Revision a2a65dbc
Adafruit_BNO055.h | ||
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40 | 40 |
typedef enum |
41 | 41 |
{ |
42 | 42 |
/* Page id register definition */ |
43 |
BNO055_PAGE_ID_ADDR = 0X07,
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43 |
BNO055_PAGE_ID_ADDR = 0X07,
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44 | 44 |
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45 | 45 |
/* PAGE0 REGISTER DEFINITION START*/ |
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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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 | 53 |
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54 | 54 |
/* Accel data register */ |
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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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 | 61 |
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62 | 62 |
/* Mag data register */ |
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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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 | 69 |
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70 | 70 |
/* Gyro data registers */ |
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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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 | 77 |
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78 | 78 |
/* Euler data registers */ |
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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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 | 85 |
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86 | 86 |
/* Quaternion data registers */ |
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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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 | 95 |
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96 | 96 |
/* Linear acceleration data registers */ |
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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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 | 103 |
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104 | 104 |
/* Gravity data registers */ |
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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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 | 111 |
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112 | 112 |
/* Temperature data register */ |
113 |
BNO055_TEMP_ADDR = 0X34,
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113 |
BNO055_TEMP_ADDR = 0X34,
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114 | 114 |
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115 | 115 |
/* Status registers */ |
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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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 | 119 |
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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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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 | 123 |
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124 | 124 |
/* Unit selection register */ |
125 |
BNO055_UNIT_SEL_ADDR = 0X3B,
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126 |
BNO055_DATA_SELECT_ADDR = 0X3C,
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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 | 127 |
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128 | 128 |
/* Mode registers */ |
129 |
BNO055_OPR_MODE_ADDR = 0X3D, |
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130 |
BNO055_PWR_MODE_ADDR = 0X3E, |
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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 |
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132 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
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133 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
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131 | 134 |
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132 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
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133 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
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134 |
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135 | 135 |
/* Axis remap registers */ |
136 |
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
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137 |
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
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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 | 138 |
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139 | 139 |
/* SIC registers */ |
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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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 | 158 |
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159 | 159 |
/* Accelerometer Offset registers */ |
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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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 | 166 |
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167 | 167 |
/* Magnetometer Offset registers */ |
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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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 | 174 |
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175 | 175 |
/* Gyroscope Offset register s*/ |
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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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 | 182 |
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183 | 183 |
/* Radius registers */ |
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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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 | 188 |
} adafruit_bno055_reg_t; |
189 |
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189 |
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190 | 190 |
typedef enum |
191 | 191 |
{ |
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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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 | 195 |
} adafruit_bno055_powermode_t; |
196 |
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196 |
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197 | 197 |
typedef enum |
198 | 198 |
{ |
199 | 199 |
/* Operation mode settings*/ |
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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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 | 213 |
} adafruit_bno055_opmode_t; |
214 |
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214 |
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215 | 215 |
typedef struct |
216 | 216 |
{ |
217 | 217 |
uint8_t accel_rev; |
... | ... | |
220 | 220 |
uint16_t sw_rev; |
221 | 221 |
uint8_t bl_rev; |
222 | 222 |
} adafruit_bno055_rev_info_t; |
223 |
|
|
223 |
|
|
224 | 224 |
typedef enum |
225 | 225 |
{ |
226 | 226 |
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
... | ... | |
238 | 238 |
void getRevInfo ( adafruit_bno055_rev_info_t* ); |
239 | 239 |
void displayRevInfo ( void ); |
240 | 240 |
void setExtCrystalUse ( boolean usextal ); |
241 |
void getSystemStatus ( uint8_t *system_status,
|
|
242 |
uint8_t *self_test_result,
|
|
241 |
void getSystemStatus ( uint8_t *system_status, |
|
242 |
uint8_t *self_test_result, |
|
243 | 243 |
uint8_t *system_error); |
244 | 244 |
void displaySystemStatus ( void ); |
245 |
|
|
245 |
|
|
246 | 246 |
imu::Vector<3> getVector ( adafruit_vector_type_t vector_type ); |
247 | 247 |
imu::Quaternion getQuat ( void ); |
248 | 248 |
int8_t getTemp ( void ); |
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