Statistics
| Branch: | Revision:

adafruit_bno055 / Adafruit_BNO055.cpp @ dd57d4fa

History | View | Annotate | Download (12.754 KB)

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

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

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

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

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

15
  Written by KTOWN for Adafruit Industries.
16

17
  MIT license, all text above must be included in any redistribution
18
 ***************************************************************************/
19
20
#if ARDUINO >= 100
21
 #include "Arduino.h"
22
#else
23
 #include "WProgram.h"
24
#endif
25
26
#include <math.h>
27
#include <limits.h>
28
29
#include "Adafruit_BNO055.h"
30
31
/***************************************************************************
32
 CONSTRUCTOR
33
 ***************************************************************************/
34
 
35
/**************************************************************************/
36
/*!
37
    @brief  Instantiates a new Adafruit_BNO055 class
38
*/
39
/**************************************************************************/
40
Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
41
{
42
  _sensorID = sensorID;
43
  _address = address;
44
}
45
46
/***************************************************************************
47
 PUBLIC FUNCTIONS
48
 ***************************************************************************/
49
50
/**************************************************************************/
51
/*!
52
    @brief  Sets up the HW
53
*/
54
/**************************************************************************/
55
bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
56
{
57
  /* Enable I2C */
58
  Wire.begin();
59
60
  /* Make sure we have the right device */
61
  uint8_t id = read8(BNO055_CHIP_ID_ADDR);
62
  if(id != BNO055_ID)
63
  {
64 c4f272e1 ladyada
    delay(1000); // hold on for boot
65
    if(id != BNO055_ID) {
66
      return false;  // still not? ok bail
67
    }
68 4bc1c0c1 Kevin Townsend
  }
69
70
  /* Switch to config mode (just in case since this is the default) */
71
  setMode(OPERATION_MODE_CONFIG);
72 c4f272e1 ladyada
73
  /* Reset */
74 dd57d4fa Kevin Townsend
  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
75
  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
76
  {
77 c4f272e1 ladyada
    delay(10);
78 dd57d4fa Kevin Townsend
  }
79 c4f272e1 ladyada
  delay(50);
80
 
81 4bc1c0c1 Kevin Townsend
  /* Set to normal power mode */
82
  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
83
  delay(10);
84 c4f272e1 ladyada
85
  write8(BNO055_PAGE_ID_ADDR, 0);
86 26f98bcd Kevin Townsend
  
87
  /* Set the output units */
88 dd57d4fa Kevin Townsend
  /*
89
  uint8_t unitsel = (0 << 7) | // Orientation = Android
90
                    (0 << 4) | // Temperature = Celsius
91
                    (0 << 2) | // Euler = Degrees
92
                    (1 << 1) | // Gyro = Rads
93
                    (0 << 0);  // Accelerometer = m/s^2
94 26f98bcd Kevin Townsend
  write8(BNO055_UNIT_SEL_ADDR, unitsel);
95 dd57d4fa Kevin Townsend
  */
96 26f98bcd Kevin Townsend
97 c4f272e1 ladyada
  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
98
  delay(10);
99 4bc1c0c1 Kevin Townsend
  /* Set the requested operating mode (see section 3.3) */
100 c4f272e1 ladyada
  setMode(mode);
101 4bc1c0c1 Kevin Townsend
  delay(20);
102
103
  return true;
104
}
105
106
/**************************************************************************/
107
/*!
108
    @brief  Puts the chip in the specified operating mode
109
*/
110
/**************************************************************************/
111
void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
112
{
113
  _mode = mode;
114
  write8(BNO055_OPR_MODE_ADDR, _mode);
115
  delay(30);
116
}
117
118
/**************************************************************************/
119
/*!
120 c4f272e1 ladyada
    @brief  Use the external 32.768KHz crystal
121
*/
122
/**************************************************************************/
123
void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
124
{
125
  adafruit_bno055_opmode_t modeback = _mode;
126
127
  /* Switch to config mode (just in case since this is the default) */
128
  setMode(OPERATION_MODE_CONFIG);
129
  delay(25);
130
  write8(BNO055_PAGE_ID_ADDR, 0);
131
  if (usextal) {
132
    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
133
  } else {
134
    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
135
  }
136
  delay(10);
137
  /* Set the requested operating mode (see section 3.3) */
138
  setMode(modeback);
139
  delay(20);
140
}
141
142
143
/**************************************************************************/
144
/*!
145 4bc1c0c1 Kevin Townsend
    @brief  Gets the latest system status info
146
*/
147
/**************************************************************************/
148 3b2655dc ladyada
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
149 4bc1c0c1 Kevin Townsend
{
150 c4f272e1 ladyada
  adafruit_bno055_opmode_t backupmode = _mode;
151
152
  setMode(OPERATION_MODE_CONFIG);
153
  delay(20);
154
  write8(BNO055_PAGE_ID_ADDR, 0);
155
156 3b2655dc ladyada
  write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);
157 c4f272e1 ladyada
  delay(1000);
158 4bc1c0c1 Kevin Townsend
  
