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bno055: C port; C++ wraps C
The API has been changed in some cases - see the apichanges.md
document.
In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.
This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.
The Python, JS, and Java examples have been changed to use these
methods. Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.
As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:
...
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
...
sensor.getEulerAngles(x, y, z)
...
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
print(" Roll:", sensorObj.floatp_value(y), end=' ')
...
Now the equivalent code is simply:
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], ...
print(" Roll:", floatData[1], end=' ')
...
Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
@ -1,5 +1,8 @@
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set (libname "bno055")
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set (libdescription "Intelligent 9-axis Absolute Orientation Sensor")
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set (module_src ${libname}.cxx)
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set (module_hpp ${libname}.hpp)
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upm_module_init(mraa)
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upm_mixed_module_init (NAME bno055
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DESCRIPTION "Intelligent 9-axis Absolute Orientation Sensor"
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C_HDR bno055.h bno055_regs.h
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C_SRC bno055.c
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CPP_HDR bno055.hpp
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CPP_SRC bno055.cxx
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CPP_WRAPS_C
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REQUIRES mraa)
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910
src/bno055/bno055.c
Normal file
910
src/bno055/bno055.c
Normal file
@ -0,0 +1,910 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016-2017 Intel Corporation.
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*
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* The MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <string.h>
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#include <assert.h>
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#include <upm_utilities.h>
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#include "bno055.h"
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// macro for converting a uint8_t low/high pair into a float
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#define INT16_TO_FLOAT(l, h) \
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(float)( (int16_t)( (l) | ((h) << 8) ) )
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// clear internal data items
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static void _clear_data(const bno055_context dev)
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{
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assert(dev != NULL);
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dev->magX = dev->magY = dev->magZ = 0;
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dev->accX = dev->accY = dev->accZ = 0;
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dev->gyrX = dev->gyrY = dev->gyrZ = 0;
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dev->eulHeading = dev->eulRoll = dev->eulPitch = 0;
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dev->quaW = dev->quaX = dev->quaY = dev->quaZ = 0;
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dev->liaX = dev->liaY = dev->liaZ = 0;
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dev->grvX = dev->grvY = dev->grvZ = 0;
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}
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// load fusion data
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static void _update_fusion_data(const bno055_context dev)
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{
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assert(dev != NULL);
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// bail if we are in config mode, or aren't in a fusion mode...
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if (dev->currentMode == BNO055_OPERATION_MODE_CONFIGMODE ||
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dev->currentMode < BNO055_OPERATION_MODE_IMU)
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return;
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bno055_set_page(dev, 0, false);
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// FIXME/MAYBE? - abort early if SYS calibration is == 0?
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const int fusionBytes = 26;
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uint8_t buf[fusionBytes];
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bno055_read_regs(dev, BNO055_REG_EUL_HEADING_LSB, buf, fusionBytes);
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dev->eulHeading = INT16_TO_FLOAT(buf[0], buf[1]);
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dev->eulRoll = INT16_TO_FLOAT(buf[2], buf[3]);
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dev->eulPitch = INT16_TO_FLOAT(buf[4], buf[5]);
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dev->quaW = INT16_TO_FLOAT(buf[6], buf[7]);
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dev->quaX = INT16_TO_FLOAT(buf[8], buf[9]);
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dev->quaY = INT16_TO_FLOAT(buf[10], buf[11]);
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dev->quaZ = INT16_TO_FLOAT(buf[12], buf[13]);
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dev->liaX = INT16_TO_FLOAT(buf[14], buf[15]);
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dev->liaY = INT16_TO_FLOAT(buf[16], buf[17]);
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dev->liaZ = INT16_TO_FLOAT(buf[18], buf[19]);
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dev->grvX = INT16_TO_FLOAT(buf[20], buf[21]);
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dev->grvY = INT16_TO_FLOAT(buf[22], buf[23]);
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dev->grvZ = INT16_TO_FLOAT(buf[24], buf[25]);
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}
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// update non-fusion data
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static void _update_non_fusion_data(const bno055_context dev)
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{
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assert(dev != NULL);
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// bail if we are in config mode...
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if (dev->currentMode == BNO055_OPERATION_MODE_CONFIGMODE)
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return;
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bno055_set_page(dev, 0, false);
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const int nonFusionBytes = 18;
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uint8_t buf[nonFusionBytes];
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bno055_read_regs(dev, BNO055_REG_ACC_DATA_X_LSB, buf, nonFusionBytes);
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dev->accX = INT16_TO_FLOAT(buf[0], buf[1]);
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dev->accY = INT16_TO_FLOAT(buf[2], buf[3]);
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dev->accZ = INT16_TO_FLOAT(buf[4], buf[5]);
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dev->magX = INT16_TO_FLOAT(buf[6], buf[7]);
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dev->magY = INT16_TO_FLOAT(buf[8], buf[9]);
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dev->magZ = INT16_TO_FLOAT(buf[10], buf[11]);
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dev->gyrX = INT16_TO_FLOAT(buf[12], buf[13]);
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dev->gyrY = INT16_TO_FLOAT(buf[14], buf[15]);
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dev->gyrZ = INT16_TO_FLOAT(buf[16], buf[17]);
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}
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// init
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bno055_context bno055_init(int bus, uint8_t addr)
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{
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bno055_context dev =
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(bno055_context)malloc(sizeof(struct _bno055_context));
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if (!dev)
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return NULL;
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// zero out context
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memset((void *)dev, 0, sizeof(struct _bno055_context));
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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bno055_close(dev);
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return NULL;
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}
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if (!(dev->i2c = mraa_i2c_init(bus)))
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{
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printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
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bno055_close(dev);
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return NULL;
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}
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if (mraa_i2c_address(dev->i2c, addr) != MRAA_SUCCESS)
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{
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printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
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bno055_close(dev);
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return NULL;
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}
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_clear_data(dev);
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// forcibly set page 0, so we are synced with the device
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if (bno055_set_page(dev, 0, true))
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{
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printf("%s: bno055_set_page() failed.\n", __FUNCTION__);
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bno055_close(dev);
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return NULL;
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}
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// check the chip id. This has to be done after forcibly setting
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// page 0, as that is the only page where the chip id is present.
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uint8_t chipID = bno055_get_chip_id(dev);
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if (chipID != BNO055_CHIPID)
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{
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printf("%s: Invalid chip ID. Expected 0x%02x, got 0x%02x\n",
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__FUNCTION__, BNO055_CHIPID, chipID);
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bno055_close(dev);
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return NULL;
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}
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// if the above two accesses succeeded, the rest should succeed
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// set config mode
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bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
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// default to internal clock
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bno055_set_clock_external(dev, false);
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// we specifically avoid doing a reset so that if the device is
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// already calibrated, it will remain so.
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// we always use C for temperature
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bno055_set_temperature_units_celsius(dev);
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// default to accelerometer temp
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bno055_set_temperature_source(dev, BNO055_TEMP_SOURCE_ACC);
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// set accel units to m/s^2
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bno055_set_accelerometer_units(dev, false);
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// set gyro units to degrees
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bno055_set_gyroscope_units(dev, false);
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// set Euler units to degrees
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bno055_set_euler_units(dev, false);
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// by default, we set the operating mode to the NDOF fusion mode
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bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_NDOF);
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return dev;
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}
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void bno055_close(bno055_context dev)
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{
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assert(dev != NULL);
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bno055_uninstall_isr(dev);
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if (dev->i2c)
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mraa_i2c_stop(dev->i2c);
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free(dev);
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}
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upm_result_t bno055_update(const bno055_context dev)
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{
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assert(dev != NULL);
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upm_result_t rv = UPM_SUCCESS;
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if ((rv = bno055_set_page(dev, 0, false)))
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return rv;
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// temperature first, always in Celsius
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dev->temperature = (float)((int8_t)bno055_read_reg(dev,
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BNO055_REG_TEMPERATURE));
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_update_fusion_data(dev);
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_update_non_fusion_data(dev);
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return rv;
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}
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uint8_t bno055_read_reg(const bno055_context dev, uint8_t reg)
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{
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assert(dev != NULL);
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int rv = mraa_i2c_read_byte_data(dev->i2c, reg);
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if (rv < 0)
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{
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printf("%s: mraa_i2c_read_byte_data() failed, returning 0\n",
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__FUNCTION__);
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return 0;
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}
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return (uint8_t)rv;
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}
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upm_result_t bno055_read_regs(const bno055_context dev, uint8_t reg,
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uint8_t *buffer, size_t len)
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{
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assert(dev != NULL);
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if (mraa_i2c_read_bytes_data(dev->i2c, reg, buffer, len) < 0)
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return UPM_ERROR_OPERATION_FAILED;
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return UPM_SUCCESS;
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}
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upm_result_t bno055_write_reg(const bno055_context dev,
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uint8_t reg, uint8_t val)
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{
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assert(dev != NULL);
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if (mraa_i2c_write_byte_data(dev->i2c, val, reg))
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return UPM_ERROR_OPERATION_FAILED;
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return UPM_SUCCESS;
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}
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upm_result_t bno055_write_regs(const bno055_context dev, uint8_t reg,
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uint8_t *buffer, size_t len)
