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adafruit_bno055 / Adafruit_BNO055.cpp @ a6b8a32b

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/***************************************************************************
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  This is a library for the BNO055 orientation sensor
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  Designed specifically to work with the Adafruit BNO055 Breakout.
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6
  Pick one up today in the adafruit shop!
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  ------> https://www.adafruit.com/product/2472
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  These sensors use I2C to communicate, 2 pins are required to interface.
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11
  Adafruit invests time and resources providing this open source code,
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  please support Adafruit andopen-source hardware by purchasing products
13
  from Adafruit!
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  Written by KTOWN for Adafruit Industries.
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  MIT license, all text above must be included in any redistribution
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 ***************************************************************************/
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#if ARDUINO >= 100
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 #include "Arduino.h"
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#else
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 #include "WProgram.h"
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#endif
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#include <math.h>
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#include <limits.h>
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#include "Adafruit_BNO055.h"
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/***************************************************************************
32
 CONSTRUCTOR
33
 ***************************************************************************/
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35
/**************************************************************************/
36
/*!
37
    @brief  Instantiates a new Adafruit_BNO055 class
38
*/
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/**************************************************************************/
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
41
{
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  _sensorID = sensorID;
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  _address = address;
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}
45

    
46
/***************************************************************************
47
 PUBLIC FUNCTIONS
48
 ***************************************************************************/
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/**************************************************************************/
51
/*!
52
    @brief  Sets up the HW
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
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{
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  /* Enable I2C */
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  Wire.begin();
59

    
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  // BNO055 clock stretches for 500us or more!
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#ifdef ESP8266
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  Wire.setClockStretchLimit(1000); // Allow for 1000us of clock stretching
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#endif
64

    
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  /* Make sure we have the right device */
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  uint8_t id = read8(BNO055_CHIP_ID_ADDR);
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  if(id != BNO055_ID)
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  {
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    delay(1000); // hold on for boot
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    id = read8(BNO055_CHIP_ID_ADDR);
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    if(id != BNO055_ID) {
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      return false;  // still not? ok bail
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    }
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  }
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  /* Switch to config mode (just in case since this is the default) */
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  setMode(OPERATION_MODE_CONFIG);
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  /* Reset */
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  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
82
  {
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    delay(10);
84
  }
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  delay(50);
86

    
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  /* Set to normal power mode */
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  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
89
  delay(10);
90

    
91
  write8(BNO055_PAGE_ID_ADDR, 0);
92

    
93
  /* Set the output units */
94
  /*
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  uint8_t unitsel = (0 << 7) | // Orientation = Android
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                    (0 << 4) | // Temperature = Celsius
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                    (0 << 2) | // Euler = Degrees
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                    (1 << 1) | // Gyro = Rads
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                    (0 << 0);  // Accelerometer = m/s^2
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  write8(BNO055_UNIT_SEL_ADDR, unitsel);
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  */
102

    
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  /* Configure axis mapping (see section 3.4) */
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  /*
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  write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1
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  delay(10);
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  write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1
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  delay(10);
109
  */
110

    
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  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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  delay(10);
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  /* Set the requested operating mode (see section 3.3) */
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  setMode(mode);
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  delay(20);
116

    
117
  return true;
118
}
119

    
120
/**************************************************************************/
121
/*!
122
    @brief  Puts the chip in the specified operating mode
123
*/
124
/**************************************************************************/
125
void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
126
{
127
  _mode = mode;
128
  write8(BNO055_OPR_MODE_ADDR, _mode);
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  delay(30);
130
}
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/**************************************************************************/
133
/*!
134
    @brief  Changes the chip's axis remap
135
*/
136
/**************************************************************************/
137
void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )
138
{
139
  adafruit_bno055_opmode_t modeback = _mode;
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141
  setMode(OPERATION_MODE_CONFIG);
142
  delay(25);
143
  write8(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode);
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  delay(10);
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  /* Set the requested operating mode (see section 3.3) */
146
  setMode(modeback);
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  delay(20);
148
}
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/**************************************************************************/
151
/*!
152
    @brief  Changes the chip's axis signs
153
*/
154
/**************************************************************************/
155
void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )
156
{
157
  adafruit_bno055_opmode_t modeback = _mode;
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  setMode(OPERATION_MODE_CONFIG);
160
  delay(25);
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  write8(BNO055_AXIS_MAP_SIGN_ADDR, remapsign);
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  delay(10);
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  /* Set the requested operating mode (see section 3.3) */
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  setMode(modeback);
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  delay(20);
166
}
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/**************************************************************************/
170
/*!
171
    @brief  Use the external 32.768KHz crystal
172
*/
173
/**************************************************************************/
174
void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
175
{
176
  adafruit_bno055_opmode_t modeback = _mode;
177

