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Main/Main/Adafruit_BNO055.h

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+/*!
+ *  @file Adafruit_BNO055.h
+ *
+ *  This is a library for the BNO055 orientation sensor
+ *
+ *  Designed specifically to work with the Adafruit BNO055 Breakout.
+ *
+ *  Pick one up today in the adafruit shop!
+ *  ------> https://www.adafruit.com/product/2472
+ *
+ *  These sensors use I2C to communicate, 2 pins are required to interface.
+ *
+ *  Adafruit invests time and resources providing this open source code,
+ *  please support Adafruit andopen-source hardware by purchasing products
+ *  from Adafruit!
+ *
+ *  K.Townsend (Adafruit Industries)
+ *
+ *  MIT license, all text above must be included in any redistribution
+ */
+
+#ifndef __ADAFRUIT_BNO055_H__
+#define __ADAFRUIT_BNO055_H__
+
+#include "Arduino.h"
+
+#include "utility/imumaths.h"
+#include <Adafruit_I2CDevice.h>
+#include <Adafruit_Sensor.h>
+
+/** BNO055 Address A **/
+#define BNO055_ADDRESS_A (0x28)
+/** BNO055 Address B **/
+#define BNO055_ADDRESS_B (0x29)
+/** BNO055 ID **/
+#define BNO055_ID (0xA0)
+
+/** Offsets registers **/
+#define NUM_BNO055_OFFSET_REGISTERS (22)
+
+/** A structure to represent offsets **/
+typedef struct {
+  int16_t accel_offset_x; /**< x acceleration offset */
+  int16_t accel_offset_y; /**< y acceleration offset */
+  int16_t accel_offset_z; /**< z acceleration offset */
+
+  int16_t mag_offset_x; /**< x magnetometer offset */
+  int16_t mag_offset_y; /**< y magnetometer offset */
+  int16_t mag_offset_z; /**< z magnetometer offset */
+
+  int16_t gyro_offset_x; /**< x gyroscrope offset */
+  int16_t gyro_offset_y; /**< y gyroscrope offset */
+  int16_t gyro_offset_z; /**< z gyroscrope offset */
+
+  int16_t accel_radius; /**< acceleration radius */
+
+  int16_t mag_radius; /**< magnetometer radius */
+} adafruit_bno055_offsets_t;
+
+/** Operation mode settings **/
+typedef enum {
+  OPERATION_MODE_CONFIG = 0X00,
+  OPERATION_MODE_ACCONLY = 0X01,
+  OPERATION_MODE_MAGONLY = 0X02,
+  OPERATION_MODE_GYRONLY = 0X03,
+  OPERATION_MODE_ACCMAG = 0X04,
+  OPERATION_MODE_ACCGYRO = 0X05,
+  OPERATION_MODE_MAGGYRO = 0X06,
+  OPERATION_MODE_AMG = 0X07,
+  OPERATION_MODE_IMUPLUS = 0X08,
+  OPERATION_MODE_COMPASS = 0X09,
+  OPERATION_MODE_M4G = 0X0A,
+  OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
+  OPERATION_MODE_NDOF = 0X0C
+} adafruit_bno055_opmode_t;
+
+/*!
+ *  @brief  Class that stores state and functions for interacting with
+ *          BNO055 Sensor
+ */
+class Adafruit_BNO055 : public Adafruit_Sensor {
+public:
+  /** BNO055 Registers **/
+  typedef enum {
+    /* Page id register definition */
+    BNO055_PAGE_ID_ADDR = 0X07,
+
+    /* PAGE0 REGISTER DEFINITION START*/
+    BNO055_CHIP_ID_ADDR = 0x00,
+    BNO055_ACCEL_REV_ID_ADDR = 0x01,
+    BNO055_MAG_REV_ID_ADDR = 0x02,
+    BNO055_GYRO_REV_ID_ADDR = 0x03,
+    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
+    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
+    BNO055_BL_REV_ID_ADDR = 0X06,
+
+    /* Accel data register */
+    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
+    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
+    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
+    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
+    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
+    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
+
+    /* Mag data register */
+    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
+    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
+    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
+    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
+    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
+    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
+
+    /* Gyro data registers */
+    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
+    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
+    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
+    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
+    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
+    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
+
+    /* Euler data registers */
+    BNO055_EULER_H_LSB_ADDR = 0X1A,
+    BNO055_EULER_H_MSB_ADDR = 0X1B,
+    BNO055_EULER_R_LSB_ADDR = 0X1C,
+    BNO055_EULER_R_MSB_ADDR = 0X1D,
+    BNO055_EULER_P_LSB_ADDR = 0X1E,
+    BNO055_EULER_P_MSB_ADDR = 0X1F,
+
+    /* Quaternion data registers */
+    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
+    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
+    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
+    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
+    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
+    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
+    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
+    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
+
+    /* Linear acceleration data registers */
+    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
+    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
+    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
+    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
+    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
+    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
+
+    /* Gravity data registers */
+    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
+    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
+    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
+    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
+    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
+    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
+
+    /* Temperature data register */
+    BNO055_TEMP_ADDR = 0X34,
+
+    /* Status registers */
+    BNO055_CALIB_STAT_ADDR = 0X35,
+    BNO055_SELFTEST_RESULT_ADDR = 0X36,
+    BNO055_INTR_STAT_ADDR = 0X37,
+
