AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as pub

hed by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_BNO055_v1.h

 * @brief   Accelerometer macros and structures.

 *

 * @addtogroup lld_accel

 * @{

 */

#ifndef AMIROLLD_BNO055_V1_H

#define AMIROLLD_BNO055_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__)

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/* CONSTANTS                                                                  */

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/* SETTINGS                                                                   */

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/* CHECKS                                                                     */

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/* DATA STRUCTURES AND TYPES                                                  */

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/**

 * @brief The BNO055 mode (sensor, fusion)

 */

typedef enum {

    MOTN_MODE_NONE = 0,

    MOTN_MODE_ACC,

    MOTN_MODE_GYR,

    MOTN_MODE_MAG,

    MOTN_MODE_ACC_GYR,

    MOTN_MODE_ACC_MAG,

    MOTN_MODE_GYRO_MAG,

    MOTN_MODE_ACC_GYR_MAG,

    MOTN_MODE_IMU,

    MOTN_MODE_COMPASS,

    MOTN_MODE_M4G,

    MOTN_MODE_NDOF

} BNO055_Mode;

/**

 * @brief The BNO055 unified sample rate settings

 */

typedef enum {

    MOTN_SR_LOW = 0, MOTN_SR_NORMAL, MOTN_SR_HIGHSPEED

} BNO055_SampleRate;

/**

 * @brief The BNO055 driver struct

 */

typedef struct {

  apalSPIDriver_t* spid;        /**< @brief The SPI Driver */

  BNO055_Mode mode;

  BNO055_SampleRate sr;

} BNO055_Driver;

typedef struct {

    int16_t ax;

    int16_t ay;

    int16_t az;

} BNO055_DataAcc;

typedef struct {

    int16_t gx;

    int16_t gy;

    int16_t gz;

} BNO055_DataGyr;

typedef struct {

    int16_t mx;

    int16_t my;

    int16_t mz;

} BNO055_DataMag;

typedef struct {

    int16_t eh;

    int16_t er;

    int16_t ep;

} BNO055_DataEuler;

typedef struct {

    int16_t qw;

    int16_t qx;

    int16_t qy;

    int16_t qz;

} BNO055_DataQuaternion;

typedef union {

    BNO055_DataEuler euler;

    BNO055_DataQuaternion quaternion;

} BNO055_DataFusion;

#define MOTN_DATA_ACC_OFFSET    0

#define MOTN_DATA_GYR_OFFSET    6

#define MOTN_DATA_MGN_OFFSET    12

typedef struct {

    BNO055_DataAcc acc;

    BNO055_DataGyr gyr;

    BNO055_DataMag mag;

} BNO055_Data;

typedef union {

    // 8 Bytes is max from BNO055_DataQuaternion

    uint8_t byte[18];

    BNO055_Data raw;           // max 18 Byte

    BNO055_DataFusion fsn;     // max 8 Byte

} BNO055_DataUnion;

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/* MACROS                                                                     */

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/* EXTERN DECLARATIONS                                                        */

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#ifdef __cplusplus

extern "C" {

#endif

  apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno);

  apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr);

  apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto);

  //TODO add more fancy functions to do more fancy things e.g.

  //apalExitStatus_t BNO055_lld_start_calibration(...)

  //apalExitStatus_t BNO055_lld_set_interrupts(...)

  //apalExitStatus_t BNO055_lld_enable_interrupts(...)

  //apalExitStatus_t BNO055_lld_clear_interrupts()

#ifdef __cplusplus

}

#endif

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/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */

#endif /* AMIROLLD_BNO055_V1_H */

/** @} */