adafruit_bno055 / Adafruit_BNO055.h @ 4bc1c0c1
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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 | ***************************************************************************/
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| 19 | |||
| 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 | #include "Arduino.h" |
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| 25 | #else
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| 26 | #include "WProgram.h" |
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| 27 | #endif
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| 28 | #include "Wire.h" |
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| 29 | |||
| 30 | #include <Adafruit_Sensor.h> |
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| 31 | #include <utility/imumaths.h> |
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| 32 | |||
| 33 | #define BNO055_ADDRESS_A (0x28) |
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| 34 | #define BNO055_ADDRESS_B (0x29) |
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| 35 | #define BNO055_ID (0xA0) |
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| 36 | |||
| 37 | class Adafruit_BNO055 /* : public Adafruit_Sensor */
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| 38 | {
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| 39 | public:
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| 40 | typedef enum |
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| 41 | {
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| 42 | /* Page id register definition */
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| 43 | BNO055_PAGE_ID_ADDR = 0X07,
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| 44 | |||
| 45 | /* PAGE0 REGISTER DEFINITION START*/
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| 46 | BNO055_CHIP_ID_ADDR = 0x00,
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| 47 | BNO055_ACCEL_REV_ID_ADDR = 0x01,
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| 48 | BNO055_MAG_REV_ID_ADDR = 0x02,
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| 49 | BNO055_GYRO_REV_ID_ADDR = 0x03,
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| 50 | BNO055_SW_REV_ID_LSB_ADDR = 0x04,
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| 51 | BNO055_SW_REV_ID_MSB_ADDR = 0x05,
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| 52 | BNO055_BL_REV_ID_ADDR = 0X06,
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| 53 | |||
| 54 | /* Accel data register */
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| 55 | BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
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| 56 | BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
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| 57 | BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
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| 58 | BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
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| 59 | BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
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| 60 | BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
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| 61 | |||
| 62 | /* Mag data register */
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| 63 | BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
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| 64 | BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
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| 65 | BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
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| 66 | BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
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| 67 | BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
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| 68 | BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
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| 69 | |||
| 70 | /* Gyro data registers */
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| 71 | BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
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| 72 | BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
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| 73 | BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
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| 74 | BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
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| 75 | BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
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| 76 | BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
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| 77 | |||
| 78 | /* Euler data registers */
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| 79 | BNO055_EULER_H_LSB_ADDR = 0X1A,
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| 80 | BNO055_EULER_H_MSB_ADDR = 0X1B,
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| 81 | BNO055_EULER_R_LSB_ADDR = 0X1C,
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| 82 | BNO055_EULER_R_MSB_ADDR = 0X1D,
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| 83 | BNO055_EULER_P_LSB_ADDR = 0X1E,
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| 84 | BNO055_EULER_P_MSB_ADDR = 0X1F,
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| 85 | |||
| 86 | /* Quaternion data registers */
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| 87 | BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
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| 88 | BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
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| 89 | BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
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| 90 | BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
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| 91 | BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
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| 92 | BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
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| 93 | BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
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| 94 | BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
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| 95 | |||
| 96 | /* Linear acceleration data registers */
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| 97 | BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
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| 98 | BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
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| 99 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
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| 100 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
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| 101 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
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| 102 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
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| 103 | |||
| 104 | /* Gravity data registers */
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| 105 | BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
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| 106 | BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
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| 107 | BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
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| 108 | BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
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| 109 | BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
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| 110 | BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
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| 111 | |||
| 112 | /* Temperature data register */
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| 113 | BNO055_TEMP_ADDR = 0X34,
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| 114 | |||
| 115 | /* Status registers */
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| 116 | BNO055_CALIB_STAT_ADDR = 0X35,
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| 117 | BNO055_SELFTEST_RESULT_ADDR = 0X36,
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| 118 | BNO055_INTR_STAT_ADDR = 0X37,
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| 119 | |||
| 120 | BNO055_SYS_CLK_STAT_ADDR = 0X38,
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| 121 | BNO055_SYS_STAT_ADDR = 0X39,
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| 122 | BNO055_SYS_ERR_ADDR = 0X3A,
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| 123 | |||
| 124 | /* Unit selection register */
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| 125 | BNO055_UNIT_SEL_ADDR = 0X3B,
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| 126 | BNO055_DATA_SELECT_ADDR = 0X3C,
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| 127 | |||
| 128 | /* Mode registers */
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| 129 | BNO055_OPR_MODE_ADDR = 0X3D,
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| 130 | BNO055_PWR_MODE_ADDR = 0X3E,
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| 131 | |||
| 132 | BNO055_SYS_TRIGGER_ADDR = 0X3F,
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| 133 | BNO055_TEMP_SOURCE_ADDR = 0X40,
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| 134 | |||
| 135 | /* Axis remap registers */
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| 136 | BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
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| 137 | BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
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| 138 | |||