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{
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assert(dev != NULL);
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uint8_t buf[len + 1];
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buf[0] = reg;
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for (int i=0; i<len; i++)
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buf[i+1] = buffer[i];
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if (mraa_i2c_write(dev->i2c, buf, len + 1))
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return UPM_ERROR_OPERATION_FAILED;
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return UPM_SUCCESS;
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}
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uint8_t bno055_get_chip_id(const bno055_context dev)
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{
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assert(dev != NULL);
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bno055_set_page(dev, 0, false);
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return bno055_read_reg(dev, BNO055_REG_CHIP_ID);
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}
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uint8_t bno055_get_acc_id(const bno055_context dev)
|
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{
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assert(dev != NULL);
|
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bno055_set_page(dev, 0, false);
|
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return bno055_read_reg(dev, BNO055_REG_ACC_ID);
|
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}
|
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uint8_t bno055_get_mag_id(const bno055_context dev)
|
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{
|
||||
assert(dev != NULL);
|
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bno055_set_page(dev, 0, false);
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return bno055_read_reg(dev, BNO055_REG_MAG_ID);
|
||||
}
|
||||
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||||
uint8_t bno055_get_gyr_id(const bno055_context dev)
|
||||
{
|
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assert(dev != NULL);
|
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||||
bno055_set_page(dev, 0, false);
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return bno055_read_reg(dev, BNO055_REG_GYR_ID);
|
||||
}
|
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|
||||
uint16_t bno055_get_sw_revision(const bno055_context dev)
|
||||
{
|
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assert(dev != NULL);
|
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|
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bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t lsb, msb;
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lsb = bno055_read_reg(dev, BNO055_REG_SW_REV_ID_LSB);
|
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msb = bno055_read_reg(dev, BNO055_REG_SW_REV_ID_MSB);
|
||||
|
||||
return (uint16_t)(lsb | (msb << 8));
|
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}
|
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uint8_t bno055_get_bootloader_id(const bno055_context dev)
|
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{
|
||||
assert(dev != NULL);
|
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bno055_set_page(dev, 0, false);
|
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return bno055_read_reg(dev, BNO055_REG_BL_REV_ID);
|
||||
}
|
||||
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upm_result_t bno055_set_page(const bno055_context dev, uint8_t page,
|
||||
bool force)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// page can only be 0 or 1
|
||||
if (!(page == 0 || page == 1))
|
||||
{
|
||||
printf("%s: page number can only be 0 or 1.\n",
|
||||
__FUNCTION__);
|
||||
return UPM_ERROR_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
if (force || page != dev->currentPage)
|
||||
bno055_write_reg(dev, BNO055_REG_PAGE_ID, page);
|
||||
|
||||
dev->currentPage = page;
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
void bno055_set_clock_external(const bno055_context dev, bool extClock)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
// first we need to be in config mode
|
||||
BNO055_OPERATION_MODES_T currentMode = dev->currentMode;
|
||||
bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
|
||||
|
||||
if (extClock)
|
||||
reg |= BNO055_SYS_TRIGGER_CLK_SEL;
|
||||
else
|
||||
reg &= ~BNO055_SYS_TRIGGER_CLK_SEL;
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
|
||||
|
||||
// now reset our operating mode
|
||||
bno055_set_operation_mode(dev, currentMode);
|
||||
}
|
||||
|
||||
void 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);
|
||||
}
|
||||
|
||||
void bno055_set_temperature_units_celsius(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
|
||||
|
||||
reg &= ~BNO055_UNIT_SEL_TEMP_UNIT;
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
|
||||
}
|
||||
|
||||
void bno055_set_accelerometer_units(const bno055_context dev, bool mg)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
|
||||
|
||||
if (mg)
|
||||
{
|
||||
reg |= BNO055_UNIT_SEL_ACC_UNIT;
|
||||
dev->accUnitScale = 1.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~BNO055_UNIT_SEL_ACC_UNIT;
|
||||
dev->accUnitScale = 100.0;
|
||||
}
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
|
||||
}
|
||||
|
||||
void bno055_set_gyroscope_units(const bno055_context dev, bool radians)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
|
||||
|
||||
if (radians)
|
||||
{
|
||||
reg |= BNO055_UNIT_SEL_GYR_UNIT;
|
||||
dev->gyrUnitScale = 900.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~BNO055_UNIT_SEL_GYR_UNIT;
|
||||
dev->gyrUnitScale = 16.0;
|
||||
}
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
|
||||
}
|
||||
|
||||
void bno055_set_euler_units(const bno055_context dev, bool radians)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_UNIT_SEL);
|
||||
|
||||
if (radians)
|
||||
{
|
||||
reg |= BNO055_UNIT_SEL_EUL_UNIT;
|
||||
dev->eulUnitScale = 900.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~BNO055_UNIT_SEL_EUL_UNIT;
|
||||
dev->eulUnitScale = 16.0;
|
||||
}
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_UNIT_SEL, reg);
|
||||
}
|
||||
|
||||
void bno055_set_operation_mode(const bno055_context dev,
|
||||
BNO055_OPERATION_MODES_T mode)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
// we clear all of our loaded data on mode changes
|
||||
_clear_data(dev);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_OPER_MODE);
|
||||
|
||||
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);
|
||||
dev->currentMode = mode;
|
||||
|
||||
upm_delay_us(30);
|
||||
}
|
||||
|
||||
void 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);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_CALIB_STAT);
|
||||
|
||||
if (mag)
|
||||
*mag = (reg >> _BNO055_CALIB_STAT_MAG_SHIFT)
|
||||
& _BNO055_CALIB_STAT_MAG_MASK;
|
||||
|
||||
if (acc)
|
||||
*acc = (reg >> _BNO055_CALIB_STAT_ACC_SHIFT)
|
||||
& _BNO055_CALIB_STAT_ACC_MASK;
|
||||
|
||||
if (gyr)
|
||||
*gyr = (reg >> _BNO055_CALIB_STAT_GYR_SHIFT)
|
||||
& _BNO055_CALIB_STAT_GYR_MASK;
|
||||
|
||||
if (sys)
|
||||
*sys = (reg >> _BNO055_CALIB_STAT_SYS_SHIFT)
|
||||
& _BNO055_CALIB_STAT_SYS_MASK;
|
||||
}
|
||||
|
||||
bool bno055_is_fully_calibrated(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
int mag, acc, gyr, sys;
|
||||
|
||||
bno055_get_calibration_status(dev, &mag, &acc, &gyr, &sys);
|
||||
|
||||
// all of them equal to 3 means fully calibrated
|
||||
if (mag == 3 && acc == 3 && gyr == 3 && sys == 3)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
void bno055_reset_system(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
|
||||
|
||||
reg |= BNO055_SYS_TRIGGER_RST_SYS;
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
|
||||
upm_delay(1);
|
||||
}
|
||||
|
||||
void bno055_reset_interrupt_status(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
uint8_t reg = bno055_read_reg(dev, BNO055_REG_SYS_TRIGGER);
|
||||
|
||||
reg |= BNO055_SYS_TRIGGER_RST_INT;
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_SYS_TRIGGER, reg);
|
||||
}
|
||||
|
||||
uint8_t bno055_get_interrupt_status(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
return bno055_read_reg(dev, BNO055_REG_INT_STA);
|
||||
}
|
||||
|
||||
uint8_t bno055_get_interrupt_enable(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 1, false);
|
||||
|
||||
return bno055_read_reg(dev, BNO055_REG_INT_EN);
|
||||
}
|
||||
|
||||
void bno055_set_interrupt_enable(const bno055_context dev, uint8_t enables)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 1, false);
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_INT_EN, enables);
|
||||
}
|
||||
|
||||
uint8_t bno055_get_interrupt_mask(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 1, false);
|
||||
|
||||
return bno055_read_reg(dev, BNO055_REG_INT_MSK);
|
||||
}
|
||||
|
||||
void bno055_set_interrupt_mask(const bno055_context dev, uint8_t mask)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 1, false);
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_INT_MSK, mask);
|
||||
}
|
||||
|
||||
BNO055_SYS_STATUS_T bno055_get_system_status(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
return (BNO055_SYS_STATUS_T)bno055_read_reg(dev, BNO055_REG_SYS_STATUS);
|
||||
}
|
||||
|
||||
BNO055_SYS_ERR_T bno055_get_system_error(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
return (BNO055_SYS_ERR_T)bno055_read_reg(dev, BNO055_REG_SYS_ERROR);
|
||||
}
|
||||
|
||||
upm_result_t bno055_read_calibration_data(const bno055_context dev,
|
||||
uint8_t *data, size_t len)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
assert(data != NULL);
|
||||
|
||||
if (!bno055_is_fully_calibrated(dev))
|
||||
{
|
||||
printf("%s: Sensor must be fully calibrated first.\n",
|
||||
__FUNCTION__);
|
||||
return UPM_ERROR_NO_DATA;
|
||||
}
|
||||
|
||||
if (len != BNO055_CALIBRATION_DATA_SIZE)
|
||||
{
|
||||
printf("%s: len must equal BNO055_CALIBRATION_DATA_SIZE (%d).\n",
|
||||
__FUNCTION__, BNO055_CALIBRATION_DATA_SIZE);
|
||||
return UPM_ERROR_INVALID_SIZE;
|
||||
}
|
||||
|
||||
// should be at page 0, but lets make sure
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
// 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);
|
||||
|
||||
bno055_read_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
|
||||
BNO055_CALIBRATION_DATA_SIZE);
|
||||
|
||||
// now reset our operating mode
|
||||
bno055_set_operation_mode(dev, currentMode);
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bno055_write_calibration_data(const bno055_context dev,
|
||||
uint8_t *data,
|
||||
size_t len)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
assert(data != NULL);
|
||||
|
||||
if (len != BNO055_CALIBRATION_DATA_SIZE)
|
||||
{
|
||||
printf("%s: len must equal BNO055_CALIBRATION_DATA_SIZE "
|
||||
"(expected %d, got %d).\n",
|
||||
__FUNCTION__, BNO055_CALIBRATION_DATA_SIZE, (int)len);
|
||||
return UPM_ERROR_INVALID_SIZE;
|
||||
}
|
||||
|
||||
// should be at page 0, but lets make sure
|
||||
bno055_set_page(dev, 0, false);
|
||||
|
||||
// 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);
|
||||
|
||||
// write the data
|
||||
bno055_write_regs(dev, BNO055_REG_ACC_OFFSET_X_LSB, data,
|
||||
BNO055_CALIBRATION_DATA_SIZE);
|
||||
|
||||
// now reset our operating mode
|
||||
bno055_set_operation_mode(dev, currentMode);
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
float bno055_get_temperature(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return dev->temperature;
|
||||
}
|
||||
|
||||
void bno055_get_euler_angles(const bno055_context dev, float *heading,
|
||||
float *roll, float *pitch)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (heading)
|
||||
*heading = dev->eulHeading / dev->eulUnitScale;
|
||||
|
||||
if (roll)
|
||||
*roll = dev->eulRoll / dev->eulUnitScale;
|
||||
|
||||
if (pitch)
|
||||
*pitch = dev->eulPitch / dev->eulUnitScale;
|
||||
}
|
||||
|
||||
void bno055_get_quaternions(const bno055_context dev, float *w, float *x,
|
||||
float *y, float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// from the datasheet
|
||||
const float scale = (float)(1.0 / (float)(1 << 14));
|
||||
|
||||
if (w)
|
||||
*w = dev->quaW * scale;
|
||||
|
||||
if (x)
|
||||
*x = dev->quaX * scale;
|
||||
|
||||
if (y)
|
||||
*y = dev->quaY * scale;
|
||||
|
||||
if (z)
|
||||
*z = dev->quaZ * scale;
|
||||
}
|
||||
|
||||
void bno055_get_linear_acceleration(const bno055_context dev, float *x,
|
||||
float *y, float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (x)
|
||||
*x = dev->liaX / dev->accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = dev->liaY / dev->accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = dev->liaZ / dev->accUnitScale;
|
||||
}
|
||||
|
||||
void bno055_get_gravity_vectors(const bno055_context dev,
|
||||
float *x, float *y, float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (x)
|
||||
*x = dev->grvX / dev->accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = dev->grvY / dev->accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = dev->grvZ / dev->accUnitScale;
|
||||
}
|
||||
|
||||
void bno055_get_accelerometer(const bno055_context dev, float *x, float *y,
|
||||
float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (x)
|
||||
*x = dev->accX / dev->accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = dev->accY / dev->accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = dev->accZ / dev->accUnitScale;
|
||||
}
|
||||
|
||||
void bno055_get_magnetometer(const bno055_context dev, float *x, float *y,
|
||||
float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// from the datasheet - 16 uT's per LSB
|
||||
const float scale = 16.0;
|
||||
|
||||
if (x)
|
||||
*x = dev->magX / scale;
|
||||
|
||||
if (y)
|
||||
*y = dev->magY / scale;
|
||||
|
||||
if (z)
|
||||
*z = dev->magZ / scale;
|
||||
}
|
||||
|
||||
void bno055_get_gyroscope(const bno055_context dev,
|
||||
float *x, float *y, float *z)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (x)
|
||||
*x = dev->gyrX / dev->gyrUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = dev->gyrY / dev->gyrUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = dev->gyrZ / dev->gyrUnitScale;
|
||||
}
|
||||
|
||||
void 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);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
void 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);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
void 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);
|
||||
|
||||
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);
|
||||
|
||||
reg = (pwr << _BNO055_GYR_CONFIG1_GYR_POWER_MODE_SHIFT);
|
||||
|
||||
bno055_write_reg(dev, BNO055_REG_GYR_CONFIG1, reg);
|
||||
}
|
||||
|
||||
upm_result_t bno055_install_isr(const bno055_context dev,
|
||||
int gpio, mraa_gpio_edge_t level,
|
||||
void (*isr)(void *), void *arg)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// delete any existing ISR and GPIO context
|
||||
bno055_uninstall_isr(dev);
|
||||
|
||||
// create gpio context
|
||||
if (!(dev->gpio = mraa_gpio_init(gpio)))
|
||||
{
|
||||
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
}
|
||||
|
||||
mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN);
|
||||
|
||||
if (mraa_gpio_isr(dev->gpio, level, isr, arg))
|
||||
{
|
||||
mraa_gpio_close(dev->gpio);
|
||||
dev->gpio = NULL;
|
||||
printf("%s: mraa_gpio_isr() failed.\n", __FUNCTION__);
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
}
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
void bno055_uninstall_isr(const bno055_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (dev->gpio)
|
||||
{
|
||||
mraa_gpio_isr_exit(dev->gpio);
|
||||
mraa_gpio_close(dev->gpio);
|
||||
dev->gpio = NULL;
|
||||
}
|
||||
}
|
||||
@ -1,6 +1,8 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
* Copyright (c) 2016-17 Intel Corporation.
|
||||
*
|
||||
* The MIT License
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
@ -22,788 +24,342 @@
|
||||
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
|
||||
|
||||
#include <unistd.h>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <string>
|
||||
#include <string.h>
|
||||
|
||||
#include "bno055.hpp"
|
||||
|
||||
using namespace upm;
|
||||
using namespace std;
|
||||
|
||||
// conversion from fahrenheit to celsius and back
|
||||
|
||||
static float f2c(float f)
|
||||
{
|
||||
return ((f - 32.0) / (9.0 / 5.0));
|
||||
}
|
||||
// conversion from Celsius to Fahrenheit
|
||||
|
||||
static float c2f(float c)
|
||||
{
|
||||
return (c * (9.0 / 5.0) + 32.0);
|
||||
return (c * (9.0 / 5.0) + 32.0);
|
||||
}
|
||||
|
||||
BNO055::BNO055(int bus, uint8_t addr) :
|
||||
m_i2c(bus), m_gpioIntr(0)
|
||||
m_bno055(bno055_init(bus, addr))
|
||||
{
|
||||
|
||||
m_addr = addr;
|
||||
|
||||
clearData();
|
||||
|
||||
mraa::Result rv;
|
||||
if ( (rv = m_i2c.address(m_addr)) != mraa::SUCCESS)
|
||||
{
|
||||
throw std::runtime_error(string(__FUNCTION__) +
|
||||
": I2c.address() failed");
|
||||
return;
|
||||
}
|
||||
|
||||
// forcibly set page 0, so we are synced
|
||||
setPage(0, true);
|
||||
|
||||
// set config mode
|
||||
setOperationMode(OPERATION_MODE_CONFIGMODE);
|
||||
|
||||
// default to internal clock
|
||||
setClockExternal(false);
|
||||
|
||||
// we specifically avoid doing a reset so that if the device is
|
||||
// already calibrated, it will remain so.
