adafruit_bno055 / Adafruit_BNO055.h @ 3cae40b9
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| 1 | 4bc1c0c1 | Kevin Townsend | /***************************************************************************
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| 2 | This is a library for the BNO055 orientation sensor
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| 3 | |||
| 4 | Designed specifically to work with the Adafruit BNO055 Breakout.
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| 5 | |||
| 6 | Pick one up today in the adafruit shop!
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| 7 | ------> http://www.adafruit.com/products
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| 8 | |||
| 9 | These sensors use I2C to communicate, 2 pins are required to interface.
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| 10 | |||
| 11 | Adafruit invests time and resources providing this open source code,
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| 12 | please support Adafruit andopen-source hardware by purchasing products
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| 13 | from Adafruit!
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| 14 | |||
| 15 | Written by KTOWN for Adafruit Industries.
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| 16 | |||
| 17 | MIT license, all text above must be included in any redistribution
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| 18 | 463eabf7 | Wetmelon | ***************************************************************************/
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| 19 | 4bc1c0c1 | Kevin Townsend | |
| 20 | #ifndef __ADAFRUIT_BNO055_H__
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| 21 | #define __ADAFRUIT_BNO055_H__
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| 22 | |||
| 23 | #if (ARDUINO >= 100) |
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| 24 | 463eabf7 | Wetmelon | #include "Arduino.h" |
| 25 | 4bc1c0c1 | Kevin Townsend | #else
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| 26 | 463eabf7 | Wetmelon | #include "WProgram.h" |
| 27 | 4bc1c0c1 | Kevin Townsend | #endif
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| 28 | d964148c | Tony DiCola | |
| 29 | #ifdef __AVR_ATtiny85__
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| 30 | 463eabf7 | Wetmelon | #include <TinyWireM.h> |
| 31 | #define Wire TinyWireM
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| 32 | d964148c | Tony DiCola | #else
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| 33 | 463eabf7 | Wetmelon | #include <Wire.h> |
| 34 | d964148c | Tony DiCola | #endif
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| 35 | 4bc1c0c1 | Kevin Townsend | |
| 36 | #include <Adafruit_Sensor.h> |
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| 37 | #include <utility/imumaths.h> |
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| 38 | |||
| 39 | #define BNO055_ADDRESS_A (0x28) |
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| 40 | #define BNO055_ADDRESS_B (0x29) |
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| 41 | #define BNO055_ID (0xA0) |
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| 42 | |||
| 43 | 312a5b9e | Wetmelon | #define NUM_BNO055_OFFSET_REGISTERS (22) |
| 44 | |||
| 45 | typedef struct |
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| 46 | {
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| 47 | 463eabf7 | Wetmelon | uint16_t accel_offset_x; |
| 48 | uint16_t accel_offset_y; |
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| 49 | uint16_t accel_offset_z; |
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| 50 | uint16_t gyro_offset_x; |
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| 51 | uint16_t gyro_offset_y; |
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| 52 | uint16_t gyro_offset_z; |
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| 53 | uint16_t mag_offset_x; |
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| 54 | uint16_t mag_offset_y; |
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| 55 | uint16_t mag_offset_z; |
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| 56 | |||
| 57 | uint16_t accel_radius; |
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| 58 | uint16_t mag_radius; |
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| 59 | 312a5b9e | Wetmelon | } adafruit_bno055_offsets_t; |
| 60 | |||
| 61 | 3f9d2401 | Kevin Townsend | class Adafruit_BNO055 : public Adafruit_Sensor |
| 62 | 4bc1c0c1 | Kevin Townsend | {
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| 63 | 463eabf7 | Wetmelon | public:
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| 64 | typedef enum |
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| 65 | {
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| 66 | /* Page id register definition */
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| 67 | BNO055_PAGE_ID_ADDR = 0X07,
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| 68 | |||
| 69 | /* PAGE0 REGISTER DEFINITION START*/
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| 70 | BNO055_CHIP_ID_ADDR = 0x00,
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| 71 | BNO055_ACCEL_REV_ID_ADDR = 0x01,
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| 72 | BNO055_MAG_REV_ID_ADDR = 0x02,
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| 73 | BNO055_GYRO_REV_ID_ADDR = 0x03,
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| 74 | BNO055_SW_REV_ID_LSB_ADDR = 0x04,
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| 75 | BNO055_SW_REV_ID_MSB_ADDR = 0x05,
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| 76 | BNO055_BL_REV_ID_ADDR = 0X06,
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| 77 | |||
| 78 | /* Accel data register */
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| 79 | BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
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| 80 | BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
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| 81 | BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
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| 82 | BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
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| 83 | BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
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| 84 | BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
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| 85 | |||
| 86 | /* Mag data register */
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| 87 | BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
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| 88 | BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