    
178
  /* Switch to config mode (just in case since this is the default) */
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  setMode(OPERATION_MODE_CONFIG);
180
  delay(25);
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  write8(BNO055_PAGE_ID_ADDR, 0);
182
  if (usextal) {
183
    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
184
  } else {
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    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
186
  }
187
  delay(10);
188
  /* Set the requested operating mode (see section 3.3) */
189
  setMode(modeback);
190
  delay(20);
191
}
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193

    
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/**************************************************************************/
195
/*!
196
    @brief  Gets the latest system status info
197
*/
198
/**************************************************************************/
199
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
200
{
201
  write8(BNO055_PAGE_ID_ADDR, 0);
202

    
203
  /* System Status (see section 4.3.58)
204
     ---------------------------------
205
     0 = Idle
206
     1 = System Error
207
     2 = Initializing Peripherals
208
     3 = System Iniitalization
209
     4 = Executing Self-Test
210
     5 = Sensor fusio algorithm running
211
     6 = System running without fusion algorithms */
212

    
213
  if (system_status != 0)
214
    *system_status    = read8(BNO055_SYS_STAT_ADDR);
215

    
216
  /* Self Test Results (see section )
217
     --------------------------------
218
     1 = test passed, 0 = test failed
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     Bit 0 = Accelerometer self test
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     Bit 1 = Magnetometer self test
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     Bit 2 = Gyroscope self test
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     Bit 3 = MCU self test
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     0x0F = all good! */
226

    
227
  if (self_test_result != 0)
228
    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
229

    
230
  /* System Error (see section 4.3.59)
231
     ---------------------------------
232
     0 = No error
233
     1 = Peripheral initialization error
234
     2 = System initialization error
235
     3 = Self test result failed
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     4 = Register map value out of range
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     5 = Register map address out of range
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     6 = Register map write error
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     7 = BNO low power mode not available for selected operat ion mode
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     8 = Accelerometer power mode not available
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     9 = Fusion algorithm configuration error
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     A = Sensor configuration error */
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244
  if (system_error != 0)
245
    *system_error     = read8(BNO055_SYS_ERR_ADDR);
246

    
247
  delay(200);
248
}
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/**************************************************************************/
251
/*!
252
    @brief  Gets the chip revision numbers
253
*/
254
/**************************************************************************/
255
void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
256
{
257
  uint8_t a, b;
258

    
259
  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
260

    
261
  /* Check the accelerometer revision */
262
  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
263

    
264
  /* Check the magnetometer revision */
265
  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
266

    
267
  /* Check the gyroscope revision */
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  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
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270
  /* Check the SW revision */
271
  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
272

    
273
  a = read8(BNO055_SW_REV_ID_LSB_ADDR);
274
  b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
276
}
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278
/**************************************************************************/
279
/*!
280
    @brief  Gets current calibration state.  Each value should be a uint8_t
281
            pointer and it will be set to 0 if not calibrated and 3 if
282
            fully calibrated.
283
*/
284
/**************************************************************************/
285
void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
286
  uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
287
  if (sys != NULL) {
288
    *sys = (calData >> 6) & 0x03;
289
  }
290
  if (gyro != NULL) {
291
    *gyro = (calData >> 4) & 0x03;
292
  }
293
  if (accel != NULL) {
294
    *accel = (calData >> 2) & 0x03;
295
  }
296
  if (mag != NULL) {
297
    *mag = calData & 0x03;
298
  }
299
}
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301
/**************************************************************************/
302
/*!
303
    @brief  Gets the temperature in degrees celsius
304
*/
305
/**************************************************************************/
306
int8_t Adafruit_BNO055::getTemp(void)
307
{
308
  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
309
  return temp;
310
}
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312
/**************************************************************************/
313
/*!
314
    @brief  Gets a vector reading from the specified source
315
*/
316
/**************************************************************************/
317
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
318
{
319
  imu::Vector<3> xyz;
320
  uint8_t buffer[6];
321
  memset (buffer, 0, 6);
322

    
323
  int16_t x, y, z;
324
  x = y = z = 0;
325

    
326
  /* Read vector data (6 bytes) */
327
  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
328

    
329
  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
330
  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
331
  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
332

    
333
  /* Convert the value to an appropriate range (section 3.6.4) */
334
  /* and assign the value to the Vector type */
335
  switch(vector_type)
336
  {
337
    case VECTOR_MAGNETOMETER:
338
      /* 1uT = 16 LSB */
339
      xyz[0] = ((double)x)/16.0;
340
      xyz[1] = ((double)y)/16.0;
341
      xyz[2] = ((double)z)/16.0;
342
      break;
343
    case VECTOR_GYROSCOPE:
344
      /* 1dps = 16 LSB */
345
      xyz[0] = ((double)x)/16.0;
346
      xyz[1] = ((double)y)/16.0;
347
      xyz[2] = ((double)z)/16.0;
348
      break;
349
    case VECTOR_EULER:
350
      /* 1 degree = 16 LSB */
351
      xyz[0] = ((double)x)/16.0;
352
      xyz[1] = ((double)y)/16.0;
353
      xyz[2] = ((double)z)/16.0;
354
      break;
355
    case VECTOR_ACCELEROMETER:
356
    case VECTOR_LINEARACCEL:
357
    case VECTOR_GRAVITY:
358
      /* 1m/s^2 = 100 LSB */
359
      xyz[0] = ((double)x)/100.0;
360
      xyz[1] = ((double)y)/100.0;
361
      xyz[2] = ((double)z)/100.0;
362
      break;
363
  }
364