|
||||
|
||||
// check the chip id
|
||||
|
||||
uint8_t chipID = readReg(REG_CHIP_ID);
|
||||
if (chipID != BNO055_CHIPID)
|
||||
{
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": invalid chip ID. Expected "
|
||||
+ std::to_string(int(BNO055_CHIPID))
|
||||
+ ", got "
|
||||
+ std::to_string(int(chipID)));
|
||||
return;
|
||||
}
|
||||
|
||||
// default to temperature C
|
||||
setTemperatureUnits(true);
|
||||
|
||||
// default to accelerometer temp
|
||||
setTemperatureSource(TEMP_SOURCE_ACC);
|
||||
|
||||
// set accel units to m/s^2
|
||||
setAccelerometerUnits(false);
|
||||
|
||||
// set gyro units to degrees
|
||||
setGyroscopeUnits(false);
|
||||
|
||||
// set Euler units to degrees
|
||||
setEulerUnits(false);
|
||||
|
||||
// by default, we set the operating mode to the NDOF fusion mode
|
||||
setOperationMode(OPERATION_MODE_NDOF);
|
||||
if (!m_bno055)
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_init() failed");
|
||||
}
|
||||
|
||||
BNO055::~BNO055()
|
||||
{
|
||||
uninstallISR();
|
||||
bno055_close(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::update()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
// temperature first, we always store as C
|
||||
float tmpF = float((int8_t)readReg(REG_TEMPERATURE));
|
||||
if (m_tempIsC)
|
||||
m_temperature = tmpF;
|
||||
else
|
||||
m_temperature = f2c(tmpF * 2.0);
|
||||
|
||||
updateFusionData();
|
||||
updateNonFusionData();
|
||||
if (bno055_update(m_bno055))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_update() failed");
|
||||
}
|
||||
|
||||
uint8_t BNO055::readReg(uint8_t reg)
|
||||
{
|
||||
return m_i2c.readReg(reg);
|
||||
return bno055_read_reg(m_bno055, reg);
|
||||
}
|
||||
|
||||
void BNO055::readRegs(uint8_t reg, uint8_t *buffer, int len)
|
||||
{
|
||||
m_i2c.readBytesReg(reg, buffer, len);
|
||||
if (bno055_read_regs(m_bno055, reg, buffer, len))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_read_regs() failed");
|
||||
}
|
||||
|
||||
bool BNO055::writeReg(uint8_t reg, uint8_t val)
|
||||
void BNO055::writeReg(uint8_t reg, uint8_t val)
|
||||
{
|
||||
mraa::Result rv;
|
||||
if ((rv = m_i2c.writeReg(reg, val)) != mraa::SUCCESS)
|
||||
{
|
||||
throw std::runtime_error(std::string(__FUNCTION__)
|
||||
+ ": I2c.writeReg() failed");
|
||||
}
|
||||
|
||||
return true;
|
||||
if (bno055_write_reg(m_bno055, reg, val))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_write_reg() failed");
|
||||
}
|
||||
|
||||
bool BNO055::writeRegs(uint8_t reg, uint8_t *buffer, int len)
|
||||
void BNO055::writeRegs(uint8_t reg, uint8_t *buffer, int len)
|
||||
{
|
||||
uint8_t buf[len + 1];
|
||||
|
||||
buf[0] = reg;
|
||||
for (int i=0; i<len; i++)
|
||||
buf[i+1] = buffer[i];
|
||||
|
||||
mraa::Result rv;
|
||||
if ((rv = m_i2c.write(buf, len+1)) != mraa::SUCCESS)
|
||||
{
|
||||
throw std::runtime_error(std::string(__FUNCTION__)
|
||||
+ ": I2c.write() failed");
|
||||
}
|
||||
|
||||
return true;
|
||||
if (bno055_write_regs(m_bno055, reg, buffer, len))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_write_regs() failed");
|
||||
}
|
||||
|
||||
uint8_t BNO055::getChipID()
|
||||
{
|
||||
setPage(0);
|
||||
return readReg(REG_CHIP_ID);
|
||||
return bno055_get_chip_id(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getACCID()
|
||||
{
|
||||
setPage(0);
|
||||
return readReg(REG_ACC_ID);
|
||||
return bno055_get_acc_id(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getMAGID()
|
||||
{
|
||||
setPage(0);
|
||||
return readReg(REG_MAG_ID);
|
||||
return bno055_get_mag_id(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getGYRID()
|
||||
{
|
||||
setPage(0);
|
||||
return readReg(REG_GYR_ID);
|
||||
return bno055_get_gyr_id(m_bno055);
|
||||
}
|
||||
|
||||
uint16_t BNO055::getSWRevID()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint16_t vers = uint16_t( readReg(REG_SW_REV_ID_LSB) |
|
||||
(readReg(REG_SW_REV_ID_MSB) << 8) );
|
||||
|
||||
return vers;
|
||||
return bno055_get_sw_revision(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getBootLoaderID()
|
||||
{
|
||||
setPage(0);
|
||||
return readReg(REG_BL_REV_ID);
|
||||
return bno055_get_bootloader_id(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::setPage(uint8_t page, bool force)
|
||||
{
|
||||
// page can only be 0 or 1
|
||||
if (!(page == 0 || page == 1))
|
||||
throw std::out_of_range(string(__FUNCTION__) +
|
||||
": page can only be 0 or 1");
|
||||
|
||||
if (force || page != m_currentPage)
|
||||
writeReg(REG_PAGE_ID, page);
|
||||
|
||||
m_currentPage = page;
|
||||
if (bno055_set_page(m_bno055, page, force))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_set_page() failed");
|
||||
}
|
||||
|
||||
void BNO055::setClockExternal(bool extClock)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
// first we need to be in config mode
|
||||
OPERATION_MODES_T currentMode = m_currentMode;
|
||||
setOperationMode(OPERATION_MODE_CONFIGMODE);
|
||||
|
||||
uint8_t reg = readReg(REG_SYS_TRIGGER);
|
||||
|
||||
if (extClock)
|
||||
reg |= SYS_TRIGGER_CLK_SEL;
|
||||
else
|
||||
reg &= ~SYS_TRIGGER_CLK_SEL;
|
||||
|
||||
writeReg(REG_SYS_TRIGGER, reg);
|
||||
|
||||
// now reset our operating mode
|
||||
setOperationMode(currentMode);
|
||||
bno055_set_clock_external(m_bno055, extClock);
|
||||
}
|
||||
|
||||
void BNO055::setTemperatureSource(TEMP_SOURCES_T src)
|
||||
void BNO055::setTemperatureSource(BNO055_TEMP_SOURCES_T src)
|
||||
{
|
||||
setPage(0);
|
||||
writeReg(REG_TEMP_SOURCE, src);
|
||||
}
|
||||
|
||||
void BNO055::setTemperatureUnits(bool celsius)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_UNIT_SEL);
|
||||
|
||||
if (celsius)
|
||||
reg &= ~UNIT_SEL_TEMP_UNIT;
|
||||
else
|
||||
reg |= UNIT_SEL_TEMP_UNIT;
|
||||
|
||||
writeReg(REG_UNIT_SEL, reg);
|
||||
|
||||
m_tempIsC = celsius;
|
||||
bno055_set_temperature_source(m_bno055, src);
|
||||
}
|
||||
|
||||
void BNO055::setAccelerometerUnits(bool mg)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_UNIT_SEL);
|
||||
|
||||
if (mg)
|
||||
{
|
||||
reg |= UNIT_SEL_ACC_UNIT;
|
||||
m_accUnitScale = 1.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~UNIT_SEL_ACC_UNIT;
|
||||
m_accUnitScale = 100.0;
|
||||
}
|
||||
|
||||
writeReg(REG_UNIT_SEL, reg);
|
||||
bno055_set_accelerometer_units(m_bno055, mg);
|
||||
}
|
||||
|
||||
void BNO055::setGyroscopeUnits(bool radians)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_UNIT_SEL);
|
||||
|
||||
if (radians)
|
||||
{
|
||||
reg |= UNIT_SEL_GYR_UNIT;
|
||||
m_gyrUnitScale = 900.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~UNIT_SEL_GYR_UNIT;
|
||||
m_gyrUnitScale = 16.0;
|
||||
}
|
||||
|
||||
writeReg(REG_UNIT_SEL, reg);
|
||||
bno055_set_gyroscope_units(m_bno055, radians);
|
||||
}
|
||||
|
||||
void BNO055::setEulerUnits(bool radians)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_UNIT_SEL);
|
||||
|
||||
if (radians)
|
||||
{
|
||||
reg |= UNIT_SEL_EUL_UNIT;
|
||||
m_eulUnitScale = 900.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
reg &= ~UNIT_SEL_EUL_UNIT;
|
||||
m_eulUnitScale = 16.0;
|
||||
}
|
||||
|
||||
writeReg(REG_UNIT_SEL, reg);
|
||||
bno055_set_euler_units(m_bno055, radians);
|
||||
}
|
||||
|
||||
void BNO055::setOperationMode(OPERATION_MODES_T mode)
|
||||
void BNO055::setOperationMode(BNO055_OPERATION_MODES_T mode)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
// we clear all of our loaded data on mode changes
|
||||
clearData();
|
||||
|
||||
uint8_t reg = readReg(REG_OPER_MODE);
|
||||
|
||||
reg &= ~(_OPR_MODE_OPERATION_MODE_MASK << _OPR_MODE_OPERATION_MODE_SHIFT);
|
||||
|
||||
reg |= (mode << _OPR_MODE_OPERATION_MODE_SHIFT);
|
||||
|
||||
writeReg(REG_OPER_MODE, reg);
|
||||
m_currentMode = mode;
|
||||
|
||||
usleep(30);
|
||||
bno055_set_operation_mode(m_bno055, mode);
|
||||
}
|
||||
|
||||
void BNO055::getCalibrationStatus(int *mag, int *acc, int *gyr, int *sys)
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_CALIB_STAT);
|
||||
|
||||
if (mag)
|
||||
*mag = (reg >> _CALIB_STAT_MAG_SHIFT) & _CALIB_STAT_MAG_MASK;
|
||||
|
||||
if (acc)
|
||||
*acc = (reg >> _CALIB_STAT_ACC_SHIFT) & _CALIB_STAT_ACC_MASK;
|
||||
|
||||
if (gyr)
|
||||
*gyr = (reg >> _CALIB_STAT_GYR_SHIFT) & _CALIB_STAT_GYR_MASK;
|
||||
|
||||
if (sys)
|
||||
*sys = (reg >> _CALIB_STAT_SYS_SHIFT) & _CALIB_STAT_SYS_MASK;
|
||||
bno055_get_calibration_status(m_bno055, mag, acc, gyr, sys);
|
||||
}
|
||||
|
||||
int *BNO055::getCalibrationStatus()
|
||||
vector<int> BNO055::getCalibrationStatus()
|
||||
{
|
||||
static int v[4]; // mag, acc, gyr, sys;
|
||||
int v[4]; // mag, acc, gyr, sys;
|
||||
|
||||
getCalibrationStatus(&v[0], &v[1], &v[2], &v[3]);
|
||||
return v;
|
||||
getCalibrationStatus(&v[0], &v[1], &v[2], &v[3]);
|
||||
return vector<int>(v, v+4);
|
||||
}
|
||||
|
||||
bool BNO055::isFullyCalibrated()
|
||||
{
|
||||
int mag, acc, gyr, sys;
|
||||
|
||||
getCalibrationStatus(&mag, &acc, &gyr, &sys);
|
||||
|
||||
// all of them equal to 3 means fully calibrated
|
||||
if (mag == 3 && acc == 3 && gyr == 3 && sys == 3)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
return bno055_is_fully_calibrated(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::resetSystem()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_SYS_TRIGGER);
|
||||
|
||||
reg |= SYS_TRIGGER_RST_SYS;
|
||||
|
||||
writeReg(REG_SYS_TRIGGER, reg);
|
||||
sleep(1);
|
||||
bno055_reset_system(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::resetInterruptStatus()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
uint8_t reg = readReg(REG_SYS_TRIGGER);
|
||||
|
||||
reg |= SYS_TRIGGER_RST_INT;
|
||||
|
||||
writeReg(REG_SYS_TRIGGER, reg);
|
||||
bno055_reset_interrupt_status(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getInterruptStatus()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
return readReg(REG_INT_STA);
|
||||
return bno055_get_interrupt_status(m_bno055);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getInterruptEnable()
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
return readReg(REG_INT_EN);
|
||||
return bno055_get_interrupt_enable(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::setInterruptEnable(uint8_t enables)
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
writeReg(REG_INT_EN, enables);
|
||||
return bno055_set_interrupt_enable(m_bno055, enables);
|
||||
}
|
||||
|
||||
uint8_t BNO055::getInterruptMask()
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
return readReg(REG_INT_MSK);
|
||||
return bno055_get_interrupt_mask(m_bno055);
|
||||
}
|
||||
|
||||
void BNO055::setInterruptMask(uint8_t mask)
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
writeReg(REG_INT_MSK, mask);
|
||||
return bno055_set_interrupt_mask(m_bno055, mask);
|
||||
}
|
||||
|
||||
BNO055::SYS_STATUS_T BNO055::getSystemStatus()
|
||||
BNO055_SYS_STATUS_T BNO055::getSystemStatus()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
return static_cast<BNO055::SYS_STATUS_T>(readReg(REG_SYS_STATUS));
|
||||
return bno055_get_system_status(m_bno055);
|
||||
}
|
||||
|
||||
BNO055::SYS_ERR_T BNO055::getSystemError()
|
||||
BNO055_SYS_ERR_T BNO055::getSystemError()
|
||||
{
|
||||
setPage(0);
|
||||
|
||||
return static_cast<BNO055::SYS_ERR_T>(readReg(REG_SYS_ERROR));
|
||||
return bno055_get_system_error(m_bno055);
|
||||
}
|
||||
|
||||
string BNO055::readCalibrationData()
|
||||
std::vector<uint8_t> BNO055::readCalibrationData()
|
||||
{
|
||||
if (!isFullyCalibrated())
|
||||
{
|
||||
cerr << __FUNCTION__ << ": Sensor must be fully calibrated first."
|
||||
<< endl;
|
||||
return "";
|
||||
}
|
||||
uint8_t calibrationData[BNO055_CALIBRATION_DATA_SIZE];
|
||||
|
||||
// should be at page 0, but lets make sure
|
||||
setPage(0);
|
||||
if (bno055_read_calibration_data(m_bno055, calibrationData,
|
||||
BNO055_CALIBRATION_DATA_SIZE))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_read_calibration_data() failed");
|
||||
|
||||
// first we need to go back into config mode
|
||||
OPERATION_MODES_T currentMode = m_currentMode;
|
||||
setOperationMode(OPERATION_MODE_CONFIGMODE);
|
||||
|
||||
uint8_t calibData[calibrationDataNumBytes];
|
||||
readRegs(REG_ACC_OFFSET_X_LSB, calibData, calibrationDataNumBytes);
|
||||
|
||||
string rv((char *)calibData, calibrationDataNumBytes);
|
||||
|
||||
// now reset our operating mode
|
||||
setOperationMode(currentMode);
|
||||
|
||||
return rv;
|
||||
return vector<uint8_t>(calibrationData,
|
||||
calibrationData+BNO055_CALIBRATION_DATA_SIZE);
|
||||
}
|
||||
|
||||
void BNO055::writeCalibrationData(string calibData)
|
||||
void BNO055::writeCalibrationData(vector<uint8_t> calibrationData)
|
||||
{
|
||||
if (static_cast<int>(calibData.size()) != calibrationDataNumBytes)
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__)
|
||||
+ ": calibData string must be exactly "
|
||||
+ std::to_string(calibrationDataNumBytes)
|
||||
+ " bytes long");
|
||||
}
|
||||
|
||||
// should be at page 0, but lets make sure
|
||||
setPage(0);
|
||||
|
||||
// first we need to go back into config mode
|
||||
OPERATION_MODES_T currentMode = m_currentMode;
|
||||
setOperationMode(OPERATION_MODE_CONFIGMODE);
|
||||
|
||||
// write the data
|
||||
writeRegs(REG_ACC_OFFSET_X_LSB, (uint8_t *)calibData.c_str(),
|
||||
calibData.size());
|
||||
|
||||
// now reset our operating mode
|
||||
setOperationMode(currentMode);
|
||||
if (bno055_write_calibration_data(m_bno055, calibrationData.data(),
|
||||
calibrationData.size()))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_write_calibration_data() failed");
|
||||
}
|
||||
|
||||
float BNO055::getTemperature(bool fahrenheit)
|
||||
{
|
||||
if (fahrenheit)
|
||||
return c2f(m_temperature);
|
||||
else
|
||||
return m_temperature;
|
||||
}
|
||||
float temperature = bno055_get_temperature(m_bno055);
|
||||
|
||||
void BNO055::clearData()
|
||||
{
|
||||
m_magX = m_magY = m_magZ = 0;
|
||||
m_accX = m_accY = m_accZ = 0;
|
||||
m_gyrX = m_gyrY = m_gyrZ = 0;
|
||||
m_eulHeading = m_eulRoll = m_eulPitch = 0;
|
||||
m_quaW = m_quaX = m_quaY = m_quaZ = 0;
|
||||
m_liaX = m_liaY = m_liaZ = 0;
|
||||
m_grvX = m_grvY = m_grvZ = 0;
|
||||
}
|
||||
|
||||
bool BNO055::updateFusionData()
|
||||
{
|
||||
// bail if we are in config mode, or aren't in a fusion mode...
|
||||
if (m_currentMode == OPERATION_MODE_CONFIGMODE ||
|
||||
m_currentMode < OPERATION_MODE_IMU)
|
||||
return false;
|
||||
|
||||
setPage(0);
|
||||
|
||||
// FIXME/MAYBE? - abort early if SYS calibration is == 0?
