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bno055: enhance error detection and propagation

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This patch reworks error handling in the C driver to more reliably detect
errors, and for C++, throw exceptions when they are detected.

The C++ API is unchanged aside from the fact that more methods will
throw an exception on errors now.

This addresses the error handling deficiencies reported in Issue #593.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Jon Trulson 2017-08-19 15:27:32 -06:00 committed by Abhishek Malik
parent 0345a8e9f1
commit aa047d6b5c
4 changed files with 541 additions and 234 deletions
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423
src/bno055/bno055.c
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@ -51,23 +51,26 @@ static void _clear_data(const bno055_context dev)
}
// load fusion data
static void _update_fusion_data(const bno055_context dev)
static upm_result_t _update_fusion_data(const bno055_context dev)
{
assert(dev != NULL);
// bail if we are in config mode, or aren't in a fusion mode...
// bail (with success code) if we are in config mode, or aren't in
// a fusion mode...
if (dev->currentMode == BNO055_OPERATION_MODE_CONFIGMODE ||
dev->currentMode < BNO055_OPERATION_MODE_IMU)
return;
return UPM_SUCCESS;
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// FIXME/MAYBE? - abort early if SYS calibration is == 0?
const int fusionBytes = 26;
uint8_t buf[fusionBytes];
bno055_read_regs(dev, BNO055_REG_EUL_HEADING_LSB, buf, fusionBytes);
if (bno055_read_regs(dev, BNO055_REG_EUL_HEADING_LSB, buf, fusionBytes))
return UPM_ERROR_OPERATION_FAILED;
dev->eulHeading = INT16_TO_FLOAT(buf[0], buf[1]);
dev->eulRoll = INT16_TO_FLOAT(buf[2], buf[3]);
@ -85,23 +88,27 @@ static void _update_fusion_data(const bno055_context dev)
dev->grvX = INT16_TO_FLOAT(buf[20], buf[21]);
dev->grvY = INT16_TO_FLOAT(buf[22], buf[23]);
dev->grvZ = INT16_TO_FLOAT(buf[24], buf[25]);
return UPM_SUCCESS;
}
// update non-fusion data
static void _update_non_fusion_data(const bno055_context dev)
static upm_result_t _update_non_fusion_data(const bno055_context dev)
{
assert(dev != NULL);
// bail if we are in config mode...
// bail (with success code) if we are in config mode...
if (dev->currentMode == BNO055_OPERATION_MODE_CONFIGMODE)
return;
return UPM_SUCCESS;
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
const int nonFusionBytes = 18;
uint8_t buf[nonFusionBytes];
bno055_read_regs(dev, BNO055_REG_ACC_DATA_X_LSB, buf, nonFusionBytes);
if (bno055_read_regs(dev, BNO055_REG_ACC_DATA_X_LSB, buf, nonFusionBytes))
return UPM_ERROR_OPERATION_FAILED;
dev->accX = INT16_TO_FLOAT(buf[0], buf[1]);
dev->accY = INT16_TO_FLOAT(buf[2], buf[3]);
@ -114,6 +121,8 @@ static void _update_non_fusion_data(const bno055_context dev)
dev->gyrX = INT16_TO_FLOAT(buf[12], buf[13]);
dev->gyrY = INT16_TO_FLOAT(buf[14], buf[15]);
dev->gyrZ = INT16_TO_FLOAT(buf[16], buf[17]);
return UPM_SUCCESS;
}
// init
@ -163,7 +172,14 @@ bno055_context bno055_init(int bus, uint8_t addr)
// check the chip id. This has to be done after forcibly setting
// page 0, as that is the only page where the chip id is present.
uint8_t chipID = bno055_get_chip_id(dev);
uint8_t chipID = 0;
if (bno055_get_chip_id(dev, &chipID))
{
printf("%s: Could not read chip id\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
if (chipID != BNO055_CHIPID)
{
printf("%s: Invalid chip ID. Expected 0x%02x, got 0x%02x\n",
@ -172,34 +188,41 @@ bno055_context bno055_init(int bus, uint8_t addr)
return NULL;
}
// if the above two accesses succeeded, the rest should succeed
upm_result_t urv = UPM_SUCCESS;
// set config mode
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
urv += bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
// default to internal clock
bno055_set_clock_external(dev, false);
urv += bno055_set_clock_external(dev, false);
// we specifically avoid doing a reset so that if the device is
// already calibrated, it will remain so.
