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upm/src/bno055/bno055.hpp
Jon Trulson baec9966f0 spelling: correct many misspellings of celsius 
Signed-off-by: Jon Trulson <jtrulson@ics.com>
2016-07-12 17:42:01 -06:00

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 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
#include <string>
#include <mraa/i2c.hpp>
#include <mraa/gpio.hpp>
#define BNO055_I2C_BUS 0
#define BNO055_DEFAULT_ADDR 0x28
namespace upm {
/**
* @brief BNO055 Absolute Orientation 9DOF Fusion Hub
* @defgroup bno055 libupm-bno055
* @ingroup i2c gpio accelerometer compass
*/
/**
* @library bno055
* @sensor bno055
* @comname BNO055 Absolute Orientation 9DOF Fusion Hub
* @type accelerometer compass
* @man adafruit
* @con i2c gpio
* @web https://www.adafruit.com/products/2472
*
* @brief API for the BNO055 Absolute Orientation 9DOF Fusion Hub
*
* The BNO055 is a System in Package (SiP), integrating a triaxial
* 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of
* ±2000 degrees per second, a triaxial geomagnetic sensor and a
* 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor
* fusion software, in a single package.
*
* This sensor handles the hard problem of combining various sensor
* information into a reliable measurement of sensor orientation
* (refered to as 'sensor fusion'). The onboard MCU runs this
* software and can provide fusion output in the form of Euler
* Angles, Quaternions, Linear Acceleration, and Gravity Vectors in
* 3 axes.
*
* The focus on this driver has been on supporting the fusion
* components. Less support is available for use of this device as
* a generic accelerometer, gyroscope and magnetometer, however
* enough infrastructure is available to add any missing
* functionality.
*
* This device requires calibration in order to operate accurately.
* Methods are provided to retrieve calibration data (once
* calibrated) to be stored somewhere else, like in a file. A
* method is provided to load this data as well. Calibration data
* is lost on a power cycle. See one of the examples for a
* description of how to calibrate the device, but in essence:
*
* There is a calibration status register available
* (getCalibrationStatus()) that returns the calibration status of
* the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and
* overall system (SYS). Each of these values range from 0
* (uncalibrated) to 3 (fully calibrated). Calibration involves
* certain motions to get all 4 values at 3. The motions are as
* follows (though see the datasheet for more information):
*
* GYR: Simply let the sensor sit flat for a few seconds.
*
* ACC: Move the sensor in various positions. Start flat, then
* rotate slowly by 45 degrees, hold for a few seconds, then
* continue rotating another 45 degrees and hold, etc. 6 or more
* movements of this type may be required. You can move through any
* axis you desire, but make sure that the device is lying at least
* once perpendicular to the x, y, and z axis.
*
* MAG: Move slowly in a figure 8 pattern in the air, until the
* calibration values reaches 3.
*
* SYS: This will usually reach 3 when the other items have also
* reached 3. If not, continue slowly moving the device though
* various axes until it does.