+    BNO055_SYS_CLK_STAT_ADDR = 0X38,
+    BNO055_SYS_STAT_ADDR = 0X39,
+    BNO055_SYS_ERR_ADDR = 0X3A,
+
+    /* Unit selection register */
+    BNO055_UNIT_SEL_ADDR = 0X3B,
+
+    /* Mode registers */
+    BNO055_OPR_MODE_ADDR = 0X3D,
+    BNO055_PWR_MODE_ADDR = 0X3E,
+
+    BNO055_SYS_TRIGGER_ADDR = 0X3F,
+    BNO055_TEMP_SOURCE_ADDR = 0X40,
+
+    /* Axis remap registers */
+    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
+    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
+
+    /* SIC registers */
+    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
+    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
+    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
+    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
+    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
+    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
+    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
+    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
+    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
+    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
+    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
+    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
+    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
+    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
+    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
+    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
+    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
+    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
+
+    /* Accelerometer Offset registers */
+    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
+    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
+    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
+    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
+    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
+    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
+
+    /* Magnetometer Offset registers */
+    MAG_OFFSET_X_LSB_ADDR = 0X5B,
+    MAG_OFFSET_X_MSB_ADDR = 0X5C,
+    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
+    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
+    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
+    MAG_OFFSET_Z_MSB_ADDR = 0X60,
+
+    /* Gyroscope Offset register s*/
+    GYRO_OFFSET_X_LSB_ADDR = 0X61,
+    GYRO_OFFSET_X_MSB_ADDR = 0X62,
+    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
+    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
+    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
+    GYRO_OFFSET_Z_MSB_ADDR = 0X66,
+
+    /* Radius registers */
+    ACCEL_RADIUS_LSB_ADDR = 0X67,
+    ACCEL_RADIUS_MSB_ADDR = 0X68,
+    MAG_RADIUS_LSB_ADDR = 0X69,
+    MAG_RADIUS_MSB_ADDR = 0X6A
+  } adafruit_bno055_reg_t;
+
+  /** BNO055 power settings */
+  typedef enum {
+    POWER_MODE_NORMAL = 0X00,
+    POWER_MODE_LOWPOWER = 0X01,
+    POWER_MODE_SUSPEND = 0X02
+  } adafruit_bno055_powermode_t;
+
+  /** Remap settings **/
+  typedef enum {
+    REMAP_CONFIG_P0 = 0x21,
+    REMAP_CONFIG_P1 = 0x24, // default
+    REMAP_CONFIG_P2 = 0x24,
+    REMAP_CONFIG_P3 = 0x21,
+    REMAP_CONFIG_P4 = 0x24,
+    REMAP_CONFIG_P5 = 0x21,
+    REMAP_CONFIG_P6 = 0x21,
+    REMAP_CONFIG_P7 = 0x24
+  } adafruit_bno055_axis_remap_config_t;
+
+  /** Remap Signs **/
+  typedef enum {
+    REMAP_SIGN_P0 = 0x04,
+    REMAP_SIGN_P1 = 0x00, // default
+    REMAP_SIGN_P2 = 0x06,
+    REMAP_SIGN_P3 = 0x02,
+    REMAP_SIGN_P4 = 0x03,
+    REMAP_SIGN_P5 = 0x01,
+    REMAP_SIGN_P6 = 0x07,
+    REMAP_SIGN_P7 = 0x05
+  } adafruit_bno055_axis_remap_sign_t;
+
+  /** A structure to represent revisions **/
+  typedef struct {
+    uint8_t accel_rev; /**< acceleration rev */
+    uint8_t mag_rev;   /**< magnetometer rev */
+    uint8_t gyro_rev;  /**< gyroscrope rev */
+    uint16_t sw_rev;   /**< SW rev */
+    uint8_t bl_rev;    /**< bootloader rev */
+  } adafruit_bno055_rev_info_t;
+
+  /** Vector Mappings **/
+  typedef enum {
+    VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
+    VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
+    VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
+    VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
+    VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
+  } adafruit_vector_type_t;
+
+  Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A,
+                  TwoWire *theWire = &Wire);
+
+  bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
+  void setMode(adafruit_bno055_opmode_t mode);
+  adafruit_bno055_opmode_t getMode();
+  void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
+  void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
+  void getRevInfo(adafruit_bno055_rev_info_t *);
+  void setExtCrystalUse(boolean usextal);
+  void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
+                       uint8_t *system_error);
+  void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
+                      uint8_t *mag);
+
+  imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
+  imu::Quaternion getQuat();
+  int8_t getTemp();
+
+  /* Adafruit_Sensor implementation */
+  bool getEvent(sensors_event_t *);
+  bool getEvent(sensors_event_t *, adafruit_vector_type_t);
+  void getSensor(sensor_t *);
+
+  /* Functions to deal with raw calibration data */
+  bool getSensorOffsets(uint8_t *calibData);
+  bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
+  void setSensorOffsets(const uint8_t *calibData);
+  void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
+  bool isFullyCalibrated();
+
+  /* Power managments functions */
+  void enterSuspendMode();
+  void enterNormalMode();
+
+  byte read8(adafruit_bno055_reg_t);
+  bool readLen(adafruit_bno055_reg_t, byte *buffer, uint8_t len);
+  bool write8(adafruit_bno055_reg_t, byte value);
+
+private:
+
+  Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
+
+  int32_t _sensorID;
+  adafruit_bno055_opmode_t _mode;
+};
+
+#endif