159
  /* System Status (see section 4.3.58)
160
     ---------------------------------
161
     0 = Idle
162
     1 = System Error
163
     2 = Initializing Peripherals
164
     3 = System Iniitalization
165
     4 = Executing Self-Test
166
     5 = Sensor fusio algorithm running
167
     6 = System running without fusion algorithms */
168
  
169 67f3cff5 Kevin Townsend
  if (system_status != 0)
170
    *system_status    = read8(BNO055_SYS_STAT_ADDR);
171
  
172 4bc1c0c1 Kevin Townsend
  /* Self Test Results (see section )
173
     --------------------------------
174
     1 = test passed, 0 = test failed
175 67f3cff5 Kevin Townsend
  
176 4bc1c0c1 Kevin Townsend
     Bit 0 = Accelerometer self test
177
     Bit 1 = Magnetometer self test
178
     Bit 2 = Gyroscope self test
179
     Bit 3 = MCU self test
180 67f3cff5 Kevin Townsend

181 4bc1c0c1 Kevin Townsend
     0x0F = all good! */
182
  
183 67f3cff5 Kevin Townsend
  if (self_test_result != 0)
184
    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
185 4bc1c0c1 Kevin Townsend
186
  /* System Error (see section 4.3.59)
187
     ---------------------------------
188
     0 = No error
189
     1 = Peripheral initialization error
190
     2 = System initialization error
191
     3 = Self test result failed
192
     4 = Register map value out of range
193
     5 = Register map address out of range
194
     6 = Register map write error
195
     7 = BNO low power mode not available for selected operat ion mode
196
     8 = Accelerometer power mode not available
197
     9 = Fusion algorithm configuration error
198
     A = Sensor configuration error */
199
  
200 67f3cff5 Kevin Townsend
  if (system_error != 0)
201
    *system_error     = read8(BNO055_SYS_ERR_ADDR);
202
203
  setMode(backupmode);
204
  delay(20);
205 4bc1c0c1 Kevin Townsend
}
206
207
/**************************************************************************/
208
/*!
209
    @brief  Gets the chip revision numbers
210
*/
211
/**************************************************************************/
212
void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
213
{
214
  uint8_t a, b;
215
216
  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
217
218 67f3cff5 Kevin Townsend
  /* Check the accelerometer revision */
219 4bc1c0c1 Kevin Townsend
  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
220 67f3cff5 Kevin Townsend
221
  /* Check the magnetometer revision */
222 4bc1c0c1 Kevin Townsend
  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
223 67f3cff5 Kevin Townsend
224
  /* Check the gyroscope revision */
225 4bc1c0c1 Kevin Townsend
  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
226 67f3cff5 Kevin Townsend
227
  /* Check the SW revision */
228 4bc1c0c1 Kevin Townsend
  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
229
  
230
  a = read8(BNO055_SW_REV_ID_LSB_ADDR);
231
  b = read8(BNO055_SW_REV_ID_MSB_ADDR);
232
  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
233
}
234
235
/**************************************************************************/
236
/*!
237 0e2e2723 Kevin Townsend
    @brief  Gets teh temperature in degrees celsius
238
*/
239
/**************************************************************************/
240
int8_t Adafruit_BNO055::getTemp(void)
241
{
242
  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
243
  return temp;
244
}
245
246
/**************************************************************************/
247
/*!
248 48741e1f Kevin Townsend
    @brief  Gets a vector reading from the specified source
249 4bc1c0c1 Kevin Townsend
*/
250
/**************************************************************************/
251 48741e1f Kevin Townsend
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
252 4bc1c0c1 Kevin Townsend
{
253
  imu::Vector<3> xyz;
254
  uint8_t buffer[6];
255
  memset (buffer, 0, 6);
256
  
257
  int16_t x, y, z;
258
  x = y = z = 0;
259
  
260 48741e1f Kevin Townsend
  /* Read vector data (6 bytes) */
261
  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
262 dd57d4fa Kevin Townsend
  
263
  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
264
  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
265
  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
266 26f98bcd Kevin Townsend
267
  /* Convert the value to an appropriate range (section 3.6.4) */
268
  /* and assign the value to the Vector type */
269
  switch(vector_type)
270
  {
271
    case VECTOR_MAGNETOMETER:
272
      /* 1uT = 16 LSB */
273
      xyz[0] = ((double)x)/16.0;
274
      xyz[1] = ((double)y)/16.0;
275
      xyz[2] = ((double)z)/16.0;
276
      break;
277
    case VECTOR_GYROSCOPE:
278
      /* 1rps = 900 LSB */
279
      xyz[0] = ((double)x)/900.0;
280
      xyz[1] = ((double)y)/900.0;
281
      xyz[2] = ((double)z)/900.0;
282
      break;
283
    case VECTOR_EULER:
284
      /* 1 degree = 16 LSB */
285
      xyz[0] = ((double)x)/16.0;
286
      xyz[1] = ((double)y)/16.0;
287
      xyz[2] = ((double)z)/16.0;
288
      break;
289
    case VECTOR_ACCELEROMETER:
290
    case VECTOR_LINEARACCEL:
291
    case VECTOR_GRAVITY:
292
      /* 1m/s^2 = 100 LSB */
293
      xyz[0] = ((double)x)/100.0;
294
      xyz[1] = ((double)y)/100.0;
295
      xyz[2] = ((double)z)/100.0;
296
      break;
297
  }
298 4bc1c0c1 Kevin Townsend
  
