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adafruit_bno055 / Adafruit_BNO055.cpp @ fd9de024

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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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  Pick one up today in the adafruit shop!
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  ------> http://www.adafruit.com/products
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  These sensors use I2C to communicate, 2 pins are required to interface.
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  Adafruit invests time and resources providing this open source code,
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  please support Adafruit andopen-source hardware by purchasing products
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  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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31
/***************************************************************************
32
 CONSTRUCTOR
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 ***************************************************************************/
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/**************************************************************************/
36
/*!
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    @brief  Instantiates a new Adafruit_BNO055 class
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*/
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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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}
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46
/***************************************************************************
47
 PUBLIC FUNCTIONS
48
 ***************************************************************************/
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/**************************************************************************/
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/*!
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    @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)
56
{
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  /* Enable I2C */
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  Wire.begin();
59

    
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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)
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  {
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    delay(10);
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  }
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  delay(50);
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  /* Set to normal power mode */
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  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
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  delay(10);
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  write8(BNO055_PAGE_ID_ADDR, 0);
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  /* Set the output units */
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  /*
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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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  */
97

    
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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);
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  */
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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);
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112
  return true;
113
}
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115
/**************************************************************************/
116
/*!
117
    @brief  Puts the chip in the specified operating mode
118
*/
119
/**************************************************************************/
120
void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
121
{
122
  _mode = mode;
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  write8(BNO055_OPR_MODE_ADDR, _mode);
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  delay(30);
125
}
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127
/**************************************************************************/
128
/*!
129
    @brief  Use the external 32.768KHz crystal
130
*/
131
/**************************************************************************/
132
void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
133
{
134
  adafruit_bno055_opmode_t modeback = _mode;
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136
  /* Switch to config mode (just in case since this is the default) */
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  setMode(OPERATION_MODE_CONFIG);
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  delay(25);
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  write8(BNO055_PAGE_ID_ADDR, 0);
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  if (usextal) {
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    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
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  } else {
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    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
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  }
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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);
149
}
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/**************************************************************************/
153
/*!
154
    @brief  Gets the latest system status info
155
*/
156
/**************************************************************************/
157
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
158
{
159
  write8(BNO055_PAGE_ID_ADDR, 0);
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  /* System Status (see section 4.3.58)
162
     ---------------------------------
163
     0 = Idle
164
     1 = System Error
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     2 = Initializing Peripherals
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     3 = System Iniitalization
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     4 = Executing Self-Test
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     5 = Sensor fusio algorithm running
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     6 = System running without fusion algorithms */
170

    
171
  if (system_status != 0)
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    *system_status    = read8(BNO055_SYS_STAT_ADDR);
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  /* Self Test Results (see section )
175
     --------------------------------
176
     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! */
184

    
185
  if (self_test_result != 0)
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    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
187

    
188
  /* System Error (see section 4.3.59)
189
     ---------------------------------
190
     0 = No error
191
     1 = Peripheral initialization error
192
     2 = System initialization error
193
     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
200
     A = Sensor configuration error */
201

    
202
  if (system_error != 0)
203
    *system_error     = read8(BNO055_SYS_ERR_ADDR);
204

    
205
  delay(200);
206
}
207

    
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/**************************************************************************/
209
/*!
210
    @brief  Gets the chip revision numbers
211
*/
212
/**************************************************************************/
213
void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
214
{
215
  uint8_t a, b;
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217
  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
218

    
219
  /* Check the accelerometer revision */
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  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
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  /* Check the magnetometer revision */
223
  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
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  /* Check the gyroscope revision */
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  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
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  /* Check the SW revision */
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  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
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231
  a = read8(BNO055_SW_REV_ID_LSB_ADDR);
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  b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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}
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/**************************************************************************/
237
/*!
238
    @brief  Gets current calibration state.  Each value should be a uint8_t
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            pointer and it will be set to 0 if not calibrated and 3 if
240
            fully calibrated.
241
*/
242
/**************************************************************************/
243
void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
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  uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
245
  if (sys != NULL) {
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    *sys = (calData >> 6) & 0x03;
247
  }
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  if (gyro != NULL) {
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    *gyro = (calData >> 4) & 0x03;
250
  }
251
  if (accel != NULL) {
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    *accel = (calData >> 2) & 0x03;
253
  }
254
  if (mag != NULL) {
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    *mag = calData & 0x03;
256
  }
257
}
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/**************************************************************************/
260
/*!
261
    @brief  Gets the temperature in degrees celsius
262
*/
263
/**************************************************************************/
264
int8_t Adafruit_BNO055::getTemp(void)
265
{
266
  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
267
  return temp;
268
}
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/**************************************************************************/
271
/*!
272
    @brief  Gets a vector reading from the specified source
273
*/
274
/**************************************************************************/
275
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
276
{
277
  imu::Vector<3> xyz;
278
  uint8_t buffer[6];
279
  memset (buffer, 0, 6);
280