// we always use C for temperature
bno055_set_temperature_units_celsius(dev);
urv += bno055_set_temperature_units_celsius(dev);
// default to accelerometer temp
bno055_set_temperature_source(dev, BNO055_TEMP_SOURCE_ACC);
urv += bno055_set_temperature_source(dev, BNO055_TEMP_SOURCE_ACC);
// set accel units to m/s^2
bno055_set_accelerometer_units(dev, false);
urv += bno055_set_accelerometer_units(dev, false);
// set gyro units to degrees
bno055_set_gyroscope_units(dev, false);
urv += bno055_set_gyroscope_units(dev, false);
// set Euler units to degrees
bno055_set_euler_units(dev, false);
urv += bno055_set_euler_units(dev, false);
// by default, we set the operating mode to the NDOF fusion mode
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_NDOF);
urv += bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_NDOF);
// if any of those failed, bail
if (urv != UPM_SUCCESS)
{
printf("%s: Initial device configuration failed\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
return dev;
}
@ -220,34 +243,41 @@ upm_result_t bno055_update(const bno055_context dev)
{
assert(dev != NULL);
upm_result_t rv = UPM_SUCCESS;
if ((rv = bno055_set_page(dev, 0, false)))
return rv;
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// temperature first, always in Celsius
dev->temperature = (float)((int8_t)bno055_read_reg(dev,
BNO055_REG_TEMPERATURE));
uint8_t tempreg = 0;
if (bno055_read_reg(dev, BNO055_REG_TEMPERATURE, &tempreg))
return UPM_ERROR_OPERATION_FAILED;
_update_fusion_data(dev);
_update_non_fusion_data(dev);
dev->temperature = (float)((int8_t)tempreg);
return rv;
if (_update_fusion_data(dev))
return UPM_ERROR_OPERATION_FAILED;
if (_update_non_fusion_data(dev))
return UPM_ERROR_OPERATION_FAILED;
return UPM_SUCCESS;
}
uint8_t bno055_read_reg(const bno055_context dev, uint8_t reg)
upm_result_t bno055_read_reg(const bno055_context dev, uint8_t reg,
uint8_t *retval)
{
assert(dev != NULL);
int rv = mraa_i2c_read_byte_data(dev->i2c, reg);
if (rv < 0)
{
printf("%s: mraa_i2c_read_byte_data() failed, returning 0\n",
printf("%s: mraa_i2c_read_byte_data() failed\n",
__FUNCTION__);
return 0;
return UPM_ERROR_OPERATION_FAILED;
}
return (uint8_t)rv;
if (retval)
*retval = (uint8_t)(rv & 0xff);
return UPM_SUCCESS;
}
upm_result_t bno055_read_regs(const bno055_context dev, uint8_t reg,
@ -256,7 +286,11 @@ upm_result_t bno055_read_regs(const bno055_context dev, uint8_t reg,
assert(dev != NULL);
if (mraa_i2c_read_bytes_data(dev->i2c, reg, buffer, len) < 0)
{
printf("%s: mraa_i2c_read_bytes() failed\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
@ -267,7 +301,11 @@ upm_result_t bno055_write_reg(const bno055_context dev,
assert(dev != NULL);
if (mraa_i2c_write_byte_data(dev->i2c, val, reg))
{
printf("%s: mraa_i2c_write_byte_data() failed\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
@ -284,62 +322,82 @@ upm_result_t bno055_write_regs(const bno055_context dev, uint8_t reg,
buf[i+1] = buffer[i];
if (mraa_i2c_write(dev->i2c, buf, len + 1))
{
printf("%s: mraa_i2c_write() failed\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
uint8_t bno055_get_chip_id(const bno055_context dev)
upm_result_t bno055_get_chip_id(const bno055_context dev, uint8_t *chip_id)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
return bno055_read_reg(dev, BNO055_REG_CHIP_ID);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_CHIP_ID, chip_id);
}
uint8_t bno055_get_acc_id(const bno055_context dev)
upm_result_t bno055_get_acc_id(const bno055_context dev, uint8_t *chip_id)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
return bno055_read_reg(dev, BNO055_REG_ACC_ID);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_ACC_ID, chip_id);
}
uint8_t bno055_get_mag_id(const bno055_context dev)
upm_result_t bno055_get_mag_id(const bno055_context dev, uint8_t *chip_id)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
return bno055_read_reg(dev, BNO055_REG_MAG_ID);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_MAG_ID, chip_id);
}
uint8_t bno055_get_gyr_id(const bno055_context dev)
upm_result_t bno055_get_gyr_id(const bno055_context dev, uint8_t *chip_id)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
return bno055_read_reg(dev, BNO055_REG_GYR_ID);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_GYR_ID, chip_id);
}
uint16_t bno055_get_sw_revision(const bno055_context dev)
upm_result_t bno055_get_sw_revision(const bno055_context dev, uint16_t *sw_rev)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t lsb, msb;
lsb = bno055_read_reg(dev, BNO055_REG_SW_REV_ID_LSB);
msb = bno055_read_reg(dev, BNO055_REG_SW_REV_ID_MSB);
uint8_t lsb = 0, msb = 0;
if (bno055_read_reg(dev, BNO055_REG_SW_REV_ID_LSB, &lsb))
return UPM_ERROR_OPERATION_FAILED;
if (bno055_read_reg(dev, BNO055_REG_SW_REV_ID_MSB, &msb))
return UPM_ERROR_OPERATION_FAILED;
return (uint16_t)(lsb | (msb << 8));
if (sw_rev)
*sw_rev = (uint16_t)(lsb | (msb << 8));
return UPM_SUCCESS;
}
uint8_t bno055_get_bootloader_id(const bno055_context dev)
upm_result_t bno055_get_bootloader_id(const bno055_context dev, uint8_t *bl_id)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
return bno055_read_reg(dev, BNO055_REG_BL_REV_ID);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_BL_REV_ID, bl_id);
}
upm_result_t bno055_set_page(const bno055_context dev, uint8_t page,
@ -356,64 +414,84 @@ upm_result_t bno055_set_page(const bno055_context dev, uint8_t page,
}
if (force || page != dev->currentPage)
bno055_write_reg(dev, BNO055_REG_PAGE_ID, page);
{
if (bno055_write_reg(dev, BNO055_REG_PAGE_ID, page))
return UPM_ERROR_OPERATION_FAILED;
}
dev->currentPage = page;
return UPM_SUCCESS;
}
void bno055_set_clock_external(const bno055_context dev, bool extClock)
upm_result_t bno055_set_clock_external(const bno055_context dev,
bool extClock)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// first we need to be in config mode
BNO055_OPERATION_MODES_T currentMode = dev->currentMode;
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
if (bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (extClock)
reg |= BNO055_SYS_TRIGGER_CLK_SEL;
else
