The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer,
a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor
and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.
Provides an Arduino library for reading and interpreting Bosch BNO055 data over I2C.Used to read the current pose and calculate the Euler angles.
To use this library download the zip file, uncompress it to a folder named DFRobot_BNO055.
Download the zip file first to use this library and uncompress it to a folder named DFRobot_BNO055.
If you want to see the graphical interface using imu_show.ino,
you can download IMU_show.exe at https://github.com/DFRobot/DFRobot_IMU_Show/releases.
class DFRobot_BNO055 {
public:
/**
* @brief global axis declare (excepet eular and quaternion)
*/
typedef enum {
eAxisAcc,
eAxisMag,
eAxisGyr,
eAxisLia,
eAxisGrv
} eAxis_t;
/**
* @brief global single axis declare
*/
typedef enum {
eSingleAxisX,
eSingleAxisY,
eSingleAxisZ
} eSingleAxis_t;
/**
* @brief enum interrupt
*/
typedef enum {
eIntGyrAm = 0x04,
eIntGyrHighRate = 0x08,
eIntAccHighG = 0x20,
eIntAccAm = 0x40,
eIntAccNm = 0x80,
eIntAll = 0xec
} eInt_t;
/**
* @brief Operation mode enum
*/
typedef enum {
eOprModeConfig,
eOprModeAccOnly,
eOprModeMagOnly,
eOprModeGyroOnly,
eOprModeAccMag,
eOprModeAccGyro,
eOprModeMagGyro,
eOprModeAMG,
eOprModeImu,
eOprModeCompass,
eOprModeM4G,
eOprModeNdofFmcOff,
eOprModeNdof
} eOprMode_t;
/**
* @brief Poewr mode enum
*/
typedef enum {
ePowerModeNormal,
ePowerModeLowPower,
ePowerModeSuspend
} ePowerMode_t;
/**
* @brief axis analog data struct
*/
typedef struct {
float x, y, z;
} sAxisAnalog_t;
/**
* @brief eular analog data struct
*/
typedef struct {
float head, roll, pitch;
} sEulAnalog_t;
/**
* @brief qua analog data struct
*/
typedef struct {
float w, x, y, z;
} sQuaAnalog_t;
/**
* @brief enum accelerometer range, unit G
*/
typedef enum {
eAccRange_2G,
eAccRange_4G,
eAccRange_8G,
eAccRange_16G
} eAccRange_t;
/**
* @brief enum accelerometer band width, unit HZ
*/
typedef enum {
eAccBandWidth_7_81, // 7.81HZ
eAccBandWidth_15_63, // 16.63HZ
eAccBandWidth_31_25,
eAccBandWidth_62_5,
eAccBandWidth_125,
eAccBandWidth_250,
eAccBandWidth_500,
eAccBandWidth_1000
} eAccBandWidth_t;
/**
* @brief enum accelerometer power mode
*/
typedef enum {
eAccPowerModeNormal,
eAccPowerModeSuspend,
eAccPowerModeLowPower1,
eAccPowerModeStandby,
eAccPowerModeLowPower2,
eAccPowerModeDeepSuspend
} eAccPowerMode_t;
/**
* @brief enum magnetometer data output rate, unit HZ
*/
typedef enum {
eMagDataRate_2,
eMagDataRate_6,
eMagDataRate_8,
eMagDataRate_10,
eMagDataRate_15,
eMagDataRate_20,
eMagDataRate_25,
eMagDataRate_30
} eMagDataRate_t;
/**
* @brief enum magnetometer operation mode
*/
typedef enum {
eMagOprModeLowPower,
eMagOprModeRegular,
eMagOprModeEnhancedRegular,
eMagOprModeHighAccuracy
} eMagOprMode_t;
/**
* @brief enum magnetometer power mode
*/
typedef enum {
eMagPowerModeNormal,
eMagPowerModeSleep,
eMagPowerModeSuspend,
eMagPowerModeForce
} eMagPowerMode_t;
/**
* @brief enum gyroscope range, unit dps
*/
typedef enum {
eGyrRange_2000,
eGyrRange_1000,
eGyrRange_500,
eGyrRange_250,
eGyrRange_125
} eGyrRange_t;
/**
* @brief enum gyroscope band width, unit HZ
*/
typedef enum {
eGyrBandWidth_523,
eGyrBandWidth_230,
eGyrBandWidth_116,
eGyrBandWidth_47,
eGyrBandWidth_23,
eGyrBandWidth_12,
eGyrBandWidth_64,
eGyrBandWidth_32
} eGyrBandWidth_t;
/**
* @brief enum gyroscope power mode
*/
typedef enum {
eGyrPowerModeNormal,
eGyrPowerModeFastPowerUp,
eGyrPowerModeDeepSuspend,
eGyrPowerModeSuspend,
eGyrPowerModeAdvancedPowersave
} eGyrPowerMode_t;
/**
* @brief Enum accelerometer interrupt settings
*/
typedef enum {
eAccIntSetAmnmXAxis = (0x01 << 2),
eAccIntSetAmnmYAxis = (0x01 << 3),
eAccIntSetAmnmZAxis = (0x01 << 4),
eAccIntSetHgXAxis = (0x01 << 5),
eAccIntSetHgYAxis = (0x01 << 6),
eAccIntSetHgZAxis = (0x01 << 7),
eAccIntSetAll = 0xfc
} eAccIntSet_t;
/**
* @brief Enum accelerometer slow motion mode or no motion mode
*/
typedef enum {
eAccNmSmnmSm, // slow motion mode
eAccNmSmnmNm // no motion mode
