327 lines
15 KiB
C++
327 lines
15 KiB
C++
/***************************************************************************
|
|
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
|
|
***************************************************************************/
|
|
|
|
#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)
|
|
|
|
typedef struct
|
|
{
|
|
int16_t accel_offset_x;
|
|
int16_t accel_offset_y;
|
|
int16_t accel_offset_z;
|
|
int16_t mag_offset_x;
|
|
int16_t mag_offset_y;
|
|
int16_t mag_offset_z;
|
|
int16_t gyro_offset_x;
|
|
int16_t gyro_offset_y;
|
|
int16_t gyro_offset_z;
|
|
|
|
int16_t accel_radius;
|
|
int16_t mag_radius;
|
|
} adafruit_bno055_offsets_t;
|
|
|
|
class Adafruit_BNO055 : public Adafruit_Sensor
|
|
{
|
|
public:
|
|
typedef enum
|
|
{
|
|
/* Page id register definition */
|
|
BNO055_PAGE_ID_ADDR = 0X07,
|
|
|
|
/* PAGE0 REGISTER DEFINITION START*/
|
|
BNO055_CHIP_ID_ADDR = 0x00,
|
|
BNO055_ACCEL_REV_ID_ADDR = 0x01,
|
|
BNO055_MAG_REV_ID_ADDR = 0x02,
|
|
BNO055_GYRO_REV_ID_ADDR = 0x03,
|
|
BNO055_SW_REV_ID_LSB_ADDR = 0x04,
|
|
BNO055_SW_REV_ID_MSB_ADDR = 0x05,
|
|
BNO055_BL_REV_ID_ADDR = 0X06,
|
|
|
|
/* Accel data register */
|
|
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
|
|
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
|
|
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
|
|
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
|
|
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
|
|
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
|
|
|
|
/* Mag data register */
|
|
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
|
|
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
|
|
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
|
|
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
|
|
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
|
|
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
|
|
|
|
/* Gyro data registers */
|
|
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
|
|
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
|
|
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
|
|
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
|
|
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
|
|
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
|
|
|
|
/* Euler data registers */
|
|
BNO055_EULER_H_LSB_ADDR = 0X1A,
|
|
BNO055_EULER_H_MSB_ADDR = 0X1B,
|
|
BNO055_EULER_R_LSB_ADDR = 0X1C,
|
|
BNO055_EULER_R_MSB_ADDR = 0X1D,
|
|
BNO055_EULER_P_LSB_ADDR = 0X1E,
|
|
BNO055_EULER_P_MSB_ADDR = 0X1F,
|
|
|
|
/* Quaternion data registers */
|
|
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
|
|
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
|
|
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
|
|
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
|
|
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
|
|
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
|
|
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
|
|
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
|
|
|
|
/* Linear acceleration data registers */
|
|
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
|
|
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
|
|
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
|
|
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
|
|
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
|
|
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
|
|
|
|
/* Gravity data registers */
|
|
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
|
|
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
|
|
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
|
|
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
|
|
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
|
|
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
|
|
|
|
/* Temperature data register */
|
|
BNO055_TEMP_ADDR = 0X34,
|
|
|
|
/* Status registers */
|
|
BNO055_CALIB_STAT_ADDR = 0X35,
|
|
BNO055_SELFTEST_RESULT_ADDR = 0X36,
|
|
BNO055_INTR_STAT_ADDR = 0X37,
|
|
|
|
BNO055_SYS_CLK_STAT_ADDR = 0X38,
|
|
BNO055_SYS_STAT_ADDR = 0X39,
|
|
BNO055_SYS_ERR_ADDR = 0X3A,
|
|
|
|
/* Unit selection register */
|
|
BNO055_UNIT_SEL_ADDR = 0X3B,
|
|
BNO055_DATA_SELECT_ADDR = 0X3C,
|
|
|
|
/* Mode registers */
|
|
BNO055_OPR_MODE_ADDR = 0X3D,
|
|
BNO055_PWR_MODE_ADDR = 0X3E,
|
|
|
|
BNO055_SYS_TRIGGER_ADDR = 0X3F,
|
|
BNO055_TEMP_SOURCE_ADDR = 0X40,
|
|
|
|
/* Axis remap registers */
|
|
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
|
|
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
|
|
|
|
/* SIC registers */
|
|
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
|
|
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
|
|
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
|
|
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
|
|
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
|
|
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
|
|
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
|
|