reg &= ~BNO055_SYS_TRIGGER_CLK_SEL;
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
if (bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg))
return UPM_ERROR_OPERATION_FAILED;
// now reset our operating mode
bno055_set_operation_mode(dev, currentMode);
if (bno055_set_operation_mode(dev, currentMode))
return UPM_ERROR_OPERATION_FAILED;
return UPM_SUCCESS;
}
void bno055_set_temperature_source(const bno055_context dev,
upm_result_t bno055_set_temperature_source(const bno055_context dev,
BNO055_TEMP_SOURCES_T src)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
bno055_write_reg(dev, BNO055_REG_TEMP_SOURCE, src);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_write_reg(dev, BNO055_REG_TEMP_SOURCE, src);
}
void bno055_set_temperature_units_celsius(const bno055_context dev)
upm_result_t bno055_set_temperature_units_celsius(const bno055_context dev)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_UNIT_SEL, &reg))
return UPM_ERROR_OPERATION_FAILED;
reg &= ~BNO055_UNIT_SEL_TEMP_UNIT;
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
return bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
}
void bno055_set_accelerometer_units(const bno055_context dev, bool mg)
upm_result_t bno055_set_accelerometer_units(const bno055_context dev, bool mg)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_UNIT_SEL, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (mg)
{
@ -426,16 +504,19 @@ void bno055_set_accelerometer_units(const bno055_context dev, bool mg)
dev->accUnitScale = 100.0;
}
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
return bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
}
void bno055_set_gyroscope_units(const bno055_context dev, bool radians)
upm_result_t bno055_set_gyroscope_units(const bno055_context dev, bool radians)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_UNIT_SEL, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (radians)
{
@ -448,16 +529,19 @@ void bno055_set_gyroscope_units(const bno055_context dev, bool radians)
dev->gyrUnitScale = 16.0;
}
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
return bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
}
void bno055_set_euler_units(const bno055_context dev, bool radians)
upm_result_t bno055_set_euler_units(const bno055_context dev, bool radians)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_UNIT_SEL, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (radians)
{
@ -470,41 +554,51 @@ void bno055_set_euler_units(const bno055_context dev, bool radians)
dev->eulUnitScale = 16.0;
}
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
return bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
}
void bno055_set_operation_mode(const bno055_context dev,
upm_result_t bno055_set_operation_mode(const bno055_context dev,
BNO055_OPERATION_MODES_T mode)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// we clear all of our loaded data on mode changes
_clear_data(dev);
uint8_t reg = bno055_read_reg(dev, BNO055_REG_OPER_MODE);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_OPER_MODE, &reg))
return UPM_ERROR_OPERATION_FAILED;
reg &= ~(_BNO055_OPR_MODE_OPERATION_MODE_MASK
<< _BNO055_OPR_MODE_OPERATION_MODE_SHIFT);
reg |= (mode << _BNO055_OPR_MODE_OPERATION_MODE_SHIFT);
bno055_write_reg(dev, BNO055_REG_OPER_MODE, reg);
if (bno055_write_reg(dev, BNO055_REG_OPER_MODE, reg))
return UPM_ERROR_OPERATION_FAILED;
dev->currentMode = mode;
upm_delay_us(30);
return UPM_SUCCESS;
}
void bno055_get_calibration_status(const bno055_context dev,
upm_result_t bno055_get_calibration_status(const bno055_context dev,
int *mag, int *acc,
int *gyr, int *sys)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_CALIB_STAT);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_CALIB_STAT, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (mag)
*mag = (reg >> _BNO055_CALIB_STAT_MAG_SHIFT)
@ -521,6 +615,8 @@ void bno055_get_calibration_status(const bno055_context dev,
if (sys)
*sys = (reg >> _BNO055_CALIB_STAT_SYS_SHIFT)
& _BNO055_CALIB_STAT_SYS_MASK;
return UPM_SUCCESS;
}
bool bno055_is_fully_calibrated(const bno055_context dev)
@ -529,7 +625,9 @@ bool bno055_is_fully_calibrated(const bno055_context dev)
int mag, acc, gyr, sys;
bno055_get_calibration_status(dev, &mag, &acc, &gyr, &sys);
// fail on error
if (bno055_get_calibration_status(dev, &mag, &acc, &gyr, &sys))
return false;
// all of them equal to 3 means fully calibrated
if (mag == 3 && acc == 3 && gyr == 3 && sys == 3)
@ -538,94 +636,131 @@ bool bno055_is_fully_calibrated(const bno055_context dev)
return false;
}
void bno055_reset_system(const bno055_context dev)
upm_result_t bno055_reset_system(const bno055_context dev)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER, &reg))
return UPM_ERROR_OPERATION_FAILED;
reg |= BNO055_SYS_TRIGGER_RST_SYS;
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
if (bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg))
return UPM_ERROR_OPERATION_FAILED;
upm_delay(1);
return UPM_SUCCESS;
}
void bno055_reset_interrupt_status(const bno055_context dev)
upm_result_t bno055_reset_interrupt_status(const bno055_context dev)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER, &reg))
return UPM_ERROR_OPERATION_FAILED;
reg |= BNO055_SYS_TRIGGER_RST_INT;
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
return bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
}
uint8_t bno055_get_interrupt_status(const bno055_context dev)
upm_result_t bno055_get_interrupt_status(const bno055_context dev,
uint8_t *istat)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_INT_STA);
return bno055_read_reg(dev, BNO055_REG_INT_STA, istat);
}
uint8_t bno055_get_interrupt_enable(const bno055_context dev)
upm_result_t bno055_get_interrupt_enable(const bno055_context dev,
uint8_t *ienable)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_INT_EN);
return bno055_read_reg(dev, BNO055_REG_INT_EN, ienable);
}
void bno055_set_interrupt_enable(const bno055_context dev, uint8_t enables)
upm_result_t bno055_set_interrupt_enable(const bno055_context dev,
uint8_t enables)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
