/*************************************************************************** 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! ------> http://www.adafruit.com/products 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 ***************************************************************************/ #if ARDUINO >= 100 #include "Arduino.h" #else #include "WProgram.h" #endif #include #include #include "Adafruit_BNO055.h" /*************************************************************************** CONSTRUCTOR ***************************************************************************/ /**************************************************************************/ /*! @brief Instantiates a new Adafruit_BNO055 class */ /**************************************************************************/ Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) { _sensorID = sensorID; _address = address; } /*************************************************************************** PUBLIC FUNCTIONS ***************************************************************************/ /**************************************************************************/ /*! @brief Sets up the HW */ /**************************************************************************/ bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) { /* Enable I2C */ Wire.begin(); // BNO055 clock stretches for 500us or more! #ifdef ESP8266 Wire.setClockStretchLimit(1000); // Allow for 1000us of clock stretching #endif /* Make sure we have the right device */ uint8_t id = read8(BNO055_CHIP_ID_ADDR); if(id != BNO055_ID) { delay(1000); // hold on for boot id = read8(BNO055_CHIP_ID_ADDR); if(id != BNO055_ID) { return false; // still not? ok bail } } /* Switch to config mode (just in case since this is the default) */ setMode(OPERATION_MODE_CONFIG); /* Reset */ write8(BNO055_SYS_TRIGGER_ADDR, 0x20); while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) { delay(10); } delay(50); /* Set to normal power mode */ write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL); delay(10); write8(BNO055_PAGE_ID_ADDR, 0); /* Set the output units */ /* uint8_t unitsel = (0 << 7) | // Orientation = Android (0 << 4) | // Temperature = Celsius (0 << 2) | // Euler = Degrees (1 << 1) | // Gyro = Rads (0 << 0); // Accelerometer = m/s^2 write8(BNO055_UNIT_SEL_ADDR, unitsel); */ /* Configure axis mapping (see section 3.4) */ /**/ write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P7); // P0-P7, Default is P1 delay(10); write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P7); // P0-P7, Default is P1 delay(10); /**/ write8(BNO055_SYS_TRIGGER_ADDR, 0x0); delay(10); /* Set the requested operating mode (see section 3.3) */ setMode(mode); delay(20); return true; } /**************************************************************************/ /*! @brief Puts the chip in the specified operating mode */ /**************************************************************************/ void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) { _mode = mode; write8(BNO055_OPR_MODE_ADDR, _mode); delay(30); } /**************************************************************************/ /*! @brief Changes the chip's axis remap */ /**************************************************************************/ void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode ) { adafruit_bno055_opmode_t modeback = _mode; setMode(OPERATION_MODE_CONFIG); delay(25); write8(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode); delay(10); /* Set the requested operating mode (see section 3.3) */ setMode(modeback); delay(20); } /**************************************************************************/ /*! @brief Changes the chip's axis signs */ /**************************************************************************/ void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign ) { adafruit_bno055_opmode_t modeback = _mode; setMode(OPERATION_MODE_CONFIG); delay(25); write8(BNO055_AXIS_MAP_SIGN_ADDR, remapsign); delay(10); /* Set the requested operating mode (see section 3.3) */ setMode(modeback); delay(20); } /**************************************************************************/ /*! @brief Use the external 32.768KHz crystal */ /**************************************************************************/ void Adafruit_BNO055::setExtCrystalUse(boolean usextal) { adafruit_bno055_opmode_t modeback = _mode; /* Switch to config mode (just in case since this is the default) */ setMode(OPERATION_MODE_CONFIG); delay(25); write8(BNO055_PAGE_ID_ADDR, 0); if (usextal) { write8(BNO055_SYS_TRIGGER_ADDR, 0x80); } else { write8(BNO055_SYS_TRIGGER_ADDR, 0x00); } delay(10); /* Set the requested operating mode (see section 3.3) */ setMode(modeback); delay(20); } /**************************************************************************/ /*! @brief Gets the latest system status info */ /**************************************************************************/ void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error) { write8(BNO055_PAGE_ID_ADDR, 0); /* System Status (see section 4.3.58) --------------------------------- 0 = Idle 1 = System Error 2 = Initializing Peripherals 3 = System Iniitalization 4 = Executing Self-Test 5 = Sensor fusio algorithm running 6 = System running without fusion algorithms */ if (system_status != 0) *system_status = read8(BNO055_SYS_STAT_ADDR); /* Self Test Results (see section ) -------------------------------- 1 = test passed, 0 = test failed Bit 0 = Accelerometer self test Bit 1 = Magnetometer self test Bit 2 = Gyroscope self test Bit 3 = MCU self test 0x0F = all good! */ if (self_test_result != 0) *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR); /* System Error (see section 4.3.59) --------------------------------- 0 = No error 1 = Peripheral initialization error 2 = System initialization error 3 = Self test result failed 4 = Register map value out of range 5 = Register map address out of range 6 = Register map write error 7 = BNO low power mode not available for selected operat ion mode 8 = Accelerometer power mode not available 9 = Fusion algorithm configuration error A = Sensor configuration error */ if (system_error != 0) *system_error = read8(BNO055_SYS_ERR_ADDR); delay(200); } /**************************************************************************/ /*! @brief Gets the chip revision numbers */ /**************************************************************************/ void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info) { uint8_t a, b; memset(info, 0, sizeof(adafruit_bno055_rev_info_t)); /* Check the accelerometer revision */ info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR); /* Check the magnetometer revision */ info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR); /* Check the gyroscope revision */ info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR); /* Check the SW revision */ info->bl_rev = read8(BNO055_BL_REV_ID_ADDR); a = read8(BNO055_SW_REV_ID_LSB_ADDR); b = read8(BNO055_SW_REV_ID_MSB_ADDR); info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a); } /**************************************************************************/ /*! @brief Gets current calibration state. Each value should be a uint8_t pointer and it will be set to 0 if not calibrated and 3 if fully calibrated. */ /**************************************************************************/ void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) { uint8_t calData = read8(BNO055_CALIB_STAT_ADDR); if (sys != NULL) { *sys = (calData >> 6) & 0x03; } if (gyro != NULL) { *gyro = (calData >> 4) & 0x03; } if (accel != NULL) { *accel = (calData >> 2) & 0x03; } if (mag != NULL) { *mag = calData & 0x03; } } /**************************************************************************/ /*! @brief Gets the temperature in degrees celsius */ /**************************************************************************/ int8_t Adafruit_BNO055::getTemp(void) { int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR)); return temp; } /**************************************************************************/ /*! @brief Gets a vector reading from the specified source */ /**************************************************************************/ imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) { imu::Vector<3> xyz; uint8_t buffer[6]; memset (buffer, 0, 6); int16_t x, y, z; x = y = z = 0; /* Read vector data (6 bytes) */ readLen((adafruit_bno055_reg_t)vector_type, buffer, 6); x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8); y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8); z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8); /* Convert the value to an appropriate range (section 3.6.4) */ /* and assign the value to the Vector type */ switch(vector_type) { case VECTOR_MAGNETOMETER: /* 1uT = 16 LSB */ xyz[0] = ((double)x)/16.0; xyz[1] = ((double)y)/16.0; xyz[2] = ((double)z)/16.0; break; case VECTOR_GYROSCOPE: /* 1dps = 16 LSB */ xyz[0] = ((double)x)/16.0; xyz[1] = ((double)y)/16.0; xyz[2] = ((double)z)/16.0; break; case VECTOR_EULER: /* 1 degree = 16 LSB */ xyz[0] = ((double)x)/16.0; xyz[1] = ((double)y)/16.0; xyz[2] = ((double)z)/16.0; break; case VECTOR_ACCELEROMETER: case VECTOR_LINEARACCEL: case VECTOR_GRAVITY: /* 1m/s^2 = 100 LSB */ xyz[0] = ((double)x)/100.0; xyz[1] = ((double)y)/100.0; xyz[2] = ((double)z)/100.0; break; } return xyz; } /**************************************************************************/ /*! @brief Gets a quaternion reading from the specified source */ /**************************************************************************/ imu::Quaternion Adafruit_BNO055::getQuat(void) { uint8_t buffer[8]; memset (buffer, 0, 8); int16_t x, y, z, w; x = y = z = w = 0; /* Read quat data (8 bytes) */ readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8); w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]); x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]); y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]); z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]); /* Assign to Quaternion */ /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf 3.6.5.5 Orientation (Quaternion) */ const double scale = (1.0 / (1<<14)); imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z); return quat; } /**************************************************************************/ /*! @brief Provides the sensor_t data for this sensor */ /**************************************************************************/ void Adafruit_BNO055::getSensor(sensor_t *sensor) { /* Clear the sensor_t object */ memset(sensor, 0, sizeof(sensor_t)); /* Insert the sensor name in the fixed length char array */ strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1); sensor->name[sizeof(sensor->name)- 1] = 0; sensor->version = 1; sensor->sensor_id = _sensorID; sensor->type = SENSOR_TYPE_ORIENTATION; sensor->min_delay = 0; sensor->max_value = 0.0F; sensor->min_value = 0.0F; sensor->resolution = 0.01F; } /**************************************************************************/ /*! @brief Reads the sensor and returns the data as a sensors_event_t */ /**************************************************************************/ bool Adafruit_BNO055::getEvent(sensors_event_t *event) { /* Clear the event */ memset(event, 0, sizeof(sensors_event_t)); event->version = sizeof(sensors_event_t); event->sensor_id = _sensorID; event->type = SENSOR_TYPE_ORIENTATION; event->timestamp = millis(); /* Get a Euler angle sample for orientation */ imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER); event->orientation.x = euler.x(); event->orientation.y = euler.y(); event->orientation.z = euler.z(); return true; } /**************************************************************************/ /*! @brief Reads the sensor's offset registers into a byte array */ /**************************************************************************/ bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData) { if (isFullyCalibrated()) { adafruit_bno055_opmode_t lastMode = _mode; setMode(OPERATION_MODE_CONFIG); readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS); setMode(lastMode); return true; } return false; } /**************************************************************************/ /*! @brief Reads the sensor's offset registers into an offset struct */ /**************************************************************************/ bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type) { if (isFullyCalibrated()) { adafruit_bno055_opmode_t lastMode = _mode; setMode(OPERATION_MODE_CONFIG); delay(25); /* Accel offset range depends on the G-range: +/-2g = +/- 2000 mg +/-4g = +/- 4000 mg +/-8g = +/- 8000 mg +/-1§g = +/- 16000 mg */ offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR)); offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR)); offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR)); /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */ offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR)); offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR)); offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR)); /* Gyro offset range depends on the DPS range: 2000 dps = +/- 32000 LSB 1000 dps = +/- 16000 LSB 500 dps = +/- 8000 LSB 250 dps = +/- 4000 LSB 125 dps = +/- 2000 LSB ... where 1 DPS = 16 LSB */ offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR)); offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR)); offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR)); /* Accelerometer radius = +/- 1000 LSB */ offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR)); /* Magnetometer radius = +/- 960 LSB */ offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR)); setMode(lastMode); return true; } return false; } /**************************************************************************/ /*! @brief Writes an array of calibration values to the sensor's offset registers */ /**************************************************************************/ void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData) { adafruit_bno055_opmode_t lastMode = _mode; setMode(OPERATION_MODE_CONFIG); delay(25); /* Note: Configuration will take place only when user writes to the last byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). Therefore the last byte must be written whenever the user wants to changes the configuration. */ /* A writeLen() would make this much cleaner */ write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]); write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]); write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]); write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]); write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]); write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]); write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]); write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]); write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]); write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]); write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]); write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]); write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]); write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]); write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]); write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]); write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]); write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]); write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]); write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]); write8(MAG_RADIUS_LSB_ADDR, calibData[20]); write8(MAG_RADIUS_MSB_ADDR, calibData[21]); setMode(lastMode); } /**************************************************************************/ /*! @brief Writes to the sensor's offset registers from an offset struct */ /**************************************************************************/ void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) { adafruit_bno055_opmode_t lastMode = _mode; setMode(OPERATION_MODE_CONFIG); delay(25); /* Note: Configuration will take place only when user writes to the last byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). Therefore the last byte must be written whenever the user wants to changes the configuration. */ write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF); write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF); write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF); write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF); write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF); write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF); write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF); write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF); write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF); write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF); write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF); write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); setMode(lastMode); } /**************************************************************************/ /*! @brief Checks of all cal status values are set to 3 (fully calibrated) */ /**************************************************************************/ bool Adafruit_BNO055::isFullyCalibrated(void) { uint8_t system, gyro, accel, mag; getCalibration(&system, &gyro, &accel, &mag); if (system < 3 || gyro < 3 || accel < 3 || mag < 3) return false; return true; } /*************************************************************************** PRIVATE FUNCTIONS ***************************************************************************/ /**************************************************************************/ /*! @brief Writes an 8 bit value over I2C */ /**************************************************************************/ bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) { Wire.beginTransmission(_address); #if ARDUINO >= 100 Wire.write((uint8_t)reg); Wire.write((uint8_t)value); #else Wire.send(reg); Wire.send(value); #endif Wire.endTransmission(); /* ToDo: Check for error! */ return true; } /**************************************************************************/ /*! @brief Reads an 8 bit value over I2C */ /**************************************************************************/ byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg ) { byte value = 0; Wire.beginTransmission(_address); #if ARDUINO >= 100 Wire.write((uint8_t)reg); #else Wire.send(reg); #endif Wire.endTransmission(); Wire.requestFrom(_address, (byte)1); #if ARDUINO >= 100 value = Wire.read(); #else value = Wire.receive(); #endif return value; } /**************************************************************************/ /*! @brief Reads the specified number of bytes over I2C */ /**************************************************************************/ bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len) { Wire.beginTransmission(_address); #if ARDUINO >= 100 Wire.write((uint8_t)reg); #else Wire.send(reg); #endif Wire.endTransmission(); Wire.requestFrom(_address, (byte)len); for (uint8_t i = 0; i < len; i++) { #if ARDUINO >= 100 buffer[i] = Wire.read(); #else buffer[i] = Wire.receive(); #endif } /* ToDo: Check for errors! */ return true; }