|
||||
|
||||
const int fusionBytes = 26;
|
||||
uint8_t buf[fusionBytes];
|
||||
|
||||
readRegs(REG_EUL_HEADING_LSB, buf, fusionBytes);
|
||||
|
||||
m_eulHeading = float(int16_t(buf[0] | (buf[1] << 8)));
|
||||
m_eulRoll = float(int16_t(buf[2] | (buf[3] << 8)));
|
||||
m_eulPitch = float(int16_t(buf[4] | (buf[5] << 8)));
|
||||
|
||||
m_quaW = float(int16_t(buf[6] | (buf[7] << 8)));
|
||||
m_quaX = float(int16_t(buf[8] | (buf[9] << 8)));
|
||||
m_quaY = float(int16_t(buf[10] | (buf[11] << 8)));
|
||||
m_quaZ = float(int16_t(buf[12] | (buf[13] << 8)));
|
||||
|
||||
m_liaX = float(int16_t(buf[14] | (buf[15] << 8)));
|
||||
m_liaY = float(int16_t(buf[16] | (buf[17] << 8)));
|
||||
m_liaZ = float(int16_t(buf[18] | (buf[19] << 8)));
|
||||
|
||||
m_grvX = float(int16_t(buf[20] | (buf[21] << 8)));
|
||||
m_grvY = float(int16_t(buf[22] | (buf[23] << 8)));
|
||||
m_grvZ = float(int16_t(buf[24] | (buf[25] << 8)));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool BNO055::updateNonFusionData()
|
||||
{
|
||||
// bail if we are in config mode...
|
||||
if (m_currentMode == OPERATION_MODE_CONFIGMODE)
|
||||
return false;
|
||||
|
||||
setPage(0);
|
||||
|
||||
const int nonFusionBytes = 18;
|
||||
uint8_t buf[nonFusionBytes];
|
||||
|
||||
readRegs(REG_ACC_DATA_X_LSB, buf, nonFusionBytes);
|
||||
|
||||
m_accX = float(int16_t(buf[0] | (buf[1] << 8)));
|
||||
m_accY = float(int16_t(buf[2] | (buf[3] << 8)));
|
||||
m_accZ = float(int16_t(buf[4] | (buf[5] << 8)));
|
||||
|
||||
m_magX = float(int16_t(buf[6] | (buf[7] << 8)));
|
||||
m_magY = float(int16_t(buf[8] | (buf[9] << 8)));
|
||||
m_magZ = float(int16_t(buf[10] | (buf[11] << 8)));
|
||||
|
||||
m_gyrX = float(int16_t(buf[12] | (buf[13] << 8)));
|
||||
m_gyrY = float(int16_t(buf[14] | (buf[15] << 8)));
|
||||
m_gyrZ = float(int16_t(buf[16] | (buf[17] << 8)));
|
||||
|
||||
return true;
|
||||
if (fahrenheit)
|
||||
return c2f(temperature);
|
||||
else
|
||||
return temperature;
|
||||
}
|
||||
|
||||
void BNO055::getEulerAngles(float *heading, float *roll, float *pitch)
|
||||
{
|
||||
if (heading)
|
||||
*heading = m_eulHeading / m_eulUnitScale;
|
||||
|
||||
if (roll)
|
||||
*roll = m_eulRoll / m_eulUnitScale;
|
||||
|
||||
if (pitch)
|
||||
*pitch = m_eulPitch / m_eulUnitScale;
|
||||
bno055_get_euler_angles(m_bno055, heading, roll, pitch);
|
||||
}
|
||||
|
||||
float *BNO055::getEulerAngles()
|
||||
vector<float> BNO055::getEulerAngles()
|
||||
{
|
||||
static float v[3];
|
||||
getEulerAngles(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
float v[3];
|
||||
getEulerAngles(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::getQuaternions(float *w, float *x, float *y, float *z)
|
||||
{
|
||||
// from the datasheet
|
||||
const float scale = float(1.0 / (1 << 14));
|
||||
|
||||
if (w)
|
||||
*w = m_quaW * scale;
|
||||
|
||||
if (x)
|
||||
*x = m_quaX * scale;
|
||||
|
||||
if (y)
|
||||
*y = m_quaY * scale;
|
||||
|
||||
if (z)
|
||||
*z = m_quaZ * scale;
|
||||
bno055_get_quaternions(m_bno055, w, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getQuaternions()
|
||||
vector<float> BNO055::getQuaternions()
|
||||
{
|
||||
static float v[4];
|
||||
getQuaternions(&v[0], &v[1], &v[2], &v[3]);
|
||||
return v;
|
||||
float v[4];
|
||||
getQuaternions(&v[0], &v[1], &v[2], &v[3]);
|
||||
return vector<float>(v, v+4);
|
||||
}
|
||||
|
||||
void BNO055::getLinearAcceleration(float *x, float *y, float *z)
|
||||
{
|
||||
if (x)
|
||||
*x = m_liaX / m_accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = m_liaY / m_accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = m_liaZ / m_accUnitScale;
|
||||
bno055_get_linear_acceleration(m_bno055, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getLinearAcceleration()
|
||||
vector<float> BNO055::getLinearAcceleration()
|
||||
{
|
||||
static float v[3];
|
||||
getLinearAcceleration(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
float v[3];
|
||||
getLinearAcceleration(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::getGravityVectors(float *x, float *y, float *z)
|
||||
{
|
||||
if (x)
|
||||
*x = m_grvX / m_accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = m_grvY / m_accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = m_grvZ / m_accUnitScale;
|
||||
bno055_get_gravity_vectors(m_bno055, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getGravityVectors()
|
||||
vector<float> BNO055::getGravityVectors()
|
||||
{
|
||||
static float v[3];
|
||||
getGravityVectors(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
static float v[3];
|
||||
getGravityVectors(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::getAccelerometer(float *x, float *y, float *z)
|
||||
{
|
||||
if (x)
|
||||
*x = m_accX / m_accUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = m_accY / m_accUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = m_accZ / m_accUnitScale;
|
||||
bno055_get_accelerometer(m_bno055, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getAccelerometer()
|
||||
vector<float> BNO055::getAccelerometer()
|
||||
{
|
||||
static float v[3];
|
||||
getAccelerometer(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
static float v[3];
|
||||
getAccelerometer(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::getMagnetometer(float *x, float *y, float *z)
|
||||
{
|
||||
// from the datasheet - 16 uT's per LSB
|
||||
const float scale = 16.0;
|
||||
|
||||
if (x)
|
||||
*x = m_magX / scale;
|
||||
|
||||
if (y)
|
||||
*y = m_magY / scale;
|
||||
|
||||
if (z)
|
||||
*z = m_magZ / scale;
|
||||
bno055_get_magnetometer(m_bno055, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getMagnetometer()
|
||||
vector<float> BNO055::getMagnetometer()
|
||||
{
|
||||
static float v[3];
|
||||
getMagnetometer(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
float v[3];
|
||||
getMagnetometer(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::getGyroscope(float *x, float *y, float *z)
|
||||
{
|
||||
if (x)
|
||||
*x = m_gyrX / m_gyrUnitScale;
|
||||
|
||||
if (y)
|
||||
*y = m_gyrY / m_gyrUnitScale;
|
||||
|
||||
if (z)
|
||||
*z = m_gyrZ / m_gyrUnitScale;
|
||||
bno055_get_gyroscope(m_bno055, x, y, z);
|
||||
}
|
||||
|
||||
float *BNO055::getGyroscope()
|
||||
vector<float> BNO055::getGyroscope()
|
||||
{
|
||||
static float v[3];
|
||||
getGyroscope(&v[0], &v[1], &v[2]);
|
||||
return v;
|
||||
float v[3];
|
||||
getGyroscope(&v[0], &v[1], &v[2]);
|
||||
return vector<float>(v, v+3);
|
||||
}
|
||||
|
||||
void BNO055::setAccelerationConfig(ACC_RANGE_T range, ACC_BW_T bw,
|
||||
ACC_PWR_MODE_T pwr)
|
||||
void BNO055::setAccelerationConfig(BNO055_ACC_RANGE_T range,
|
||||
BNO055_ACC_BW_T bw,
|
||||
BNO055_ACC_PWR_MODE_T pwr)
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
uint8_t reg = ((range << _ACC_CONFIG_ACC_RANGE_SHIFT) |
|
||||
(bw << _ACC_CONFIG_ACC_BW_SHIFT) |
|
||||
(pwr << _ACC_CONFIG_ACC_PWR_MODE_SHIFT));
|
||||
|
||||
writeReg(REG_ACC_CONFIG, reg);
|
||||
bno055_set_acceleration_config(m_bno055, range, bw, pwr);
|
||||
}
|
||||
|
||||
void BNO055::setMagnetometerConfig(MAG_ODR_T odr, MAG_OPR_T opr,
|
||||
MAG_POWER_T pwr)
|
||||
void BNO055::setMagnetometerConfig(BNO055_MAG_ODR_T odr,
|
||||
BNO055_MAG_OPR_T opr,
|
||||
BNO055_MAG_POWER_T pwr)
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
uint8_t reg = ((odr << _MAG_CONFIG_MAG_ODR_SHIFT) |
|
||||
(opr << _MAG_CONFIG_MAG_OPR_MODE_SHIFT) |
|
||||
(pwr << _MAG_CONFIG_MAG_POWER_MODE_SHIFT));
|
||||
|
||||
writeReg(REG_MAG_CONFIG, reg);
|
||||
bno055_set_magnetometer_config(m_bno055, odr, opr, pwr);
|
||||
}
|
||||
|
||||
void BNO055::setGyroscopeConfig(GYR_RANGE_T range, GYR_BW_T bw,
|
||||
GYR_POWER_MODE_T pwr)
|
||||
void BNO055::setGyroscopeConfig(BNO055_GYR_RANGE_T range,
|
||||
BNO055_GYR_BW_T bw,
|
||||
BNO055_GYR_POWER_MODE_T pwr)
|
||||
{
|
||||
setPage(1);
|
||||
|
||||
uint8_t reg = ((range << _GYR_CONFIG0_GYR_RANGE_SHIFT) |
|
||||
(bw << _GYR_CONFIG0_GYR_BW_SHIFT));
|
||||
|
||||
writeReg(REG_GYR_CONFIG0, reg);
|
||||
|
||||
reg = (pwr << _GYR_CONFIG1_GYR_POWER_MODE_SHIFT);
|
||||
|
||||
writeReg(REG_GYR_CONFIG1, reg);
|
||||
bno055_set_gyroscope_config(m_bno055, range, bw, pwr);
|
||||
}
|
||||
|
||||
#if defined(SWIGJAVA) || (JAVACALLBACK)
|
||||
void BNO055::installISR(int gpio, mraa::Edge level,
|
||||
jobject runnable)
|
||||
{
|
||||
// delete any existing ISR and GPIO context
|
||||
uninstallISR();
|
||||
|
||||
// create gpio context
|
||||
m_gpioIntr = new mraa::Gpio(gpio);
|
||||
|
||||
m_gpioIntr->dir(mraa::DIR_IN);
|
||||
m_gpioIntr->isr(level, runnable);
|
||||
|
||||
}
|
||||
#else
|
||||
void BNO055::installISR(int gpio, mraa::Edge level,
|
||||
void BNO055::installISR(int gpio, mraa_gpio_edge_t level,
|
||||
void (*isr)(void *), void *arg)
|
||||
{
|
||||
// delete any existing ISR and GPIO context
|
||||
uninstallISR();
|
||||
|
||||
// create gpio context
|
||||
m_gpioIntr = new mraa::Gpio(gpio);
|
||||
|
||||
m_gpioIntr->dir(mraa::DIR_IN);
|
||||
m_gpioIntr->isr(level, isr, arg);
|
||||
if (bno055_install_isr(m_bno055, gpio, level, isr, arg))
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": bno055_install_isr() failed");
|
||||
}
|
||||
#endif
|
||||
|
||||
void BNO055::uninstallISR()
|
||||
{
|
||||
if (m_gpioIntr)
|
||||
{
|
||||
m_gpioIntr->isrExit();
|
||||
delete m_gpioIntr;
|
||||
|
||||
m_gpioIntr = 0;
|
||||
}
|
||||
bno055_uninstall_isr(m_bno055);
|
||||
}
|
||||
|
||||
676
src/bno055/bno055.h
Normal file
676
src/bno055/bno055.h
Normal file
@ -0,0 +1,676 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* The MIT License
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||||
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <upm.h>
|
||||
|
||||
#include <mraa/i2c.h>
|
||||
#include <mraa/gpio.h>
|
||||
|
||||
#include "bno055_regs.h"
|
||||
|
||||
#define BNO055_DEFAULT_I2C_BUS 0
|
||||
#define BNO055_DEFAULT_ADDR 0x28
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @file bno055.h
|
||||
* @library bno055
|
||||
* @brief C API for the bno055 driver
|
||||
*
|
||||
* @include bno055.c
|
||||
*/
|
||||
|
||||
/**
|
||||
* Device context
|
||||
*/
|
||||
typedef struct _bno055_context {
|
||||
mraa_i2c_context i2c;
|
||||
mraa_gpio_context gpio;
|
||||
|
||||
// always stored in C
|
||||
float temperature;
|
||||
|
||||
int currentPage;
|
||||
BNO055_OPERATION_MODES_T currentMode;
|
||||
|
||||
// uncompensated data
|
||||
|
||||
// mag data
|
||||
float magX;
|
||||
float magY;
|
||||
float magZ;
|
||||
|
||||
// acc data
|
||||
float accX;
|
||||
float accY;
|
||||
float accZ;
|
||||
|
||||
// acc units
|
||||
float accUnitScale;
|
||||
|
||||
// gyr data
|
||||
float gyrX;
|
||||
float gyrY;
|
||||
float gyrZ;
|
||||
|
||||
// gyr units
|
||||
float gyrUnitScale;
|
||||
|
||||
// eul (euler angle) data
|
||||
float eulHeading;
|
||||
float eulRoll;
|
||||
float eulPitch;
|
||||
|
||||
// eul units
|
||||
float eulUnitScale;
|
||||
|
||||
// qua (quaternion) data
|
||||
float quaW;
|
||||
float quaX;
|
||||
float quaY;
|
||||
float quaZ;
|
||||
|
||||
// lia (linear acceleration) data
|
||||
float liaX;
|
||||
float liaY;
|
||||
float liaZ;
|
||||
|
||||
// grv (gravity vector) data
|
||||
float grvX;
|
||||
float grvY;
|
||||
float grvZ;
|
||||
} *bno055_context;
|
||||
|
||||
/**
|
||||
* BNO055 initialization.
|
||||
*
|
||||
* By default, this function sets the acceleration units to m/s^2,
|
||||
* gyro and Euler units to degrees, and temperature to celsius.