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| 89 | BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
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| 90 | BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
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| 91 | BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
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| 92 | BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
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| 93 | |||
| 94 | /* Gyro data registers */
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| 95 | BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
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| 96 | BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
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| 97 | BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
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| 98 | BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
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| 99 | BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
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| 100 | BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
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| 101 | |||
| 102 | /* Euler data registers */
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| 103 | BNO055_EULER_H_LSB_ADDR = 0X1A,
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| 104 | BNO055_EULER_H_MSB_ADDR = 0X1B,
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| 105 | BNO055_EULER_R_LSB_ADDR = 0X1C,
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| 106 | BNO055_EULER_R_MSB_ADDR = 0X1D,
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| 107 | BNO055_EULER_P_LSB_ADDR = 0X1E,
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| 108 | BNO055_EULER_P_MSB_ADDR = 0X1F,
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| 109 | |||
| 110 | /* Quaternion data registers */
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| 111 | BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
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| 112 | BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
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| 113 | BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
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| 114 | BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
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| 115 | BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
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| 116 | BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
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| 117 | BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
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| 118 | BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
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| 119 | |||
| 120 | /* Linear acceleration data registers */
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| 121 | BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
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| 122 | BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
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| 123 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
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| 124 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
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| 125 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
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| 126 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
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| 127 | |||
| 128 | /* Gravity data registers */
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| 129 | BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
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| 130 | BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
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| 131 | BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
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| 132 | BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
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| 133 | BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
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| 134 | BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
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| 135 | |||
| 136 | /* Temperature data register */
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| 137 | BNO055_TEMP_ADDR = 0X34,
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| 138 | |||
| 139 | /* Status registers */
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| 140 | BNO055_CALIB_STAT_ADDR = 0X35,
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| 141 | BNO055_SELFTEST_RESULT_ADDR = 0X36,
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| 142 | BNO055_INTR_STAT_ADDR = 0X37,
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| 143 | |||
| 144 | BNO055_SYS_CLK_STAT_ADDR = 0X38,
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| 145 | BNO055_SYS_STAT_ADDR = 0X39,
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| 146 | BNO055_SYS_ERR_ADDR = 0X3A,
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| 147 | |||
| 148 | /* Unit selection register */
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| 149 | BNO055_UNIT_SEL_ADDR = 0X3B,
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| 150 | BNO055_DATA_SELECT_ADDR = 0X3C,
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| 151 | |||
| 152 | /* Mode registers */
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| 153 | BNO055_OPR_MODE_ADDR = 0X3D,
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| 154 | BNO055_PWR_MODE_ADDR = 0X3E,
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| 155 | |||
| 156 | BNO055_SYS_TRIGGER_ADDR = 0X3F,
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| 157 | BNO055_TEMP_SOURCE_ADDR = 0X40,
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| 158 | |||
| 159 | /* Axis remap registers */
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| 160 | BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
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| 161 | BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
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| 162 | |||
| 163 | /* SIC registers */
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| 164 | BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
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| 165 | BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
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| 166 | BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