bno055_write_reg(dev, BNO055_REG_INT_EN, enables);
return bno055_write_reg(dev, BNO055_REG_INT_EN, enables);
}
uint8_t bno055_get_interrupt_mask(const bno055_context dev)
upm_result_t bno055_get_interrupt_mask(const bno055_context dev,
uint8_t *imask)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
return bno055_read_reg(dev, BNO055_REG_INT_MSK);
return bno055_read_reg(dev, BNO055_REG_INT_MSK, imask);
}
void bno055_set_interrupt_mask(const bno055_context dev, uint8_t mask)
upm_result_t bno055_set_interrupt_mask(const bno055_context dev, uint8_t mask)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
bno055_write_reg(dev, BNO055_REG_INT_MSK, mask);
return bno055_write_reg(dev, BNO055_REG_INT_MSK, mask);
}
BNO055_SYS_STATUS_T bno055_get_system_status(const bno055_context dev)
upm_result_t bno055_get_system_status(const bno055_context dev,
BNO055_SYS_STATUS_T *sys_stat)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return (BNO055_SYS_STATUS_T)bno055_read_reg(dev, BNO055_REG_SYS_STATUS);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_SYS_STATUS, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (sys_stat)
*sys_stat = (BNO055_SYS_STATUS_T)reg;
return UPM_SUCCESS;
}
BNO055_SYS_ERR_T bno055_get_system_error(const bno055_context dev)
upm_result_t bno055_get_system_error(const bno055_context dev,
BNO055_SYS_ERR_T *sys_err)
{
assert(dev != NULL);
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
return (BNO055_SYS_ERR_T)bno055_read_reg(dev, BNO055_REG_SYS_ERROR);
uint8_t reg = 0;
if (bno055_read_reg(dev, BNO055_REG_SYS_ERROR, &reg))
return UPM_ERROR_OPERATION_FAILED;
if (sys_err)
*sys_err = (BNO055_SYS_ERR_T)reg;
return UPM_SUCCESS;
}
upm_result_t bno055_read_calibration_data(const bno055_context dev,
@ -649,17 +784,21 @@ upm_result_t bno055_read_calibration_data(const bno055_context dev,
}
// should be at page 0, but lets make sure
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// first we need to go back into config mode
BNO055_OPERATION_MODES_T currentMode = dev->currentMode;
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
if (bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE))
return UPM_ERROR_OPERATION_FAILED;
bno055_read_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
BNO055_CALIBRATION_DATA_SIZE);
if (bno055_read_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
BNO055_CALIBRATION_DATA_SIZE))
return UPM_ERROR_OPERATION_FAILED;
// now reset our operating mode
bno055_set_operation_mode(dev, currentMode);
if (bno055_set_operation_mode(dev, currentMode))
return UPM_ERROR_OPERATION_FAILED;
return UPM_SUCCESS;
}
@ -680,18 +819,22 @@ upm_result_t bno055_write_calibration_data(const bno055_context dev,
}
// should be at page 0, but lets make sure
bno055_set_page(dev, 0, false);
if (bno055_set_page(dev, 0, false))
return UPM_ERROR_OPERATION_FAILED;
// first we need to go back into config mode
BNO055_OPERATION_MODES_T currentMode = dev->currentMode;
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
if (bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE))
return UPM_ERROR_OPERATION_FAILED;
// write the data
bno055_write_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
BNO055_CALIBRATION_DATA_SIZE);
if (bno055_write_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
BNO055_CALIBRATION_DATA_SIZE))
return UPM_ERROR_OPERATION_FAILED;
// now reset our operating mode
bno055_set_operation_mode(dev, currentMode);
if (bno055_set_operation_mode(dev, currentMode))
return UPM_ERROR_OPERATION_FAILED;
return UPM_SUCCESS;
}
@ -817,55 +960,59 @@ void bno055_get_gyroscope(const bno055_context dev,
*z = dev->gyrZ / dev->gyrUnitScale;
}
void bno055_set_acceleration_config(const bno055_context dev,
upm_result_t bno055_set_acceleration_config(const bno055_context dev,
BNO055_ACC_RANGE_T range,
BNO055_ACC_BW_T bw,
BNO055_ACC_PWR_MODE_T pwr)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = ((range << _BNO055_ACC_CONFIG_ACC_RANGE_SHIFT)
| (bw << _BNO055_ACC_CONFIG_ACC_BW_SHIFT)
| (pwr << _BNO055_ACC_CONFIG_ACC_PWR_MODE_SHIFT));
bno055_write_reg(dev, BNO055_REG_ACC_CONFIG, reg);
return bno055_write_reg(dev, BNO055_REG_ACC_CONFIG, reg);
}
void bno055_set_magnetometer_config(const bno055_context dev,
upm_result_t bno055_set_magnetometer_config(const bno055_context dev,
BNO055_MAG_ODR_T odr,
BNO055_MAG_OPR_T opr,
BNO055_MAG_POWER_T pwr)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = ((odr << _BNO055_MAG_CONFIG_MAG_ODR_SHIFT)
| (opr << _BNO055_MAG_CONFIG_MAG_OPR_MODE_SHIFT)
| (pwr << _BNO055_MAG_CONFIG_MAG_POWER_MODE_SHIFT));
bno055_write_reg(dev, BNO055_REG_MAG_CONFIG, reg);
return bno055_write_reg(dev, BNO055_REG_MAG_CONFIG, reg);
}
void bno055_set_gyroscope_config(const bno055_context dev,
upm_result_t bno055_set_gyroscope_config(const bno055_context dev,
BNO055_GYR_RANGE_T range,
BNO055_GYR_BW_T bw,
BNO055_GYR_POWER_MODE_T pwr)
{
assert(dev != NULL);
bno055_set_page(dev, 1, false);
if (bno055_set_page(dev, 1, false))
return UPM_ERROR_OPERATION_FAILED;
uint8_t reg = ((range << _BNO055_GYR_CONFIG0_GYR_RANGE_SHIFT)
| (bw << _BNO055_GYR_CONFIG0_GYR_BW_SHIFT));
bno055_write_reg(dev, BNO055_REG_GYR_CONFIG0, reg);
if (bno055_write_reg(dev, BNO055_REG_GYR_CONFIG0, reg))
return UPM_ERROR_OPERATION_FAILED;
reg = (pwr << _BNO055_GYR_CONFIG1_GYR_POWER_MODE_SHIFT);
bno055_write_reg(dev, BNO055_REG_GYR_CONFIG1, reg);
return bno055_write_reg(dev, BNO055_REG_GYR_CONFIG1, reg);
}
upm_result_t bno055_install_isr(const bno055_context dev,

140
src/bno055/bno055.cxx
View File

@ -61,7 +61,12 @@ void BNO055::update()
uint8_t BNO055::readReg(uint8_t reg)
{
return bno055_read_reg(m_bno055, reg);
uint8_t rv = 0;
if (bno055_read_reg(m_bno055, reg, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_read_reg() failed");
return rv;
}
void BNO055::readRegs(uint8_t reg, uint8_t *buffer, int len)
@ -87,32 +92,62 @@ void BNO055::writeRegs(uint8_t reg, uint8_t *buffer, int len)
uint8_t BNO055::getChipID()
{
return bno055_get_chip_id(m_bno055);
uint8_t rv = 0;
if (bno055_get_chip_id(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_chip_id() failed");
