Statistics
| Branch: | Revision:

adafruit_bno055 / Adafruit_BNO055.h @ 3f9d2401

History | View | Annotate | Download (10.371 KB)

1 4bc1c0c1 Kevin Townsend
/***************************************************************************
2
  This is a library for the BNO055 orientation sensor
3

4
  Designed specifically to work with the Adafruit BNO055 Breakout.
5

6
  Pick one up today in the adafruit shop!
7
  ------> http://www.adafruit.com/products
8

9
  These sensors use I2C to communicate, 2 pins are required to interface.
10

11
  Adafruit invests time and resources providing this open source code,
12
  please support Adafruit andopen-source hardware by purchasing products
13
  from Adafruit!
14

15
  Written by KTOWN for Adafruit Industries.
16

17
  MIT license, all text above must be included in any redistribution
18
 ***************************************************************************/
19
20
#ifndef __ADAFRUIT_BNO055_H__
21
#define __ADAFRUIT_BNO055_H__
22
23
#if (ARDUINO >= 100)
24
 #include "Arduino.h"
25
#else
26
 #include "WProgram.h"
27
#endif
28
#include "Wire.h"
29
30
#include <Adafruit_Sensor.h>
31
#include <utility/imumaths.h>
32
33
#define BNO055_ADDRESS_A (0x28)
34
#define BNO055_ADDRESS_B (0x29)
35
#define BNO055_ID        (0xA0)
36
37 3f9d2401 Kevin Townsend
class Adafruit_BNO055 : public Adafruit_Sensor
38 4bc1c0c1 Kevin Townsend
{
39
  public:
40
    typedef enum
41
    {
42
      /* Page id register definition */
43
      BNO055_PAGE_ID_ADDR                                                  = 0X07,
44
45
      /* PAGE0 REGISTER DEFINITION START*/
46
      BNO055_CHIP_ID_ADDR                         = 0x00,
47
      BNO055_ACCEL_REV_ID_ADDR                                      = 0x01,
48
      BNO055_MAG_REV_ID_ADDR                      = 0x02,
49
      BNO055_GYRO_REV_ID_ADDR                     = 0x03,
50
      BNO055_SW_REV_ID_LSB_ADDR                                      = 0x04,
51
      BNO055_SW_REV_ID_MSB_ADDR                                      = 0x05,
52
      BNO055_BL_REV_ID_ADDR                                                = 0X06,
53
54
      /* Accel data register */
55
      BNO055_ACCEL_DATA_X_LSB_ADDR                                  = 0X08,
56
      BNO055_ACCEL_DATA_X_MSB_ADDR                                  = 0X09,
57
      BNO055_ACCEL_DATA_Y_LSB_ADDR                                  = 0X0A,
58
      BNO055_ACCEL_DATA_Y_MSB_ADDR                                  = 0X0B,
59
      BNO055_ACCEL_DATA_Z_LSB_ADDR                                  = 0X0C,
60
      BNO055_ACCEL_DATA_Z_MSB_ADDR                                  = 0X0D,
61
62
      /* Mag data register */
63
      BNO055_MAG_DATA_X_LSB_ADDR                                    = 0X0E,
64
      BNO055_MAG_DATA_X_MSB_ADDR                                    = 0X0F,
65
      BNO055_MAG_DATA_Y_LSB_ADDR                                    = 0X10,
66
      BNO055_MAG_DATA_Y_MSB_ADDR                                    = 0X11,
67
      BNO055_MAG_DATA_Z_LSB_ADDR                                    = 0X12,
68
      BNO055_MAG_DATA_Z_MSB_ADDR                                    = 0X13,
69
70
      /* Gyro data registers */
71
      BNO055_GYRO_DATA_X_LSB_ADDR                                    = 0X14,
72
      BNO055_GYRO_DATA_X_MSB_ADDR                                    = 0X15,
73
      BNO055_GYRO_DATA_Y_LSB_ADDR                                    = 0X16,
74
      BNO055_GYRO_DATA_Y_MSB_ADDR                                    = 0X17,
75
      BNO055_GYRO_DATA_Z_LSB_ADDR                                    = 0X18,
76
      BNO055_GYRO_DATA_Z_MSB_ADDR                                    = 0X19,