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| 167 | BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
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| 168 | BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
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| 169 | BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
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| 170 | BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
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| 171 | BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
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| 172 | BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
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| 173 | BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
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| 174 | BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
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| 175 | BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
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| 176 | BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
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| 177 | BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
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| 178 | BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
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| 179 | BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
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| 180 | BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
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| 181 | BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
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| 182 | |||
| 183 | /* Accelerometer Offset registers */
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| 184 | ACCEL_OFFSET_X_LSB_ADDR = 0X55,
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| 185 | ACCEL_OFFSET_X_MSB_ADDR = 0X56,
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| 186 | ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
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| 187 | ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
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| 188 | ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
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| 189 | ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
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| 190 | |||
| 191 | /* Magnetometer Offset registers */
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| 192 | MAG_OFFSET_X_LSB_ADDR = 0X5B,
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| 193 | MAG_OFFSET_X_MSB_ADDR = 0X5C,
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| 194 | MAG_OFFSET_Y_LSB_ADDR = 0X5D,
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| 195 | MAG_OFFSET_Y_MSB_ADDR = 0X5E,
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| 196 | MAG_OFFSET_Z_LSB_ADDR = 0X5F,
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| 197 | MAG_OFFSET_Z_MSB_ADDR = 0X60,
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| 198 | |||
| 199 | /* Gyroscope Offset register s*/
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| 200 | GYRO_OFFSET_X_LSB_ADDR = 0X61,
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| 201 | GYRO_OFFSET_X_MSB_ADDR = 0X62,
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| 202 | GYRO_OFFSET_Y_LSB_ADDR = 0X63,
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| 203 | GYRO_OFFSET_Y_MSB_ADDR = 0X64,
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| 204 | GYRO_OFFSET_Z_LSB_ADDR = 0X65,
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| 205 | GYRO_OFFSET_Z_MSB_ADDR = 0X66,
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| 206 | |||
| 207 | /* Radius registers */
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| 208 | ACCEL_RADIUS_LSB_ADDR = 0X67,
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| 209 | ACCEL_RADIUS_MSB_ADDR = 0X68,
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| 210 | MAG_RADIUS_LSB_ADDR = 0X69,
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| 211 | MAG_RADIUS_MSB_ADDR = 0X6A
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| 212 | } adafruit_bno055_reg_t; |
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| 213 | |||
| 214 | typedef enum |
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| 215 | {
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| 216 | POWER_MODE_NORMAL = 0X00,
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| 217 | POWER_MODE_LOWPOWER = 0X01,
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| 218 | POWER_MODE_SUSPEND = 0X02
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| 219 | } adafruit_bno055_powermode_t; |
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| 220 | |||
| 221 | typedef enum |
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| 222 | {
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| 223 | /* Operation mode settings*/
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| 224 | OPERATION_MODE_CONFIG = 0X00,
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| 225 | OPERATION_MODE_ACCONLY = 0X01,
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| 226 | OPERATION_MODE_MAGONLY = 0X02,
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| 227 | OPERATION_MODE_GYRONLY = 0X03,
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| 228 | OPERATION_MODE_ACCMAG = 0X04,
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| 229 | OPERATION_MODE_ACCGYRO = 0X05,
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| 230 | OPERATION_MODE_MAGGYRO = 0X06,
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| 231 | OPERATION_MODE_AMG = 0X07,
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| 232 | OPERATION_MODE_IMUPLUS = 0X08,
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| 233 | OPERATION_MODE_COMPASS = 0X09,
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| 234 | OPERATION_MODE_M4G = 0X0A,
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| 235 | OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
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| 236 | OPERATION_MODE_NDOF = 0X0C
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| 237 | } adafruit_bno055_opmode_t; |
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| 238 | |||
| 239 | 378858ec | Shunya Sato | typedef enum |
| 240 | {
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| 241 | REMAP_CONFIG_P0 = 0x21,
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| 242 | REMAP_CONFIG_P1 = 0x24, // default |
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| 243 | REMAP_CONFIG_P2 = 0x24,
