adafruit_bno055 / Adafruit_BNO055.h @ 55e2f6d1
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1 | 55e2f6d1 | Jan Hoffmann | /*!
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2 | *
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3 | * This is a library for the BNO055 orientation sensor
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4 | *
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5 | * Designed specifically to work with the Adafruit BNO055 Breakout.
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6 | *
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7 | * Pick one up today in the adafruit shop!
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8 | * ------> https://www.adafruit.com/product/2472
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9 | *
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10 | * These sensors use I2C to communicate, 2 pins are required to interface.
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11 | *
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12 | * Adafruit invests time and resources providing this open source code,
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13 | * please support Adafruit andopen-source hardware by purchasing products
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14 | * from Adafruit!
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15 | *
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16 | * Written by KTOWN for Adafruit Industries.
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17 | *
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18 | * MIT license, all text above must be included in any redistribution
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19 | */
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20 | 4bc1c0c1 | Kevin Townsend | |
21 | #ifndef __ADAFRUIT_BNO055_H__
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22 | #define __ADAFRUIT_BNO055_H__
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23 | |||
24 | #if (ARDUINO >= 100) |
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25 | 55e2f6d1 | Jan Hoffmann | #include "Arduino.h" |
26 | 4bc1c0c1 | Kevin Townsend | #else
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27 | 55e2f6d1 | Jan Hoffmann | #include "WProgram.h" |
28 | 4bc1c0c1 | Kevin Townsend | #endif
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29 | d964148c | Tony DiCola | |
30 | #ifdef __AVR_ATtiny85__
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31 | 55e2f6d1 | Jan Hoffmann | #include <TinyWireM.h> |
32 | #define Wire TinyWireM
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33 | d964148c | Tony DiCola | #else
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34 | 55e2f6d1 | Jan Hoffmann | #include <Wire.h> |
35 | d964148c | Tony DiCola | #endif
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36 | 4bc1c0c1 | Kevin Townsend | |
37 | #include <Adafruit_Sensor.h> |
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38 | #include <utility/imumaths.h> |
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39 | |||
40 | #define BNO055_ADDRESS_A (0x28) |
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41 | #define BNO055_ADDRESS_B (0x29) |
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42 | 55e2f6d1 | Jan Hoffmann | #define BNO055_ID (0xA0) |
43 | 4bc1c0c1 | Kevin Townsend | |
44 | 312a5b9e | Wetmelon | #define NUM_BNO055_OFFSET_REGISTERS (22) |
45 | |||
46 | 55e2f6d1 | Jan Hoffmann | /** A structure to represent offsets **/
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47 | typedef struct { |
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48 | int16_t accel_offset_x; /**< x acceleration offset */
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49 | int16_t accel_offset_y; /**< y acceleration offset */
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50 | int16_t accel_offset_z; /**< z acceleration offset */
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51 | |||
52 | int16_t mag_offset_x; /**< x magnetometer offset */
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53 | int16_t mag_offset_y; /**< y magnetometer offset */
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54 | int16_t mag_offset_z; /**< z magnetometer offset */
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55 | |||
56 | int16_t gyro_offset_x; /**< x gyroscrope offset */
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57 | int16_t gyro_offset_y; /**< y gyroscrope offset */
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58 | int16_t gyro_offset_z; /**< z gyroscrope offset */
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59 | |||
60 | int16_t accel_radius; /**< acceleration radius */
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61 | |||
62 | int16_t mag_radius; /**< magnetometer radius */
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63 | 312a5b9e | Wetmelon | } adafruit_bno055_offsets_t; |
64 | |||
65 | 55e2f6d1 | Jan Hoffmann | /*!