299
  return xyz;
300
}
301
302
/**************************************************************************/
303
/*!
304 48741e1f Kevin Townsend
    @brief  Gets a quaternion reading from the specified source
305
*/
306
/**************************************************************************/
307
imu::Quaternion Adafruit_BNO055::getQuat(void)
308
{
309
  uint8_t buffer[8];
310
  memset (buffer, 0, 8);
311
  
312
  int16_t x, y, z, w;
313
  x = y = z = w = 0;
314
  
315
  /* Read quat data (8 bytes) */
316
  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
317
  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
318
  x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
319
  y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
320
  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
321
322
  /* Assign to Quaternion */
323
  imu::Quaternion quat((double)w, (double)x, (double)y, (double)z);
324
  return quat;
325
}
326
327
/**************************************************************************/
328
/*!
329 4bc1c0c1 Kevin Townsend
    @brief  Provides the sensor_t data for this sensor
330
*/
331
/**************************************************************************/
332
void Adafruit_BNO055::getSensor(sensor_t *sensor)
333
{
334
  /* Clear the sensor_t object */
335
  memset(sensor, 0, sizeof(sensor_t));
336
337
  /* Insert the sensor name in the fixed length char array */
338
  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
339
  sensor->name[sizeof(sensor->name)- 1] = 0;
340
  sensor->version     = 1;
341
  sensor->sensor_id   = _sensorID;
342
  sensor->type        = SENSOR_TYPE_ORIENTATION;
343
  sensor->min_delay   = 0;
344
  sensor->max_value   = 0.0F;
345
  sensor->min_value   = 0.0F;
346
  sensor->resolution  = 0.01F;
347
}
348
349
/**************************************************************************/
350
/*!
351
    @brief  Reads the sensor and returns the data as a sensors_event_t
352
*/
353
/**************************************************************************/
354
bool Adafruit_BNO055::getEvent(sensors_event_t *event)
355
{
356
  /* Clear the event */
357
  memset(event, 0, sizeof(sensors_event_t));
358
359
  event->version   = sizeof(sensors_event_t);
360
  event->sensor_id = _sensorID;
361
  event->type      = SENSOR_TYPE_ORIENTATION;
362 fcd68623 Kevin Townsend
  event->timestamp = millis();
363
364
  /* Get a Euler angle sample for orientation */
365
  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
366
  event->orientation.x = euler.x();
367
  event->orientation.y = euler.y();
368
  event->orientation.z = euler.z();
369
370 4bc1c0c1 Kevin Townsend
  return true;
371
}
372
373
/***************************************************************************
374
 PRIVATE FUNCTIONS
375
 ***************************************************************************/
376
377
/**************************************************************************/
378
/*!
379
    @brief  Writes an 8 bit value over I2C
380
*/
381
/**************************************************************************/
382
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
383
{
384
  Wire.beginTransmission(_address);
385
  #if ARDUINO >= 100
386
    Wire.write((uint8_t)reg);
387
    Wire.write((uint8_t)value);
388
  #else
389
    Wire.send(reg);
390
    Wire.send(value);
391
  #endif
392
  Wire.endTransmission();
393
394
  /* ToDo: Check for error! */
395
  return true;
396
}
397
398
/**************************************************************************/
399
/*!
400
    @brief  Reads an 8 bit value over I2C
401
*/
402
/**************************************************************************/
403
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
404
{
405
  byte value = 0;
406
  
407
  Wire.beginTransmission(_address);
408
  #if ARDUINO >= 100
409
    Wire.write((uint8_t)reg);
410
  #else
411
    Wire.send(reg);
412
  #endif
413
  Wire.endTransmission();
414
  Wire.requestFrom(_address, (byte)1);
415
  #if ARDUINO >= 100
416
    value = Wire.read();
417
  #else
418
    value = Wire.receive();
419
  #endif
420
  
421
  return value;
422
}
423
424
/**************************************************************************/
425
/*!
426
    @brief  Reads the specified number of bytes over I2C
427
*/
428
/**************************************************************************/
429
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
430
{
431
  Wire.beginTransmission(_address);
432
  #if ARDUINO >= 100
433
    Wire.write((uint8_t)reg);
434
  #else
435
    Wire.send(reg);
436
  #endif
437
  Wire.endTransmission();
438
  Wire.requestFrom(_address, (byte)len);
439
440
  /* Wait until data is available */
441
  while (Wire.available() < len);
442
    
443
  for (uint8_t i = 0; i < len; i++)
444
  {
445
    #if ARDUINO >= 100
446
      buffer[i] = Wire.read();
447
    #else
448
      buffer[i] = Wire.receive();
449
    #endif
450
  }
451
  
452
  /* ToDo: Check for errors! */
453
  return true;
454
}