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| 244 | REMAP_CONFIG_P3 = 0x21,
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| 245 | REMAP_CONFIG_P4 = 0x24,
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| 246 | REMAP_CONFIG_P5 = 0x21,
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| 247 | REMAP_CONFIG_P6 = 0x21,
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| 248 | REMAP_CONFIG_P7 = 0x24
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| 249 | } adafruit_bno055_axis_remap_config_t; |
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| 250 | |||
| 251 | typedef enum |
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| 252 | {
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| 253 | REMAP_SIGN_P0 = 0x04,
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| 254 | REMAP_SIGN_P1 = 0x00, // default |
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| 255 | REMAP_SIGN_P2 = 0x06,
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| 256 | REMAP_SIGN_P3 = 0x02,
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| 257 | REMAP_SIGN_P4 = 0x03,
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| 258 | REMAP_SIGN_P5 = 0x01,
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| 259 | REMAP_SIGN_P6 = 0x07,
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| 260 | REMAP_SIGN_P7 = 0x05
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| 261 | } adafruit_bno055_axis_remap_sign_t; |
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| 262 | |||
| 263 | 463eabf7 | Wetmelon | typedef struct |
| 264 | {
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| 265 | uint8_t accel_rev; |
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| 266 | uint8_t mag_rev; |
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| 267 | uint8_t gyro_rev; |
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| 268 | uint16_t sw_rev; |
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| 269 | uint8_t bl_rev; |
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| 270 | } adafruit_bno055_rev_info_t; |
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| 271 | |||
| 272 | typedef enum |
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| 273 | {
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| 274 | VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
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| 275 | VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, |
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| 276 | VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, |
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| 277 | VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, |
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| 278 | VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, |
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| 279 | VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR |
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| 280 | } adafruit_vector_type_t; |
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| 281 | |||
| 282 | 1da09ad2 | David P Hilton | #ifdef ARDUINO_SAMD_ZERO
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| 283 | #error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line." |
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| 284 | Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );
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| 285 | #else
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| 286 | 463eabf7 | Wetmelon | Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
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| 287 | 1da09ad2 | David P Hilton | #endif
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| 288 | 463eabf7 | Wetmelon | bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
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| 289 | void setMode ( adafruit_bno055_opmode_t mode );
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| 290 | void getRevInfo ( adafruit_bno055_rev_info_t* );
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| 291 | void displayRevInfo ( void ); |
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| 292 | void setExtCrystalUse ( boolean usextal );
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| 293 | void getSystemStatus ( uint8_t *system_status,
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| 294 | uint8_t *self_test_result, |
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| 295 | uint8_t *system_error); |
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| 296 | void displaySystemStatus ( void ); |
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| 297 | void getCalibration ( uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag);
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| 298 | |||
| 299 | imu::Vector<3> getVector ( adafruit_vector_type_t vector_type );
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| 300 | imu::Quaternion getQuat ( void );
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| 301 | int8_t getTemp ( void );
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| 302 | |||
| 303 | /* Adafruit_Sensor implementation */
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| 304 | bool getEvent ( sensors_event_t* );
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| 305 | void getSensor ( sensor_t* );
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| 306 | |||
| 307 | /* Functions to deal with raw calibration data */
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| 308 | bool getSensorOffsets(uint8_t* calibData);
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| 309 | bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
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| 310 | void setSensorOffsets(const uint8_t* calibData); |
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| 311 | void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type); |
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| 312 | bool isFullyCalibrated(void); |
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| 313 | |||
| 314 | private:
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| 315 | byte read8 ( adafruit_bno055_reg_t ); |
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| 316 | bool readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
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| 317 | bool write8 ( adafruit_bno055_reg_t, byte value );
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| 318 | |||
| 319 | uint8_t _address; |
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| 320 | int32_t _sensorID; |
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| 321 | adafruit_bno055_opmode_t _mode; |
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| 322 | 4bc1c0c1 | Kevin Townsend | }; |
| 323 | |||
| 324 | #endif |