    
281
  int16_t x, y, z;
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  x = y = z = 0;
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  /* Read vector data (6 bytes) */
285
  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
286

    
287
  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
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  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
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  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
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291
  /* Convert the value to an appropriate range (section 3.6.4) */
292
  /* and assign the value to the Vector type */
293
  switch(vector_type)
294
  {
295
    case VECTOR_MAGNETOMETER:
296
      /* 1uT = 16 LSB */
297
      xyz[0] = ((double)x)/16.0;
298
      xyz[1] = ((double)y)/16.0;
299
      xyz[2] = ((double)z)/16.0;
300
      break;
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    case VECTOR_GYROSCOPE:
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      /* 1rps = 900 LSB */
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      xyz[0] = ((double)x)/900.0;
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      xyz[1] = ((double)y)/900.0;
305
      xyz[2] = ((double)z)/900.0;
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      break;
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    case VECTOR_EULER:
308
      /* 1 degree = 16 LSB */
309
      xyz[0] = ((double)x)/16.0;
310
      xyz[1] = ((double)y)/16.0;
311
      xyz[2] = ((double)z)/16.0;
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      break;
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    case VECTOR_ACCELEROMETER:
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    case VECTOR_LINEARACCEL:
315
    case VECTOR_GRAVITY:
316
      /* 1m/s^2 = 100 LSB */
317
      xyz[0] = ((double)x)/100.0;
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      xyz[1] = ((double)y)/100.0;
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      xyz[2] = ((double)z)/100.0;
320
      break;
321
  }
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323
  return xyz;
324
}
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/**************************************************************************/
327
/*!
328
    @brief  Gets a quaternion reading from the specified source
329
*/
330
/**************************************************************************/
331
imu::Quaternion Adafruit_BNO055::getQuat(void)
332
{
333
  uint8_t buffer[8];
334
  memset (buffer, 0, 8);
335

    
336
  int16_t x, y, z, w;
337
  x = y = z = w = 0;
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339
  /* Read quat data (8 bytes) */
340
  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
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  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
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  x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
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  y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
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  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
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346
  /* Assign to Quaternion */
347
  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
348
     3.6.5.5 Orientation (Quaternion)  */
349
  const double scale = (1.0 / (1<<14));
350
  imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
351
  return quat;
352
}
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/**************************************************************************/
355
/*!
356
    @brief  Provides the sensor_t data for this sensor
357
*/
358
/**************************************************************************/
359
void Adafruit_BNO055::getSensor(sensor_t *sensor)
360
{
361
  /* Clear the sensor_t object */
362
  memset(sensor, 0, sizeof(sensor_t));
363

    
364
  /* Insert the sensor name in the fixed length char array */
365
  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
366
  sensor->name[sizeof(sensor->name)- 1] = 0;
367
  sensor->version     = 1;
368
  sensor->sensor_id   = _sensorID;
369
  sensor->type        = SENSOR_TYPE_ORIENTATION;
370
  sensor->min_delay   = 0;
371
  sensor->max_value   = 0.0F;
372
  sensor->min_value   = 0.0F;
373
  sensor->resolution  = 0.01F;
374
}
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/**************************************************************************/
377
/*!
378
    @brief  Reads the sensor and returns the data as a sensors_event_t
379
*/
380
/**************************************************************************/
381
bool Adafruit_BNO055::getEvent(sensors_event_t *event)
382
{
383
  /* Clear the event */
384
  memset(event, 0, sizeof(sensors_event_t));
385

    
386
  event->version   = sizeof(sensors_event_t);
387
  event->sensor_id = _sensorID;
388
  event->type      = SENSOR_TYPE_ORIENTATION;
389
  event->timestamp = millis();
390

    
391
  /* Get a Euler angle sample for orientation */
392
  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
393
  event->orientation.x = euler.x();
394
  event->orientation.y = euler.y();
395
  event->orientation.z = euler.z();
396

    
397
  return true;
398
}
399

    
400
/**************************************************************************/
401
/*!
402
@brief  Reads the sensor's offset registers into a byte array
403
*/
404
/**************************************************************************/
405
bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
406
{
407
    if (isFullyCalibrated())
408
    {
409
        adafruit_bno055_opmode_t lastMode = _mode;
410
        setMode(OPERATION_MODE_CONFIG);
411

    
412
        readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
413

    
414
        setMode(lastMode);
415
        return true;
416
    }
417
    return false;
418
}
419

    
420
/**************************************************************************/
421
/*!
422
@brief  Reads the sensor's offset registers into an offset struct
423
*/
424
/**************************************************************************/
425
bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
426
{
427
    if (isFullyCalibrated())
428
    {
429
        adafruit_bno055_opmode_t lastMode = _mode;
430
        setMode(OPERATION_MODE_CONFIG);
431
        delay(25);
432

    
433
        offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
434
        offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
435
        offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
436

    
437
        offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
438
        offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
439
        offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
440

