Implement device driver for BNO055 9DOF sensor #14956

Achilleshiel · 2020-09-06T14:22:24Z

Contribution description

Driver for the BOSCH BNO055 IMU-sensor. This sensor has an internal MCU that does a lot of automatic sensor fusion magic for you.
I added some conversion functions for the float values as some sensor fusion outputs are only usefull when they are specified as floats. However, one can still read the raw integer data. And depending on the setting it can easily be scaled to SI-units.

The driver has read functions for:

Euler Angle rotation
Quaternion rotation
Linear Acceleration (removed the gravitational acceleration from data output)
Gravity Vector (outputs only gravitational acceleration)
Acceleration
Angular rate
Magnetic field strength

It can also select units for:

Acceleration: m/s^2 or mg (9.81mm/s^2)
Magnetic Field strength: μT
Euler Angles: Degrees or Radians
Angular Rate: Degree/s or Radians/s

Testing procedure

I made a testing-program that reads and prints all the sensor values.

Issues/PRs references

--

fjmolinas · 2020-09-21T07:53:06Z

Hi @Achilleshiel thanks a lot for the contribution and welcome to RIOT!

I took a quick glimpse at the code, looks good, I'll take a more detailed look tomorrow. Travis pointed out a couple of nitpicks though. Also AFAIK SAUL integration seems to be missing in this PR, there is some general information in http://riot-os.org/api/driver-guide.html. Do you think you would be able to implement that? Let me know if you need some help with that or figuring out travis!

BTW do you have some test output you can show? I don't have the driver to test it but I can trust your test results!

Achilleshiel · 2020-09-22T18:27:44Z

Hi @fjmolinas,

I think I have statisfied Travis now. Except that I have to squash this PR at some point =)
I will have a look into the SAUL-part in the weekend. If I have any questions I will let you know.

The output of my test:

2020-09-22 20:13:21,549 # main(): This is RIOT! (Version: 2020.10-devel-1434-gace4-bno055)
2020-09-22 20:13:22,551 # Test for BNO055 device
2020-09-22 20:13:22,556 # Initialize BNO055
2020-09-22 20:13:22,557 # Initialized succesfull
2020-09-22 20:13:23,571 # Quaternions: 0.872803 + -0.274353i + -0.403625j +-0.002441k
2020-09-22 20:13:23,572 # Euler rotation: Heading: 0.006, Roll 0.798, Pitch 0.751
2020-09-22 20:13:23,577 # Gravitation Vector: x: 6.92, y: -4.67, z:5.13
2020-09-22 20:13:23,583 # Linear Acceleration: x: -0.04, y: 0.12, z:0.13
2020-09-22 20:13:23,588 # Magnetometer: x: -20.50, y: 28.69, z:-4.69
2020-09-22 20:13:23,589 # Accelerometer: x: 6.85, y: -4.54, z:5.28
2020-09-22 20:13:23,601 # Gyroscope: x: 0.01, y: 0.05, z:-0.02
2020-09-22 20:13:24,603 # Quaternions: 0.874329 + -0.271790i + -0.402161j +-0.002686k
2020-09-22 20:13:24,609 # Euler rotation: Heading: 0.006, Roll 0.796, Pitch 0.743
2020-09-22 20:13:24,615 # Gravitation Vector: x: 6.90, y: -4.63, z:5.18
2020-09-22 20:13:24,621 # Linear Acceleration: x: -0.14, y: 0.18, z:0.03
2020-09-22 20:13:24,633 # Magnetometer: x: -21.56, y: 29.06, z:-4.69
2020-09-22 20:13:24,633 # Accelerometer: x: 6.83, y: -4.49, z:5.32
2020-09-22 20:13:24,638 # Gyroscope: x: -0.01, y: 0.03, z:-0.02
2020-09-22 20:13:25,122 # Exiting Pyterm

aabadie

Looks almost good.