} eAccNmSmnm_t;
/**
* @brief Enum gyroscope interrupt settings
*/
typedef enum {
eGyrIntSetAmXAxis = (0x01 << 0),
eGyrIntSetAmYAxis = (0x01 << 1),
eGyrIntSetAmZAxis = (0x01 << 2),
eGyrIntSetHrXAxis = (0x01 << 3),
eGyrIntSetHrYAxis = (0x01 << 4),
eGyrIntSetHrZAxis = (0x01 << 5),
eGyrIntSetAmFilt = (0x01 << 6),
eGyrIntSetHrFilt = (0x01 << 7),
eGyrIntSetAll = 0x3f
} eGyrIntSet_t;
/**
* @brief Declare sensor status
*/
typedef enum {
eStatusOK, // everything OK
eStatusErr, // unknow error
eStatusErrDeviceNotDetect, // device not detected
eStatusErrDeviceReadyTimeOut, // device ready time out
eStatusErrDeviceStatus, // device internal status error
eStatusErrParameter // function parameter error
} eStatus_t;
/**
* @brief begin Sensor begin
* @return Sensor status
*/
eStatus_t begin();
/**
* @brief getAxisAnalog Get axis analog data
* @param eAxis One axis type from eAxis_t
* @return Struct sAxisAnalog_t, contains axis analog data, members unit depend on eAxis:
* case eAxisAcc, unit mg
* case eAxisLia, unit mg
* case eAxisGrv, unit mg
* case eAxisMag, unit ut
* case eAxisGyr, unit dps
*/
sAxisAnalog_t getAxis(eAxis_t eAxis);
/**
* @brief getEulAnalog Get euler analog data
* @return Struct sEulAnalog_t, contains euler analog data
*/
sEulAnalog_t getEul();
/**
* @brief getQuaAnalog Get quaternion analog data
* @return Struct sQuaAnalog_t, contains quaternion analog data
*/
sQuaAnalog_t getQua();
/**
* @brief setAccOffset Set axis offset data
* @param eAxis One axis type from eAxis_t, only support accelerometer, magnetometer and gyroscope
* @param sOffset Struct sAxisAnalog_t, contains axis analog data, members unit depend on eAxis:
* case eAxisAcc, unit mg, members can't out of acc range
* case eAxisMag, unit ut, members can't out of mag range
* case eAxisGyr, unit dps, members can't out of gyr range
*/
void setAxisOffset(eAxis_t eAxis, sAxisAnalog_t sOffset);
/**
* @brief setOprMode Set operation mode
* @param eOpr One operation mode from eOprMode_t
*/
void setOprMode(eOprMode_t eMode);
/**
* @brief setPowerMode Set power mode
* @param eMode One power mode from ePowerMode_t
*/
void setPowerMode(ePowerMode_t eMode);
/**
* @brief Reset sensor
*/
void reset();
/**
* @brief setAccRange Set accelerometer measurement range, default value is 4g
* @param eRange One range enum from eAccRange_t
*/
void setAccRange(eAccRange_t eRange);
/**
* @brief setAccBandWidth Set accelerometer band width, default value is 62.5hz
* @param eBand One band enum from eAccBandWidth_t
*/
void setAccBandWidth(eAccBandWidth_t eBand);
/**
* @brief setAccPowerMode Set accelerometer power mode, default value is eAccPowerModeNormal
* @param eMode One mode enum from eAccPowerMode_t
*/
void setAccPowerMode(eAccPowerMode_t eMode);
/**
* @brief setMagDataRate Set magnetometer data output rate, default value is 20hz
* @param eRate One rate enum from eMagDataRate_t
*/
void setMagDataRate(eMagDataRate_t eRate);
/**
* @brief setMagOprMode Set magnetometer operation mode, default value is eMagOprModeRegular
* @param eMode One mode enum from eMagOprMode_t
*/
void setMagOprMode(eMagOprMode_t eMode);
/**
* @brief setMagPowerMode Set magnetometer power mode, default value is eMagePowerModeForce
* @param eMode One mode enum from eMagPowerMode_t
*/
void setMagPowerMode(eMagPowerMode_t eMode);
/**
* @brief setGyrRange Set gyroscope range, default value is 2000
* @param eRange One range enum from eGyrRange_t
*/
void setGyrRange(eGyrRange_t eRange);
/**
* @brief setGyrBandWidth Set gyroscope band width, default value is 32HZ
* @param eBandWidth One band width enum from eGyrBandWidth_t
*/
void setGyrBandWidth(eGyrBandWidth_t eBandWidth);
/**
* @brief setGyrPowerMode Set gyroscope power mode, default value is eGyrPowerModeNormal
* @param eMode One power mode enum from eGyrPowerMode_t
*/
void setGyrPowerMode(eGyrPowerMode_t eMode);
/**
* @brief getIntState Get interrupt state, interrupt auto clear after read
* @return If result > 0, at least one interrupt triggered. Result & eIntXXX (from eInt_t) to test is triggered