    
365
  return xyz;
366
}
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368
/**************************************************************************/
369
/*!
370
    @brief  Gets a quaternion reading from the specified source
371
*/
372
/**************************************************************************/
373
imu::Quaternion Adafruit_BNO055::getQuat(void)
374
{
375
  uint8_t buffer[8];
376
  memset (buffer, 0, 8);
377

    
378
  int16_t x, y, z, w;
379
  x = y = z = w = 0;
380

    
381
  /* Read quat data (8 bytes) */
382
  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
383
  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
384
  x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
385
  y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
386
  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
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388
  /* Assign to Quaternion */
389
  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
390
     3.6.5.5 Orientation (Quaternion)  */
391
  const double scale = (1.0 / (1<<14));
392
  imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
393
  return quat;
394
}
395

    
396
/**************************************************************************/
397
/*!
398
    @brief  Provides the sensor_t data for this sensor
399
*/
400
/**************************************************************************/
401
void Adafruit_BNO055::getSensor(sensor_t *sensor)
402
{
403
  /* Clear the sensor_t object */
404
  memset(sensor, 0, sizeof(sensor_t));
405

    
406
  /* Insert the sensor name in the fixed length char array */
407
  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
408
  sensor->name[sizeof(sensor->name)- 1] = 0;
409
  sensor->version     = 1;
410
  sensor->sensor_id   = _sensorID;
411
  sensor->type        = SENSOR_TYPE_ORIENTATION;
412
  sensor->min_delay   = 0;
413
  sensor->max_value   = 0.0F;
414
  sensor->min_value   = 0.0F;
415
  sensor->resolution  = 0.01F;
416
}
417

    
418
/**************************************************************************/
419
/*!
420
    @brief  Reads the sensor and returns the data as a sensors_event_t
421
*/
422
/**************************************************************************/
423
bool Adafruit_BNO055::getEvent(sensors_event_t *event)
424
{
425
  /* Clear the event */
426
  memset(event, 0, sizeof(sensors_event_t));
427

    
428
  event->version   = sizeof(sensors_event_t);
429
  event->sensor_id = _sensorID;
430
  event->type      = SENSOR_TYPE_ORIENTATION;
431
  event->timestamp = millis();
432

    
433
  /* Get a Euler angle sample for orientation */
434
  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
435
  event->orientation.x = euler.x();
436
  event->orientation.y = euler.y();
437
  event->orientation.z = euler.z();
438

    
439
  return true;
440
}
441

    
442
/**************************************************************************/
443
/*!
444
@brief  Reads the sensor's offset registers into a byte array
445
*/
446
/**************************************************************************/
447
bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
448
{
449
    if (isFullyCalibrated())
450
    {
451
        adafruit_bno055_opmode_t lastMode = _mode;
452
        setMode(OPERATION_MODE_CONFIG);
453

    
454
        readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
455

    
456
        setMode(lastMode);
457
        return true;
458
    }
459
    return false;
460
}
461

    
462
/**************************************************************************/
463
/*!
464
@brief  Reads the sensor's offset registers into an offset struct
465
*/
466
/**************************************************************************/
467
bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
468
{
469
    if (isFullyCalibrated())
470
    {
471
        adafruit_bno055_opmode_t lastMode = _mode;
472
        setMode(OPERATION_MODE_CONFIG);
473
        delay(25);
474

    
475
        /* Accel offset range depends on the G-range:
476
           +/-2g  = +/- 2000 mg
477
           +/-4g  = +/- 4000 mg
478
           +/-8g  = +/- 8000 mg
479
           +/-1§g = +/- 16000 mg */
480
        offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
481
        offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
482
        offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
483

    
484
        /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
485
        offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
486
        offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
487
        offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
488

    
489
        /* Gyro offset range depends on the DPS range:
490
          2000 dps = +/- 32000 LSB
491
          1000 dps = +/- 16000 LSB
492
           500 dps = +/- 8000 LSB
493
           250 dps = +/- 4000 LSB
494
           125 dps = +/- 2000 LSB
495
           ... where 1 DPS = 16 LSB */
496
        offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
497
        offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
498
        offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
499