*
* @snippet bno055.cxx Interesting
*/
class BNO055 {
public:
// The chip ID, for verification in the ctor.
const uint8_t BNO055_CHIPID = 0xa0;
// number of bytes of stored calibration data
const int calibrationDataNumBytes = 22;
// 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 : uint8_t {
// 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.
REG_PAGE_ID = 0x07,
// Page 0
REG_CHIP_ID = 0x00,
REG_ACC_ID = 0x01, // accel id
REG_MAG_ID = 0x02, // mag id
REG_GYR_ID = 0x03, // gyro id
REG_SW_REV_ID_LSB = 0x04,
REG_SW_REV_ID_MSB = 0x05,
REG_BL_REV_ID = 0x06, // bootloader rev
// REG_PAGE_ID = 0x07
REG_ACC_DATA_X_LSB = 0x08,
REG_ACC_DATA_X_MSB = 0x09,
REG_ACC_DATA_Y_LSB = 0x0a,
REG_ACC_DATA_Y_MSB = 0x0b,
REG_ACC_DATA_Z_LSB = 0x0c,
REG_ACC_DATA_Z_MSB = 0x0d,
REG_MAG_DATA_X_LSB = 0x0e,
REG_MAG_DATA_X_MSB = 0x0f,
REG_MAG_DATA_Y_LSB = 0x10,
REG_MAG_DATA_Y_MSB = 0x11,
REG_MAG_DATA_Z_LSB = 0x12,
REG_MAG_DATA_Z_MSB = 0x13,
REG_GYR_DATA_X_LSB = 0x14,
REG_GYR_DATA_X_MSB = 0x15,
REG_GYR_DATA_Y_LSB = 0x16,
REG_GYR_DATA_Y_MSB = 0x17,
REG_GYR_DATA_Z_LSB = 0x18,
REG_GYR_DATA_Z_MSB = 0x19,
// euler angles
REG_EUL_HEADING_LSB = 0x1a,
REG_EUL_HEADING_MSB = 0x1b,
REG_EUL_ROLL_LSB = 0x1c,
REG_EUL_ROLL_MSB = 0x1d,
REG_EUL_PITCH_LSB = 0x1e,
REG_EUL_PITCH_MSB = 0x1f,
// Quaternions
REG_QUA_DATA_W_LSB = 0x20,
REG_QUA_DATA_W_MSB = 0x21,
REG_QUA_DATA_X_LSB = 0x22,
REG_QUA_DATA_X_MSB = 0x23,
REG_QUA_DATA_Y_LSB = 0x24,
REG_QUA_DATA_Y_MSB = 0x25,
REG_QUA_DATA_Z_LSB = 0x26,
REG_QUA_DATA_Z_MSB = 0x27,
// linear accel data
REG_LIA_DATA_X_LSB = 0x28,
REG_LIA_DATA_X_MSB = 0x29,
REG_LIA_DATA_Y_LSB = 0x2a,
REG_LIA_DATA_Y_MSB = 0x2b,
REG_LIA_DATA_Z_LSB = 0x2c,
REG_LIA_DATA_Z_MSB = 0x2d,
// gravity vector
REG_GRV_DATA_X_LSB = 0x2e,
REG_GRV_DATA_X_MSB = 0x2f,
REG_GRV_DATA_Y_LSB = 0x30,
REG_GRV_DATA_Y_MSB = 0x31,
REG_GRV_DATA_Z_LSB = 0x32,
REG_GRV_DATA_Z_MSB = 0x33,
REG_TEMPERATURE = 0x34,
REG_CALIB_STAT = 0x35, // calibration status
REG_ST_RESULT = 0x36, // selftest result
REG_INT_STA = 0x37, // interrupt status
REG_SYS_CLK_STATUS = 0x38,
REG_SYS_STATUS = 0x39,
REG_SYS_ERROR = 0x3a,
REG_UNIT_SEL = 0x3b,
// 0x3c reserved
REG_OPER_MODE = 0x3d, // operating mode
REG_POWER_MODE = 0x3e,
REG_SYS_TRIGGER = 0x3f,
REG_TEMP_SOURCE = 0x40, // temperature src
REG_AXIS_MAP_CONFIG = 0x41,
REG_AXIS_MAP_SIGN = 0x42,
// 0x43-0x54 reserved
// stored configuration data
REG_ACC_OFFSET_X_LSB = 0x55,
REG_ACC_OFFSET_X_MSB = 0x56,
REG_ACC_OFFSET_Y_LSB = 0x57,
REG_ACC_OFFSET_Y_MSB = 0x58,
REG_ACC_OFFSET_Z_LSB = 0x59,
REG_ACC_OFFSET_Z_MSB = 0x5a,
REG_MAG_OFFSET_X_LSB = 0x5b,
REG_MAG_OFFSET_X_MSB = 0x5c,
REG_MAG_OFFSET_Y_LSB = 0x5d,
REG_MAG_OFFSET_Y_MSB = 0x5e,
REG_MAG_OFFSET_Z_LSB = 0x5f,
REG_MAG_OFFSET_Z_MSB = 0x60,
REG_GYR_OFFSET_X_LSB = 0x61,
REG_GYR_OFFSET_X_MSB = 0x62,
REG_GYR_OFFSET_Y_LSB = 0x63,
REG_GYR_OFFSET_Y_MSB = 0x64,
REG_GYR_OFFSET_Z_LSB = 0x65,
REG_GYR_OFFSET_Z_MSB = 0x66,
REG_ACC_RADIUS_LSB = 0x67,
REG_ACC_RADIUS_MSB = 0x68,
REG_MAG_RADIUS_LSB = 0x69,
REG_MAG_RADIUS_MSB = 0x6a,
// 0x6b-0x7f reserved
// end of page 0
// Page 1
// 0x00-0x06 reserved
// 0x07 - page id
REG_ACC_CONFIG = 0x08,
REG_MAG_CONFIG = 0x09,
REG_GYR_CONFIG0 = 0x0a,
REG_GYR_CONFIG1 = 0x0b,
REG_ACC_SLEEP_CONFIG = 0x0c,