return rv;
}
uint8_t BNO055::getACCID()
{
return bno055_get_acc_id(m_bno055);
uint8_t rv = 0;
if (bno055_get_acc_id(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_acc_id() failed");
return rv;
}
uint8_t BNO055::getMAGID()
{
return bno055_get_mag_id(m_bno055);
uint8_t rv = 0;
if (bno055_get_mag_id(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_mag_id() failed");
return rv;
}
uint8_t BNO055::getGYRID()
{
return bno055_get_gyr_id(m_bno055);
uint8_t rv = 0;
if (bno055_get_gyr_id(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_gyr_id() failed");
return rv;
}
uint16_t BNO055::getSWRevID()
{
return bno055_get_sw_revision(m_bno055);
uint16_t rv = 0;
if (bno055_get_sw_revision(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_sw_revision() failed");
return rv;
}
uint8_t BNO055::getBootLoaderID()
{
return bno055_get_bootloader_id(m_bno055);
uint8_t rv = 0;
if (bno055_get_bootloader_id(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_bootloader_id() failed");
return rv;
}
void BNO055::setPage(uint8_t page, bool force)
@ -124,37 +159,51 @@ void BNO055::setPage(uint8_t page, bool force)
void BNO055::setClockExternal(bool extClock)
{
bno055_set_clock_external(m_bno055, extClock);
if (bno055_set_clock_external(m_bno055, extClock))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_clock_external() failed");
}
void BNO055::setTemperatureSource(BNO055_TEMP_SOURCES_T src)
{
bno055_set_temperature_source(m_bno055, src);
if (bno055_set_temperature_source(m_bno055, src))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_temperature_source() failed");
}
void BNO055::setAccelerometerUnits(bool mg)
{
bno055_set_accelerometer_units(m_bno055, mg);
if (bno055_set_accelerometer_units(m_bno055, mg))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_accelerometer_units() failed");
}
void BNO055::setGyroscopeUnits(bool radians)
{
bno055_set_gyroscope_units(m_bno055, radians);
if (bno055_set_gyroscope_units(m_bno055, radians))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_gyroscope_units() failed");
}
void BNO055::setEulerUnits(bool radians)
{
bno055_set_euler_units(m_bno055, radians);
if (bno055_set_euler_units(m_bno055, radians))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_euler_units() failed");
}
void BNO055::setOperationMode(BNO055_OPERATION_MODES_T mode)
{
bno055_set_operation_mode(m_bno055, mode);
if (bno055_set_operation_mode(m_bno055, mode))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_operation_mode() failed");
}
void BNO055::getCalibrationStatus(int *mag, int *acc, int *gyr, int *sys)
{
bno055_get_calibration_status(m_bno055, mag, acc, gyr, sys);
if (bno055_get_calibration_status(m_bno055, mag, acc, gyr, sys))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_calibration_status() failed");
}
vector<int> BNO055::getCalibrationStatus()
@ -172,47 +221,80 @@ bool BNO055::isFullyCalibrated()
void BNO055::resetSystem()
{
bno055_reset_system(m_bno055);
if (bno055_reset_system(m_bno055))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_reset_system() failed");
}
void BNO055::resetInterruptStatus()
{
bno055_reset_interrupt_status(m_bno055);
if (bno055_reset_interrupt_status(m_bno055))
throw std::runtime_error(string(__FUNCTION__)
+ ": reset_interrupt_status() failed");
}
uint8_t BNO055::getInterruptStatus()
{
return bno055_get_interrupt_status(m_bno055);
uint8_t rv = 0;
if (bno055_get_interrupt_status(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055get_interrupt_status() failed");
return rv;
}
uint8_t BNO055::getInterruptEnable()
{
return bno055_get_interrupt_enable(m_bno055);
uint8_t rv = 0;
if (bno055_get_interrupt_enable(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_interrupt_enable() failed");
return rv;
}
void BNO055::setInterruptEnable(uint8_t enables)
{
return bno055_set_interrupt_enable(m_bno055, enables);
if (bno055_set_interrupt_enable(m_bno055, enables))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_interrupt_enable() failed");
}
uint8_t BNO055::getInterruptMask()
{
return bno055_get_interrupt_mask(m_bno055);
uint8_t rv = 0;
if (bno055_get_interrupt_mask(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_interrupt_mask() failed");
return rv;
}
void BNO055::setInterruptMask(uint8_t mask)
{
return bno055_set_interrupt_mask(m_bno055, mask);
if (bno055_set_interrupt_mask(m_bno055, mask))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_interrupt_mask() failed");
}
BNO055_SYS_STATUS_T BNO055::getSystemStatus()
{
return bno055_get_system_status(m_bno055);
BNO055_SYS_STATUS_T rv;
if (bno055_get_system_status(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_system_status() failed");
return rv;
}
BNO055_SYS_ERR_T BNO055::getSystemError()
{
return bno055_get_system_error(m_bno055);
BNO055_SYS_ERR_T rv;
if (bno055_get_system_error(m_bno055, &rv))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_get_system_error() failed");
return rv;
}
std::vector<uint8_t> BNO055::readCalibrationData()
@ -334,21 +416,27 @@ void BNO055::setAccelerationConfig(BNO055_ACC_RANGE_T range,
BNO055_ACC_BW_T bw,
BNO055_ACC_PWR_MODE_T pwr)
{
bno055_set_acceleration_config(m_bno055, range, bw, pwr);
if (bno055_set_acceleration_config(m_bno055, range, bw, pwr))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_acceleration_config() failed");
}
void BNO055::setMagnetometerConfig(BNO055_MAG_ODR_T odr,
BNO055_MAG_OPR_T opr,
BNO055_MAG_POWER_T pwr)
{
bno055_set_magnetometer_config(m_bno055, odr, opr, pwr);
if (bno055_set_magnetometer_config(m_bno055, odr, opr, pwr))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_magnetometer_config() failed");
}
void BNO055::setGyroscopeConfig(BNO055_GYR_RANGE_T range,
BNO055_GYR_BW_T bw,
BNO055_GYR_POWER_MODE_T pwr)
{
bno055_set_gyroscope_config(m_bno055, range, bw, pwr);
if (bno055_set_gyroscope_config(m_bno055, range, bw, pwr))
throw std::runtime_error(string(__FUNCTION__)
+ ": bno055_set_gyroscope_config() failed");
}
void BNO055::installISR(int gpio, mraa_gpio_edge_t level,

130
src/bno055/bno055.h
View File

@ -145,49 +145,61 @@ extern "C" {
* Return the chip ID.