77
78
      /* Euler data registers */
79
      BNO055_EULER_H_LSB_ADDR                                        = 0X1A,
80
      BNO055_EULER_H_MSB_ADDR                                        = 0X1B,
81
      BNO055_EULER_R_LSB_ADDR                                        = 0X1C,
82
      BNO055_EULER_R_MSB_ADDR                                        = 0X1D,
83
      BNO055_EULER_P_LSB_ADDR                                        = 0X1E,
84
      BNO055_EULER_P_MSB_ADDR                                        = 0X1F,
85
86
      /* Quaternion data registers */
87
      BNO055_QUATERNION_DATA_W_LSB_ADDR                  = 0X20,
88
      BNO055_QUATERNION_DATA_W_MSB_ADDR                  = 0X21,
89
      BNO055_QUATERNION_DATA_X_LSB_ADDR                  = 0X22,
90
      BNO055_QUATERNION_DATA_X_MSB_ADDR                  = 0X23,
91
      BNO055_QUATERNION_DATA_Y_LSB_ADDR                  = 0X24,
92
      BNO055_QUATERNION_DATA_Y_MSB_ADDR                  = 0X25,
93
      BNO055_QUATERNION_DATA_Z_LSB_ADDR                  = 0X26,
94
      BNO055_QUATERNION_DATA_Z_MSB_ADDR                  = 0X27,
95
96
      /* Linear acceleration data registers */
97
      BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR                            = 0X28,
98
      BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR                            = 0X29,
99
      BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR                            = 0X2A,
100
      BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR                            = 0X2B,
101
      BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR                            = 0X2C,
102
      BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR                            = 0X2D,
103
104
      /* Gravity data registers */
105
      BNO055_GRAVITY_DATA_X_LSB_ADDR                                = 0X2E,
106
      BNO055_GRAVITY_DATA_X_MSB_ADDR                                = 0X2F,
107
      BNO055_GRAVITY_DATA_Y_LSB_ADDR                                = 0X30,
108
      BNO055_GRAVITY_DATA_Y_MSB_ADDR                                = 0X31,
109
      BNO055_GRAVITY_DATA_Z_LSB_ADDR                                = 0X32,
110
      BNO055_GRAVITY_DATA_Z_MSB_ADDR                                = 0X33,
111
112
      /* Temperature data register */
113
      BNO055_TEMP_ADDR                                                          = 0X34,
114
115
      /* Status registers */
116
      BNO055_CALIB_STAT_ADDR                                              = 0X35,
117
      BNO055_SELFTEST_RESULT_ADDR                                    = 0X36,
118
      BNO055_INTR_STAT_ADDR                                                = 0X37,
119
120
      BNO055_SYS_CLK_STAT_ADDR                                      = 0X38,
121
      BNO055_SYS_STAT_ADDR                                                = 0X39,
122
      BNO055_SYS_ERR_ADDR                                                        = 0X3A,
123
124
      /* Unit selection register */
125
      BNO055_UNIT_SEL_ADDR                                                = 0X3B,
126
      BNO055_DATA_SELECT_ADDR                                              = 0X3C,
127
128
      /* Mode registers */
129
      BNO055_OPR_MODE_ADDR                                                = 0X3D,
130
      BNO055_PWR_MODE_ADDR                                                = 0X3E,
131
132
      BNO055_SYS_TRIGGER_ADDR                                              = 0X3F,
133
      BNO055_TEMP_SOURCE_ADDR                                              = 0X40,
134
      