| 139 | /* SIC registers */
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| 140 | BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
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| 141 | BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
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| 142 | BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
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| 143 | BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
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| 144 | BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
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| 145 | BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
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| 146 | BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
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| 147 | BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
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| 148 | BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
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| 149 | BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
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| 150 | BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
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| 151 | BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
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| 152 | BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
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| 153 | BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
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| 154 | BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
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| 155 | BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
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| 156 | BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
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| 157 | BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
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| 158 | |||
| 159 | /* Accelerometer Offset registers */
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| 160 | ACCEL_OFFSET_X_LSB_ADDR = 0X55,
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| 161 | ACCEL_OFFSET_X_MSB_ADDR = 0X56,
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| 162 | ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
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| 163 | ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
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| 164 | ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
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| 165 | ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
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| 166 | |||
| 167 | /* Magnetometer Offset registers */
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| 168 | MAG_OFFSET_X_LSB_ADDR = 0X5B,
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| 169 | MAG_OFFSET_X_MSB_ADDR = 0X5C,
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| 170 | MAG_OFFSET_Y_LSB_ADDR = 0X5D,
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| 171 | MAG_OFFSET_Y_MSB_ADDR = 0X5E,
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| 172 | MAG_OFFSET_Z_LSB_ADDR = 0X5F,
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| 173 | MAG_OFFSET_Z_MSB_ADDR = 0X60,
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| 174 | |||
| 175 | /* Gyroscope Offset register s*/
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| 176 | GYRO_OFFSET_X_LSB_ADDR = 0X61,
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| 177 | GYRO_OFFSET_X_MSB_ADDR = 0X62,
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| 178 | GYRO_OFFSET_Y_LSB_ADDR = 0X63,
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| 179 | GYRO_OFFSET_Y_MSB_ADDR = 0X64,
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| 180 | GYRO_OFFSET_Z_LSB_ADDR = 0X65,
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| 181 | GYRO_OFFSET_Z_MSB_ADDR = 0X66,
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| 182 | |||
| 183 | /* Radius registers */
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| 184 | ACCEL_RADIUS_LSB_ADDR = 0X67,
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| 185 | ACCEL_RADIUS_MSB_ADDR = 0X68,
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| 186 | MAG_RADIUS_LSB_ADDR = 0X69,
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| 187 | MAG_RADIUS_MSB_ADDR = 0X6A
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| 188 | } adafruit_bno055_reg_t; |
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| 189 | |||
| 190 | typedef enum |
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| 191 | {
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| 192 | POWER_MODE_NORMAL = 0X00,
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| 193 | POWER_MODE_LOWPOWER = 0X01,
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| 194 | POWER_MODE_SUSPEND = 0X02
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| 195 | } adafruit_bno055_powermode_t; |
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| 196 | |||
| 197 | typedef enum |
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| 198 | {
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| 199 | /* Operation mode settings*/
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| 200 | OPERATION_MODE_CONFIG = 0X00,
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| 201 | OPERATION_MODE_ACCONLY = 0X01,
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| 202 | OPERATION_MODE_MAGONLY = 0X02,
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| 203 | OPERATION_MODE_GYRONLY = 0X03,
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| 204 | OPERATION_MODE_ACCMAG = 0X04,
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| 205 | OPERATION_MODE_ACCGYRO = 0X05,
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| 206 | OPERATION_MODE_MAGGYRO = 0X06,
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| 207 | OPERATION_MODE_AMG = 0X07,
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| 208 | OPERATION_MODE_IMUPLUS = 0X08,
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| 209 | OPERATION_MODE_COMPASS = 0X09,
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| 210 | OPERATION_MODE_M4G = 0X0A,
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| 211 | OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
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| 212 | OPERATION_MODE_NDOF = 0X0C
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| 213 | } adafruit_bno055_opmode_t; |
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| 214 | |||
| 215 | typedef struct |
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| 216 | {
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| 217 | uint8_t accel_rev; |
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| 218 | uint8_t mag_rev; |
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| 219 | uint8_t gyro_rev; |
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| 220 | uint16_t sw_rev; |
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| 221 | uint8_t bl_rev; |
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| 222 | } adafruit_bno055_rev_info_t; |
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| 223 | |||
| 224 | typedef struct |
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| 225 | {
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| 226 | uint8_t system_status; |
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| 227 | uint8_t self_test_result; |
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| 228 | uint8_t system_error; |
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| 229 | } adafruit_bno055_system_status_t; |
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| 230 | |||
| 231 | Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
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| 232 | |||
| 233 | bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
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| 234 | void setMode ( adafruit_bno055_opmode_t mode );
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| 235 | void getRevInfo ( adafruit_bno055_rev_info_t* );
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| 236 | void displayRevInfo ( void ); |
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| 237 | void getSystemStatus ( adafruit_bno055_system_status_t* );
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| 238 | void displaySystemStatus ( void ); |
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| 239 | |||
| 240 | imu::Vector<3> getEuler ( void ); |
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| 241 | imu::Vector<3> getAccel ( void ); |
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| 242 | |||
| 243 | /* Adafruit_Sensor implementation */
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| 244 | bool getEvent ( sensors_event_t* );
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| 245 | void getSensor ( sensor_t* );
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| 246 | |||
| 247 | private:
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| 248 | byte read8 ( adafruit_bno055_reg_t ); |
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| 249 | bool readLen ( adafruit_bno055_reg_t, byte* buffer, uint8_t len );
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| 250 | bool write8 ( adafruit_bno055_reg_t, byte value );
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| 251 | |||
| 252 | uint8_t _address; |
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| 253 | int32_t _sensorID; |
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| 254 | adafruit_bno055_opmode_t _mode; |
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| 255 | }; |
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| 256 | |||
| 257 | #endif |