*
* @param dev The device context.
* @return The chip ID (BNO055_CHIPID).
* @param chip_id The chip ID (BNO055_CHIPID).
* @return UPM result.
*/
uint8_t bno055_get_chip_id(const bno055_context dev);
upm_result_t bno055_get_chip_id(const bno055_context dev,
uint8_t *chip_id);
/**
* Return the accelerometer chip ID.
*
* @param dev The device context.
* @return The chip ID.
* @param chip_id The chip ID
* @return UPM result.
*/
uint8_t bno055_get_acc_id(const bno055_context dev);
upm_result_t bno055_get_acc_id(const bno055_context dev,
uint8_t *chip_id);
/**
* Return the magnetometer chip ID.
*
* @param dev The device context.
* @return The chip ID.
* @param chip_id The chip ID
* @return UPM result.
*/
uint8_t bno055_get_mag_id(const bno055_context dev);
upm_result_t bno055_get_mag_id(const bno055_context dev,
uint8_t *chip_id);
/**
* Return the gyroscope chip ID.
*
* @param dev The device context.
* @return The chip ID.
* @param chip_id The chip ID
* @return UPM result.
*/
uint8_t bno055_get_gyr_id(const bno055_context dev);
upm_result_t bno055_get_gyr_id(const bno055_context dev,
uint8_t *chip_id);
/**
* Return the fusion firmware revison.
*
* @param dev The device context.
* @return The firmware revison.
* @param sw_rev The firmware revison.
* @return UPM result.
*/
uint16_t bno055_get_sw_revision(const bno055_context dev);
upm_result_t bno055_get_sw_revision(const bno055_context dev,
uint16_t *sw_rev);
/**
* Return the bootloader ID.
*
* @param dev The device context.
* @return The bootloader ID.
* @param bl_id The bootloader ID.
* @return UPM result.
*/
uint8_t bno055_get_bootloader_id(const bno055_context dev);
upm_result_t bno055_get_bootloader_id(const bno055_context dev,
uint8_t *bl_id);
/**
* Enable or disables the use of the external clock. The Adafriut
@ -196,8 +208,10 @@ extern "C" {
*
* @param dev The device context.
* @param extClock true to use external clock, false otherwise.
* @return UPM result.
*/
void bno055_set_clock_external(const bno055_context dev, bool extClock);
upm_result_t bno055_set_clock_external(const bno055_context dev,
bool extClock);
/**
* Select the temperature source. This can be the accelerometer
@ -206,16 +220,18 @@ extern "C" {
*
* @param dev The device context.
* @param src One of the TEMP_SOURCES_T values.
* @return UPM result.
*/
void bno055_set_temperature_source(const bno055_context dev,
upm_result_t bno055_set_temperature_source(const bno055_context dev,
BNO055_TEMP_SOURCES_T src);
/**
* Set the temperature units of the device to Celsius (always).
*
* @param dev The device context.
* @return UPM result.
*/
void bno055_set_temperature_units_celsius(const bno055_context dev);
upm_result_t bno055_set_temperature_units_celsius(const bno055_context dev);
/**
* Set the operating mode for the device. This places the device
@ -226,8 +242,9 @@ extern "C" {
*
* @param dev The device context.
* @param mode One of the OPERATION_MODES_T values.
* @return UPM result.
*/
void bno055_set_operation_mode(const bno055_context dev,
upm_result_t bno055_set_operation_mode(const bno055_context dev,
BNO055_OPERATION_MODES_T mode);
/**
@ -236,8 +253,9 @@ extern "C" {
* re-calibrated.
*
* @param dev The device context.
* @return UPM result.
*/
void bno055_reset_system(const bno055_context dev);
upm_result_t bno055_reset_system(const bno055_context dev);
/**
* Read the calibration status registers and return them. The
@ -248,8 +266,9 @@ extern "C" {
* @param acc The calibration status of the accelerometer.
* @param mag The calibration status of the gyroscope.
* @param mag The calibration status of the overall system.
* @return UPM result.
*/
void bno055_get_calibration_status(const bno055_context dev,
upm_result_t bno055_get_calibration_status(const bno055_context dev,
int *mag, int *acc,
int *gyr, int *sys);
@ -437,8 +456,9 @@ extern "C" {
* @param range One of the BNO055_ACC_RANGE_T values.
* @param bw One of the BNO055_ACC_BW_T values.
* @param pwr One of the BNO055_ACC_PWR_MODE_T values.
* @return UPM result.
*/
void bno055_set_acceleration_config(const bno055_context dev,
upm_result_t bno055_set_acceleration_config(const bno055_context dev,
BNO055_ACC_RANGE_T range,
BNO055_ACC_BW_T bw,
BNO055_ACC_PWR_MODE_T pwr);
@ -451,8 +471,9 @@ extern "C" {
* @param odr One of the BNO055_MAG_ODR_T values.
* @param opr One of the BNO055_MAG_OPR_T values.
* @param pwr One of the BNO055_MAG_POWER_T values.
* @return UPM result.
*/
void bno055_set_magnetometer_config(const bno055_context dev,
upm_result_t bno055_set_magnetometer_config(const bno055_context dev,
BNO055_MAG_ODR_T odr,
BNO055_MAG_OPR_T opr,
BNO055_MAG_POWER_T pwr);
@ -465,8 +486,9 @@ extern "C" {
* @param range One of the BNO055_GYR_RANGE_T values.
* @param bw One of the BNO055_GYR_BW_T values.
* @param pwr One of the BNO055_GYR_POWER_MODE_T values.
* @return UPM result.
*/
void bno055_set_gyroscope_config(const bno055_context dev,
upm_result_t bno055_set_gyroscope_config(const bno055_context dev,
BNO055_GYR_RANGE_T range,
BNO055_GYR_BW_T bw,
BNO055_GYR_POWER_MODE_T pwr);
@ -478,8 +500,10 @@ extern "C" {
*
* @param dev The device context.