*/
uint8_t getIntState();
/**
* @brief setIntMask Set interrupt mask enable, there will generate a interrupt signal (raising) on INT pin if corresponding interrupt enabled
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntMaskEnable(eInt_t eInt);
/**
* @brief setIntMaskDisable Set corresponding interrupt mask disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntMaskDisable(eInt_t eInt);
/**
* @brief setIntEnEnable Set corresponding interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntEnable(eInt_t eInt);
/**
* @brief setIntEnDisable Set corresponding interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntDisable(eInt_t eInt);
/**
* @brief setAccAmThres Set accelerometer any motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccAmThres(uint16_t thres);
/**
* @brief setAccIntDur Set accelerometer interrupt duration,
* any motion interrupt triggers if duration (dur + 1) consecutive data points are above the any motion interrupt
* threshold define in any motion threshold
* @param dur Duration to set, range form 1 to 4
*/
void setAccIntAmDur(uint8_t dur);
/**
* @brief setAccIntEnable Set accelerometer interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setAccIntEnable(eAccIntSet_t eInt);
/**
* @brief setAccIntDisable Set accelerometer interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setAccIntDisable(eAccIntSet_t eInt);
/**
* @brief setAccHighGDuration Set accelerometer high-g interrupt, the high-g interrupt delay according to [dur + 1] * 2 ms
* @param dur Duration from 2ms to 512ms
*/
void setAccHighGDuration(uint16_t dur);
/**
* @brief setAccHighGThres Set accelerometer high-g threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccHighGThres(uint16_t thres);
/**
* @brief setAccNmThres Set accelerometer no motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccNmThres(uint16_t thres);
/**
* @brief setAccNmSet Set accelerometer slow motion or no motion mode and duration
* @param eSmnm Enum of eAccNmSmnm_t
* @param dur Interrupt trigger delay (unit seconds), no more than 344.
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccNmSet(eAccNmSmnm_t eSmnm, uint16_t dur);
/**
* @brief setGyrIntEnable Set corresponding gyroscope interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setGyrIntEnable(eGyrIntSet_t eInt);
/**
* @brief setGyrIntDisable Set corresponding gyroscope interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setGyrIntDisable(eGyrIntSet_t eInt);
/**
* @brief setGyrHrSet Set gyroscope high rate settings
* @param eSingleAxis Single axis to set
* @param thres High rate threshold to set, unit degree/seconds, value is dependent on gyroscope range selected,
* case 2000, no more than 1937
* case 1000, no more than 968
* case 500, no more than 484
* case 250, no more than 242
* case 125, no more than 121
* Attenion: The set value will be slightly biased according to datasheet
* @param dur High rate duration to set, unit ms, duration from 2.5ms to 640ms
* Attenion: The set value will be slightly biased according to datasheet
*/
void setGyrHrSet(eSingleAxis_t eSingleAxis, uint16_t thres, uint16_t dur);
/**
* @brief setGyrAmThres Set gyroscope any motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2000, no more than 128
* case 1000, no more than 64
* case 500, no more than 32
* case 250, no more than 16
* case 125, no more than 8
* Attenion: The set value will be slightly biased according to datasheet
*/
void setGyrAmThres(uint8_t thres);
/**
* @brief lastOpreateStatus Show last operate status
*/
eStatus_t lastOpreateStatus;
};
class DFRobot_BNO055_IIC : public DFRobot_BNO055 {
public:
/**
* @brief DFRobot_BNO055_IIC class constructor
* @param pWire select One TwoWire peripheral
* @param addr Sensor address
*/
DFRobot_BNO055_IIC(TwoWire *pWire, uint8_t addr);
};
| MCU | Work Well | Work Wrong | Untested | Remarks |
|---|---|---|---|---|
| FireBeetle-ESP32 | √ | |||
| FireBeetle-ESP8266 | √ | |||
| Arduino uno | √ |
- 07/03/2019 - Version 0.2 released.
Written by Frank jiehan.guo@dfrobot.com