REG_GYR_SLEEP_CONFIG = 0x0d,
// 0x0e reserved
REG_INT_MSK = 0x0f,
REG_INT_EN = 0x10,
REG_ACC_AM_THRES = 0x11,
REG_ACC_INT_SETTINGS = 0x12,
REG_ACC_HG_DURATION = 0x13,
REG_ACC_HG_THRES = 0x14,
REG_ACC_NM_THRES = 0x15,
REG_ACC_NM_SET = 0x16,
REG_GYR_INT_SETTING = 0x17,
REG_GYR_HR_X_SET = 0x18,
REG_GYR_DUR_X = 0x19,
REG_GYR_HR_Y_SET = 0x1a,
REG_GYR_DUR_Y = 0x1b,
REG_GYR_HR_Z_SET = 0x1c,
REG_GYR_DUR_Z = 0x1d,
REG_GYR_AM_THRES = 0x1e,
REG_GYR_AM_SET = 0x1f,
// 0x20-0x4f reserved
// 16 byte (0x50-0x5f) unique ID
REG_BNO_UNIQUE_ID = 0x50
// 0x60-0x7f reserved
} REGS_T;
// Page 0 register enumerants
/**
* REG_CALIB_STAT bits
*/
typedef enum {
CALIB_STAT_MAG0 = 0x01,
CALIB_STAT_MAG1 = 0x02,
_CALIB_STAT_MAG_MASK = 3,
_CALIB_STAT_MAG_SHIFT = 0,
CALIB_STAT_ACC0 = 0x04,
CALIB_STAT_ACC1 = 0x08,
_CALIB_STAT_ACC_MASK = 3,
_CALIB_STAT_ACC_SHIFT = 2,
CALIB_STAT_GYR0 = 0x10,
CALIB_STAT_GYR1 = 0x20,
_CALIB_STAT_GYR_MASK = 3,
_CALIB_STAT_GYR_SHIFT = 4,
CALIB_STAT_SYS0 = 0x40,
CALIB_STAT_SYS1 = 0x80,
_CALIB_STAT_SYS_MASK = 3,
_CALIB_STAT_SYS_SHIFT = 6
} CALIB_STAT_BITS_T;
/**
* REG_ST_RESULT bits
*/
typedef enum {
ST_RESULT_ACC = 0x01,
ST_RESULT_MAG = 0x02,
ST_RESULT_GYR = 0x04,
ST_RESULT_MCU = 0x08
// 0x10-0x80 reserved
} ST_RESULT_BITS_T;
/**
* REG_INT_STA bits
*/
typedef enum {
// 0x01-0x02 reserved
INT_STA_GYRO_AM = 0x04, // gyro any-motion
INT_STA_GYR_HIGH_RATE = 0x08,
// 0x010 reserved
INT_STA_ACC_HIGH_G = 0x20,
INT_STA_ACC_AM = 0x40, // accel any-motion
INT_STA_ACC_NM = 0x80 // accel no-motion
} INT_STA_BITS_T;
/**
* REG_SYS_CLK_STATUS bits
*/
typedef enum {
SYS_CLK_STATUS_ST_MAIN_CLK = 0x01
// 0x02-0x80 reserved
} SYS_CLK_STATUS_BITS_T;
/**
* REG_SYS_STATUS values
*/
typedef enum {
SYS_STATUS_IDLE = 0,
SYS_STATUS_SYS_ERR = 1,
SYS_STATUS_INIT_PERIPHERALS = 2,
SYS_STATUS_SYSTEM_INIT = 3,
SYS_STATUS_EXECUTING_SELFTEST = 4,
SYS_STATUS_FUSION_RUNNING = 5,
SYS_STATUS_NO_FUSION_RUNNING = 6
} SYS_STATUS_T;
/**
* REG_SYS_ERR values
*/
typedef enum {
SYS_ERR_NOERROR = 0,
SYS_ERR_PERIPH_INIT_ERROR = 1,
SYS_ERR_SYS_INIT_ERROR = 2,
SYS_ERR_SELFTEST_FAIL_ERROR = 3,
SYS_ERR_REG_VAL_OUTOFRANGE_ERROR = 4,
SYS_ERR_REG_ADDR_OUTOFRANGE_ERROR = 5,
SYS_ERR_REG_WRITE_ERROR = 6,
SYS_ERR_LP_MODE_NOT_AVAIL_ERROR = 7,
SYS_ERR_ACC_PWR_MODE_NOT_AVAIL_ERROR = 8,
SYS_ERR_FUSION_CONFIG_ERROR = 9,
SYS_ERR_SENSOR_CONFIG_ERROR = 10
} SYS_ERR_T;
/**
* REG_UNIT_SEL bits
*/
typedef enum {
UNIT_SEL_ACC_UNIT = 0x01, // 0=m/s^2, 1=mg
UNIT_SEL_GYR_UNIT = 0x02, // 0=dps, 1=rps
UNIT_SEL_EUL_UNIT = 0x04, // 0=degrees, 1=radians
// 0x08 reserved
UNIT_SEL_TEMP_UNIT = 0x10, // 0=C, 1=F
// 0x20-0x40 reserved
UNIT_SEL_ORI_ANDROID_WINDOWS = 0x80 // 0=windows orient, 1=android
} UNIT_SEL_BITS_T;
/**
* REG_OPR_MODE bits
*/
typedef enum {
OPR_MODE_OPERATION_MODE0 = 0x01,
OPR_MODE_OPERATION_MODE1 = 0x02,
OPR_MODE_OPERATION_MODE2 = 0x04,
OPR_MODE_OPERATION_MODE3 = 0x08,
_OPR_MODE_OPERATION_MODE_MASK = 15,
_OPR_MODE_OPERATION_MODE_SHIFT = 0
// 0x10-0x80 reserved
} OPR_MODE_BITS_T;
/**
* OPR_MODE_OPERATION values
*/
typedef enum {
OPERATION_MODE_CONFIGMODE = 0,
OPERATION_MODE_ACCONLY = 1,
OPERATION_MODE_MAGONLY = 2,
OPERATION_MODE_GYROONLY = 3,
OPERATION_MODE_ACCMAG = 4,
OPERATION_MODE_ACCGYRO = 5,
OPERATION_MODE_MAGGYRO = 6,
OPERATION_MODE_AMG = 7,