    
441
        offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
442
        offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
443
        offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
444

    
445
        offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
446
        offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
447

    
448
        setMode(lastMode);
449
        return true;
450
    }
451
    return false;
452
}
453

    
454

    
455
/**************************************************************************/
456
/*!
457
@brief  Writes an array of calibration values to the sensor's offset registers
458
*/
459
/**************************************************************************/
460
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)
461
{
462
    adafruit_bno055_opmode_t lastMode = _mode;
463
    setMode(OPERATION_MODE_CONFIG);
464
    delay(25);
465

    
466
    /* A writeLen() would make this much cleaner */
467
    write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
468
    write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
469
    write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
470
    write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
471
    write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
472
    write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
473

    
474
    write8(GYRO_OFFSET_X_LSB_ADDR, calibData[6]);
475
    write8(GYRO_OFFSET_X_MSB_ADDR, calibData[7]);
476
    write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[8]);
477
    write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[9]);
478
    write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[10]);
479
    write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[11]);
480

    
481
    write8(MAG_OFFSET_X_LSB_ADDR, calibData[12]);
482
    write8(MAG_OFFSET_X_MSB_ADDR, calibData[13]);
483
    write8(MAG_OFFSET_Y_LSB_ADDR, calibData[14]);
484
    write8(MAG_OFFSET_Y_MSB_ADDR, calibData[15]);
485
    write8(MAG_OFFSET_Z_LSB_ADDR, calibData[16]);
486
    write8(MAG_OFFSET_Z_MSB_ADDR, calibData[17]);
487

    
488
    write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
489
    write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
490

    
491
    write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
492
    write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
493

    
494
    setMode(lastMode);
495
}
496

    
497
/**************************************************************************/
498
/*!
499
@brief  Writes to the sensor's offset registers from an offset struct
500
*/
501
/**************************************************************************/
502
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)
503
{
504
    adafruit_bno055_opmode_t lastMode = _mode;
505
    setMode(OPERATION_MODE_CONFIG);
506
    delay(25);
507

    
508
    write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
509
    write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
510
    write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
511
    write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
512
    write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
513
    write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
514

    
515
    write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
516
    write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
517
    write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
518
    write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
519
    write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
520
    write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
521

    
522
    write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
523
    write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
524
    write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
525
    write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
526
    write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
527
    write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
528

    
529
    write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
530
    write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
531

    
532
    write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
533
    write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
534

    
535
    setMode(lastMode);
536
}
537

    
538
bool Adafruit_BNO055::isFullyCalibrated(void)
539
{
540
    uint8_t system, gyro, accel, mag;
541
    getCalibration(&system, &gyro, &accel, &mag);
542
    if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
543
        return false;
544
    return true;
545
}
546

    
547

    
548
/***************************************************************************
549
 PRIVATE FUNCTIONS
550
 ***************************************************************************/
551

    
552
/**************************************************************************/
553
/*!
554
    @brief  Writes an 8 bit value over I2C
555
*/
556
/**************************************************************************/
557
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
558
{
559
  Wire.beginTransmission(_address);
560
  #if ARDUINO >= 100
561
    Wire.write((uint8_t)reg);
562
    Wire.write((uint8_t)value);
563
  #else
564
    Wire.send(reg);
565
    Wire.send(value);
566
  #endif
567
  Wire.endTransmission();
568

    
569
  /* ToDo: Check for error! */
570
  return true;
571
}
572

    
573
/**************************************************************************/
574
/*!
575
    @brief  Reads an 8 bit value over I2C
576
*/
577
/**************************************************************************/
578
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
579
{
580
  byte value = 0;
581

    
582
  Wire.beginTransmission(_address);
583
  #if ARDUINO >= 100
584
    Wire.write((uint8_t)reg);
585
  #else
586
    Wire.send(reg);
587
  #endif
588
  Wire.endTransmission();
589
  Wire.requestFrom(_address, (byte)1);
590
  #if ARDUINO >= 100
591
    value = Wire.read();
592
  #else
593
    value = Wire.receive();
594
  #endif
595

    
596
  return value;
597
}
598

    
599
/**************************************************************************/
600
/*!
601
    @brief  Reads the specified number of bytes over I2C
602
*/
603
/**************************************************************************/
604
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
605
{
606
  Wire.beginTransmission(_address);
607
  #if ARDUINO >= 100
608
    Wire.write((uint8_t)reg);
609
  #else
610
    Wire.send(reg);
611
  #endif
612
  Wire.endTransmission();
613
  Wire.requestFrom(_address, (byte)len);
614

    
615
  for (uint8_t i = 0; i < len; i++)
616
  {
617
    #if ARDUINO >= 100
618
      buffer[i] = Wire.read();
619
    #else
620
      buffer[i] = Wire.receive();
621
    #endif
622
  }
623

    
624
  /* ToDo: Check for errors! */
625
  return true;
626
}