* @param mg true for mg, false for m/s^2.
* @return UPM result.
*/
void bno055_set_accelerometer_units(const bno055_context dev, bool mg);
upm_result_t bno055_set_accelerometer_units(const bno055_context dev,
bool mg);
/**
* Set the unit of measurement for the gyroscope related sensor
@ -488,8 +512,10 @@ extern "C" {
*
* @param dev The device context.
* @param radians true for radians, false for degrees.
* @return UPM result.
*/
void bno055_set_gyroscope_units(const bno055_context dev, bool radians);
upm_result_t bno055_set_gyroscope_units(const bno055_context dev,
bool radians);
/**
* Set the unit of measurement for the Euler Angle related sensor
@ -498,34 +524,41 @@ extern "C" {
*
* @param dev The device context.
* @param radians true for radians, false for degrees.
* @return UPM result.
*/
void bno055_set_euler_units(const bno055_context dev, bool radians);
upm_result_t bno055_set_euler_units(const bno055_context dev,
bool radians);
/**
* Reset all interrupt status bits and interrupt output.
*
* @param dev The device context.
* @return UPM result.
*/
void bno055_reset_interrupt_status(const bno055_context dev);
upm_result_t bno055_reset_interrupt_status(const bno055_context dev);
/**
* Return the interrupt status register. This is a bitmask of the
* Get the interrupt status register. This is a bitmask of the
* INT_STA_BITS_T bits.
*
* @param dev The device context.
* @return a bitmask of INT_STA_BITS_T bits.
* @param istat A bitmask of INT_STA_BITS_T bits.
* @return UPM result.
*/
uint8_t bno055_get_interrupt_status(const bno055_context dev);
upm_result_t bno055_get_interrupt_status(const bno055_context dev,
uint8_t *istat);
/**
* Return the interrupt enables register. This is a bitmask of the
* Get the interrupt enables register. This is a bitmask of the
* INT_STA_BITS_T bits.
*
* @param dev The device context.
* @return a bitmask of INT_STA_BITS_T bits currently set in the
* @param ienable A bitmask of INT_STA_BITS_T bits currently set in the
* enable register.
* @return UPM result.
*/
uint8_t bno055_get_interrupt_enable(const bno055_context dev);
upm_result_t bno055_get_interrupt_enable(const bno055_context dev,
uint8_t *ienable);
/**
* Set the interrupt enable register. This is composed of a
@ -533,22 +566,25 @@ extern "C" {
*
* @param dev The device context.
* @param enables a bitmask of INT_STA_BITS_T bits to enable
* @return UPM result.
*/
void bno055_set_interrupt_enable(const bno055_context dev,
upm_result_t bno055_set_interrupt_enable(const bno055_context dev,
uint8_t enables);
/**
* Return the interrupt mask register. This is a bitmask of the
* Get the interrupt mask register. This is a bitmask of the
* INT_STA_BITS_T bits. The interrupt mask is used to mask off
* enabled interrupts from generating a hardware interrupt. The
* interrupt status register can still be used to detect masked
* interrupts if they are enabled.
*
* @param dev The device context.
* @return a bitmask of INT_STA_BITS_T bits currently set in the
* @param imask a bitmask of INT_STA_BITS_T bits currently set in the
* interrupt mask register.
* @return UPM result.
*/
uint8_t bno055_get_interrupt_mask(const bno055_context dev);
upm_result_t bno055_get_interrupt_mask(const bno055_context dev,
uint8_t *imask);
/**
* Set the interrupt mask register. This is a bitmask of the
@ -560,17 +596,21 @@ extern "C" {
* @param dev The device context.
* @param mask A bitmask of INT_STA_BITS_T bits to set in the interrupt
* mask register.
* @return UPM result.
*/
void bno055_set_interrupt_mask(const bno055_context dev, uint8_t mask);
upm_result_t bno055_set_interrupt_mask(const bno055_context dev,
uint8_t mask);
/**
* Return the value of the system status register. This method
* Get the value of the system status register. This method
* can be used to determine the overall status of the device.
*
* @param dev The device context.
* @return One of the SYS_STATUS_T values.
* @param sys_stat One of the SYS_STATUS_T values.
* @return UPM result.
*/
BNO055_SYS_STATUS_T bno055_get_system_status(const bno055_context dev);
upm_result_t bno055_get_system_status(const bno055_context dev,
BNO055_SYS_STATUS_T *sys_stat);
/**
* Return the value of the system error register. This mathod can
@ -578,9 +618,11 @@ extern "C" {
* conditions.
*
* @param dev The device context.
* @return One of the SYS_ERR_T values.
* @param sys_stat One of the SYS_ERR_T values.
* @return UPM result.
*/
BNO055_SYS_ERR_T bno055_get_system_error(const bno055_context dev);
upm_result_t bno055_get_system_error(const bno055_context dev,
BNO055_SYS_ERR_T *sys_err);
/**
* install an interrupt handler.
@ -625,9 +667,11 @@ extern "C" {
*
* @param dev The device context.
* @param reg The register to read
* @return The value of the register
* @param retval The returned value of the register
* @return UPM result.
*/
uint8_t bno055_read_reg(const bno055_context dev, uint8_t reg);
upm_result_t bno055_read_reg(const bno055_context dev, uint8_t reg,
uint8_t *retval);
/**
* Read contiguous registers into a buffer. This is a low level

28
src/bno055/bno055.hpp
View File

@ -138,6 +138,7 @@ namespace upm {
* Return the chip ID.
*
* @return The chip ID (BNO055_CHIPID).
* @throws std::runtime_error on failure.
*/
uint8_t getChipID();
@ -145,6 +146,7 @@ namespace upm {
* Return the accelerometer chip ID.
*
* @return The chip ID.
* @throws std::runtime_error on failure.
*/
uint8_t getACCID();
@ -152,6 +154,7 @@ namespace upm {
* Return the magnetometer chip ID.
*
* @return The chip ID.
* @throws std::runtime_error on failure.
*/
uint8_t getMAGID();
@ -159,6 +162,7 @@ namespace upm {
* Return the gyroscope chip ID.
*
* @return The chip ID.