// fusion modes
OPERATION_MODE_IMU = 8,
OPERATION_MODE_COMPASS = 9,
OPERATION_MODE_M4G = 10,
OPERATION_MODE_NDOF_FMC_OFF = 11,
OPERATION_MODE_NDOF = 12
} OPERATION_MODES_T;
/**
* REG_PWR_MODE bits
*/
typedef enum {
PWR_MODE_POWER_MODE0 = 0x01,
PWR_MODE_POWER_MODE1 = 0x02,
_PWR_MODE_POWER_MODE_MASK = 3,
_PWR_MODE_POWER_MODE_SHIFT = 0
// 0x04-0x80 reserved
} PWR_MODE_BITS_T;
/**
* POWER_MODE values
*/
typedef enum {
POWER_MODE_NORMAL = 0,
POWER_MODE_LOW = 1,
POWER_MODE_SUSPEND = 2
} POWER_MODES_T;
/**
* REG_SYS_TRIGGER bits
*/
typedef enum {
SYS_TRIGGER_SELF_TEST = 0x01,
// 0x02-0x10 reserved
SYS_TRIGGER_RST_SYS = 0x20,
SYS_TRIGGER_RST_INT = 0x40,
SYS_TRIGGER_CLK_SEL = 0x80
} SYS_TRIGGER_BITS_T;
/**
* REG_TEMP_SOURCE bits
*/
typedef enum {
TEMP_SOURCE_TEMP_SOURCE0 = 0x01,
TEMP_SOURCE_TEMP_SOURCE1 = 0x02,
_TEMP_SOURCE_TEMP_SOURCE_MASK = 3,
_TEMP_SOURCE_TEMP_SOURCE_SHIFT = 0
// 0x04-0x80 reserved
} TEMP_SOURCE_BITS_T;
/**
* TEMP_SOURCE values
*/
typedef enum {
TEMP_SOURCE_ACC = 0,
TEMP_SOURCE_GYR = 1
} TEMP_SOURCES_T;
/**
* REG_AXIS_MAP_CONFIG bits
*/
typedef enum {
AXIS_MAP_CONFIG_REMAPPED_X_VAL0 = 0x01,
AXIS_MAP_CONFIG_REMAPPED_X_VAL1 = 0x02,
_AXIS_MAP_CONFIG_REMAPPED_X_VAL_MASK = 3,
_AXIS_MAP_CONFIG_REMAPPED_X_VAL_SHIFT = 0,
AXIS_MAP_CONFIG_REMAPPED_Y_VAL0 = 0x04,
AXIS_MAP_CONFIG_REMAPPED_Y_VAL1 = 0x08,
_AXIS_MAP_CONFIG_REMAPPED_Y_VAL_MASK = 3,
_AXIS_MAP_CONFIG_REMAPPED_Y_VAL_SHIFT = 2,
AXIS_MAP_CONFIG_REMAPPED_Z_VAL0 = 0x10,
AXIS_MAP_CONFIG_REMAPPED_Z_VAL1 = 0x20,
_AXIS_MAP_CONFIG_REMAPPED_Z_VAL_MASK = 3,
_AXIS_MAP_CONFIG_REMAPPED_Z_VAL_SHIFT = 4
// 0x40-0x80 reserved
} AXIS_MAP_CONFIG_BITS_T;
/**
* REMAPPED_AXIS values, applied to X, Y, and Z axes
* (REG_AXIS_MAP_CONFIG)
*/
typedef enum {
REMAPPED_AXIS_X = 0,
REMAPPED_AXIS_Y = 1,
REMAPPED_AXIS_Z = 2
} REMAPPED_AXIS_T;
/**
* REG_AXIS_MAP_SIGN bits
*/
typedef enum {
AXIS_MAP_SIGN_REMAPPED_Z_SIGN = 0x01,
AXIS_MAP_SIGN_REMAPPED_Y_SIGN = 0x02,
AXIS_MAP_SIGN_REMAPPED_X_SIGN = 0x04
// 0x08-0x80 reserved
} AXIS_MAP_SIGN_BITS_T;
// Page 1 register enumerants
/**
* REG_ACC_CONFIG bits
*/
typedef enum {
ACC_CONFIG_ACC_RANGE0 = 0x01,
ACC_CONFIG_ACC_RANGE1 = 0x02,
_ACC_CONFIG_ACC_RANGE_MASK = 3,
_ACC_CONFIG_ACC_RANGE_SHIFT = 0,
ACC_CONFIG_ACC_BW0 = 0x04,
ACC_CONFIG_ACC_BW1 = 0x08,
ACC_CONFIG_ACC_BW2 = 0x10,
_ACC_CONFIG_ACC_BW_MASK = 7,
_ACC_CONFIG_ACC_BW_SHIFT = 2,
ACC_CONFIG_ACC_PWR_MODE0 = 0x20,
ACC_CONFIG_ACC_PWR_MODE1 = 0x40,
ACC_CONFIG_ACC_PWR_MODE2 = 0x80,
_ACC_CONFIG_ACC_PWR_MODE_MASK = 7,
_ACC_CONFIG_ACC_PWR_MODE_SHIFT = 5
} ACC_CONFIG_BITS_T;
/**
* ACC_CONFIG_ACC_RANGE values
*/
typedef enum {
ACC_RANGE_2G = 0,
ACC_RANGE_4G = 1,
ACC_RANGE_8G = 2,
ACC_RANGE_16G = 3
} ACC_RANGE_T;
/**
* ACC_CONFIG_ACC_BW values
*/
typedef enum {
ACC_BW_7_81 = 0, // 7.81 Hz
ACC_BW_15_53 = 1,
ACC_BW_31_25 = 2,
ACC_BW_62_5 = 3,
ACC_BW_125 = 4, // 125 Hz
ACC_BW_250 = 5,
ACC_BW_500 = 6,
ACC_BW_1000 = 7
} ACC_BW_T;
/**
* ACC_PWR_MODE values
*/
typedef enum {
ACC_PWR_MODE_NORMAL = 0,
ACC_PWR_MODE_SUSPEND = 1,
ACC_PWR_MODE_LOWPOWER1 = 2,
ACC_PWR_MODE_STANDBY = 3,
ACC_PWR_MODE_LOWPOWER2 = 4,
ACC_PWR_MODE_DEEPSUSPEND = 5
} ACC_PWR_MODE_T;
/**
* REG_MAG_CONFIG bits
*/
typedef enum {
MAG_CONFIG_MAG_ODR0 = 0x01,
MAG_CONFIG_MAG_ODR1 = 0x02,
