adafruit_bno055 / Adafruit_BNO055.cpp @ 510d0f10
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/*!
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* @file Adafruit_BNO055.cpp
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*
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* @mainpage Adafruit BNO055 Orientation Sensor
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*
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* @section intro_sec Introduction
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*
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* This is a library for the BNO055 orientation sensor
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*
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* Designed specifically to work with the Adafruit BNO055 Breakout.
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*
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* Pick one up today in the adafruit shop!
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* ------> https://www.adafruit.com/product/2472
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*
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* These sensors use I2C to communicate, 2 pins are required to interface.
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit andopen-source hardware by purchasing products
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* from Adafruit!
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*
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* @section author Author
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*
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* K.Townsend (Adafruit Industries)
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*
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* @section license License
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*
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* MIT license, all text above must be included in any redistribution
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*/
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#include "Arduino.h" |
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#include <limits.h> |
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#include <math.h> |
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#include "Adafruit_BNO055.h" |
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/*!
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* @brief Instantiates a new Adafruit_BNO055 class
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* @param sensorID
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* sensor ID
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* @param address
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* i2c address
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* @param *theWire
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* Wire object
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*/
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address, |
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TwoWire *theWire) {
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_sensorID = sensorID; |
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_address = address; |
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_wire = theWire; |
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} |
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/*!
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* @brief Sets up the HW
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* @param mode
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* mode values
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* [OPERATION_MODE_CONFIG,
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* OPERATION_MODE_ACCONLY,
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* OPERATION_MODE_MAGONLY,
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* OPERATION_MODE_GYRONLY,
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* OPERATION_MODE_ACCMAG,
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* OPERATION_MODE_ACCGYRO,
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* OPERATION_MODE_MAGGYRO,
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* OPERATION_MODE_AMG,
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* OPERATION_MODE_IMUPLUS,
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* OPERATION_MODE_COMPASS,
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* OPERATION_MODE_M4G,
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* OPERATION_MODE_NDOF_FMC_OFF,
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* OPERATION_MODE_NDOF]
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* @return true if process is successful
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*/
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
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#if defined(ARDUINO_SAMD_ZERO) && (_address == BNO055_ADDRESS_A)
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#error \
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"On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."
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_address = BNO055_ADDRESS_B; |
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#endif
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/* Enable I2C */
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_wire->begin(); |
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// BNO055 clock stretches for 500us or more!
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#ifdef ESP8266
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_wire->setClockStretchLimit(1000); // Allow for 1000us of clock stretching |
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#endif
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/* Make sure we have the right device */
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uint8_t id = read8(BNO055_CHIP_ID_ADDR); |
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if (id != BNO055_ID) {
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delay(1000); // hold on for boot |
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id = read8(BNO055_CHIP_ID_ADDR); |
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if (id != BNO055_ID) {
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return false; // still not? ok bail |
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} |
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} |
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG); |
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/* Reset */
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write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
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delay(10);
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} |
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delay(50);
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/* Set to normal power mode */
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write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL); |
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delay(10);
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* Set the output units */
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/*
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uint8_t unitsel = (0 << 7) | // Orientation = Android
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(0 << 4) | // Temperature = Celsius
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(0 << 2) | // Euler = Degrees
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(1 << 1) | // Gyro = Rads
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(0 << 0); // Accelerometer = m/s^2
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write8(BNO055_UNIT_SEL_ADDR, unitsel);
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*/
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/* Configure axis mapping (see section 3.4) */
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/*
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1
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delay(10);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1
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delay(10);
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*/
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write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(mode); |
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delay(20);
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return true; |
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} |
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/*!
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* @brief Puts the chip in the specified operating mode
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* @param mode
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* mode values
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* [OPERATION_MODE_CONFIG,
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* OPERATION_MODE_ACCONLY,
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* OPERATION_MODE_MAGONLY,
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* OPERATION_MODE_GYRONLY,
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* OPERATION_MODE_ACCMAG,
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* OPERATION_MODE_ACCGYRO,
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* OPERATION_MODE_MAGGYRO,
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* OPERATION_MODE_AMG,
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* OPERATION_MODE_IMUPLUS,
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* OPERATION_MODE_COMPASS,
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* OPERATION_MODE_M4G,
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* OPERATION_MODE_NDOF_FMC_OFF,
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* OPERATION_MODE_NDOF]
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*/
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
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_mode = mode; |
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write8(BNO055_OPR_MODE_ADDR, _mode); |
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delay(30);
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} |
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/*!
