amiro-lld / include / BNO055 / v1 / alld_BNO055_v1.h @ 5d67f4db
History | View | Annotate | Download (5.025 KB)
1 | 5d67f4db | Timm Hörmann | /*
|
---|---|---|---|
2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
||
4 | |||
5 | This program is free software: you can redistribute it and/or modify
|
||
6 | it under the terms of the GNU Lesser General Public License as pub
|
||
7 | hed by
|
||
8 | the Free Software Foundation, either version 3 of the License, or
|
||
9 | (at your option) any later version.
|
||
10 | |||
11 | This program is distributed in the hope that it will be useful,
|
||
12 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
14 | GNU Lesser General Public License for more details.
|
||
15 | |||
16 | You should have received a copy of the GNU Lesser General Public License
|
||
17 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
18 | */
|
||
19 | |||
20 | /**
|
||
21 | * @file alld_BNO055_v1.h
|
||
22 | * @brief Accelerometer macros and structures.
|
||
23 | *
|
||
24 | * @addtogroup lld_accel
|
||
25 | * @{
|
||
26 | */
|
||
27 | |||
28 | #ifndef AMIROLLD_BNO055_V1_H
|
||
29 | #define AMIROLLD_BNO055_V1_H
|
||
30 | |||
31 | #include <amiro-lld.h> |
||
32 | |||
33 | #if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__) |
||
34 | |||
35 | /******************************************************************************/
|
||
36 | /* CONSTANTS */
|
||
37 | /******************************************************************************/
|
||
38 | |||
39 | /******************************************************************************/
|
||
40 | /* SETTINGS */
|
||
41 | /******************************************************************************/
|
||
42 | |||
43 | /******************************************************************************/
|
||
44 | /* CHECKS */
|
||
45 | /******************************************************************************/
|
||
46 | |||
47 | /******************************************************************************/
|
||
48 | /* DATA STRUCTURES AND TYPES */
|
||
49 | /******************************************************************************/
|
||
50 | |||
51 | /**
|
||
52 | * @brief The BNO055 mode (sensor, fusion)
|
||
53 | */
|
||
54 | typedef enum { |
||
55 | MOTN_MODE_NONE = 0,
|
||
56 | MOTN_MODE_ACC, |
||
57 | MOTN_MODE_GYR, |
||
58 | MOTN_MODE_MAG, |
||
59 | MOTN_MODE_ACC_GYR, |
||
60 | MOTN_MODE_ACC_MAG, |
||
61 | MOTN_MODE_GYRO_MAG, |
||
62 | MOTN_MODE_ACC_GYR_MAG, |
||
63 | MOTN_MODE_IMU, |
||
64 | MOTN_MODE_COMPASS, |
||
65 | MOTN_MODE_M4G, |
||
66 | MOTN_MODE_NDOF |
||
67 | } BNO055_Mode; |
||
68 | |||
69 | /**
|
||
70 | * @brief The BNO055 unified sample rate settings
|
||
71 | */
|
||
72 | typedef enum { |
||
73 | MOTN_SR_LOW = 0, MOTN_SR_NORMAL, MOTN_SR_HIGHSPEED
|
||
74 | } BNO055_SampleRate; |
||
75 | |||
76 | /**
|
||
77 | * @brief The BNO055 driver struct
|
||
78 | */
|
||
79 | typedef struct { |
||
80 | apalSPIDriver_t* spid; /**< @brief The SPI Driver */
|
||
81 | BNO055_Mode mode; |
||
82 | BNO055_SampleRate sr; |
||
83 | } BNO055_Driver; |
||
84 | |||
85 | typedef struct { |
||
86 | int16_t ax; |
||
87 | int16_t ay; |
||
88 | int16_t az; |
||
89 | } BNO055_DataAcc; |
||
90 | |||
91 | typedef struct { |
||
92 | int16_t gx; |
||
93 | int16_t gy; |
||
94 | int16_t gz; |
||
95 | } BNO055_DataGyr; |
||
96 | |||
97 | typedef struct { |
||
98 | int16_t mx; |
||
99 | int16_t my; |
||
100 | int16_t mz; |
||
101 | } BNO055_DataMag; |
||
102 | |||
103 | typedef struct { |
||
104 | int16_t eh; |
||
105 | int16_t er; |
||
106 | int16_t ep; |
||
107 | } BNO055_DataEuler; |
||
108 | |||
109 | typedef struct { |
||
110 | int16_t qw; |
||
111 | int16_t qx; |
||
112 | int16_t qy; |
||
113 | int16_t qz; |
||
114 | } BNO055_DataQuaternion; |
||
115 | |||
116 | typedef union { |
||
117 | |||
118 | BNO055_DataEuler euler; |
||
119 | BNO055_DataQuaternion quaternion; |
||
120 | |||
121 | } BNO055_DataFusion; |
||
122 | |||
123 | #define MOTN_DATA_ACC_OFFSET 0 |
||
124 | #define MOTN_DATA_GYR_OFFSET 6 |
||
125 | #define MOTN_DATA_MGN_OFFSET 12 |
||
126 | |||
127 | typedef struct { |
||
128 | BNO055_DataAcc acc; |
||
129 | BNO055_DataGyr gyr; |
||
130 | BNO055_DataMag mag; |
||
131 | |||
132 | } BNO055_Data; |
||
133 | |||
134 | typedef union { |
||
135 | // 8 Bytes is max from BNO055_DataQuaternion
|
||
136 | uint8_t byte[18];
|
||
137 | BNO055_Data raw; // max 18 Byte
|
||
138 | BNO055_DataFusion fsn; // max 8 Byte
|
||
139 | |||
140 | } BNO055_DataUnion; |
||
141 | |||
142 | |||
143 | /******************************************************************************/
|
||
144 | /* MACROS */
|
||
145 | /******************************************************************************/
|
||
146 | |||
147 | /******************************************************************************/
|
||
148 | /* EXTERN DECLARATIONS */
|
||
149 | /******************************************************************************/
|
||
150 | |||
151 | #ifdef __cplusplus
|
||
152 | extern "C" { |
||
153 | #endif
|
||
154 | |||
155 | |||
156 | apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno); |
||
157 | |||
158 | apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr); |
||
159 | apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto); |
||
160 | |||
161 | |||
162 | |||
163 | //TODO add more fancy functions to do more fancy things e.g.
|
||
164 | //apalExitStatus_t BNO055_lld_start_calibration(...)
|
||
165 | |||
166 | //apalExitStatus_t BNO055_lld_set_interrupts(...)
|
||
167 | //apalExitStatus_t BNO055_lld_enable_interrupts(...)
|
||
168 | //apalExitStatus_t BNO055_lld_clear_interrupts()
|
||
169 | |||
170 | |||
171 | |||
172 | #ifdef __cplusplus
|
||
173 | } |
||
174 | #endif
|
||
175 | |||
176 | /******************************************************************************/
|
||
177 | /* INLINE FUNCTIONS */
|
||
178 | /******************************************************************************/
|
||
179 | |||
180 | #endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */ |
||
181 | |||
182 | #endif /* AMIROLLD_BNO055_V1_H */ |
||
183 | |||
184 | /** @} */ |