|
||||
* It then enters the NDOF fusion mode.
|
||||
*
|
||||
* In addition, the internal clock is used so that compatibility
|
||||
* with other implementations is assured. If you are using a
|
||||
* device with an external clock, call setClockExternal(true) to
|
||||
* enable it.
|
||||
*
|
||||
* @param bus I2C bus to use.
|
||||
* @param address The I2C address for this device.
|
||||
* @return The device context, or NULL if an error occurred.
|
||||
*/
|
||||
bno055_context bno055_init(int bus, uint8_t addr);
|
||||
|
||||
/**
|
||||
* BNO055 close function.
|
||||
*
|
||||
* @param dev The device context.
|
||||
*/
|
||||
void bno055_close(bno055_context dev);
|
||||
|
||||
/**
|
||||
* Update the internal stored values from sensor data.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_update(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the chip ID.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The chip ID (BNO055_CHIPID).
|
||||
*/
|
||||
uint8_t bno055_get_chip_id(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the accelerometer chip ID.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The chip ID.
|
||||
*/
|
||||
uint8_t bno055_get_acc_id(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the magnetometer chip ID.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The chip ID.
|
||||
*/
|
||||
uint8_t bno055_get_mag_id(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the gyroscope chip ID.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The chip ID.
|
||||
*/
|
||||
uint8_t bno055_get_gyr_id(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the fusion firmware revison.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The firmware revison.
|
||||
*/
|
||||
uint16_t bno055_get_sw_revision(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the bootloader ID.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The bootloader ID.
|
||||
*/
|
||||
uint8_t bno055_get_bootloader_id(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Enable or disables the use of the external clock. The Adafriut
|
||||
* device does contain an external clock which might be more
|
||||
* stable. By default, the internal clock is used.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param extClock true to use external clock, false otherwise.
|
||||
*/
|
||||
void bno055_set_clock_external(const bno055_context dev, bool extClock);
|
||||
|
||||
/**
|
||||
* Select the temperature source. This can be the accelerometer
|
||||
* or the gyroscope. By default, the accelerometer temperature is
|
||||
* used as the source.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param src One of the TEMP_SOURCES_T values.
|
||||
*/
|
||||
void 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.
|
||||
*/
|
||||
void bno055_set_temperature_units_celsius(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Set the operating mode for the device. This places the device
|
||||
* into a config mode, one of 7 non-fusion modes, or one of 5
|
||||
* fusion modes. All stored sensor data is cleared when switching
|
||||
* modes. The device must be in config mode for most
|
||||
* configuration operations. See the datasheet for details.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param mode One of the OPERATION_MODES_T values.
|
||||
*/
|
||||
void bno055_set_operation_mode(const bno055_context dev,
|
||||
BNO055_OPERATION_MODES_T mode);
|
||||
|
||||
/**
|
||||
* Reboot the sensor. This is equivalent to a power on reset.
|
||||
* All calibration data will be lost, and the device must be
|
||||
* re-calibrated.
|
||||
*
|
||||
* @param dev The device context.
|
||||
*/
|
||||
void bno055_reset_system(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Read the calibration status registers and return them. The
|
||||
* values range from 0 (uncalibrated) to 3 (fully calibrated).
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param mag The calibration status of the magnetometer.
|
||||
* @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.
|
||||
*/
|
||||
void bno055_get_calibration_status(const bno055_context dev,
|
||||
int *mag, int *acc,
|
||||
int *gyr, int *sys);
|
||||
|
||||
/**
|
||||
* Read the calibration status registers and return true or false,
|
||||
* indicating whether all of the calibration parameters are fully
|
||||
* calibrated.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return true if all 4 calibration parameters are fully
|
||||
* calibrated, else false.
|
||||
*/
|
||||
bool bno055_is_fully_calibrated(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Read the calibration data and place it into a buffer. The
|
||||
* buffer must be BNO055_CALIBRATION_DATA_SIZE bytes in size.
|
||||
* This data can then be saved for later reuse by
|
||||
* bno055_write_calibration_data() to restore calibration data
|
||||
* after a reset. Note: bno055_is_fully_calibrated() (calibration
|
||||
* is complete) must be true or an error will result.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param data A pointer to a buffer to hold the calibration data.
|
||||
* This buffer must be BNO055_CALIBRATION_DATA_SIZE bytes in
|
||||
* length.
|
||||
* @param len The length of the buffer. An error will be returned
|
||||
* if the length is not equal to BNO055_CALIBRATION_DATA_SIZE.
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_read_calibration_data(const bno055_context dev,
|
||||
uint8_t *data, size_t len);
|
||||
|
||||
/**
|
||||
* Write previously saved calibration data to the calibration
|
||||
* registers. The array containing the data must be
|
||||
* BNO055_CALIBRATION_DATA_SIZE bytes in size.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param data uint8_t array representing calibration data, as obtained
|
||||
* by bno055_read_calibration_data().
|
||||
* @param len The length of the supplied buffer. An error will be
|
||||
* returned if the length is not equal to BNO055_CALIBRATION_DATA_SIZE.
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_write_calibration_data(const bno055_context dev,
|
||||
uint8_t *data,
|
||||
size_t len);
|
||||
|
||||
/**
|
||||
* Return the current measured temperature. Note, this is not
|
||||
* ambient temperature - this is the temperature of the selected
|
||||
* source on the chip. update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return The temperature in degrees Celsius.
|
||||
*/
|
||||
float bno055_get_temperature(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return current orientation fusion data in the form of Euler
|
||||
* Angles. By default, the returned values are in degrees.
|
||||
* update() must have been called prior to calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param heading Pointer to a floating point value that will have
|
||||
* the current heading angle placed into it.
|
||||
* @param roll Pointer to a floating point value that will have
|
||||
* the current roll angle placed into it.
|
||||
* @param pitch Pointer to a floating point value that will have
|
||||
* the current pitch angle placed into it.
|
||||
*/
|
||||
void bno055_get_euler_angles(const bno055_context dev, float *heading,
|
||||
float *roll, float *pitch);
|
||||
|
||||
/**
|
||||
* Return current orientation fusion data in the form of
|
||||
* Quaternions. update() must have been called prior to calling
|
||||
* this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param w Pointer to a floating point value that will have
|
||||
* the current w component placed into it.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_quaternions(const bno055_context dev, float *w, float *x,
|
||||
float *y, float *z);
|
||||
|
||||
/**
|
||||
* Return current orientation fusion data in the form of Linear
|
||||
* Acceleration. By default the returned values are in meters
|
||||
* per-second squared (m/s^2). update() must have been called
|
||||
* prior to calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_linear_acceleration(const bno055_context dev, float *x,
|
||||
float *y, float *z);
|
||||
|
||||
/**
|
||||
* Return current orientation fusion data in the form of a Gravity
|
||||
* Vector per-axis. By default the returned values are in meters
|
||||
* per-second squared (m/s^2). update() must have been called
|
||||
* prior to calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_gravity_vectors(const bno055_context dev,
|
||||
float *x, float *y, float *z);
|
||||
|
||||
/**
|
||||
* Return accelerometer data (non-fusion). In fusion modes, this
|
||||
* data will be of little value. By default the returned values
|
||||
* are in meters per-second squared (m/s^2). update() must have
|
||||
* been called prior to calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_accelerometer(const bno055_context dev, float *x, float *y,
|
||||
float *z);
|
||||
|
||||
/**
|
||||
* Return magnetometer data (non-fusion). In fusion modes, this
|
||||
* data will be of little value. The returned values are in
|
||||
* micro-teslas (uT). update() must have been called prior to
|
||||
* calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_magnetometer(const bno055_context dev, float *x, float *y,
|
||||
float *z);
|
||||
|
||||
/**
|
||||
* Return gyroscope data (non-fusion). In fusion modes, this data
|
||||
* will be of little value. By default the returned values are in
|
||||
* meters per-second squared (m/s^2). update() must have been
|
||||
* called prior to calling this method.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param x Pointer to a floating point value that will have
|
||||
* the current x component placed into it.
|
||||
* @param y Pointer to a floating point value that will have
|
||||
* the current y component placed into it.
|
||||
* @param z Pointer to a floating point value that will have
|
||||
* the current z component placed into it.
|
||||
*/
|
||||
void bno055_get_gyroscope(const bno055_context dev,
|
||||
float *x, float *y, float *z);
|
||||
|
||||
/**
|
||||
* Set the bandwidth, range, and power modes of the accelerometer.
|
||||
* In fusion modes, these values will be ignored.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @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.
|
||||
*/
|
||||
void bno055_set_acceleration_config(const bno055_context dev,
|
||||
BNO055_ACC_RANGE_T range,
|
||||
BNO055_ACC_BW_T bw,
|
||||
BNO055_ACC_PWR_MODE_T pwr);
|
||||
|
||||
/**
|
||||
* Set the output data rate, operating mode and power mode of the
|
||||
* magnetometer. In fusion modes, these values will be ignored.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @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.
|
||||
*/
|
||||
void bno055_set_magnetometer_config(const bno055_context dev,
|
||||
BNO055_MAG_ODR_T odr,
|
||||
BNO055_MAG_OPR_T opr,
|
||||
BNO055_MAG_POWER_T pwr);
|
||||
|
||||
/**
|
||||
* Set the range, bandwidth and power modes of the gyroscope. In
|
||||
* fusion modes, these values will be ignored.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @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.
|
||||
*/
|
||||
void bno055_set_gyroscope_config(const bno055_context dev,
|
||||
BNO055_GYR_RANGE_T range,
|
||||
BNO055_GYR_BW_T bw,
|
||||
BNO055_GYR_POWER_MODE_T pwr);
|
||||
|
||||
/**
|
||||
* Set the unit of measurement for the accelerometer related
|
||||
* sensor values. The choices are mg (milli-gravities) or meters
|
||||
* per-second squared (m/s^2). The default is m/s^2.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param mg true for mg, false for m/s^2.
|
||||
*/
|
||||
void bno055_set_accelerometer_units(const bno055_context dev, bool mg);
|
||||
|
||||
/**
|
||||
* Set the unit of measurement for the gyroscope related sensor
|
||||
* values. The choices are degrees and radians. The default is
|
||||
* degrees.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param radians true for radians, false for degrees.
|
||||
*/
|
||||
void bno055_set_gyroscope_units(const bno055_context dev, bool radians);
|
||||
|
||||
/**
|
||||
* Set the unit of measurement for the Euler Angle related sensor
|
||||
* values. The choices are degrees and radians. The default is
|
||||
* degrees.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param radians true for radians, false for degrees.
|
||||
*/
|
||||
void bno055_set_euler_units(const bno055_context dev, bool radians);
|
||||
|
||||
/**
|
||||
* Reset all interrupt status bits and interrupt output.
|
||||
*
|
||||
* @param dev The device context.
|
||||
*/
|
||||
void bno055_reset_interrupt_status(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return 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.
|
||||
*/
|
||||
uint8_t bno055_get_interrupt_status(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return 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
|
||||
* enable register.
|
||||
*/
|
||||
uint8_t bno055_get_interrupt_enable(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Set the interrupt enable register. This is composed of a
|
||||
* bitmask of the INT_STA_BITS_T bits.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param enables a bitmask of INT_STA_BITS_T bits to enable
|
||||
*/
|
||||
void bno055_set_interrupt_enable(const bno055_context dev,
|
||||
uint8_t enables);
|
||||
|
||||
/**
|
||||
* Return 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
|
||||
* interrupt mask register.
|
||||
*/
|
||||
uint8_t bno055_get_interrupt_mask(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Set 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.
|
||||
* @param a bitmask of INT_STA_BITS_T bits to set in the interrupt
|
||||
* mask register.
|
||||
*/
|
||||
void bno055_set_interrupt_mask(const bno055_context dev, uint8_t mask);
|
||||
|
||||
/**
|
||||
* Return 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.
|
||||
*/
|
||||
BNO055_SYS_STATUS_T bno055_get_system_status(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Return the value of the system error register. This mathod can
|
||||
* be used to determine a variety of system related error
|
||||
* conditions.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @return One of the SYS_ERR_T values.
|
||||
*/
|
||||
BNO055_SYS_ERR_T bno055_get_system_error(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* install an interrupt handler.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param gpio The GPIO pin to use as interrupt pin.
|
||||
* @param level The interrupt trigger level (one of mraa_gpio_edge_t
|
||||
* values). Make sure that you have configured the interrupt pin
|
||||
* properly (on the device) for whatever level method you choose.
|
||||
* @param isr The interrupt handler, accepting a void * argument.
|
||||
* @param arg The argument to pass the the interrupt handler.
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_install_isr(const bno055_context dev,
|
||||
int gpio, mraa_gpio_edge_t level,
|
||||
void (*isr)(void *), void *arg);
|
||||
|
||||
/**
|
||||
* uninstall a previously installed interrupt handler
|
||||
*
|
||||
* @param dev The device context.
|
||||
*/
|
||||
void bno055_uninstall_isr(const bno055_context dev);
|
||||
|
||||
/**
|
||||
* Set the current internal device register page. This is a low
|
||||
* level function and should not be used unless you know what you
|
||||
* are doing.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param page The page number to set. This can only be 0 or 1.
|
||||
* @param force If true, force the device page state to match
|
||||
* indicated internal page state regardless of current state.