135
      /* Axis remap registers */
136
      BNO055_AXIS_MAP_CONFIG_ADDR                                    = 0X41,
137
      BNO055_AXIS_MAP_SIGN_ADDR                                      = 0X42,
138
139
      /* SIC registers */
140
      BNO055_SIC_MATRIX_0_LSB_ADDR                            = 0X43,
141
      BNO055_SIC_MATRIX_0_MSB_ADDR                            = 0X44,
142
      BNO055_SIC_MATRIX_1_LSB_ADDR                            = 0X45,
143
      BNO055_SIC_MATRIX_1_MSB_ADDR                            = 0X46,
144
      BNO055_SIC_MATRIX_2_LSB_ADDR                            = 0X47,
145
      BNO055_SIC_MATRIX_2_MSB_ADDR                            = 0X48,
146
      BNO055_SIC_MATRIX_3_LSB_ADDR                            = 0X49,
147
      BNO055_SIC_MATRIX_3_MSB_ADDR                            = 0X4A,
148
      BNO055_SIC_MATRIX_4_LSB_ADDR                            = 0X4B,
149
      BNO055_SIC_MATRIX_4_MSB_ADDR                            = 0X4C,
150
      BNO055_SIC_MATRIX_5_LSB_ADDR                            = 0X4D,
151
      BNO055_SIC_MATRIX_5_MSB_ADDR                            = 0X4E,
152
      BNO055_SIC_MATRIX_6_LSB_ADDR                            = 0X4F,
153
      BNO055_SIC_MATRIX_6_MSB_ADDR                            = 0X50,
154
      BNO055_SIC_MATRIX_7_LSB_ADDR                            = 0X51,
155
      BNO055_SIC_MATRIX_7_MSB_ADDR                            = 0X52,
156
      BNO055_SIC_MATRIX_8_LSB_ADDR                            = 0X53,
157
      BNO055_SIC_MATRIX_8_MSB_ADDR                            = 0X54,
158
159
      /* Accelerometer Offset registers */
160
      ACCEL_OFFSET_X_LSB_ADDR                                              = 0X55,
161
      ACCEL_OFFSET_X_MSB_ADDR                                              = 0X56,
162
      ACCEL_OFFSET_Y_LSB_ADDR                                              = 0X57,
163
      ACCEL_OFFSET_Y_MSB_ADDR                                              = 0X58,
164
      ACCEL_OFFSET_Z_LSB_ADDR                                              = 0X59,
165
      ACCEL_OFFSET_Z_MSB_ADDR                                              = 0X5A,
166
167
      /* Magnetometer Offset registers */
168
      MAG_OFFSET_X_LSB_ADDR                                                = 0X5B,
169
      MAG_OFFSET_X_MSB_ADDR                                                = 0X5C,
170
      MAG_OFFSET_Y_LSB_ADDR                                                = 0X5D,
171
      MAG_OFFSET_Y_MSB_ADDR                                                = 0X5E,
172
      MAG_OFFSET_Z_LSB_ADDR                                                = 0X5F,
173
      MAG_OFFSET_Z_MSB_ADDR                                                = 0X60,
174
175
      /* Gyroscope Offset register s*/
176
      GYRO_OFFSET_X_LSB_ADDR                                              = 0X61,
177
      GYRO_OFFSET_X_MSB_ADDR                                              = 0X62,
178
      GYRO_OFFSET_Y_LSB_ADDR                                              = 0X63,
179
      GYRO_OFFSET_Y_MSB_ADDR                                              = 0X64,
180
      GYRO_OFFSET_Z_LSB_ADDR                                              = 0X65,
181
      GYRO_OFFSET_Z_MSB_ADDR                                              = 0X66,
182
183
      /* Radius registers */
184
      ACCEL_RADIUS_LSB_ADDR                                                = 0X67,
185
      ACCEL_RADIUS_MSB_ADDR                                                = 0X68,
186
      MAG_RADIUS_LSB_ADDR                                                        = 0X69,
187
      MAG_RADIUS_MSB_ADDR                                                        = 0X6A
188
    } adafruit_bno055_reg_t;
189
    