MAG_CONFIG_MAG_ODR2 = 0x04,
_MAG_CONFIG_MAG_ODR_MASK = 7,
_MAG_CONFIG_MAG_ODR_SHIFT = 0,
MAG_CONFIG_MAG_OPR_MODE0 = 0x08,
MAG_CONFIG_MAG_OPR_MODE1 = 0x10,
_MAG_CONFIG_MAG_OPR_MODE_MASK = 3,
_MAG_CONFIG_MAG_OPR_MODE_SHIFT = 3,
MAG_CONFIG_MAG_POWER_MODE0 = 0x20,
MAG_CONFIG_MAG_POWER_MODE1 = 0x40,
_MAG_CONFIG_MAG_POWER_MODE_MASK = 3,
_MAG_CONFIG_MAG_POWER_MODE_SHIFT = 5
// 0x80 reserved
} MAG_CONFIG_BITS_T;
/**
* MAG_ODR values
*/
typedef enum {
MAG_ODR_2 = 0, // 2Hz
MAG_ODR_6 = 1,
MAG_ODR_8 = 2,
MAG_ODR_10 = 3,
MAG_ODR_15 = 4,
MAG_ODR_20 = 5,
MAG_ODR_25 = 6,
MAG_ODR_30 = 7
} MAG_ODR_T;
/**
* MAG_OPR values
*/
typedef enum {
MAG_OPR_LOW = 0, // low power
MAG_OPR_REGULAR = 1,
MAG_OPR_ENHANCED_REGULAR = 2,
MAG_OPR_HIGH_ACCURACY = 3
} MAG_OPR_T;
/**
* MAG_POWER values
*/
typedef enum {
MAG_POWER_NORMAL = 0,
MAG_POWER_SLEEP = 1,
MAG_POWER_SUSPEND = 2,
MAG_POWER_FORCE_MODE = 3
} MAG_POWER_T;
/**
* REG_GYR_CONFIG0 bits
*/
typedef enum {
GYR_CONFIG0_GYR_RANGE0 = 0x01,
GYR_CONFIG0_GYR_RANGE1 = 0x02,
GYR_CONFIG0_GYR_RANGE2 = 0x04,
_GYR_CONFIG0_GYR_RANGE_MASK = 7,
_GYR_CONFIG0_GYR_RANGE_SHIFT = 0,
GYR_CONFIG0_GYR_BW0 = 0x08,
GYR_CONFIG0_GYR_BW1 = 0x10,
GYR_CONFIG0_GYR_BW2 = 0x20,
_GYR_CONFIG0_GYR_BW_MASK = 7,
_GYR_CONFIG0_GYR_BW_SHIFT = 3
// 0x40-0x80 reserved
} GYR_CONFIG0_BITS_T;
/**
* GYR_RANGE values
*/
typedef enum {
GYR_RANGE_2000 = 0, // degrees/sec
GYR_RANGE_1000 = 1,
GYR_RANGE_500 = 2,
GYR_RANGE_250 = 3,
GYR_RANGE_125 = 4
} GYR_RANGE_T;
/**
* GYR_BW values
*/
typedef enum {
GYR_BW_523 = 0, // Hz
GYR_BW_230 = 1,
GYR_BW_116 = 2,
GYR_BW_47 = 3,
GYR_BW_23 = 4,
GYR_BW_12 = 5,
GYR_BW_64 = 6,
GYR_BW_32 = 7
} GYR_BW_T;
/**
* REG_GYR_CONFIG1 bits
*/
typedef enum {
GYR_CONFIG1_GYR_POWER_MODE0 = 0x01,
GYR_CONFIG1_GYR_POWER_MODE1 = 0x02,
GYR_CONFIG1_GYR_POWER_MODE2 = 0x04,
_GYR_CONFIG1_GYR_POWER_MODE_MASK = 7,
_GYR_CONFIG1_GYR_POWER_MODE_SHIFT = 0
// 0x08-0x80 reserved
} GYR_CONFIG1_BITS_T;
/**
* GYR_POWER_MODE values
*/
typedef enum {
GYR_POWER_MODE_NORMAL = 0,
GYR_POWER_MODE_FAST_POWERUP = 1,
GYR_POWER_MODE_DEEP_SUSPEND = 2,
GYR_POWER_MODE_SUSPEND = 3,
GYR_POWER_MODE_ADVANCED_POWERSAVE= 4
} GYR_POWER_MODE_T;
/**
* REG_ACC_SLEEP_CONFIG bits
*/
typedef enum {
ACC_SLEEP_CONFIG_SLP_MODE = 0x01, // 0=event, 1=equidistant sample
ACC_SLEEP_CONFIG_ACC_SLP_DUR0 = 0x02,
ACC_SLEEP_CONFIG_ACC_SLP_DUR1 = 0x04,
ACC_SLEEP_CONFIG_ACC_SLP_DUR2 = 0x08,
ACC_SLEEP_CONFIG_ACC_SLP_DUR3 = 0x10,
_ACC_SLEEP_CONFIG_ACC_SLP_DUR_MASK = 15,
_ACC_SLEEP_CONFIG_ACC_SLP_DUR_SHIFT = 1
// 0x20-0x80 reserved
} ACC_SLEEP_CONFIG_BITS_T;
/**
* ACC_SLP_DUR values
*/
typedef enum {
ACC_SLP_DUR_0_5 = 0, // 0.5ms
// same for 1-5
ACC_SLP_DUR_1 = 6, // 1ms
ACC_SLP_DUR_2 = 7,
ACC_SLP_DUR_4 = 8,
ACC_SLP_DUR_6 = 9,
ACC_SLP_DUR_10 = 10,
ACC_SLP_DUR_25 = 11,
ACC_SLP_DUR_50 = 12,
ACC_SLP_DUR_100 = 13,
ACC_SLP_DUR_500 = 14
// 15 = 1ms
} ACC_SLP_DUR_T;
/**
* REG_GYR_SLEEP_CONFIG bits
*/
typedef enum {
GYR_SLEEP_CONFIG_GYR_SLEEP_DUR0 = 0x01,
GYR_SLEEP_CONFIG_GYR_SLEEP_DUR1 = 0x02,
GYR_SLEEP_CONFIG_GYR_SLEEP_DUR2 = 0x04,
_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR_MASK = 7,
_GYR_SLEEP_CONFIG_GYR_SLEEP_DUR_SHIFT = 0,
GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR0 = 0x08,
GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR1 = 0x10,
GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR2 = 0x20,
_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR_MASK = 7,
_GYR_SLEEP_CONFIG_GYR_AUTO_SLP_DUR_SHIFT = 3
// 0x40-0x80 reserved
} GYR_SLEEP_CONFIG_BITS_T;
/**
* GYR_SLEEP_DUR values
*/
typedef enum {
GYR_SLEEP_DUR_2 = 0, // 2ms
GYR_SLEEP_DUR_4 = 1,
GYR_SLEEP_DUR_5 = 2,
GYR_SLEEP_DUR_8 = 3,
GYR_SLEEP_DUR_10 = 4,
GYR_SLEEP_DUR_15 = 5,
GYR_SLEEP_DUR_18 = 6,
GYR_SLEEP_DUR_20 = 7
} GYR_SLEEP_DUR_T;
/**
* GYR_AUTO_SLP_DUR values
*/
typedef enum {
// 0 = illegal
GYR_AUTO_SLP_DUR_4 = 1, // ms
GYR_AUTO_SLP_DUR_5 = 2,
GYR_AUTO_SLP_DUR_8 = 3,
GYR_AUTO_SLP_DUR_10 = 4,
GYR_AUTO_SLP_DUR_15 = 5,
GYR_AUTO_SLP_DUR_20 = 6,
GYR_AUTO_SLP_DUR_40 = 7
} GYR_AUTO_SLP_DUR_T;
/**
* REG_INT_MSK and REG_INT_EN bits
*/
typedef enum {
// 0x00-0x02 reserved
INT_GYRO_AM = 0x04, // gyro any-motion
INT_GYRO_HIGH_RATE = 0x08,
// 0x10 reserved
INT_ACC_HIGH_G = 0x20,
INT_ACC_AM = 0x40, // acc any-motion
INT_ACC_NM = 0x80, // acc no-motion
} INT_BITS_T;
/**
* REG_ACC_INT_SETTINGS bits
*/
typedef enum {
ACC_INT_SETTINGS_AM_DUR0 = 0x01,
ACC_INT_SETTINGS_AM_DUR1 = 0x02,
_ACC_INT_SETTINGS_AM_DUR_MASK = 3,
_ACC_INT_SETTINGS_AM_DUR_SHIFT = 0,
ACC_INT_SETTINGS_AM_NM_X_AXIS = 0x04,
ACC_INT_SETTINGS_AM_NM_Y_AXIS = 0x08,
ACC_INT_SETTINGS_AM_NM_Z_AXIS = 0x10,
ACC_INT_SETTINGS_HG_X_AXIS = 0x20,
ACC_INT_SETTINGS_HG_Y_AXIS = 0x40,
ACC_INT_SETTINGS_HG_Z_AXIS = 0x80
} ACC_INT_SETTINGS_BITS_T;
/**
* REG_ACC_NM_SET bits
*/
typedef enum {
ACC_NM_SET_SM_NM = 0x01, // 0=slowmotion, 1=nomotion
ACC_NM_SET_SM_NM_DUR0 = 0x02,
ACC_NM_SET_SM_NM_DUR1 = 0x04,
ACC_NM_SET_SM_NM_DUR2 = 0x08,
ACC_NM_SET_SM_NM_DUR3 = 0x10,
ACC_NM_SET_SM_NM_DUR4 = 0x20,
ACC_NM_SET_SM_NM_DUR5 = 0x40,
_ACC_NM_SET_SM_NM_DUR_MASK = 63,
_ACC_NM_SET_SM_NM_DUR_SHIFT = 1
// 0x80 reserved
} ACC_NM_SET_BITS_T;
/**
* REG_GYR_INT_SETTING bits
*/
typedef enum {
GYR_INT_SETTING_AM_X_AXIS = 0x01,
GYR_INT_SETTING_AM_Y_AXIS = 0x02,
GYR_INT_SETTING_AM_Z_AXIS = 0x04,
GYR_INT_SETTING_HR_X_AXIS = 0x08,
GYR_INT_SETTING_HR_Y_AXIS = 0x10,
GYR_INT_SETTING_HR_Z_AXIS = 0x20,
GYR_INT_SETTING_AM_FILT = 0x40,
GYR_INT_SETTING_HR_FILT = 0x80
} GYR_INT_SETTING_BITS_T;
/**
* REG_GYR_HR_X_SET, REG_GYR_HR_Y_SET, and REG_GYR_HR_Z_SET bits
*/
typedef enum {
GYR_HR_XYZ_SET_HR_THRESH0 = 0x01,
GYR_HR_XYZ_SET_HR_THRESH1 = 0x02,
GYR_HR_XYZ_SET_HR_THRESH2 = 0x04,
GYR_HR_XYZ_SET_HR_THRESH3 = 0x08,
GYR_HR_XYZ_SET_HR_THRESH4 = 0x10,
_GYR_HR_XYZ_SET_HR_THRESH_MASK = 31,
_GYR_HR_XYZ_SET_HR_THRESH_SHIFT = 0,
GYR_HR_XYZ_SET_HR_THRESH_HYST0 = 0x20,
GYR_HR_XYZ_SET_HR_THRESH_HYST1 = 0x40,
_GYR_HR_XYZ_SET_HR_THRESH_HYST_MASK = 3,
_GYR_HR_XYZ_SET_HR_THRESH_HYST_SHIFT = 5
} GYR_HR_XYZ_SET_BITS_T;
/**
* REG_GYR_AM_SET bits
*/
typedef enum {
GYR_AM_SET_SLOPE_SAMPLES0 = 0x01,
GYR_AM_SET_SLOPE_SAMPLES1 = 0x02,
_GYR_AM_SET_SLOPE_SAMPLES_MASK = 3,
_GYR_AM_SET_SLOPE_SAMPLES_SHIFT = 0,
GYR_AM_SET_AWAKE_DUR0 = 0x04,
GYR_AM_SET_AWAKE_DUR1 = 0x08,
_GYR_AM_SET_AWAKE_DUR_MASK = 3,
_GYR_AM_SET_AWAKE_DUR_SHIFT = 2
// 0x10-0x80 reserved
} GYR_AM_SET_BITS_T;
/**
* GYR_AM_SET_SLOPE_SAMPLES values
*/
typedef enum {
SLOPE_SAMPLES_8 = 0, // 8 samples
SLOPE_SAMPLES_16 = 1,
SLOPE_SAMPLES_32 = 2,
SLOPE_SAMPLES_64 = 3
} SLOPE_SAMPLES_T;
/**
* BNO055 constructor.