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* @brief Changes the chip's axis remap
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* @param remapcode
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* remap code possible values
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* [REMAP_CONFIG_P0
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* REMAP_CONFIG_P1 (default)
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* REMAP_CONFIG_P2
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* REMAP_CONFIG_P3
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* REMAP_CONFIG_P4
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* REMAP_CONFIG_P5
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* REMAP_CONFIG_P6
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* REMAP_CONFIG_P7]
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*/
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void Adafruit_BNO055::setAxisRemap(
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adafruit_bno055_axis_remap_config_t remapcode) {
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adafruit_bno055_opmode_t modeback = _mode; |
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setMode(OPERATION_MODE_CONFIG); |
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delay(25);
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode); |
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback); |
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delay(20);
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} |
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/*!
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* @brief Changes the chip's axis signs
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* @param remapsign
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* remap sign possible values
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* [REMAP_SIGN_P0
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* REMAP_SIGN_P1 (default)
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* REMAP_SIGN_P2
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* REMAP_SIGN_P3
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* REMAP_SIGN_P4
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* REMAP_SIGN_P5
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* REMAP_SIGN_P6
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* REMAP_SIGN_P7]
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*/
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void Adafruit_BNO055::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
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adafruit_bno055_opmode_t modeback = _mode; |
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setMode(OPERATION_MODE_CONFIG); |
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delay(25);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, remapsign); |
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback); |
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delay(20);
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} |
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/*!
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* @brief Use the external 32.768KHz crystal
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* @param usextal
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* use external crystal boolean
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*/
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void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
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adafruit_bno055_opmode_t modeback = _mode; |
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG); |
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delay(25);
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write8(BNO055_PAGE_ID_ADDR, 0);
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if (usextal) {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
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} else {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
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} |
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback); |
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delay(20);
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} |
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/*!
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* @brief Gets the latest system status info
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* @param system_status
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* system status info
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* @param self_test_result
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* self test result
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* @param system_error
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* system error info
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*/
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void Adafruit_BNO055::getSystemStatus(uint8_t *system_status,
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uint8_t *self_test_result, |
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uint8_t *system_error) {
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* System Status (see section 4.3.58)
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0 = Idle
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1 = System Error
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2 = Initializing Peripherals
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3 = System Iniitalization
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4 = Executing Self-Test
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5 = Sensor fusio algorithm running
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6 = System running without fusion algorithms
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*/
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if (system_status != 0) |
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*system_status = read8(BNO055_SYS_STAT_ADDR); |
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/* Self Test Results
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1 = test passed, 0 = test failed
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Bit 0 = Accelerometer self test
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Bit 1 = Magnetometer self test
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Bit 2 = Gyroscope self test
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Bit 3 = MCU self test
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0x0F = all good!
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*/
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if (self_test_result != 0) |
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*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR); |
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/* System Error (see section 4.3.59)
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0 = No error
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1 = Peripheral initialization error
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2 = System initialization error
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3 = Self test result failed
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4 = Register map value out of range
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5 = Register map address out of range
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6 = Register map write error
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7 = BNO low power mode not available for selected operat ion mode
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8 = Accelerometer power mode not available
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9 = Fusion algorithm configuration error
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A = Sensor configuration error
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*/
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if (system_error != 0) |
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*system_error = read8(BNO055_SYS_ERR_ADDR); |
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delay(200);
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} |
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/*!
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* @brief Gets the chip revision numbers
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* @param info
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* revision info
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*/
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void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t *info) {
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uint8_t a, b; |
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memset(info, 0, sizeof(adafruit_bno055_rev_info_t)); |
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/* Check the accelerometer revision */
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info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR); |
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/* Check the magnetometer revision */
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info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR); |
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/* Check the gyroscope revision */
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR); |
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/* Check the SW revision */
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR); |
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a = read8(BNO055_SW_REV_ID_LSB_ADDR); |
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b = read8(BNO055_SW_REV_ID_MSB_ADDR); |
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info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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} |
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/*!