190
    typedef enum
191
    {
192
      POWER_MODE_NORMAL                                  = 0X00,
193
      POWER_MODE_LOWPOWER                                = 0X01,
194
      POWER_MODE_SUSPEND                                = 0X02
195
    } adafruit_bno055_powermode_t;
196
    
197
    typedef enum
198
    {
199
      /* Operation mode settings*/
200
      OPERATION_MODE_CONFIG                                          = 0X00,
201
      OPERATION_MODE_ACCONLY                                        = 0X01,
202
      OPERATION_MODE_MAGONLY                                        = 0X02,
203
      OPERATION_MODE_GYRONLY                                        = 0X03,
204
      OPERATION_MODE_ACCMAG                                          = 0X04,
205
      OPERATION_MODE_ACCGYRO                                        = 0X05,
206
      OPERATION_MODE_MAGGYRO                                        = 0X06,
207
      OPERATION_MODE_AMG                                                  = 0X07,
208
      OPERATION_MODE_IMUPLUS                                        = 0X08,
209
      OPERATION_MODE_COMPASS                                        = 0X09,
210
      OPERATION_MODE_M4G                                                  = 0X0A,
211
      OPERATION_MODE_NDOF_FMC_OFF                              = 0X0B,
212
      OPERATION_MODE_NDOF                                                  = 0X0C
213
    } adafruit_bno055_opmode_t;
214
    
215
    typedef struct
216
    {
217
      uint8_t  accel_rev;
218
      uint8_t  mag_rev;
219
      uint8_t  gyro_rev;
220
      uint16_t sw_rev;
221
      uint8_t  bl_rev;
222
    } adafruit_bno055_rev_info_t;
223
    
224 48741e1f Kevin Townsend
    typedef enum
225
    {
226
      VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
227
      VECTOR_MAGNETOMETER  = BNO055_MAG_DATA_X_LSB_ADDR,
228
      VECTOR_GYROSCOPE     = BNO055_GYRO_DATA_X_LSB_ADDR,
229
      VECTOR_EULER         = BNO055_EULER_H_LSB_ADDR,
230
      VECTOR_LINEARACCEL   = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
231
      VECTOR_GRAVITY       = BNO055_GRAVITY_DATA_X_LSB_ADDR
232
    } adafruit_vector_type_t;
233 4bc1c0c1 Kevin Townsend
234
    Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
235
236
    bool  begin               ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
237
    void  setMode             ( adafruit_bno055_opmode_t mode );
238
    void  getRevInfo          ( adafruit_bno055_rev_info_t* );
239
    void  displayRevInfo      ( void );
240 3b2655dc ladyada
    //    void  getSystemStatus     ( adafruit_bno055_system_status_t* );
241
    void  getSystemStatus     ( uint8_t *system_status, 
242
                                uint8_t *self_test_result, 
243
                                uint8_t *system_error);
244 4bc1c0c1 Kevin Townsend
    void  displaySystemStatus ( void );
245 fcd68623 Kevin Townsend
    void  printDouble         ( double val, unsigned int precision );
246 4bc1c0c1 Kevin Townsend
    
247 48741e1f Kevin Townsend
    imu::Vector<3>  getVector ( adafruit_vector_type_t vector_type );
248
    imu::Quaternion getQuat   ( void );
249 0e2e2723 Kevin Townsend
    int8_t          getTemp   ( void );
250 4bc1c0c1 Kevin Townsend
251
    /* Adafruit_Sensor implementation */
252
    bool  getEvent  ( sensors_event_t* );
253
    void  getSensor ( sensor_t* );
254
255
  private:
256
    byte  read8   ( adafruit_bno055_reg_t );
257
    bool  readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
258
    bool  write8  ( adafruit_bno055_reg_t, byte value );
259
260
    uint8_t _address;
261
    int32_t _sensorID;
262
    adafruit_bno055_opmode_t _mode;
263
};
264
265
#endif