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66 | * @brief Class that stores state and functions for interacting with
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67 | * BNO055 Sensor
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68 | */
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69 | class Adafruit_BNO055 : public Adafruit_Sensor { |
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70 | public:
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71 | /** BNO055 Registers **/
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72 | typedef enum { |
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73 | /* Page id register definition */
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74 | BNO055_PAGE_ID_ADDR = 0X07,
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75 | |||
76 | /* PAGE0 REGISTER DEFINITION START*/
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77 | BNO055_CHIP_ID_ADDR = 0x00,
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78 | BNO055_ACCEL_REV_ID_ADDR = 0x01,
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79 | BNO055_MAG_REV_ID_ADDR = 0x02,
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80 | BNO055_GYRO_REV_ID_ADDR = 0x03,
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81 | BNO055_SW_REV_ID_LSB_ADDR = 0x04,
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82 | BNO055_SW_REV_ID_MSB_ADDR = 0x05,
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83 | BNO055_BL_REV_ID_ADDR = 0X06,
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84 | |||
85 | /* Accel data register */
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86 | BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
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87 | BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
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88 | BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
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89 | BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
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90 | BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
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91 | BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
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92 | |||
93 | /* Mag data register */
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94 | BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
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95 | BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
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96 | BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
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97 | BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
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98 | BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
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99 | BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
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100 | |||
101 | /* Gyro data registers */
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102 | BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
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103 | BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
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104 | BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
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105 | BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
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106 | BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
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107 | BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
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108 | |||
109 | /* Euler data registers */
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110 | BNO055_EULER_H_LSB_ADDR = 0X1A,
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111 | BNO055_EULER_H_MSB_ADDR = 0X1B,
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112 | BNO055_EULER_R_LSB_ADDR = 0X1C,
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113 | BNO055_EULER_R_MSB_ADDR = 0X1D,
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114 | BNO055_EULER_P_LSB_ADDR = 0X1E,
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115 | BNO055_EULER_P_MSB_ADDR = 0X1F,
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116 | |||
117 | /* Quaternion data registers */
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118 | BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
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119 | BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
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120 | BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
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121 | BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
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122 | BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
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123 | BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
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124 | BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
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125 | BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
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126 | |||
127 | /* Linear acceleration data registers */
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128 | BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
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129 | BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
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130 | BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
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131 | BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
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132 | BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
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133 | BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
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134 | |||
135 | /* Gravity data registers */
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136 | BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
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137 | BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
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138 | BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
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139 | BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
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140 | BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
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141 | BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
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142 | |||
143 | /* Temperature data register */
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144 | BNO055_TEMP_ADDR = 0X34,
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145 | |||
146 | /* Status registers */
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147 | BNO055_CALIB_STAT_ADDR = 0X35,
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148 | BNO055_SELFTEST_RESULT_ADDR = 0X36,
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149 | BNO055_INTR_STAT_ADDR = 0X37,
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150 | |||
151 | BNO055_SYS_CLK_STAT_ADDR = 0X38,
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152 | BNO055_SYS_STAT_ADDR = 0X39,
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153 | BNO055_SYS_ERR_ADDR = 0X3A,
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154 | |||
155 | /* Unit selection register */
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156 | BNO055_UNIT_SEL_ADDR = 0X3B,
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157 | BNO055_DATA_SELECT_ADDR = 0X3C,
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158 | |||
159 | /* Mode registers */
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160 | BNO055_OPR_MODE_ADDR = 0X3D,
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161 | BNO055_PWR_MODE_ADDR = 0X3E,
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162 | |||
163 | BNO055_SYS_TRIGGER_ADDR = 0X3F,
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164 | BNO055_TEMP_SOURCE_ADDR = 0X40,
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165 | |||
166 | /* Axis remap registers */
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167 | BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
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168 | BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
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169 | |||
170 | /* SIC registers */
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171 | BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
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172 | BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
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173 | BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
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174 | BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
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175 | BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
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176 | BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
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177 | BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
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178 | BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
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179 | BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
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180 | BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
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181 | BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
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182 | BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
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183 | BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
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184 | BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
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185 | BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
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186 | BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
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187 | BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
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188 | BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
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189 | |||
190 | /* Accelerometer Offset registers */
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191 | ACCEL_OFFSET_X_LSB_ADDR = 0X55,
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192 | ACCEL_OFFSET_X_MSB_ADDR = 0X56,
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193 | ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
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194 | ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