*
* By default, the constructor 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 address for this device.
*/
BNO055(int bus=BNO055_I2C_BUS, uint8_t addr=BNO055_DEFAULT_ADDR);
/**
* BNO055 Destructor.
*/
~BNO055();
/**
* Update the internal stored values from sensor data.
*/
void update();
/**
* Return the chip ID.
*
* @return The chip ID (BNO055_CHIPID).
*/
uint8_t getChipID();
/**
* Return the accelerometer chip ID.
*
* @return The chip ID.
*/
uint8_t getACCID();
/**
* Return the magnetometer chip ID.
*
* @return The chip ID.
*/
uint8_t getMAGID();
/**
* Return the gyroscope chip ID.
*
* @return The chip ID.
*/
uint8_t getGYRID();
/**
* Return the fusion firmware revison.
*
* @return The firmware revison.
*/
uint16_t getSWRevID();
/**
* Return the bootloader ID.
*
* @return The bootloader ID.
*/
uint8_t getBootLoaderID();
/**
* 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 extClock true to use external clock, false otherwise.
*/
void setClockExternal(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 src One of the TEMP_SOURCES_T values.
*/
void setTemperatureSource(TEMP_SOURCES_T src);
/**
* Select the temperature units. This can be the Fahrenheit or
* Celsius.
*
* @param celsius true for Celius, false for Fahrenheit.
*/
void setTemperatureUnits(bool celsius);
/**
* 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 mode One of the OPERATION_MODES_T values.
*/
void setOperationMode(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
* recalibrated.
*/
void resetSystem();
/**
* Read the calibration status registers and return them. The
* values range from 0 (uncalibrated) to 3 (fully calibrated).
*
* @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 getCalibrationStatus(int *mag, int *acc, int *gyr, int *sys);
/**
* Read the calibration status registers and return them as an
* integer array. The values range from 0 (uncalibrated) to 3
* (fully calibrated).
*
* @return An integer array containing the values in the order:
* mag, acc, gyr, and sys.
*/
int *getCalibrationStatus();
/**
* Read the calibration status registers and return true or false,
* indicating whether all of the calibration parameters are fully
* calibrated.
*
* @return true if all 4 calibration parameters are fully
* calibrated, else false.
*/
bool isFullyCalibrated();
/**
* Read the calibration data and return it as a string. This data
* can then be saved for later reuse by writeCalibrationData() to
* restore calibration data after a reset.
*
* @return string representing calibration data.
*/
std::string readCalibrationData();
/**
* Write previously saved calibration data to the calibration
* registers.
*
* @param string representing calibration data, as returned by
* readCalibrationData().
*/
void writeCalibrationData(std::string calibData);
/**
* 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 fahrenheit true to return data in Fahrenheit, false for
* Celicus. Celsius is the default.
* @return The temperature in degrees Celsius or Fahrenheit.
*/
float getTemperature(bool fahrenheit=false);
/**
* 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 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 getEulerAngles(float *heading, float *roll, float *pitch);
/**
* Return current orientation fusion data in the form of Euler
* Angles as a floating point array. By default, the returned
* values are in degrees. update() must have been called prior to
* calling this method.
*
* @return A floating point array containing heading, roll, and
* pitch, in that order.
*/
float *getEulerAngles();
/**
* Return current orientation fusion data in the form of
* Quaternions. update() must have been called prior to calling
* this method.
*
* @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 getQuaternions(float *w, float *x, float *y, float *z);
/**
* Return current orientation fusion data in the form of
* Quaternions, as a floating point array. update() must have
* been called prior to calling this method.
*
* @return A floating point array containing w, x, y, and z in
* that order.
*/
float *getQuaternions();
/**
* 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 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 getLinearAcceleration(float *x, float *y, float *z);
/**
* Return current orientation fusion data in the form of Linear
* Acceleration, as a floating point array. update() must have
* been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getLinearAcceleration();
/**
* 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 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 getGravityVectors(float *x, float *y, float *z);
/**
* Return current orientation fusion data in the form of a Gravity
* Vector per-axis as a floating point array. update() must have
* been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getGravityVectors();
/**
* Return uncompensated 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 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 getAccelerometer(float *x, float *y, float *z);
/**
* Return current uncompensated accelerometer (non-fusion) data in
* the form of a floating point array. By default the returned
* values are in meters per-second squared (m/s^2). update() must
* have been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getAccelerometer();
/**
* Return uncompensated 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 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 getMagnetometer(float *x, float *y, float *z);
/**
* Return current uncompensated magnetometer (non-fusion) data in
* the form of a floating point array. The returned values are in
* micro-teslas (uT). update() must have been called prior to
* calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getMagnetometer();
/**
* Return uncompensated 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 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 getGyroscope(float *x, float *y, float *z);
/**
* Return current uncompensated gyroscope (non-fusion) data in the
* form of a floating point array. By default the returned values
* are in meters per-second squared (m/s^2). update() must have
* been called prior to calling this method.
*
* @return A floating point array containing x, y, and z in
* that order.
*/
float *getGyroscope();
/**
* Set the bandwidth, range, and power modes of the accelerometer.