We recently updated the device driver implementation guide to encourage the use of errno codes instead of custom return codes. I won't insist on this point but if you feel like it and want to update this part, that would be nice.
Another thing that would be nice to add is a basic README for the test application.

drivers/bno055/include/bno055_params.h

drivers/include/bno055.h

tests/driver_bno055/main.c

aabadie · 2020-10-19T07:10:57Z

drivers/include/bno055.h

+/**
+ * @brief   Status and error return codes
+ */
+enum {
+    BNO055_OK       = 0,      /**< exit without error */
+    BNO055_NOBUS    = ENXIO,  /**< cannot connect to module on i2c bus */
+    BNO055_NODEV    = ENODEV, /**< cannot read any data from module */
+    BNO055_NORW     = EIO,    /**< cannot read data from module */
+    BNO055_NOTREADY = EBUSY,  /**< no new data ready for reading */
+};


This whole enum should be removed and the errno codes directly returned in the implementation. The doxygen documentation also needs to be adapted.

benpicco · 2020-10-24T09:45:20Z

drivers/bno055/include/bno055_internal.h

+#define BNO055_DIV_SCALE_ACC_MSS (100.0)    /**> Acceleration Raw to m/s2 scaling */
+#define BNO055_DIV_SCALE_ACC_G (1.0)        /**> Acceleration Raw to g (9.81m/s2) scaling */
+#define BNO055_DIV_SCALE_GYR_RPS (900.0)    /**> Gyroscope Raw to rad/s scaling */
+#define BNO055_DIV_SCALE_GYR_DPS (16.0)     /**> Gyroscope Raw to deg/s scaling */
+#define BNO055_DIV_SCALE_EUL_RAD (900.0)    /**> Euler Data Raw to rad scaling */
+#define BNO055_DIV_SCALE_EUL_DEG (16)       /**> Euler Data Raw to deg scaling */
+#define BNO055_DIV_SCALE_QUAT_UN (16384.0)  /**> Quaternion data Raw to 0..1 (unit less) scaling */
+#define BNO055_DIV_SCALE_TEMP_DC (1.0)      /**> Temperature Data Raw to Celsius scaling */
+#define BNO055_DIV_SCALE_TEMP_DF (0.5)      /**> Temperature Data Raw to Fahrenheid scaling */
+#define BNO055_DIV_SCALE_MAG (16.0)         /**> Magnetometer Data Raw to microtesla scaling */


Suggested change

#define BNO055_DIV_SCALE_ACC_MSS (100.0) /**> Acceleration Raw to m/s2 scaling */

#define BNO055_DIV_SCALE_ACC_G (1.0) /**> Acceleration Raw to g (9.81m/s2) scaling */

#define BNO055_DIV_SCALE_GYR_RPS (900.0) /**> Gyroscope Raw to rad/s scaling */

#define BNO055_DIV_SCALE_GYR_DPS (16.0) /**> Gyroscope Raw to deg/s scaling */

#define BNO055_DIV_SCALE_EUL_RAD (900.0) /**> Euler Data Raw to rad scaling */

#define BNO055_DIV_SCALE_EUL_DEG (16) /**> Euler Data Raw to deg scaling */

#define BNO055_DIV_SCALE_QUAT_UN (16384.0) /**> Quaternion data Raw to 0..1 (unit less) scaling */

#define BNO055_DIV_SCALE_TEMP_DC (1.0) /**> Temperature Data Raw to Celsius scaling */

#define BNO055_DIV_SCALE_TEMP_DF (0.5) /**> Temperature Data Raw to Fahrenheid scaling */

#define BNO055_DIV_SCALE_MAG (16.0) /**> Magnetometer Data Raw to microtesla scaling */

#define BNO055_DIV_SCALE_ACC_MSS (100.0f) /**> Acceleration Raw to m/s2 scaling */

#define BNO055_DIV_SCALE_ACC_G (1.0f) /**> Acceleration Raw to g (9.81m/s2) scaling */

#define BNO055_DIV_SCALE_GYR_RPS (900.0f) /**> Gyroscope Raw to rad/s scaling */

#define BNO055_DIV_SCALE_GYR_DPS (16.0f) /**> Gyroscope Raw to deg/s scaling */

#define BNO055_DIV_SCALE_EUL_RAD (900.0f) /**> Euler Data Raw to rad scaling */

#define BNO055_DIV_SCALE_EUL_DEG (16f) /**> Euler Data Raw to deg scaling */

#define BNO055_DIV_SCALE_QUAT_UN (16384.0f) /**> Quaternion data Raw to 0..1 (unit less) scaling */

#define BNO055_DIV_SCALE_TEMP_DC (1.0f) /**> Temperature Data Raw to Celsius scaling */

#define BNO055_DIV_SCALE_TEMP_DF (0.5f) /**> Temperature Data Raw to Fahrenheid scaling */