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* @brief Gets current calibration state. Each value should be a uint8_t
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* pointer and it will be set to 0 if not calibrated and 3 if
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* fully calibrated.
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* See section 34.3.54
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* @param sys
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* Current system calibration status, depends on status of all sensors,
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* read-only
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* @param gyro
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* Current calibration status of Gyroscope, read-only
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* @param accel
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* Current calibration status of Accelerometer, read-only
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* @param mag
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* Current calibration status of Magnetometer, read-only
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*/
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void Adafruit_BNO055::getCalibration(uint8_t *sys, uint8_t *gyro,
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uint8_t *accel, uint8_t *mag) {
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uint8_t calData = read8(BNO055_CALIB_STAT_ADDR); |
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if (sys != NULL) { |
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*sys = (calData >> 6) & 0x03; |
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} |
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if (gyro != NULL) { |
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*gyro = (calData >> 4) & 0x03; |
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} |
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if (accel != NULL) { |
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*accel = (calData >> 2) & 0x03; |
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} |
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if (mag != NULL) { |
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*mag = calData & 0x03;
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} |
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} |
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/*!
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* @brief Gets the temperature in degrees celsius
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* @return temperature in degrees celsius
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*/
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int8_t Adafruit_BNO055::getTemp() {
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int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR)); |
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return temp;
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} |
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/*!
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* @brief Gets a vector reading from the specified source
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* @param vector_type
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* possible vector type values
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* [VECTOR_ACCELEROMETER
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* VECTOR_MAGNETOMETER
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* VECTOR_GYROSCOPE
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* VECTOR_EULER
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* VECTOR_LINEARACCEL
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* VECTOR_GRAVITY]
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* @return vector from specified source
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*/
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imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
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imu::Vector<3> xyz;
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uint8_t buffer[6];
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memset(buffer, 0, 6); |
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int16_t x, y, z; |
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x = y = z = 0;
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/* Read vector data (6 bytes) */
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readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
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x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8); |
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y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8); |
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z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8); |
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/*!
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* Convert the value to an appropriate range (section 3.6.4)
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* and assign the value to the Vector type
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*/
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switch (vector_type) {
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case VECTOR_MAGNETOMETER:
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/* 1uT = 16 LSB */
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xyz[0] = ((double)x) / 16.0; |
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xyz[1] = ((double)y) / 16.0; |
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xyz[2] = ((double)z) / 16.0; |
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break;
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case VECTOR_GYROSCOPE:
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/* 1dps = 16 LSB */
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xyz[0] = ((double)x) / 16.0; |
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xyz[1] = ((double)y) / 16.0; |
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xyz[2] = ((double)z) / 16.0; |
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break;
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case VECTOR_EULER:
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/* 1 degree = 16 LSB */
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xyz[0] = ((double)x) / 16.0; |
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xyz[1] = ((double)y) / 16.0; |
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xyz[2] = ((double)z) / 16.0; |
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break;
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case VECTOR_ACCELEROMETER:
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case VECTOR_LINEARACCEL:
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case VECTOR_GRAVITY:
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/* 1m/s^2 = 100 LSB */
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xyz[0] = ((double)x) / 100.0; |
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xyz[1] = ((double)y) / 100.0; |
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xyz[2] = ((double)z) / 100.0; |
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break;
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} |
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return xyz;
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} |
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/*!
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* @brief Gets a quaternion reading from the specified source
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* @return quaternion reading
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*/
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imu::Quaternion Adafruit_BNO055::getQuat() {
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uint8_t buffer[8];
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memset(buffer, 0, 8); |
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int16_t x, y, z, w; |
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x = y = z = w = 0;
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/* Read quat data (8 bytes) */
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readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
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w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]); |
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x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]); |
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y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]); |
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z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]); |
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/*!
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* Assign to Quaternion
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* See
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* http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
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* 3.6.5.5 Orientation (Quaternion)
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*/
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const double scale = (1.0 / (1 << 14)); |
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imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z); |
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return quat;
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} |
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/*!