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_set_page(const bno055_context dev, uint8_t page,
|
||||
bool force);
|
||||
|
||||
/**
|
||||
* Read a register. This is a low level function and should not
|
||||
* be used unless you know what you are doing.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param reg The register to read
|
||||
* @return The value of the register
|
||||
*/
|
||||
uint8_t bno055_read_reg(const bno055_context dev, uint8_t reg);
|
||||
|
||||
/**
|
||||
* Read contiguous registers into a buffer. This is a low level
|
||||
* function and should not be used unless you know what you are
|
||||
* doing.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param buffer The buffer to store the results
|
||||
* @param len The number of registers to read
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_read_regs(const bno055_context dev, uint8_t reg,
|
||||
uint8_t *buffer, size_t len);
|
||||
|
||||
/**
|
||||
* Write to a register. This is a low level function and should
|
||||
* not be used unless you know what you are doing.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param reg The register to write to
|
||||
* @param val The value to write
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_write_reg(const bno055_context dev,
|
||||
uint8_t reg, uint8_t val);
|
||||
|
||||
/**
|
||||
* Write data to contiguous registers. This is a low level
|
||||
* function and should not be used unless you know what you are
|
||||
* doing.
|
||||
*
|
||||
* @param dev The device context.
|
||||
* @param reg The starting register to write to
|
||||
* @param buffer The buffer containing the data to write
|
||||
* @param len The number of bytes to write
|
||||
* @return UPM result.
|
||||
*/
|
||||
upm_result_t bno055_write_regs(const bno055_context dev, uint8_t reg,
|
||||
uint8_t *buffer, size_t len);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
825
src/bno055/bno055_regs.h
Normal file
825
src/bno055/bno055_regs.h
Normal file
@ -0,0 +1,825 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016-2017 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||||
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#define BNO055_DEFAULT_I2C_BUS 0
|
||||
#define BNO055_DEFAULT_ADDR 0x28
|
||||
|
||||
// The chip ID, for verification in bno055_init().
|
||||
#define BNO055_CHIPID 0xa0
|
||||
|
||||
// number of bytes of stored calibration data
|
||||
#define BNO055_CALIBRATION_DATA_SIZE (22)
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// NOTE: Reserved registers should not be written into. Reading
|
||||
// from them will return indeterminate values.
|
||||
//
|
||||
// The register map is divided into two pages - page 1 contains
|
||||
// sensor specific configuration registers, and page 0 contains all
|
||||
// other configuration data and sensor output registers.
|
||||
|
||||
/**
|
||||
* BNO055 registers
|
||||
*/
|
||||
typedef enum {
|
||||
// The first register listed here is the page ID register. It
|
||||
// is the same on both pages, and selects or indicates the
|
||||
// currently active register page.
|
||||
|
||||
BNO055_REG_PAGE_ID = 0x07,
|
||||
|
||||
// Page 0
|
||||
BNO055_REG_CHIP_ID = 0x00,
|
||||
BNO055_REG_ACC_ID = 0x01, // accel id
|
||||
BNO055_REG_MAG_ID = 0x02, // mag id
|
||||
BNO055_REG_GYR_ID = 0x03, // gyro id
|
||||
BNO055_REG_SW_REV_ID_LSB = 0x04,
|
||||
BNO055_REG_SW_REV_ID_MSB = 0x05,
|
||||
BNO055_REG_BL_REV_ID = 0x06, // bootloader rev
|
||||
|
||||
BNO055_REG_ACC_DATA_X_LSB = 0x08,
|
||||
BNO055_REG_ACC_DATA_X_MSB = 0x09,
|
||||
BNO055_REG_ACC_DATA_Y_LSB = 0x0a,
|
||||
BNO055_REG_ACC_DATA_Y_MSB = 0x0b,
|
||||
BNO055_REG_ACC_DATA_Z_LSB = 0x0c,
|
||||
BNO055_REG_ACC_DATA_Z_MSB = 0x0d,
|
||||
|
||||
BNO055_REG_MAG_DATA_X_LSB = 0x0e,
|
||||
BNO055_REG_MAG_DATA_X_MSB = 0x0f,
|
||||
BNO055_REG_MAG_DATA_Y_LSB = 0x10,
|
||||
BNO055_REG_MAG_DATA_Y_MSB = 0x11,
|
||||
BNO055_REG_MAG_DATA_Z_LSB = 0x12,
|
||||
BNO055_REG_MAG_DATA_Z_MSB = 0x13,
|
||||
|
||||
BNO055_REG_GYR_DATA_X_LSB = 0x14,
|
||||
BNO055_REG_GYR_DATA_X_MSB = 0x15,
|
||||
BNO055_REG_GYR_DATA_Y_LSB = 0x16,
|
||||
BNO055_REG_GYR_DATA_Y_MSB = 0x17,
|
||||
BNO055_REG_GYR_DATA_Z_LSB = 0x18,
|
||||
BNO055_REG_GYR_DATA_Z_MSB = 0x19,
|
||||
|
||||
// euler angles
|
||||
BNO055_REG_EUL_HEADING_LSB = 0x1a,
|
||||
BNO055_REG_EUL_HEADING_MSB = 0x1b,
|
||||
BNO055_REG_EUL_ROLL_LSB = 0x1c,
|
||||
BNO055_REG_EUL_ROLL_MSB = 0x1d,
|
||||
BNO055_REG_EUL_PITCH_LSB = 0x1e,
|
||||
BNO055_REG_EUL_PITCH_MSB = 0x1f,
|
||||
|
||||
// Quaternions
|
||||
BNO055_REG_QUA_DATA_W_LSB = 0x20,
|
||||
BNO055_REG_QUA_DATA_W_MSB = 0x21,
|
||||
BNO055_REG_QUA_DATA_X_LSB = 0x22,
|
||||
BNO055_REG_QUA_DATA_X_MSB = 0x23,
|
||||
BNO055_REG_QUA_DATA_Y_LSB = 0x24,
|
||||
BNO055_REG_QUA_DATA_Y_MSB = 0x25,
|
||||
BNO055_REG_QUA_DATA_Z_LSB = 0x26,
|
||||
BNO055_REG_QUA_DATA_Z_MSB = 0x27,
|
||||
|
||||
// linear accel data
|
||||
BNO055_REG_LIA_DATA_X_LSB = 0x28,
|
||||
BNO055_REG_LIA_DATA_X_MSB = 0x29,
|
||||
BNO055_REG_LIA_DATA_Y_LSB = 0x2a,
|
||||
BNO055_REG_LIA_DATA_Y_MSB = 0x2b,
|
||||
BNO055_REG_LIA_DATA_Z_LSB = 0x2c,
|
||||
BNO055_REG_LIA_DATA_Z_MSB = 0x2d,
|
||||
|
||||
// gravity vector
|
||||
BNO055_REG_GRV_DATA_X_LSB = 0x2e,
|
||||
BNO055_REG_GRV_DATA_X_MSB = 0x2f,
|
||||
BNO055_REG_GRV_DATA_Y_LSB = 0x30,
|
||||
BNO055_REG_GRV_DATA_Y_MSB = 0x31,
|
||||
BNO055_REG_GRV_DATA_Z_LSB = 0x32,
|
||||
BNO055_REG_GRV_DATA_Z_MSB = 0x33,
|
||||
|
||||
BNO055_REG_TEMPERATURE = 0x34,
|
||||
|
||||
BNO055_REG_CALIB_STAT = 0x35, // calibration status
|
||||
BNO055_REG_ST_RESULT = 0x36, // selftest result
|
||||
|
||||
BNO055_REG_INT_STA = 0x37, // interrupt status
|
||||
|
||||
BNO055_REG_SYS_CLK_STATUS = 0x38,
|
||||
|
||||
BNO055_REG_SYS_STATUS = 0x39,
|
||||
BNO055_REG_SYS_ERROR = 0x3a,
|
||||
|
||||
BNO055_REG_UNIT_SEL = 0x3b,
|
||||
|
||||
// 0x3c reserved
|
||||
|
||||
BNO055_REG_OPER_MODE = 0x3d, // operating mode
|
||||
BNO055_REG_POWER_MODE = 0x3e,
|
||||
|
||||
BNO055_REG_SYS_TRIGGER = 0x3f,
|
||||
BNO055_REG_TEMP_SOURCE = 0x40, // temperature src
|
||||
|
||||
BNO055_REG_AXIS_MAP_CONFIG = 0x41,
|
||||
BNO055_REG_AXIS_MAP_SIGN = 0x42,
|
||||
|
||||
// 0x43-0x54 reserved
|
||||
|
||||
// stored calibration data
|
||||
BNO055_REG_ACC_OFFSET_X_LSB = 0x55,
|
||||
BNO055_REG_ACC_OFFSET_X_MSB = 0x56,
|
||||
BNO055_REG_ACC_OFFSET_Y_LSB = 0x57,
|
||||
BNO055_REG_ACC_OFFSET_Y_MSB = 0x58,
|
||||
BNO055_REG_ACC_OFFSET_Z_LSB = 0x59,
|
||||
BNO055_REG_ACC_OFFSET_Z_MSB = 0x5a,
|
||||
|
||||
BNO055_REG_MAG_OFFSET_X_LSB = 0x5b,
|
||||
BNO055_REG_MAG_OFFSET_X_MSB = 0x5c,
|
||||
BNO055_REG_MAG_OFFSET_Y_LSB = 0x5d,
|
||||
BNO055_REG_MAG_OFFSET_Y_MSB = 0x5e,
|
||||
BNO055_REG_MAG_OFFSET_Z_LSB = 0x5f,
|
||||
BNO055_REG_MAG_OFFSET_Z_MSB = 0x60,
|
||||
|
||||
BNO055_REG_GYR_OFFSET_X_LSB = 0x61,
|
||||
BNO055_REG_GYR_OFFSET_X_MSB = 0x62,
|
||||
BNO055_REG_GYR_OFFSET_Y_LSB = 0x63,
|
||||
BNO055_REG_GYR_OFFSET_Y_MSB = 0x64,
|
||||
BNO055_REG_GYR_OFFSET_Z_LSB = 0x65,
|
||||
BNO055_REG_GYR_OFFSET_Z_MSB = 0x66,
|
||||
|
||||
BNO055_REG_ACC_RADIUS_LSB = 0x67,
|
||||
BNO055_REG_ACC_RADIUS_MSB = 0x68,
|
||||
|
||||
BNO055_REG_MAG_RADIUS_LSB = 0x69,
|
||||
BNO055_REG_MAG_RADIUS_MSB = 0x6a,
|
||||
|
||||
// 0x6b-0x7f reserved
|
||||
// end of page 0
|
||||
|
||||
// Page 1
|
||||
|
||||
// 0x00-0x06 reserved
|
||||
// 0x07 - page id
|
||||
|
||||
BNO055_REG_ACC_CONFIG = 0x08,
|
||||
BNO055_REG_MAG_CONFIG = 0x09,
|
||||
BNO055_REG_GYR_CONFIG0 = 0x0a,
|
||||
BNO055_REG_GYR_CONFIG1 = 0x0b,
|
||||
BNO055_REG_ACC_SLEEP_CONFIG = 0x0c,
|
||||
BNO055_REG_GYR_SLEEP_CONFIG = 0x0d,
|
||||
|
||||
// 0x0e reserved
|
||||
BNO055_REG_INT_MSK = 0x0f,
|
||||
BNO055_REG_INT_EN = 0x10,
|
||||
|
||||
BNO055_REG_ACC_AM_THRES = 0x11,
|
||||
BNO055_REG_ACC_INT_SETTINGS = 0x12,
|
||||
BNO055_REG_ACC_HG_DURATION = 0x13,
|
||||
BNO055_REG_ACC_HG_THRES = 0x14,
|
||||
BNO055_REG_ACC_NM_THRES = 0x15,
|
||||
BNO055_REG_ACC_NM_SET = 0x16,
|
||||
|
||||
BNO055_REG_GYR_INT_SETTING = 0x17,
|
||||
BNO055_REG_GYR_HR_X_SET = 0x18,
|
||||
BNO055_REG_GYR_DUR_X = 0x19,
|
||||
BNO055_REG_GYR_HR_Y_SET = 0x1a,
|
||||
BNO055_REG_GYR_DUR_Y = 0x1b,
|
||||
BNO055_REG_GYR_HR_Z_SET = 0x1c,
|
||||
BNO055_REG_GYR_DUR_Z = 0x1d,
|
||||
BNO055_REG_GYR_AM_THRES = 0x1e,
|
||||
BNO055_REG_GYR_AM_SET = 0x1f,
|
||||
|
||||
// 0x20-0x4f reserved
|
||||
|
||||
// 16 byte (0x50-0x5f) unique ID
|
||||
BNO055_REG_BNO_UNIQUE_ID = 0x50
|
||||
|
||||
// 0x60-0x7f reserved
|
||||
} BNO055_REGS_T;
|
||||
|
||||
// Page 0 register enumerants
|
||||
|
||||
/**
|
||||
* BNO055_REG_CALIB_STAT bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_CALIB_STAT_MAG0 = 0x01,
|
||||
BNO055_CALIB_STAT_MAG1 = 0x02,
|
||||
_BNO055_CALIB_STAT_MAG_MASK = 3,
|
||||
_BNO055_CALIB_STAT_MAG_SHIFT = 0,
|
||||
|
||||
BNO055_CALIB_STAT_ACC0 = 0x04,
|
||||
BNO055_CALIB_STAT_ACC1 = 0x08,
|
||||
_BNO055_CALIB_STAT_ACC_MASK = 3,
|
||||
_BNO055_CALIB_STAT_ACC_SHIFT = 2,
|
||||
|
||||
BNO055_CALIB_STAT_GYR0 = 0x10,
|
||||
BNO055_CALIB_STAT_GYR1 = 0x20,
|
||||
_BNO055_CALIB_STAT_GYR_MASK = 3,
|
||||
_BNO055_CALIB_STAT_GYR_SHIFT = 4,
|
||||
|
||||
BNO055_CALIB_STAT_SYS0 = 0x40,
|
||||
BNO055_CALIB_STAT_SYS1 = 0x80,
|
||||
_BNO055_CALIB_STAT_SYS_MASK = 3,
|
||||
_BNO055_CALIB_STAT_SYS_SHIFT = 6
|
||||
} BNO055_CALIB_STAT_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_ST_RESULT bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ST_RESULT_ACC = 0x01,
|
||||
BNO055_ST_RESULT_MAG = 0x02,
|
||||
BNO055_ST_RESULT_GYR = 0x04,
|
||||
BNO055_ST_RESULT_MCU = 0x08
|
||||
// 0x10-0x80 reserved
|
||||
} BNO055_ST_RESULT_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_INT_STA bits
|
||||
*/
|
||||
typedef enum {
|
||||
// 0x01-0x02 reserved
|
||||
BNO055_INT_STA_GYRO_AM = 0x04, // gyro any-motion
|
||||
BNO055_INT_STA_GYR_HIGH_RATE = 0x08,
|
||||
// 0x010 reserved
|
||||
BNO055_INT_STA_ACC_HIGH_G = 0x20,
|
||||
BNO055_INT_STA_ACC_AM = 0x40, // accel any-motion
|
||||
BNO055_INT_STA_ACC_NM = 0x80 // accel no-motion
|
||||
} BNO055_INT_STA_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_SYS_CLK_STATUS bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_SYS_CLK_STATUS_ST_MAIN_CLK = 0x01
|
||||
// 0x02-0x80 reserved
|
||||
} BNO055_SYS_CLK_STATUS_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_SYS_STATUS values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_SYS_STATUS_IDLE = 0,
|
||||
BNO055_SYS_STATUS_SYS_ERR = 1,
|
||||
BNO055_SYS_STATUS_INIT_PERIPHERALS = 2,
|
||||
BNO055_SYS_STATUS_SYSTEM_INIT = 3,
|
||||
BNO055_SYS_STATUS_EXECUTING_SELFTEST = 4,
|
||||
BNO055_SYS_STATUS_FUSION_RUNNING = 5,
|
||||
BNO055_SYS_STATUS_NO_FUSION_RUNNING = 6
|
||||
