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Adafruit_BNO055.h
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Adafruit_BNO055.h
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/***************************************************************************
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!
------> http://www.adafruit.com/products
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!
Written by KTOWN for Adafruit Industries.
MIT license, all text above must be included in any redistribution
***************************************************************************/
#ifndef __ADAFRUIT_BNO055_H__
#define __ADAFRUIT_BNO055_H__
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#ifdef __AVR_ATtiny85__
#include <TinyWireM.h>
#define Wire TinyWireM
#else
#include <Wire.h>
#endif
#include <Adafruit_Sensor.h>
#include <utility/imumaths.h>
#define BNO055_ADDRESS_A (0x28)
#define BNO055_ADDRESS_B (0x29)
#define BNO055_ID (0xA0)
#define NUM_BNO055_OFFSET_REGISTERS (22)
typedef struct
{
uint16_t accel_offset_x;
uint16_t accel_offset_y;
uint16_t accel_offset_z;
uint16_t gyro_offset_x;
uint16_t gyro_offset_y;
uint16_t gyro_offset_z;
uint16_t mag_offset_x;
uint16_t mag_offset_y;
uint16_t mag_offset_z;
uint16_t accel_radius;
uint16_t mag_radius;
} adafruit_bno055_offsets_t;
class Adafruit_BNO055 : public Adafruit_Sensor
{
public:
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,
BNO055_DATA_SELECT_ADDR = 0X3C,
/* 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;
typedef enum
{
POWER_MODE_NORMAL = 0X00,
POWER_MODE_LOWPOWER = 0X01,
POWER_MODE_SUSPEND = 0X02
} adafruit_bno055_powermode_t;
typedef enum
{
/* Operation mode settings*/
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;
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;
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;
typedef struct
{
uint8_t accel_rev;
uint8_t mag_rev;
uint8_t gyro_rev;
uint16_t sw_rev;
uint8_t bl_rev;
} adafruit_bno055_rev_info_t;
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;
#if defined (ARDUINO_SAMD_ZERO) && ! (ARDUINO_SAMD_FEATHER_M0)
#error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."
Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );
#else
Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A );
#endif
bool begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );
void setMode ( adafruit_bno055_opmode_t mode );
void getRevInfo ( adafruit_bno055_rev_info_t* );
void displayRevInfo ( void );
void setExtCrystalUse ( boolean usextal );
void getSystemStatus ( uint8_t *system_status,
uint8_t *self_test_result,
uint8_t *system_error);
void displaySystemStatus ( void );
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 ( void );
int8_t getTemp ( void );
/* Adafruit_Sensor implementation */
bool getEvent ( sensors_event_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(void);
private:
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 );
uint8_t _address;
int32_t _sensorID;
adafruit_bno055_opmode_t _mode;
};
#endif