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
|
|
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
|
|
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
|
|
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
|
|
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
|
|
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
|
|
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
|
|
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
|
|
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
|
|
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
|
|
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
|
|
|
|
/* Accelerometer Offset registers */
|
|
ACCEL_OFFSET_X_LSB_ADDR = 0X55,
|
|
ACCEL_OFFSET_X_MSB_ADDR = 0X56,
|
|
ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
|
|
ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
|
|
ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
|
|
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
|
|
|
|
/* Magnetometer Offset registers */
|
|
MAG_OFFSET_X_LSB_ADDR = 0X5B,
|
|
MAG_OFFSET_X_MSB_ADDR = 0X5C,
|
|
MAG_OFFSET_Y_LSB_ADDR = 0X5D,
|
|
MAG_OFFSET_Y_MSB_ADDR = 0X5E,
|
|
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
|
|
MAG_OFFSET_Z_MSB_ADDR = 0X60,
|
|
|
|
/* Gyroscope Offset register s*/
|
|
GYRO_OFFSET_X_LSB_ADDR = 0X61,
|
|
GYRO_OFFSET_X_MSB_ADDR = 0X62,
|
|
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
|
|
GYRO_OFFSET_Y_MSB_ADDR = 0X64,
|
|
GYRO_OFFSET_Z_LSB_ADDR = 0X65,
|
|
GYRO_OFFSET_Z_MSB_ADDR = 0X66,
|
|
|
|
/* Radius registers */
|
|
ACCEL_RADIUS_LSB_ADDR = 0X67,
|
|
ACCEL_RADIUS_MSB_ADDR = 0X68,
|
|
MAG_RADIUS_LSB_ADDR = 0X69,
|
|
MAG_RADIUS_MSB_ADDR = 0X6A
|
|
} adafruit_bno055_reg_t;
|
|
|
|
typedef enum
|
|
{
|
|
POWER_MODE_NORMAL = 0X00,
|
|
POWER_MODE_LOWPOWER = 0X01,
|
|
POWER_MODE_SUSPEND = 0X02
|
|
} adafruit_bno055_powermode_t;
|
|
|
|
typedef enum
|
|
{
|
|
/* Operation mode settings*/
|
|
OPERATION_MODE_CONFIG = 0X00,
|
|
OPERATION_MODE_ACCONLY = 0X01,
|
|
OPERATION_MODE_MAGONLY = 0X02,
|
|
OPERATION_MODE_GYRONLY = 0X03,
|
|
OPERATION_MODE_ACCMAG = 0X04,
|
|
OPERATION_MODE_ACCGYRO = 0X05,
|
|
OPERATION_MODE_MAGGYRO = 0X06,
|
|
OPERATION_MODE_AMG = 0X07,
|
|
OPERATION_MODE_IMUPLUS = 0X08,
|
|
OPERATION_MODE_COMPASS = 0X09,
|
|
OPERATION_MODE_M4G = 0X0A,
|
|
OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
|
|
OPERATION_MODE_NDOF = 0X0C
|
|
} adafruit_bno055_opmode_t;
|
|
|
|
typedef enum
|
|
{
|
|
REMAP_CONFIG_P0 = 0x21,
|
|
REMAP_CONFIG_P1 = 0x24, // default
|
|
REMAP_CONFIG_P2 = 0x24,
|
|
REMAP_CONFIG_P3 = 0x21,
|
|
REMAP_CONFIG_P4 = 0x24,
|
|
REMAP_CONFIG_P5 = 0x21,
|
|
REMAP_CONFIG_P6 = 0x21,
|
|
REMAP_CONFIG_P7 = 0x24
|
|
} adafruit_bno055_axis_remap_config_t;
|
|
|
|
typedef enum
|
|
{
|
|
REMAP_SIGN_P0 = 0x04,
|
|
REMAP_SIGN_P1 = 0x00, // default
|
|
REMAP_SIGN_P2 = 0x06,
|
|
REMAP_SIGN_P3 = 0x02,
|
|
REMAP_SIGN_P4 = 0x03,
|
|
REMAP_SIGN_P5 = 0x01,
|
|
REMAP_SIGN_P6 = 0x07,
|
|
REMAP_SIGN_P7 = 0x05
|
|
} adafruit_bno055_axis_remap_sign_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t accel_rev;
|
|
uint8_t mag_rev;
|
|
uint8_t gyro_rev;
|
|
uint16_t sw_rev;
|
|
uint8_t bl_rev;
|
|
} adafruit_bno055_rev_info_t;
|
|
|
|
typedef enum
|
|
{
|
|
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
|
|
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
|
|
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
|
|
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
|
|
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
|
|
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
|
|
} adafruit_vector_type_t;
|
|
|
|
#if defined (ARDUINO_SAMD_ZERO) && ! (ARDUINO_SAMD_FEATHER_M0)
|
|
#error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."
|
|
Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );
|
|
#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 displayRevInfo ( void );
|
|
void setExtCrystalUse ( boolean usextal );
|
|
void getSystemStatus ( uint8_t *system_status,
|
|
uint8_t *self_test_result,
|
|
uint8_t *system_error);
|
|
void displaySystemStatus ( void );
|
|
void getCalibration ( uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag);
|
|
|
|
imu::Vector<3> getVector ( adafruit_vector_type_t vector_type );
|
|
imu::Quaternion getQuat ( void );
|
|
int8_t getTemp ( void );
|
|
|
|
/* Adafruit_Sensor implementation */
|
|
bool getEvent ( sensors_event_t* );
|
|
void getSensor ( sensor_t* );
|
|
|
|
/* Functions to deal with raw calibration data */
|
|
bool getSensorOffsets(uint8_t* calibData);
|
|
bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
|
|
void setSensorOffsets(const uint8_t* calibData);
|
|
void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
|
|
bool isFullyCalibrated(void);
|
|
|
|
private:
|
|
byte read8 ( adafruit_bno055_reg_t );
|
|
bool readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
|
|
bool write8 ( adafruit_bno055_reg_t, byte value );
|
|
|
|
uint8_t _address;
|
|
int32_t _sensorID;
|
|
adafruit_bno055_opmode_t _mode;
|
|
};
|
|
|
|
#endif
|