* In fusion modes, these values will be ignored.
*
* @param range One of the ACC_RANGE_T values.
* @param bw One of the ACC_BW_T values.
* @param pwr One of the ACC_PWR_MODE_T values.
*/
void setAccelerationConfig(ACC_RANGE_T range, ACC_BW_T bw,
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 odr One of the MAG_ODR_T values.
* @param opr One of the MAG_OPR_T values.
* @param pwr One of the MAG_POWER_T values.
*/
void setMagnetometerConfig(MAG_ODR_T odr, MAG_OPR_T opr,
MAG_POWER_T pwr);
/**
* Set the range, bandwidth and power modes of the gyroscope. In
* fusion modes, these values will be ignored.
*
* @param range One of the GYR_RANGE_T values.
* @param bw One of the GYR_BW_T values.
* @param pwr One of the GYR_POWER_MODE_T values.
*/
void setGyroscopeConfig(GYR_RANGE_T range, GYR_BW_T bw,
GYR_POWER_MODE_T pwr);
/**
* Set the unit of measurement for the accelerometer related
* sensor values. The choices are mg (milligrams) or meters
* per-second squared (m/s^2). The default is m/s^2.
*
* @param mg true for mg, false for m/s^2.
*/
void setAccelerometerUnits(bool mg=false);
/**
* Set the unit of measurement for the gyroscope related sensor
* values. The choices are degrees and radians. The default is
* degrees.
*
* @param radians true for radians, false for degrees.
*/
void setGyroscopeUnits(bool radians=false);
/**
* Set the unit of measurement for the Euler Angle related sensor
* values. The choices are degrees and radians. The default is
* degrees.
*
* @param radians true for radians, false for degrees.
*/
void setEulerUnits(bool radians=false);
/**
* Reset all interrupt status bits and interrupt output.
*/
void resetInterruptStatus();
/**
* Return the interrupt status register. This is a bitmask of the
* INT_STA_BITS_T bits.
*
* @return a bitmask of INT_STA_BITS_T bits.
*/
uint8_t getInterruptStatus();
/**
* Return the interrupt enables register. This is a bitmask of the
* INT_STA_BITS_T bits.
*
* @return a bitmask of INT_STA_BITS_T bits currently set in the
* enable register.
*/
uint8_t getInterruptEnable();
/**
* Set the interrupt enable register. This is composed of a
* bitmask of the INT_STA_BITS_T bits.
*
* @param enables a bitmask of INT_STA_BITS_T bits to enable
*/
void setInterruptEnable(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.
*
* @return a bitmask of INT_STA_BITS_T bits currently set in the
* interrupt mask register.
*/
uint8_t getInterruptMask();
/**
* 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 a bitmask of INT_STA_BITS_T bits to set in the interrupt
* mask register.
*/
void setInterruptMask(uint8_t mask);
/**
* Return the value of the system status register. This method
* can be used to determine the overall status of the device.
*
* @return One of the SYS_STATUS_T values.
*/
SYS_STATUS_T getSystemStatus();
/**
* Return the value of the system error register. This mathod can
* be used to determine a variety of system related error
* conditions.
*
* @return One of the SYS_ERR_T values.
*/
SYS_ERR_T getSystemError();
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(int gpio, mraa::Edge level, jobject runnable);
#else
/**
* install an interrupt handler.
*
* @param gpio gpio pin to use as interrupt pin
* @param level the interrupt trigger level (one of mraa::Edge
* values). Make sure that you have configured the interrupt pin
* properly for whatever level you choose.
* @param isr the interrupt handler, accepting a void * argument
* @param arg the argument to pass the the interrupt handler
*/
void installISR(int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
/**
* uninstall a previously installed interrupt handler
*
*/
void uninstallISR();
protected:
mraa::I2c m_i2c;
mraa::Gpio *m_gpioIntr;
uint8_t m_addr;
// always stored in C
float m_temperature;
// uncompensated data
// mag data
float m_magX;
float m_magY;
float m_magZ;
// acc data
float m_accX;
float m_accY;
float m_accZ;
// acc units
float m_accUnitScale;
// gyr data
float m_gyrX;
float m_gyrY;
float m_gyrZ;
// gyr units
float m_gyrUnitScale;
// eul (euler angle) data
float m_eulHeading;
float m_eulRoll;
float m_eulPitch;
// eul units
float m_eulUnitScale;
// qua (quaternion) data
float m_quaW;
float m_quaX;
float m_quaY;
float m_quaZ;
// lia (linear acceleration) data
float m_liaX;
float m_liaY;
float m_liaZ;
// grv (gravity vector) data
float m_grvX;
float m_grvY;
float m_grvZ;
void clearData();
bool updateFusionData();
bool updateNonFusionData();
void setPage(uint8_t page, bool force=false);
/**
* Read a register.
*
* @param reg The register to read
* @return The value of the register
*/
uint8_t readReg(uint8_t reg);
/**
* Read contiguous registers into a buffer.
*
* @param buffer The buffer to store the results
* @param len The number of registers to read
*/
void readRegs(uint8_t reg, uint8_t *buffer, int len);
/**
* Write to a register
*
* @param reg The register to write to
* @param val The value to write
* @return true if successful, false otherwise
*/
bool writeReg(uint8_t reg, uint8_t val);
/**
* Write data to contiguous registers
*
* @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 true if successful, false otherwise
*/
bool writeRegs(uint8_t reg, uint8_t *buffer, int len);
private:
int m_currentPage;
OPERATION_MODES_T m_currentMode;
bool m_tempIsC;
// Adding a private function definition for java bindings
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(int gpio, mraa::Edge level,
void (*isr)(void *), void *arg);
#endif
};
}
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