* @throws std::runtime_error on failure.
*/
uint8_t getGYRID();
@ -166,6 +170,7 @@ namespace upm {
* Return the fusion firmware revison.
*
* @return The firmware revison.
* @throws std::runtime_error on failure.
*/
uint16_t getSWRevID();
@ -173,6 +178,7 @@ namespace upm {
* Return the bootloader ID.
*
* @return The bootloader ID.
* @throws std::runtime_error on failure.
*/
uint8_t getBootLoaderID();
@ -182,6 +188,7 @@ namespace upm {
* stable. By default, the internal clock is used.
*
* @param extClock true to use external clock, false otherwise.
* @throws std::runtime_error on failure.
*/
void setClockExternal(bool extClock);
@ -191,6 +198,7 @@ namespace upm {
* used as the source.
*
* @param src One of the BNO055_TEMP_SOURCES_T values.
* @throws std::runtime_error on failure.
*/
void setTemperatureSource(BNO055_TEMP_SOURCES_T src);
@ -202,6 +210,7 @@ namespace upm {
* configuration operations. See the datasheet for details.
*
* @param mode One of the BNO055_OPERATION_MODES_T values.
* @throws std::runtime_error on failure.
*/
void setOperationMode(BNO055_OPERATION_MODES_T mode);
@ -209,6 +218,7 @@ namespace upm {
* Reboot the sensor. This is equivalent to a power on reset.
* All calibration data will be lost, and the device must be
* recalibrated.
* @throws std::runtime_error on failure.
*/
void resetSystem();
@ -220,6 +230,7 @@ namespace upm {
* @param acc The calibration status of the accelerometer.
* @param mag The calibration status of the gyroscope.
* @param mag The calibration status of the overall system.
* @throws std::runtime_error on failure.
*/
void getCalibrationStatus(int *mag, int *acc, int *gyr, int *sys);
@ -230,6 +241,7 @@ namespace upm {
*
* @return An integer vector containing the values in the
* order: mag, acc, gyr, and sys.
* @throws std::runtime_error on failure.
*/
std::vector<int> getCalibrationStatus();
@ -467,6 +479,7 @@ namespace upm {
* @param range One of the BNO055_ACC_RANGE_T values.
* @param bw One of the BNO055_ACC_BW_T values.
* @param pwr One of the BNO055_ACC_PWR_MODE_T values.
* @throws std::runtime_error on failure.
*/
void setAccelerationConfig(BNO055_ACC_RANGE_T range,
BNO055_ACC_BW_T bw,
@ -479,6 +492,7 @@ namespace upm {
* @param odr One of the BNO055_MAG_ODR_T values.
* @param opr One of the BNO055_MAG_OPR_T values.
* @param pwr One of the BNO055_MAG_POWER_T values.
* @throws std::runtime_error on failure.
*/
void setMagnetometerConfig(BNO055_MAG_ODR_T odr,
BNO055_MAG_OPR_T opr,
@ -491,6 +505,7 @@ namespace upm {
* @param range One of the BNO055_GYR_RANGE_T values.
* @param bw One of the BNO055_GYR_BW_T values.
* @param pwr One of the BNO055_GYR_POWER_MODE_T values.
* @throws std::runtime_error on failure.
*/
void setGyroscopeConfig(BNO055_GYR_RANGE_T range,
BNO055_GYR_BW_T bw,
@ -502,6 +517,7 @@ namespace upm {
* per-second squared (m/s^2). The default is m/s^2.
*
* @param mg true for mg, false for m/s^2.
* @throws std::runtime_error on failure.
*/
void setAccelerometerUnits(bool mg=false);
@ -511,6 +527,7 @@ namespace upm {
* degrees.
*
* @param radians true for radians, false for degrees.
* @throws std::runtime_error on failure.
*/
void setGyroscopeUnits(bool radians=false);
@ -520,11 +537,14 @@ namespace upm {
* degrees.
*
* @param radians true for radians, false for degrees.
* @throws std::runtime_error on failure.
*/
void setEulerUnits(bool radians=false);
/**
* Reset all interrupt status bits and interrupt output.
*
* @throws std::runtime_error on failure.
*/
void resetInterruptStatus();
@ -533,6 +553,7 @@ namespace upm {
* BNO055_INT_STA_BITS_T bits.
*
* @return a bitmask of BNO055_INT_STA_BITS_T bits.
* @throws std::runtime_error on failure.
*/
uint8_t getInterruptStatus();
@ -542,6 +563,7 @@ namespace upm {
*
* @return a bitmask of BNO055_INT_STA_BITS_T bits currently set in the
* enable register.
* @throws std::runtime_error on failure.
*/
uint8_t getInterruptEnable();
@ -550,6 +572,7 @@ namespace upm {
* bitmask of the BNO055_INT_STA_BITS_T bits.
*
* @param enables a bitmask of BNO055_INT_STA_BITS_T bits to enable
* @throws std::runtime_error on failure.
*/
void setInterruptEnable(uint8_t enables);
@ -562,6 +585,7 @@ namespace upm {
*
* @return a bitmask of BNO055_INT_STA_BITS_T bits currently set in the
* interrupt mask register.
* @throws std::runtime_error on failure.
*/
uint8_t getInterruptMask();
@ -574,6 +598,7 @@ namespace upm {
*
* @param mask A bitmask of BNO055_INT_STA_BITS_T bits to set in
* the interrupt mask register.
* @throws std::runtime_error on failure.
*/
void setInterruptMask(uint8_t mask);
@ -582,6 +607,7 @@ namespace upm {
* can be used to determine the overall status of the device.
*
* @return One of the BNO055_SYS_STATUS_T values.
* @throws std::runtime_error on failure.
*/
BNO055_SYS_STATUS_T getSystemStatus();
@ -591,6 +617,7 @@ namespace upm {
* conditions.
*
* @return One of the BNO055_SYS_ERR_T values.
* @throws std::runtime_error on failure.
*/
BNO055_SYS_ERR_T getSystemError();
@ -643,6 +670,7 @@ namespace upm {
*
* @param reg The register to read
* @return The value of the register
* @throws std::runtime_error on failure.
*/
uint8_t readReg(uint8_t reg);