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* @brief Provides the sensor_t data for this sensor
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* @param sensor
|
| 462 |
*/
|
| 463 |
void Adafruit_BNO055::getSensor(sensor_t *sensor) {
|
| 464 |
/* Clear the sensor_t object */
|
| 465 |
memset(sensor, 0, sizeof(sensor_t)); |
| 466 |
|
| 467 |
/* Insert the sensor name in the fixed length char array */
|
| 468 |
strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1); |
| 469 |
sensor->name[sizeof(sensor->name) - 1] = 0; |
| 470 |
sensor->version = 1;
|
| 471 |
sensor->sensor_id = _sensorID; |
| 472 |
sensor->type = SENSOR_TYPE_ORIENTATION; |
| 473 |
sensor->min_delay = 0;
|
| 474 |
sensor->max_value = 0.0F; |
| 475 |
sensor->min_value = 0.0F; |
| 476 |
sensor->resolution = 0.01F; |
| 477 |
} |
| 478 |
|
| 479 |
/*!
|
| 480 |
* @brief Reads the sensor and returns the data as a sensors_event_t
|
| 481 |
* @param event
|
| 482 |
* @return always returns true
|
| 483 |
*/
|
| 484 |
bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
|
| 485 |
/* Clear the event */
|
| 486 |
memset(event, 0, sizeof(sensors_event_t)); |
| 487 |
|
| 488 |
event->version = sizeof(sensors_event_t);
|
| 489 |
event->sensor_id = _sensorID; |
| 490 |
event->type = SENSOR_TYPE_ORIENTATION; |
| 491 |
event->timestamp = millis(); |
| 492 |
|
| 493 |
/* Get a Euler angle sample for orientation */
|
| 494 |
imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
|
| 495 |
event->orientation.x = euler.x(); |
| 496 |
event->orientation.y = euler.y(); |
| 497 |
event->orientation.z = euler.z(); |
| 498 |
|
| 499 |
return true; |
| 500 |
} |
| 501 |
|
| 502 |
/*!
|
| 503 |
* @brief Reads the sensor's offset registers into a byte array
|
| 504 |
* @param calibData
|
| 505 |
* @return true if read is successful
|
| 506 |
*/
|
| 507 |
bool Adafruit_BNO055::getSensorOffsets(uint8_t *calibData) {
|
| 508 |
if (isFullyCalibrated()) {
|
| 509 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 510 |
setMode(OPERATION_MODE_CONFIG); |
| 511 |
|
| 512 |
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS); |
| 513 |
|
| 514 |
setMode(lastMode); |
| 515 |
return true; |
| 516 |
} |
| 517 |
return false; |
| 518 |
} |
| 519 |
|
| 520 |
/*!
|
| 521 |
* @brief Reads the sensor's offset registers into an offset struct
|
| 522 |
* @param offsets_type
|
| 523 |
* type of offsets
|
| 524 |
* @return true if read is successful
|
| 525 |
*/
|
| 526 |
bool Adafruit_BNO055::getSensorOffsets(
|
| 527 |
adafruit_bno055_offsets_t &offsets_type) {
|
| 528 |
if (isFullyCalibrated()) {
|
| 529 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 530 |
setMode(OPERATION_MODE_CONFIG); |
| 531 |
delay(25);
|
| 532 |
|
| 533 |
/* Accel offset range depends on the G-range:
|
| 534 |
+/-2g = +/- 2000 mg
|
| 535 |
+/-4g = +/- 4000 mg
|
| 536 |
+/-8g = +/- 8000 mg
|
| 537 |
+/-1§g = +/- 16000 mg */
|
| 538 |
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) |
|
| 539 |
(read8(ACCEL_OFFSET_X_LSB_ADDR)); |
| 540 |
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) |
|
| 541 |
(read8(ACCEL_OFFSET_Y_LSB_ADDR)); |
| 542 |
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) |
|
| 543 |
(read8(ACCEL_OFFSET_Z_LSB_ADDR)); |
| 544 |
|
| 545 |
/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
|
| 546 |
offsets_type.mag_offset_x = |
| 547 |
(read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
|
| 548 |
offsets_type.mag_offset_y = |
| 549 |
(read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
|
| 550 |
offsets_type.mag_offset_z = |
| 551 |
(read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
|
| 552 |
|
| 553 |
/* Gyro offset range depends on the DPS range:
|
| 554 |
2000 dps = +/- 32000 LSB
|
| 555 |
1000 dps = +/- 16000 LSB
|
| 556 |
500 dps = +/- 8000 LSB
|
| 557 |
250 dps = +/- 4000 LSB
|
| 558 |
125 dps = +/- 2000 LSB
|
| 559 |
... where 1 DPS = 16 LSB */
|
| 560 |
offsets_type.gyro_offset_x = |
| 561 |
(read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
|
| 562 |
offsets_type.gyro_offset_y = |
| 563 |
(read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
|
| 564 |
offsets_type.gyro_offset_z = |
| 565 |
(read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
|
| 566 |
|
| 567 |
/* Accelerometer radius = +/- 1000 LSB */
|
| 568 |
offsets_type.accel_radius = |
| 569 |
(read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
|
| 570 |
|
| 571 |
/* Magnetometer radius = +/- 960 LSB */
|
| 572 |
offsets_type.mag_radius = |
| 573 |
(read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
|
| 574 |
|
| 575 |
setMode(lastMode); |
| 576 |
return true; |
| 577 |
} |
| 578 |
return false; |
| 579 |
} |
| 580 |
|
| 581 |
/*!
