amiro-lld / source / BNO055 / v1 / alld_BNO055_v1.c @ 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 published 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.c
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* @brief Accelerometer function implementations.
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*
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* @addtogroup lld_accel
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* @{
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*/
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#include <alld_BNO055.h> |
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#include <bno055_reg.h> |
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#if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__) |
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#include <string.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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static BNO055_Driver local_drv_cpy;
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/* BNO055 callbacks */
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void BNO055_delay_msek(u32 msek) {
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//TODO aos or chibios fct?
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chThdSleepMicroseconds(msek); |
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} |
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/* \Brief: The API is used as I2C bus write
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* \Return : Status of the I2C write
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* \param dev_addr : The device address of the sensor
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* \param reg_addr : Address of the first register,
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* will data is going to be written
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* \param reg_data : It is a value hold in the array,
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* will be used for write the value into the register
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* \param cnt : The no of byte of data to be write
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*/
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s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
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s8 BNO055_iERROR = BNO055_INIT_VALUE; |
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uint8_t buffer[cnt+1];
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uint8_t i = BNO055_INIT_VALUE; |
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buffer[0] = reg_addr;
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memcpy(buffer+1, reg_data, cnt);
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apalExitStatus_t status = apalSPITransmit(local_drv_cpy.spid, |
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buffer, cnt+1);
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switch (status) {
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case APAL_STATUS_OK:
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BNO055_iERROR = BNO055_SUCCESS; |
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break;
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case APAL_STATUS_ERROR:
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case APAL_STATUS_TIMEOUT:
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case APAL_STATUS_INVALIDARGUMENTS:
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case APAL_STATUS_UNAVAILABLE:
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BNO055_iERROR = BNO055_ERROR; |
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break;
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default:
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BNO055_iERROR = BNO055_ERROR; |
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break;
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} |
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return (s8) BNO055_iERROR;
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} |
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/* \Brief: The API is used as I2C bus read
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* \Return : Status of the I2C read
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* \param dev_addr : The device address of the sensor
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* \param reg_addr : Address of the first register,
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* will data is going to be read
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* \param reg_data : This data read from the sensor,
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* which is hold in an array
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* \param cnt : The no of byte of data to be read
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*/
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s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
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s8 BNO055_iERROR = BNO055_INIT_VALUE; |
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uint8_t buffer[cnt+1];
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uint8_t i = 0;
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buffer[0] = reg_addr;
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apalExitStatus_t status = apalSPIExchange(local_drv_cpy.spid, |
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buffer, buffer, cnt+1);
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switch (status) {
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case APAL_STATUS_OK:
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BNO055_iERROR = BNO055_SUCCESS; |
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memcpy(reg_data, buffer+1, cnt);
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break;
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case APAL_STATUS_ERROR:
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case APAL_STATUS_TIMEOUT:
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case APAL_STATUS_INVALIDARGUMENTS:
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case APAL_STATUS_UNAVAILABLE:
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BNO055_iERROR = BNO055_ERROR; |
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break;
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default:
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BNO055_iERROR = BNO055_ERROR; |
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break;
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} |
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return (s8) BNO055_iERROR;
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno){ |
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//TODO refactor local drv copy -> make stateless
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local_drv_cpy = *bno; |
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static struct bno055_t bno055; |
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bno055.bus_write = BNO055_I2C_bus_write; |
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bno055.bus_read = BNO055_I2C_bus_read; |
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bno055.delay_msec = BNO055_delay_msek; |
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//TODO check I2C address
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bno055.dev_addr = BNO055_I2C_ADDR2; |
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BNO055_RETURN_FUNCTION_TYPE ret = bno055_init(&bno055); |
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if (ret == BNO055_SUCCESS){
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return BNO055_lld_set_mode(local_drv_cpy.mode, local_drv_cpy.sr);
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} |
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return APAL_STATUS_ERROR;
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} |
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apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr){ |
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local_drv_cpy.mode = mode; |
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local_drv_cpy.sr = sr; |
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// switch BNO on/off
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switch (local_drv_cpy.mode) {
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case MOTN_MODE_NONE:
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bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND); |
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return APAL_STATUS_OK;
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case MOTN_MODE_GYR:
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case MOTN_MODE_MAG:
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case MOTN_MODE_ACC_GYR:
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case MOTN_MODE_ACC_MAG:
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case MOTN_MODE_GYRO_MAG:
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case MOTN_MODE_ACC_GYR_MAG:
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case MOTN_MODE_IMU:
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case MOTN_MODE_COMPASS:
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case MOTN_MODE_M4G:
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case MOTN_MODE_NDOF:
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bno055_set_power_mode(BNO055_POWER_MODE_NORMAL); |
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break;
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default:
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bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND); |
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break;
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} |
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// and configure BNO as requested
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switch (local_drv_cpy.mode) {
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case MOTN_MODE_ACC:
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bno055_set_power_mode(BNO055_POWER_MODE_NORMAL); |
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_accel_bw(BNO055_ACCEL_BW_15_63HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_accel_bw(BNO055_ACCEL_BW_1000HZ); |
