amiro-lld / include / BNO055 / v1 / alld_BNO055_v1.h @ 5d67f4db
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as pub
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hed by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file alld_BNO055_v1.h
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* @brief Accelerometer macros and structures.
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*
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* @addtogroup lld_accel
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* @{
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*/
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#ifndef AMIROLLD_BNO055_V1_H
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#define AMIROLLD_BNO055_V1_H
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#include <amiro-lld.h> |
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#if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES */
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/******************************************************************************/
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/**
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* @brief The BNO055 mode (sensor, fusion)
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*/
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typedef enum { |
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MOTN_MODE_NONE = 0,
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MOTN_MODE_ACC, |
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MOTN_MODE_GYR, |
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MOTN_MODE_MAG, |
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MOTN_MODE_ACC_GYR, |
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MOTN_MODE_ACC_MAG, |
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MOTN_MODE_GYRO_MAG, |
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MOTN_MODE_ACC_GYR_MAG, |
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MOTN_MODE_IMU, |
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MOTN_MODE_COMPASS, |
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MOTN_MODE_M4G, |
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MOTN_MODE_NDOF |
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} BNO055_Mode; |
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/**
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* @brief The BNO055 unified sample rate settings
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*/
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typedef enum { |
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MOTN_SR_LOW = 0, MOTN_SR_NORMAL, MOTN_SR_HIGHSPEED
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} BNO055_SampleRate; |
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/**
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* @brief The BNO055 driver struct
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*/
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typedef struct { |
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apalSPIDriver_t* spid; /**< @brief The SPI Driver */
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BNO055_Mode mode; |
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BNO055_SampleRate sr; |
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} BNO055_Driver; |
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typedef struct { |
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int16_t ax; |
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int16_t ay; |
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int16_t az; |
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} BNO055_DataAcc; |
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typedef struct { |
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int16_t gx; |
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int16_t gy; |
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int16_t gz; |
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} BNO055_DataGyr; |
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typedef struct { |
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int16_t mx; |
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int16_t my; |
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int16_t mz; |
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} BNO055_DataMag; |
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typedef struct { |
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int16_t eh; |
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int16_t er; |
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int16_t ep; |
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} BNO055_DataEuler; |
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typedef struct { |
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int16_t qw; |
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int16_t qx; |
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int16_t qy; |
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int16_t qz; |
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} BNO055_DataQuaternion; |
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typedef union { |
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BNO055_DataEuler euler; |
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BNO055_DataQuaternion quaternion; |
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} BNO055_DataFusion; |
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#define MOTN_DATA_ACC_OFFSET 0 |
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#define MOTN_DATA_GYR_OFFSET 6 |
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#define MOTN_DATA_MGN_OFFSET 12 |
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typedef struct { |
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BNO055_DataAcc acc; |
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BNO055_DataGyr gyr; |
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BNO055_DataMag mag; |
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} BNO055_Data; |
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typedef union { |
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// 8 Bytes is max from BNO055_DataQuaternion
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uint8_t byte[18];
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BNO055_Data raw; // max 18 Byte
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BNO055_DataFusion fsn; // max 8 Byte
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} BNO055_DataUnion; |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS */
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/******************************************************************************/
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#ifdef __cplusplus
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extern "C" { |
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#endif
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apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno); |
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apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr); |
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apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto); |
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//TODO add more fancy functions to do more fancy things e.g.
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//apalExitStatus_t BNO055_lld_start_calibration(...)
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//apalExitStatus_t BNO055_lld_set_interrupts(...)
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//apalExitStatus_t BNO055_lld_enable_interrupts(...)
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//apalExitStatus_t BNO055_lld_clear_interrupts()
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#ifdef __cplusplus
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} |
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#endif
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/******************************************************************************/
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/* INLINE FUNCTIONS */
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/******************************************************************************/
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#endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */ |
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#endif /* AMIROLLD_BNO055_V1_H */ |
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/** @} */
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