|
| 582 |
* @brief Writes an array of calibration values to the sensor's offset
|
| 583 |
* @param *calibData
|
| 584 |
* calibration data
|
| 585 |
*/
|
| 586 |
void Adafruit_BNO055::setSensorOffsets(const uint8_t *calibData) { |
| 587 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 588 |
setMode(OPERATION_MODE_CONFIG); |
| 589 |
delay(25);
|
| 590 |
|
| 591 |
/* Note: Configuration will take place only when user writes to the last
|
| 592 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
| 593 |
Therefore the last byte must be written whenever the user wants to
|
| 594 |
changes the configuration. */
|
| 595 |
|
| 596 |
/* A writeLen() would make this much cleaner */
|
| 597 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
|
| 598 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
|
| 599 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
|
| 600 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
|
| 601 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
|
| 602 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
|
| 603 |
|
| 604 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
|
| 605 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
|
| 606 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
|
| 607 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
|
| 608 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
|
| 609 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
|
| 610 |
|
| 611 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
|
| 612 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
|
| 613 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
|
| 614 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
|
| 615 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
|
| 616 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
|
| 617 |
|
| 618 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
|
| 619 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
|
| 620 |
|
| 621 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
|
| 622 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
|
| 623 |
|
| 624 |
setMode(lastMode); |
| 625 |
} |
| 626 |
|
| 627 |
/*!
|
| 628 |
* @brief Writes to the sensor's offset registers from an offset struct
|
| 629 |
* @param offsets_type
|
| 630 |
* accel_offset_x = acceleration offset x
|
| 631 |
* accel_offset_y = acceleration offset y
|
| 632 |
* accel_offset_z = acceleration offset z
|
| 633 |
*
|
| 634 |
* mag_offset_x = magnetometer offset x
|
| 635 |
* mag_offset_y = magnetometer offset y
|
| 636 |
* mag_offset_z = magnetometer offset z
|
| 637 |
*
|
| 638 |
* gyro_offset_x = gyroscrope offset x
|
| 639 |
* gyro_offset_y = gyroscrope offset y
|
| 640 |
* gyro_offset_z = gyroscrope offset z
|
| 641 |
*/
|
| 642 |
void Adafruit_BNO055::setSensorOffsets(
|
| 643 |
const adafruit_bno055_offsets_t &offsets_type) {
|
| 644 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 645 |
setMode(OPERATION_MODE_CONFIG); |
| 646 |
delay(25);
|
| 647 |
|
| 648 |
/* Note: Configuration will take place only when user writes to the last
|
| 649 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
| 650 |
Therefore the last byte must be written whenever the user wants to
|
| 651 |
changes the configuration. */
|
| 652 |
|
| 653 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
|
| 654 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); |
| 655 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
|
| 656 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); |
| 657 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
|
| 658 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); |
| 659 |
|
| 660 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
|
| 661 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); |
| 662 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
|
| 663 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); |
| 664 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
|
| 665 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); |
| 666 |
|
| 667 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
|
| 668 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); |
| 669 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
|
| 670 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); |
| 671 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
|
| 672 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); |
| 673 |
|
| 674 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
|
| 675 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); |
| 676 |
|
| 677 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
|
| 678 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); |
| 679 |
|
| 680 |
setMode(lastMode); |
| 681 |
} |
| 682 |
|
| 683 |
/*!