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195 | ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
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196 | ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
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197 | |||
198 | /* Magnetometer Offset registers */
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199 | MAG_OFFSET_X_LSB_ADDR = 0X5B,
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200 | MAG_OFFSET_X_MSB_ADDR = 0X5C,
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201 | MAG_OFFSET_Y_LSB_ADDR = 0X5D,
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202 | MAG_OFFSET_Y_MSB_ADDR = 0X5E,
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203 | MAG_OFFSET_Z_LSB_ADDR = 0X5F,
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204 | MAG_OFFSET_Z_MSB_ADDR = 0X60,
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205 | |||
206 | /* Gyroscope Offset register s*/
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207 | GYRO_OFFSET_X_LSB_ADDR = 0X61,
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208 | GYRO_OFFSET_X_MSB_ADDR = 0X62,
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209 | GYRO_OFFSET_Y_LSB_ADDR = 0X63,
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210 | GYRO_OFFSET_Y_MSB_ADDR = 0X64,
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211 | GYRO_OFFSET_Z_LSB_ADDR = 0X65,
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212 | GYRO_OFFSET_Z_MSB_ADDR = 0X66,
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213 | |||
214 | /* Radius registers */
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215 | ACCEL_RADIUS_LSB_ADDR = 0X67,
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216 | ACCEL_RADIUS_MSB_ADDR = 0X68,
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217 | MAG_RADIUS_LSB_ADDR = 0X69,
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218 | MAG_RADIUS_MSB_ADDR = 0X6A
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219 | } adafruit_bno055_reg_t; |
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220 | |||
221 | /** BNO055 power settings */
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222 | typedef enum { |
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223 | POWER_MODE_NORMAL = 0X00,
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224 | POWER_MODE_LOWPOWER = 0X01,
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225 | POWER_MODE_SUSPEND = 0X02
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226 | } adafruit_bno055_powermode_t; |
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227 | |||
228 | /** Operation mode settings **/
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229 | typedef enum { |
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230 | OPERATION_MODE_CONFIG = 0X00,
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231 | OPERATION_MODE_ACCONLY = 0X01,
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232 | OPERATION_MODE_MAGONLY = 0X02,
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233 | OPERATION_MODE_GYRONLY = 0X03,
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234 | OPERATION_MODE_ACCMAG = 0X04,
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235 | OPERATION_MODE_ACCGYRO = 0X05,
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236 | OPERATION_MODE_MAGGYRO = 0X06,
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237 | OPERATION_MODE_AMG = 0X07,
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238 | OPERATION_MODE_IMUPLUS = 0X08,
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239 | OPERATION_MODE_COMPASS = 0X09,
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240 | OPERATION_MODE_M4G = 0X0A,
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241 | OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
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242 | OPERATION_MODE_NDOF = 0X0C
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243 | } adafruit_bno055_opmode_t; |
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244 | |||
245 | /** Remap settings **/
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246 | typedef enum { |
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247 | REMAP_CONFIG_P0 = 0x21,
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248 | REMAP_CONFIG_P1 = 0x24, // default |
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249 | REMAP_CONFIG_P2 = 0x24,
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250 | REMAP_CONFIG_P3 = 0x21,
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251 | REMAP_CONFIG_P4 = 0x24,
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252 | REMAP_CONFIG_P5 = 0x21,
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253 | REMAP_CONFIG_P6 = 0x21,
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254 | REMAP_CONFIG_P7 = 0x24
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255 | } adafruit_bno055_axis_remap_config_t; |
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256 | |||
257 | /** Remap Signs **/
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258 | typedef enum { |
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259 | REMAP_SIGN_P0 = 0x04,
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260 | REMAP_SIGN_P1 = 0x00, // default |
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261 | REMAP_SIGN_P2 = 0x06,
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262 | REMAP_SIGN_P3 = 0x02,
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263 | REMAP_SIGN_P4 = 0x03,
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264 | REMAP_SIGN_P5 = 0x01,
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265 | REMAP_SIGN_P6 = 0x07,
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266 | REMAP_SIGN_P7 = 0x05
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267 | } adafruit_bno055_axis_remap_sign_t; |
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268 | |||
269 | /** A structure to represent revisions **/
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270 | typedef struct { |
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271 | uint8_t accel_rev; /**< acceleration rev */
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272 | uint8_t mag_rev; /**< magnetometer rev */
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273 | uint8_t gyro_rev; /**< gyroscrope rev */
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274 | uint16_t sw_rev; /**< SW rev */
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275 | uint8_t bl_rev; /**< bootloader rev */
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276 | } adafruit_bno055_rev_info_t; |
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277 | |||
278 | /** Vector Mappings **/
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279 | typedef enum { |
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280 | VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
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281 | VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, |
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282 | VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, |
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283 | VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, |
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284 | VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, |
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285 | VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR |
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286 | } adafruit_vector_type_t; |
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287 | |||
288 | #if defined(ARDUINO_SAMD_ZERO) && !(ARDUINO_SAMD_FEATHER_M0)
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289 | #error \
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290 | "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete \
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291 | this line."
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292 | Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B);
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293 | 1da09ad2 | David P Hilton | #else
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294 | 55e2f6d1 | Jan Hoffmann | Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A);
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295 | 1da09ad2 | David P Hilton | #endif
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296 | 55e2f6d1 | Jan Hoffmann | bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
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297 | void setMode(adafruit_bno055_opmode_t mode);
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298 | void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
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299 | void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
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300 | void getRevInfo(adafruit_bno055_rev_info_t *);
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301 | void setExtCrystalUse(boolean usextal);
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302 | void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
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303 | uint8_t *system_error); |
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304 | void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
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305 | uint8_t *mag); |
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306 | |||
307 | imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
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308 | imu::Quaternion getQuat(); |
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309 | int8_t getTemp(); |
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310 | |||
311 | /* Adafruit_Sensor implementation */
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312 | bool getEvent(sensors_event_t *);
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313 | void getSensor(sensor_t *);
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314 | |||
315 | /* Functions to deal with raw calibration data */
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316 | bool getSensorOffsets(uint8_t *calibData);
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317 | bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
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318 | void setSensorOffsets(const uint8_t *calibData); |
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319 | void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type); |
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320 | bool isFullyCalibrated();
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321 | |||
322 | private:
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323 | byte read8(adafruit_bno055_reg_t); |
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324 | bool readLen(adafruit_bno055_reg_t, byte *buffer, uint8_t len);
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325 | bool write8(adafruit_bno055_reg_t, byte value);
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326 | |||
327 | uint8_t _address; |
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328 | int32_t _sensorID; |
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329 | adafruit_bno055_opmode_t _mode; |
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330 | 4bc1c0c1 | Kevin Townsend | }; |
331 | |||
332 | #endif |