} BNO055_SYS_STATUS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_SYS_ERR values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_SYS_ERR_NOERROR = 0,
|
||||
BNO055_SYS_ERR_PERIPH_INIT_ERROR = 1,
|
||||
BNO055_SYS_ERR_SYS_INIT_ERROR = 2,
|
||||
BNO055_SYS_ERR_SELFTEST_FAIL_ERROR = 3,
|
||||
BNO055_SYS_ERR_REG_VAL_OUTOFRANGE_ERROR = 4,
|
||||
BNO055_SYS_ERR_REG_ADDR_OUTOFRANGE_ERROR = 5,
|
||||
BNO055_SYS_ERR_REG_WRITE_ERROR = 6,
|
||||
BNO055_SYS_ERR_LP_MODE_NOT_AVAIL_ERROR = 7,
|
||||
BNO055_SYS_ERR_ACC_PWR_MODE_NOT_AVAIL_ERROR = 8,
|
||||
BNO055_SYS_ERR_FUSION_CONFIG_ERROR = 9,
|
||||
BNO055_SYS_ERR_SENSOR_CONFIG_ERROR = 10
|
||||
} BNO055_SYS_ERR_T;
|
||||
|
||||
|
||||
/**
|
||||
* BNO055_REG_UNIT_SEL bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_UNIT_SEL_ACC_UNIT = 0x01, // 0=m/s^2, 1=mg
|
||||
BNO055_UNIT_SEL_GYR_UNIT = 0x02, // 0=dps, 1=rps
|
||||
BNO055_UNIT_SEL_EUL_UNIT = 0x04, // 0=degrees, 1=radians
|
||||
// 0x08 reserved
|
||||
BNO055_UNIT_SEL_TEMP_UNIT = 0x10, // 0=C, 1=F
|
||||
// 0x20-0x40 reserved
|
||||
BNO055_UNIT_SEL_ORI_ANDROID_WINDOWS = 0x80 // 0=windows
|
||||
// orient,
|
||||
// 1=android
|
||||
} BNO055_UNIT_SEL_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_OPR_MODE bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_OPR_MODE_OPERATION_MODE0 = 0x01,
|
||||
BNO055_OPR_MODE_OPERATION_MODE1 = 0x02,
|
||||
BNO055_OPR_MODE_OPERATION_MODE2 = 0x04,
|
||||
BNO055_OPR_MODE_OPERATION_MODE3 = 0x08,
|
||||
_BNO055_OPR_MODE_OPERATION_MODE_MASK = 15,
|
||||
_BNO055_OPR_MODE_OPERATION_MODE_SHIFT = 0
|
||||
// 0x10-0x80 reserved
|
||||
} BNO055_OPR_MODE_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_OPR_MODE_OPERATION values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_OPERATION_MODE_CONFIGMODE = 0,
|
||||
BNO055_OPERATION_MODE_ACCONLY = 1,
|
||||
BNO055_OPERATION_MODE_MAGONLY = 2,
|
||||
BNO055_OPERATION_MODE_GYROONLY = 3,
|
||||
BNO055_OPERATION_MODE_ACCMAG = 4,
|
||||
BNO055_OPERATION_MODE_ACCGYRO = 5,
|
||||
BNO055_OPERATION_MODE_MAGGYRO = 6,
|
||||
BNO055_OPERATION_MODE_AMG = 7,
|
||||
// fusion modes
|
||||
BNO055_OPERATION_MODE_IMU = 8,
|
||||
BNO055_OPERATION_MODE_COMPASS = 9,
|
||||
BNO055_OPERATION_MODE_M4G = 10,
|
||||
BNO055_OPERATION_MODE_NDOF_FMC_OFF = 11,
|
||||
BNO055_OPERATION_MODE_NDOF = 12
|
||||
} BNO055_OPERATION_MODES_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_PWR_MODE bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_PWR_MODE_POWER_MODE0 = 0x01,
|
||||
BNO055_PWR_MODE_POWER_MODE1 = 0x02,
|
||||
_BNO055_PWR_MODE_POWER_MODE_MASK = 3,
|
||||
_BNO055_PWR_MODE_POWER_MODE_SHIFT = 0
|
||||
// 0x04-0x80 reserved
|
||||
} BNO055_PWR_MODE_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_POWER_MODE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_POWER_MODE_NORMAL = 0,
|
||||
BNO055_POWER_MODE_LOW = 1,
|
||||
BNO055_POWER_MODE_SUSPEND = 2
|
||||
} POWER_MODES_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_SYS_TRIGGER bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_SYS_TRIGGER_SELF_TEST = 0x01,
|
||||
// 0x02-0x10 reserved
|
||||
BNO055_SYS_TRIGGER_RST_SYS = 0x20,
|
||||
BNO055_SYS_TRIGGER_RST_INT = 0x40,
|
||||
BNO055_SYS_TRIGGER_CLK_SEL = 0x80
|
||||
} BNO055_SYS_TRIGGER_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_TEMP_SOURCE bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_TEMP_SOURCE_TEMP_SOURCE0 = 0x01,
|
||||
BNO055_TEMP_SOURCE_TEMP_SOURCE1 = 0x02,
|
||||
_BNO055_TEMP_SOURCE_TEMP_SOURCE_MASK = 3,
|
||||
_BNO055_TEMP_SOURCE_TEMP_SOURCE_SHIFT = 0
|
||||
// 0x04-0x80 reserved
|
||||
} BNO055_TEMP_SOURCE_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_TEMP_SOURCE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_TEMP_SOURCE_ACC = 0,
|
||||
BNO055_TEMP_SOURCE_GYR = 1
|
||||
} BNO055_TEMP_SOURCES_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_AXIS_MAP_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_X_VAL0 = 0x01,
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_X_VAL1 = 0x02,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_X_VAL_MASK = 3,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_X_VAL_SHIFT = 0,
|
||||
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_Y_VAL0 = 0x04,
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_Y_VAL1 = 0x08,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_Y_VAL_MASK = 3,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_Y_VAL_SHIFT = 2,
|
||||
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_Z_VAL0 = 0x10,
|
||||
BNO055_AXIS_MAP_CONFIG_REMAPPED_Z_VAL1 = 0x20,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_Z_VAL_MASK = 3,
|
||||
_BNO055_AXIS_MAP_CONFIG_REMAPPED_Z_VAL_SHIFT = 4
|
||||
// 0x40-0x80 reserved
|
||||
} BNO055_AXIS_MAP_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* REMAPPED_AXIS values, applied to X, Y, and Z axes
|
||||
* (BNO055_REG_AXIS_MAP_CONFIG)
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_REMAPPED_AXIS_X = 0,
|
||||
BNO055_REMAPPED_AXIS_Y = 1,
|
||||
BNO055_REMAPPED_AXIS_Z = 2
|
||||
} BNO055_REMAPPED_AXIS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_AXIS_MAP_SIGN bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_AXIS_MAP_SIGN_REMAPPED_Z_SIGN = 0x01,
|
||||
BNO055_AXIS_MAP_SIGN_REMAPPED_Y_SIGN = 0x02,
|
||||
BNO055_AXIS_MAP_SIGN_REMAPPED_X_SIGN = 0x04
|
||||
// 0x08-0x80 reserved
|
||||
} BNO055_AXIS_MAP_SIGN_BITS_T;
|
||||
|
||||
// Page 1 register enumerants
|
||||
|
||||
/**
|
||||
* BNO055_REG_ACC_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_CONFIG_ACC_RANGE0 = 0x01,
|
||||
BNO055_ACC_CONFIG_ACC_RANGE1 = 0x02,
|
||||
_BNO055_ACC_CONFIG_ACC_RANGE_MASK = 3,
|
||||
_BNO055_ACC_CONFIG_ACC_RANGE_SHIFT = 0,
|
||||
|
||||
BNO055_ACC_CONFIG_ACC_BW0 = 0x04,
|
||||
BNO055_ACC_CONFIG_ACC_BW1 = 0x08,
|
||||
BNO055_ACC_CONFIG_ACC_BW2 = 0x10,
|
||||
_BNO055_ACC_CONFIG_ACC_BW_MASK = 7,
|
||||
_BNO055_ACC_CONFIG_ACC_BW_SHIFT = 2,
|
||||
|
||||
BNO055_ACC_CONFIG_ACC_PWR_MODE0 = 0x20,
|
||||
BNO055_ACC_CONFIG_ACC_PWR_MODE1 = 0x40,
|
||||
BNO055_ACC_CONFIG_ACC_PWR_MODE2 = 0x80,
|
||||
_BNO055_ACC_CONFIG_ACC_PWR_MODE_MASK = 7,
|
||||
_BNO055_ACC_CONFIG_ACC_PWR_MODE_SHIFT = 5
|
||||
} BNO055_ACC_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_ACC_CONFIG_ACC_RANGE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_RANGE_2G = 0,
|
||||
BNO055_ACC_RANGE_4G = 1,
|
||||
BNO055_ACC_RANGE_8G = 2,
|
||||
BNO055_ACC_RANGE_16G = 3
|
||||
} BNO055_ACC_RANGE_T;
|
||||
|
||||
/**
|
||||
* BNO055_ACC_CONFIG_ACC_BW values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_BW_7_81 = 0, // 7.81 Hz
|
||||
BNO055_ACC_BW_15_53 = 1,
|
||||
BNO055_ACC_BW_31_25 = 2,
|
||||
BNO055_ACC_BW_62_5 = 3,
|
||||
BNO055_ACC_BW_125 = 4, // 125 Hz
|
||||
BNO055_ACC_BW_250 = 5,
|
||||
BNO055_ACC_BW_500 = 6,
|
||||
BNO055_ACC_BW_1000 = 7
|
||||
} BNO055_ACC_BW_T;
|
||||
|
||||
/**
|
||||
* BNO055_ACC_PWR_MODE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_PWR_MODE_NORMAL = 0,
|
||||
BNO055_ACC_PWR_MODE_SUSPEND = 1,
|
||||
BNO055_ACC_PWR_MODE_LOWPOWER1 = 2,
|
||||
BNO055_ACC_PWR_MODE_STANDBY = 3,
|
||||
BNO055_ACC_PWR_MODE_LOWPOWER2 = 4,
|
||||
BNO055_ACC_PWR_MODE_DEEPSUSPEND = 5
|
||||
} BNO055_ACC_PWR_MODE_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_MAG_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_MAG_CONFIG_MAG_ODR0 = 0x01,
|
||||
BNO055_MAG_CONFIG_MAG_ODR1 = 0x02,
|
||||
BNO055_MAG_CONFIG_MAG_ODR2 = 0x04,
|
||||
_BNO055_MAG_CONFIG_MAG_ODR_MASK = 7,
|
||||
_BNO055_MAG_CONFIG_MAG_ODR_SHIFT = 0,
|
||||
|
||||
BNO055_MAG_CONFIG_MAG_OPR_MODE0 = 0x08,
|
||||
BNO055_MAG_CONFIG_MAG_OPR_MODE1 = 0x10,
|
||||
_BNO055_MAG_CONFIG_MAG_OPR_MODE_MASK = 3,
|
||||
_BNO055_MAG_CONFIG_MAG_OPR_MODE_SHIFT = 3,
|
||||
|
||||
BNO055_MAG_CONFIG_MAG_POWER_MODE0 = 0x20,
|
||||
BNO055_MAG_CONFIG_MAG_POWER_MODE1 = 0x40,
|
||||
_BNO055_MAG_CONFIG_MAG_POWER_MODE_MASK = 3,
|
||||
_BNO055_MAG_CONFIG_MAG_POWER_MODE_SHIFT = 5
|
||||
// 0x80 reserved
|
||||
} BNO055_MAG_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* MAG_ODR values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_MAG_ODR_2 = 0, // 2Hz
|
||||
BNO055_MAG_ODR_6 = 1,
|
||||
BNO055_MAG_ODR_8 = 2,
|
||||
BNO055_MAG_ODR_10 = 3,
|
||||
BNO055_MAG_ODR_15 = 4,
|
||||
BNO055_MAG_ODR_20 = 5,
|
||||
BNO055_MAG_ODR_25 = 6,
|
||||
BNO055_MAG_ODR_30 = 7
|
||||
} BNO055_MAG_ODR_T;
|
||||
|
||||
/**
|
||||
* BNO055_MAG_OPR values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_MAG_OPR_LOW = 0, // low power
|
||||
BNO055_MAG_OPR_REGULAR = 1,
|
||||
BNO055_MAG_OPR_ENHANCED_REGULAR = 2,
|
||||
BNO055_MAG_OPR_HIGH_ACCURACY = 3
|
||||
} BNO055_MAG_OPR_T;
|
||||
|
||||
/**
|
||||
* BNO055_MAG_POWER values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_MAG_POWER_NORMAL = 0,
|
||||
BNO055_MAG_POWER_SLEEP = 1,
|
||||
BNO055_MAG_POWER_SUSPEND = 2,
|
||||
BNO055_MAG_POWER_FORCE_MODE = 3
|
||||
} BNO055_MAG_POWER_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_CONFIG0 bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_CONFIG0_GYR_RANGE0 = 0x01,
|
||||
BNO055_GYR_CONFIG0_GYR_RANGE1 = 0x02,
|
||||
BNO055_GYR_CONFIG0_GYR_RANGE2 = 0x04,
|
||||
_BNO055_GYR_CONFIG0_GYR_RANGE_MASK = 7,
|
||||
_BNO055_GYR_CONFIG0_GYR_RANGE_SHIFT = 0,
|
||||
|
||||
BNO055_GYR_CONFIG0_GYR_BW0 = 0x08,
|
||||
BNO055_GYR_CONFIG0_GYR_BW1 = 0x10,
|
||||
BNO055_GYR_CONFIG0_GYR_BW2 = 0x20,
|
||||
_BNO055_GYR_CONFIG0_GYR_BW_MASK = 7,
|
||||
_BNO055_GYR_CONFIG0_GYR_BW_SHIFT = 3
|
||||
// 0x40-0x80 reserved
|
||||
} BNO055_GYR_CONFIG0_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_RANGE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_RANGE_2000 = 0, // degrees/sec
|
||||
BNO055_GYR_RANGE_1000 = 1,
|
||||
BNO055_GYR_RANGE_500 = 2,
|
||||
BNO055_GYR_RANGE_250 = 3,
|
||||
BNO055_GYR_RANGE_125 = 4
|
||||
} BNO055_GYR_RANGE_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_BW values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_BW_523 = 0, // Hz
|
||||
BNO055_GYR_BW_230 = 1,
|
||||
BNO055_GYR_BW_116 = 2,
|
||||
BNO055_GYR_BW_47 = 3,
|
||||
BNO055_GYR_BW_23 = 4,
|
||||
BNO055_GYR_BW_12 = 5,
|
||||
BNO055_GYR_BW_64 = 6,
|
||||
BNO055_GYR_BW_32 = 7
|
||||
} BNO055_GYR_BW_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_CONFIG1 bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_CONFIG1_GYR_POWER_MODE0 = 0x01,
|
||||
BNO055_GYR_CONFIG1_GYR_POWER_MODE1 = 0x02,
|
||||
BNO055_GYR_CONFIG1_GYR_POWER_MODE2 = 0x04,
|
||||
_BNO055_GYR_CONFIG1_GYR_POWER_MODE_MASK = 7,
|
||||
_BNO055_GYR_CONFIG1_GYR_POWER_MODE_SHIFT = 0
|
||||
// 0x08-0x80 reserved
|
||||
} BNO055_GYR_CONFIG1_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_POWER_MODE values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_POWER_MODE_NORMAL = 0,
|
||||
BNO055_GYR_POWER_MODE_FAST_POWERUP = 1,
|