    
500
        /* Accelerometer radius = +/- 1000 LSB */
501
        offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
502

    
503
        /* Magnetometer radius = +/- 960 LSB */
504
        offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
505

    
506
        setMode(lastMode);
507
        return true;
508
    }
509
    return false;
510
}
511

    
512

    
513
/**************************************************************************/
514
/*!
515
@brief  Writes an array of calibration values to the sensor's offset registers
516
*/
517
/**************************************************************************/
518
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)
519
{
520
    adafruit_bno055_opmode_t lastMode = _mode;
521
    setMode(OPERATION_MODE_CONFIG);
522
    delay(25);
523

    
524
    /* Note: Configuration will take place only when user writes to the last
525
       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
526
       Therefore the last byte must be written whenever the user wants to
527
       changes the configuration. */
528

    
529
    /* A writeLen() would make this much cleaner */
530
    write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
531
    write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
532
    write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
533
    write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
534
    write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
535
    write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
536

    
537
    write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
538
    write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
539
    write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
540
    write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
541
    write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
542
    write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
543

    
544
    write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
545
    write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
546
    write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
547
    write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
548
    write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
549
    write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
550

    
551
    write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
552
    write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
553

    
554
    write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
555
    write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
556

    
557
    setMode(lastMode);
558
}
559

    
560
/**************************************************************************/
561
/*!
562
@brief  Writes to the sensor's offset registers from an offset struct
563
*/
564
/**************************************************************************/
565
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)
566
{
567
    adafruit_bno055_opmode_t lastMode = _mode;
568
    setMode(OPERATION_MODE_CONFIG);
569
    delay(25);
570

    
571
    /* Note: Configuration will take place only when user writes to the last
572
       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
573
       Therefore the last byte must be written whenever the user wants to
574
       changes the configuration. */
575

    
576
    write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
577
    write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
578
    write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
579
    write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
580
    write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
581
    write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
582

    
583
    write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
584
    write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
585
    write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
586
    write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
587
    write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
588
    write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
589

    
590
    write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
591
    write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
592
    write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
593
    write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
594
    write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
595
    write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
596

    
597
    write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
598
    write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
599

    
600
    write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
601
    write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
602

    
603
    setMode(lastMode);
604
}
605

    
606
/**************************************************************************/
607
/*!
608
    @brief  Checks of all cal status values are set to 3 (fully calibrated)
609
*/
610
/**************************************************************************/
611
bool Adafruit_BNO055::isFullyCalibrated(void)
612
{
613
    uint8_t system, gyro, accel, mag;
614
    getCalibration(&system, &gyro, &accel, &mag);
615
    if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
616
        return false;
617
    return true;
618
}
619

    
620

    
621
/***************************************************************************
622
 PRIVATE FUNCTIONS
623
 ***************************************************************************/
624

    
625
/**************************************************************************/
626
/*!
627
    @brief  Writes an 8 bit value over I2C
628
*/
629
/**************************************************************************/
630
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
631
{
632
  Wire.beginTransmission(_address);
633
  #if ARDUINO >= 100
634
    Wire.write((uint8_t)reg);
635
    Wire.write((uint8_t)value);
636
  #else
637
    Wire.send(reg);
638
    Wire.send(value);
639
  #endif
640
  Wire.endTransmission();
641

    
642
  /* ToDo: Check for error! */
643
  return true;
644
}
645

    
646
/**************************************************************************/
647
/*!
648
    @brief  Reads an 8 bit value over I2C
649
*/
650
/**************************************************************************/
651
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
652
{
653
  byte value = 0;
654

    
655
  Wire.beginTransmission(_address);
656
  #if ARDUINO >= 100
657
    Wire.write((uint8_t)reg);
658
  #else
659
    Wire.send(reg);
660
  #endif
661
  Wire.endTransmission();
662
  Wire.requestFrom(_address, (byte)1);
663
  #if ARDUINO >= 100
664
    value = Wire.read();
665
  #else
666
    value = Wire.receive();
667
  #endif
668

    
669
  return value;
670
}
671

    
672
/**************************************************************************/
673
/*!
674
    @brief  Reads the specified number of bytes over I2C
675
*/
676
/**************************************************************************/
677
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
678
{
679
  Wire.beginTransmission(_address);
680
  #if ARDUINO >= 100
681
    Wire.write((uint8_t)reg);
682
  #else
683
    Wire.send(reg);
684
  #endif
685
  Wire.endTransmission();
686
  Wire.requestFrom(_address, (byte)len);
687

    
688
  for (uint8_t i = 0; i < len; i++)
689
  {
690
    #if ARDUINO >= 100
691
      buffer[i] = Wire.read();
692
    #else
693
      buffer[i] = Wire.receive();
694
    #endif
695
  }
696

    
697
  /* ToDo: Check for errors! */
698
  return true;
699
}