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break;
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default:
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break;
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} |
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bno055_set_gyro_range(BNO055_ACCEL_RANGE_8G); |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCONLY); |
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bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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break;
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case MOTN_MODE_GYR:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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break;
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default:
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break;
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} |
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bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_GYRONLY); |
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bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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break;
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case MOTN_MODE_MAG:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_8HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_15HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_30HZ); |
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break;
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default:
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break;
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} |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGONLY); |
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bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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break;
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case MOTN_MODE_ACC_GYR:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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break;
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default:
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break;
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} |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCGYRO); |
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bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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break;
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case MOTN_MODE_ACC_MAG:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_8HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_15HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_30HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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break;
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default:
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break;
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} |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCMAG); |
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bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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break;
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case MOTN_MODE_GYRO_MAG:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_8HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_15HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_30HZ); |
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break;
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default:
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break;
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} |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGGYRO); |
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bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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break;
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case MOTN_MODE_ACC_GYR_MAG:
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switch (local_drv_cpy.sr) {
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case MOTN_SR_LOW:
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bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_8HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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break;
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case MOTN_SR_NORMAL:
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bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_15HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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break;
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case MOTN_SR_HIGHSPEED:
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bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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bno055_set_mag_data_output_rate( |
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BNO055_MAG_DATA_OUTRATE_30HZ); |
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bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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break;
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default:
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break;
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} |
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bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG); |
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bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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break;
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case MOTN_MODE_IMU:
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bno055_set_operation_mode(BNO055_OPERATION_MODE_IMUPLUS); |
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//sensor parameters are auto controlled in fusion mode
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break;
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case MOTN_MODE_COMPASS:
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bno055_set_operation_mode(BNO055_OPERATION_MODE_COMPASS); |
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//sensor parameters are auto controlled in fusion mode
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break;
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case MOTN_MODE_M4G:
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bno055_set_operation_mode(BNO055_OPERATION_MODE_M4G); |
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//sensor parameters are auto controlled in fusion mode
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break;
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case MOTN_MODE_NDOF:
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bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF); |
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//sensor parameters are auto controlled in fusion mode
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break;
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default:
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return APAL_STATUS_INVALIDARGUMENTS;
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} |
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return APAL_STATUS_OK;
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} |
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apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto){ |
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switch (local_drv_cpy.mode) {
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case MOTN_MODE_ACC:
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bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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break;
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case MOTN_MODE_GYR:
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bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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break;
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case MOTN_MODE_MAG:
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bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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break;
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case MOTN_MODE_ACC_GYR:
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bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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break;
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case MOTN_MODE_ACC_MAG:
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bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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break;
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case MOTN_MODE_GYRO_MAG:
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bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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break;
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case MOTN_MODE_ACC_GYR_MAG:
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bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
|
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bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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break;
|
| 413 |
case MOTN_MODE_COMPASS:
|
| 414 |
bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
|
| 415 |
break;
|
| 416 |
case MOTN_MODE_IMU:
|
| 417 |
case MOTN_MODE_M4G:
|
| 418 |
case MOTN_MODE_NDOF:
|
| 419 |
bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
|
| 420 |
bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
|
| 421 |
bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
|
| 422 |
bno055_read_quaternion_wxyz( |
| 423 |
(struct bno055_quaternion_t*) &(dto->fsn.quaternion));
|
| 424 |
//bno055_read_euler_wxyz((struct bno055_euler_t*) &(dto->fusion.euler));
|
| 425 |
break;
|
| 426 |
default:
|
| 427 |
return APAL_STATUS_INVALIDARGUMENTS;
|
| 428 |
} |
| 429 |
|
| 430 |
} |
| 431 |
|
| 432 |
|
| 433 |
|
| 434 |
|
| 435 |
#endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */ |
| 436 |
|
| 437 |
/** @} */
|