||||
BNO055_GYR_POWER_MODE_DEEP_SUSPEND = 2,
|
||||
BNO055_GYR_POWER_MODE_SUSPEND = 3,
|
||||
BNO055_GYR_POWER_MODE_ADVANCED_POWERSAVE= 4
|
||||
} BNO055_GYR_POWER_MODE_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_ACC_SLEEP_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_SLEEP_CONFIG_SLP_MODE = 0x01, // 0=event,
|
||||
// 1=equidistant
|
||||
// sample
|
||||
|
||||
BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR0 = 0x02,
|
||||
BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR1 = 0x04,
|
||||
BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR2 = 0x08,
|
||||
BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR3 = 0x10,
|
||||
_BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR_MASK = 15,
|
||||
_BNO055_ACC_SLEEP_CONFIG_ACC_SLP_DUR_SHIFT = 1
|
||||
// 0x20-0x80 reserved
|
||||
} BNO055_ACC_SLEEP_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_ACC_SLP_DUR values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_SLP_DUR_0_5 = 0, // 0.5ms
|
||||
// same for 1-5
|
||||
|
||||
BNO055_ACC_SLP_DUR_1 = 6, // 1ms
|
||||
BNO055_ACC_SLP_DUR_2 = 7,
|
||||
BNO055_ACC_SLP_DUR_4 = 8,
|
||||
BNO055_ACC_SLP_DUR_6 = 9,
|
||||
BNO055_ACC_SLP_DUR_10 = 10,
|
||||
BNO055_ACC_SLP_DUR_25 = 11,
|
||||
BNO055_ACC_SLP_DUR_50 = 12,
|
||||
BNO055_ACC_SLP_DUR_100 = 13,
|
||||
BNO055_ACC_SLP_DUR_500 = 14
|
||||
// 15 = 1ms
|
||||
} BNO055_ACC_SLP_DUR_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_SLEEP_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR0 = 0x01,
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR1 = 0x02,
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR2 = 0x04,
|
||||
_BNO055_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR_MASK = 7,
|
||||
_BNO055_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR_SHIFT = 0,
|
||||
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR0 = 0x08,
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR1 = 0x10,
|
||||
BNO055_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR2 = 0x20,
|
||||
_BNO055_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR_MASK = 7,
|
||||
_BNO055_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR_SHIFT = 3
|
||||
// 0x40-0x80 reserved
|
||||
} BNO055_GYR_SLEEP_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_SLEEP_DUR values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_SLEEP_DUR_2 = 0, // 2ms
|
||||
BNO055_GYR_SLEEP_DUR_4 = 1,
|
||||
BNO055_GYR_SLEEP_DUR_5 = 2,
|
||||
BNO055_GYR_SLEEP_DUR_8 = 3,
|
||||
BNO055_GYR_SLEEP_DUR_10 = 4,
|
||||
BNO055_GYR_SLEEP_DUR_15 = 5,
|
||||
BNO055_GYR_SLEEP_DUR_18 = 6,
|
||||
BNO055_GYR_SLEEP_DUR_20 = 7
|
||||
} BNO055_GYR_SLEEP_DUR_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_AUTO_SLP_DUR values
|
||||
*/
|
||||
typedef enum {
|
||||
// 0 = illegal
|
||||
BNO055_GYR_AUTO_SLP_DUR_4 = 1, // ms
|
||||
BNO055_GYR_AUTO_SLP_DUR_5 = 2,
|
||||
BNO055_GYR_AUTO_SLP_DUR_8 = 3,
|
||||
BNO055_GYR_AUTO_SLP_DUR_10 = 4,
|
||||
BNO055_GYR_AUTO_SLP_DUR_15 = 5,
|
||||
BNO055_GYR_AUTO_SLP_DUR_20 = 6,
|
||||
BNO055_GYR_AUTO_SLP_DUR_40 = 7
|
||||
} BNO055_GYR_AUTO_SLP_DUR_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_INT_MSK and BNO055_REG_INT_EN bits
|
||||
*/
|
||||
typedef enum {
|
||||
// 0x00-0x02 reserved
|
||||
BNO055_INT_GYRO_AM = 0x04, // gyro any-motion
|
||||
BNO055_INT_GYRO_HIGH_RATE = 0x08,
|
||||
// 0x10 reserved
|
||||
BNO055_INT_ACC_HIGH_G = 0x20,
|
||||
BNO055_INT_ACC_AM = 0x40, // acc any-motion
|
||||
BNO055_INT_ACC_NM = 0x80, // acc no-motion
|
||||
} BNO055_INT_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_ACC_INT_SETTINGS bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_INT_SETTINGS_AM_DUR0 = 0x01,
|
||||
BNO055_ACC_INT_SETTINGS_AM_DUR1 = 0x02,
|
||||
_BNO055_ACC_INT_SETTINGS_AM_DUR_MASK = 3,
|
||||
_BNO055_ACC_INT_SETTINGS_AM_DUR_SHIFT = 0,
|
||||
|
||||
BNO055_ACC_INT_SETTINGS_AM_NM_X_AXIS = 0x04,
|
||||
BNO055_ACC_INT_SETTINGS_AM_NM_Y_AXIS = 0x08,
|
||||
BNO055_ACC_INT_SETTINGS_AM_NM_Z_AXIS = 0x10,
|
||||
|
||||
BNO055_ACC_INT_SETTINGS_HG_X_AXIS = 0x20,
|
||||
BNO055_ACC_INT_SETTINGS_HG_Y_AXIS = 0x40,
|
||||
BNO055_ACC_INT_SETTINGS_HG_Z_AXIS = 0x80
|
||||
} BNO055_ACC_INT_SETTINGS_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_ACC_NM_SET bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_ACC_NM_SET_SM_NM = 0x01, // 0=slowmotion,
|
||||
// 1=nomotion
|
||||
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR0 = 0x02,
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR1 = 0x04,
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR2 = 0x08,
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR3 = 0x10,
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR4 = 0x20,
|
||||
BNO055_ACC_NM_SET_SM_NM_DUR5 = 0x40,
|
||||
_BNO055_ACC_NM_SET_SM_NM_DUR_MASK = 63,
|
||||
_BNO055_ACC_NM_SET_SM_NM_DUR_SHIFT = 1
|
||||
// 0x80 reserved
|
||||
} BNO055_ACC_NM_SET_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_INT_SETTING bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_INT_SETTING_AM_X_AXIS = 0x01,
|
||||
BNO055_GYR_INT_SETTING_AM_Y_AXIS = 0x02,
|
||||
BNO055_GYR_INT_SETTING_AM_Z_AXIS = 0x04,
|
||||
|
||||
BNO055_GYR_INT_SETTING_HR_X_AXIS = 0x08,
|
||||
BNO055_GYR_INT_SETTING_HR_Y_AXIS = 0x10,
|
||||
BNO055_GYR_INT_SETTING_HR_Z_AXIS = 0x20,
|
||||
|
||||
BNO055_GYR_INT_SETTING_AM_FILT = 0x40,
|
||||
BNO055_GYR_INT_SETTING_HR_FILT = 0x80
|
||||
} BNO055_GYR_INT_SETTING_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_HR_X_SET, BNO055_REG_GYR_HR_Y_SET, and
|
||||
* BNO055_REG_GYR_HR_Z_SET bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH0 = 0x01,
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH1 = 0x02,
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH2 = 0x04,
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH3 = 0x08,
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH4 = 0x10,
|
||||
_BNO055_GYR_HR_XYZ_SET_HR_THRESH_MASK = 31,
|
||||
_BNO055_GYR_HR_XYZ_SET_HR_THRESH_SHIFT = 0,
|
||||
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH_HYST0 = 0x20,
|
||||
BNO055_GYR_HR_XYZ_SET_HR_THRESH_HYST1 = 0x40,
|
||||
_BNO055_GYR_HR_XYZ_SET_HR_THRESH_HYST_MASK = 3,
|
||||
_BNO055_GYR_HR_XYZ_SET_HR_THRESH_HYST_SHIFT = 5
|
||||
} BNO055_GYR_HR_XYZ_SET_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_REG_GYR_AM_SET bits
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_GYR_AM_SET_SLOPE_SAMPLES0 = 0x01,
|
||||
BNO055_GYR_AM_SET_SLOPE_SAMPLES1 = 0x02,
|
||||
_BNO055_GYR_AM_SET_SLOPE_SAMPLES_MASK = 3,
|
||||
_BNO055_GYR_AM_SET_SLOPE_SAMPLES_SHIFT = 0,
|
||||
|
||||
BNO055_GYR_AM_SET_AWAKE_DUR0 = 0x04,
|
||||
BNO055_GYR_AM_SET_AWAKE_DUR1 = 0x08,
|
||||
_BNO055_GYR_AM_SET_AWAKE_DUR_MASK = 3,
|
||||
_BNO055_GYR_AM_SET_AWAKE_DUR_SHIFT = 2
|
||||
|
||||
// 0x10-0x80 reserved
|
||||
} BNO055_GYR_AM_SET_BITS_T;
|
||||
|
||||
/**
|
||||
* BNO055_GYR_AM_SET_SLOPE_SAMPLES values
|
||||
*/
|
||||
typedef enum {
|
||||
BNO055_SLOPE_SAMPLES_8 = 0, // 8 samples
|
||||
BNO055_SLOPE_SAMPLES_16 = 1,
|
||||
BNO055_SLOPE_SAMPLES_32 = 2,
|
||||
BNO055_SLOPE_SAMPLES_64 = 3
|
||||
} BNO055_SLOPE_SAMPLES_T;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -2,69 +2,7 @@
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
%include "typemaps.i"
|
||||
%include "arrays_java.i";
|
||||
%include "../java_buffer.i"
|
||||
|
||||
%apply int {mraa::Edge};
|
||||
%apply float *INOUT { float *x, float *y, float *z };
|
||||
%apply float *INOUT { float *heading, float *roll, float *pitch };
|
||||
|
||||
%typemap(jni) float* "jfloatArray"
|
||||
%typemap(jstype) float* "float[]"
|
||||
%typemap(jtype) float* "float[]"
|
||||
|
||||
%typemap(javaout) float* {
|
||||
return $jnicall;
|
||||
}
|
||||
|
||||
%typemap(jni) int* "jintArray"
|
||||
%typemap(jstype) int* "int[]"
|
||||
%typemap(jtype) int* "int[]"
|
||||
|
||||
%typemap(javaout) int* {
|
||||
return $jnicall;
|
||||
}
|
||||
|
||||
|
||||
%typemap(out) float *getAccelerometer {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getMagnetometer {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getGyroscope {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getEulerAngles {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getQuaternions {
|
||||
$result = JCALL1(NewFloatArray, jenv, 4);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 4, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getLinearAcceleration {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) float *getGravityVectors {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
}
|
||||
|
||||
%typemap(out) int *getCalibrationStatus {
|
||||
$result = JCALL1(NewIntArray, jenv, 4);
|
||||
JCALL4(SetIntArrayRegion, jenv, $result, 0, 4, (const int*)$1);
|
||||
}
|
||||
%include "../upm_vectortypes.i"
|
||||
|
||||
%ignore getCalibrationStatus(int *, int *, int *, int *);
|
||||
%ignore getAccelerometer(float *, float *, float *);
|
||||
@ -75,12 +13,12 @@
|
||||
%ignore getLinearAcceleration(float *, float *, float *);
|
||||
%ignore getGravityVectors(float *, float *, float *);
|
||||
|
||||
%include "bno055_regs.h"
|
||||
%include "bno055.hpp"
|
||||
%{
|
||||
#include "bno055.hpp"
|
||||
%}
|
||||
|
||||
%include "bno055.hpp"
|
||||
|
||||
%pragma(java) jniclasscode=%{
|
||||
static {
|
||||
try {
|
||||
|
||||
@ -1,11 +1,16 @@
|
||||
%module jsupm_bno055
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
%include "../upm_vectortypes.i"
|
||||
|
||||
/* Send "int *" and "float *" to JavaScript as intp and floatp */
|
||||
/* Send "int *" and "float *" to JS as intp and floatp, though
|
||||
* using the vector return (upm_vectortypes.i) functions instead of
|
||||
* the pointer argument functions is preferable.
|
||||
*/
|
||||
%pointer_functions(int, intp);
|
||||
%pointer_functions(float, floatp);
|
||||
|
||||
%include "bno055_regs.h"
|
||||
%include "bno055.hpp"
|
||||
%{
|
||||
#include "bno055.hpp"
|
||||
|
||||
@ -3,19 +3,23 @@
|
||||
%module pyupm_bno055
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
%include "../upm_vectortypes.i"
|
||||
|
||||
%include "stdint.i"
|
||||
|
||||
/* Send "int *" and "float *" to python as intp and floatp */
|
||||
/* Send "int *" and "float *" to python as intp and floatp, though
|
||||
* using the vector return (upm_vectortypes.i) functions instead of
|
||||
* the pointer argument functions is preferable.
|
||||
*/
|
||||
%pointer_functions(int, intp);
|
||||
%pointer_functions(float, floatp);
|
||||
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
#ifdef DOXYGEN
|
||||
%include "bno055_doc.i"
|
||||
#endif
|
||||
|
||||
%include "bno055_regs.h"
|
||||
%include "bno055.hpp"
|
||||
%{
|
||||
#include "bno055.hpp"
|
||||
|
||||
Reference in New Issue
Block a user