **/

  typedef enum {

    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;

  /** Remap settings **/

  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;

  /** Remap Signs **/

  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;

  /** A structure to represent revisions **/

  typedef struct {

    uint8_t accel_rev; /**< acceleration rev */

    uint8_t mag_rev;   /**< magnetometer rev */

    uint8_t gyro_rev;  /**< gyroscrope rev */

    uint16_t sw_rev;   /**< SW rev */

    uint8_t bl_rev;    /**< bootloader rev */

  } adafruit_bno055_rev_info_t;

  /** Vector Mappings **/

  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);

#else

  Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A);

#endif

  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 setExtCrystalUse(boolean usextal);

  void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,

                       uint8_t *system_error);

  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();

  int8_t getTemp();

  /* 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();

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