#define BNO055_DIV_SCALE_MAG (16.0f) /**> Magnetometer Data Raw to microtesla scaling */

benpicco · 2020-10-24T09:50:44Z

drivers/include/bno055.h

+/**
+ * @brief   change the current I2C register page
+ *
+ * @param[in]  dev      device descriptor of IMU
+ * @param[in]  page     desired page number (0 or 1)
+ *
+ * @retval              BNO055_OK on success
+ * @retval              BNO055_NOREAD if reading mag data is not possible
+ * @retval              BNO055_NOTRDY if no new data is available
+ */
+int bno055_set_page(const bno055_t *dev, uint8_t page);


Is that something that should be exposed to the user?

benpicco · 2020-10-24T10:19:03Z

drivers/include/bno055.h

+ * @ingroup     drivers_saul
+ * @brief       Device driver for the Bosch BNO055 9-axis sensor
+ *
+ * This driver provides @ref drivers_saul capabilities.


You didn't provide a bno055_saul.c for that 😉

aabadie · 2020-10-24T16:16:22Z

drivers/bno055/include/bno055_internal.h

+ * @name    BNO055 chip id registers and who am I values
+ * @{
+ */
+#define BNO055_REG_CHIPID          (0x00U)  /**> chip id register */


Suggested change

#define BNO055_REG_CHIPID (0x00U) /**> chip id register */

#define BNO055_REG_CHIPID (0x00U) /**< chip id register */

This doxygen issue is present all over the place.
In current master:

$ git grep "/\*\*>" | wc -l 0 git grep "/\*\*<" | wc -l 373126

stale · 2021-06-02T16:37:07Z

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. If you want me to ignore this issue, please mark it with the "State: don't stale" label. Thank you for your contributions.

fjmolinas · 2021-06-03T07:38:30Z

@Achilleshiel there seems to be very little missing here, any chance you can take a look at the missing comments?

stale · 2022-03-02T11:18:50Z

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. If you want me to ignore this issue, please mark it with the "State: don't stale" label. Thank you for your contributions.

Achilleshiel requested review from aabadie, fjmolinas, leandrolanzieri, MichelRottleuthner and smlng as code owners September 6, 2020 14:22

benpicco added Area: drivers Area: Device drivers Type: new feature The issue requests / The PR implemements a new feature for RIOT labels Sep 6, 2020

benpicco added this to In progress in New Drivers via automation Sep 11, 2020

benpicco moved this from Waiting for Author to Waiting for Maintainer in New Drivers Sep 11, 2020

Achilleshiel force-pushed the bno055 branch from 43708b0 to dd9fd72 Compare September 22, 2020 18:25

aabadie reviewed Sep 28, 2020

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Achilleshiel added 3 commits October 17, 2020 14:08

Implement device driver for BNO055 9DOF sensor

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fixup! Implement device driver for BNO055 9DOF sensor

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fixup! fixup! Implement device driver for BNO055 9DOF sensor

498ed27

Achilleshiel force-pushed the bno055 branch from dd9fd72 to 498ed27 Compare October 17, 2020 12:09

Achilleshiel requested a review from aabadie October 17, 2020 12:53

aabadie reviewed Oct 19, 2020

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benpicco reviewed Oct 24, 2020

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aabadie reviewed Oct 24, 2020

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stale bot added the State: stale State: The issue / PR has no activity for >185 days label Jun 2, 2021

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Implement device driver for BNO055 9DOF sensor #14956

Implement device driver for BNO055 9DOF sensor #14956

Achilleshiel commented Sep 6, 2020

fjmolinas commented Sep 21, 2020

Achilleshiel commented Sep 22, 2020

aabadie left a comment

aabadie Oct 19, 2020

benpicco Oct 24, 2020

benpicco Oct 24, 2020

benpicco Oct 24, 2020

aabadie Oct 24, 2020

stale bot commented Jun 2, 2021

fjmolinas commented Jun 3, 2021

stale bot commented Mar 2, 2022

	#define BNO055_REG_CHIPID (0x00U) /*> chip id register /
	#define BNO055_REG_CHIPID (0x00U) /*< chip id register /

Implement device driver for BNO055 9DOF sensor #14956

Implement device driver for BNO055 9DOF sensor #14956

Conversation

Achilleshiel commented Sep 6, 2020

Contribution description

Testing procedure

Issues/PRs references

fjmolinas commented Sep 21, 2020

Achilleshiel commented Sep 22, 2020

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