|
| 684 |
* @brief Checks of all cal status values are set to 3 (fully calibrated)
|
| 685 |
* @return status of calibration
|
| 686 |
*/
|
| 687 |
bool Adafruit_BNO055::isFullyCalibrated() {
|
| 688 |
uint8_t system, gyro, accel, mag; |
| 689 |
getCalibration(&system, &gyro, &accel, &mag); |
| 690 |
|
| 691 |
switch (_mode) {
|
| 692 |
case OPERATION_MODE_ACCONLY:
|
| 693 |
return (accel == 3); |
| 694 |
case OPERATION_MODE_MAGONLY:
|
| 695 |
return (mag == 3); |
| 696 |
case OPERATION_MODE_GYRONLY:
|
| 697 |
case OPERATION_MODE_M4G: /* No magnetometer calibration required. */ |
| 698 |
return (gyro == 3); |
| 699 |
case OPERATION_MODE_ACCMAG:
|
| 700 |
case OPERATION_MODE_COMPASS:
|
| 701 |
return (accel == 3 && mag == 3); |
| 702 |
case OPERATION_MODE_ACCGYRO:
|
| 703 |
case OPERATION_MODE_IMUPLUS:
|
| 704 |
return (accel == 3 && gyro == 3); |
| 705 |
case OPERATION_MODE_MAGGYRO:
|
| 706 |
return (mag == 3 && gyro == 3); |
| 707 |
default:
|
| 708 |
return (system == 3 && gyro == 3 && accel == 3 && mag == 3); |
| 709 |
} |
| 710 |
} |
| 711 |
|
| 712 |
/*!
|
| 713 |
* @brief Writes an 8 bit value over I2C
|
| 714 |
*/
|
| 715 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) {
|
| 716 |
_wire->beginTransmission(_address); |
| 717 |
#if ARDUINO >= 100 |
| 718 |
_wire->write((uint8_t)reg); |
| 719 |
_wire->write((uint8_t)value); |
| 720 |
#else
|
| 721 |
_wire->send(reg); |
| 722 |
_wire->send(value); |
| 723 |
#endif
|
| 724 |
_wire->endTransmission(); |
| 725 |
|
| 726 |
/* ToDo: Check for error! */
|
| 727 |
return true; |
| 728 |
} |
| 729 |
|
| 730 |
/*!
|
| 731 |
* @brief Reads an 8 bit value over I2C
|
| 732 |
*/
|
| 733 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg) {
|
| 734 |
byte value = 0;
|
| 735 |
|
| 736 |
_wire->beginTransmission(_address); |
| 737 |
#if ARDUINO >= 100 |
| 738 |
_wire->write((uint8_t)reg); |
| 739 |
#else
|
| 740 |
_wire->send(reg); |
| 741 |
#endif
|
| 742 |
_wire->endTransmission(); |
| 743 |
_wire->requestFrom(_address, (byte)1);
|
| 744 |
#if ARDUINO >= 100 |
| 745 |
value = _wire->read(); |
| 746 |
#else
|
| 747 |
value = _wire->receive(); |
| 748 |
#endif
|
| 749 |
|
| 750 |
return value;
|
| 751 |
} |
| 752 |
|
| 753 |
/*!
|
| 754 |
* @brief Reads the specified number of bytes over I2C
|
| 755 |
*/
|
| 756 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte *buffer,
|
| 757 |
uint8_t len) {
|
| 758 |
_wire->beginTransmission(_address); |
| 759 |
#if ARDUINO >= 100 |
| 760 |
_wire->write((uint8_t)reg); |
| 761 |
#else
|
| 762 |
_wire->send(reg); |
| 763 |
#endif
|
| 764 |
_wire->endTransmission(); |
| 765 |
_wire->requestFrom(_address, (byte)len); |
| 766 |
|
| 767 |
for (uint8_t i = 0; i < len; i++) { |
| 768 |
#if ARDUINO >= 100 |
| 769 |
buffer[i] = _wire->read(); |
| 770 |
#else
|
| 771 |
buffer[i] = _wire->receive(); |
| 772 |
#endif
|
| 773 |
} |
| 774 |
|
| 775 |
/* ToDo: Check for errors! */
|
| 776 |
return true; |
| 777 |
} |