source: rtos_arduino/trunk/arduino_lib/libraries/NAxesMotion/NAxisMotion.cpp@ 136

Last change on this file since 136 was 136, checked in by ertl-honda, 8 years ago

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1/****************************************************************************
2* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
3*
4* NAxisMotion.cpp
5* Date: 2015/02/10
6* Revision: 3.0 $
7*
8* Usage: Source file of the C++ Wrapper for the BNO055 Sensor API
9*
10****************************************************************************
11*
12* Added Arduino M0/M0 Pro support
13*
14* Date: 07/27/2015
15*
16* Modified by: Arduino.org development Team.
17*
18****************************************************************************
19/***************************************************************************
20* License:
21*
22* Redistribution and use in source and binary forms, with or without
23* modification, are permitted provided that the following conditions are met:
24*
25* Redistributions of source code must retain the above copyright
26* notice, this list of conditions and the following disclaimer.
27*
28* Redistributions in binary form must reproduce the above copyright
29* notice, this list of conditions and the following disclaimer in the
30* documentation and/or other materials provided with the distribution.
31*
32* Neither the name of the copyright holder nor the names of the
33* contributors may be used to endorse or promote products derived from
34* this software without specific prior written permission.
35*
36* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
37* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
38* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
39* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
40* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
41* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
42* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
43* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
44* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
45* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
46*
47* The information provided is believed to be accurate and reliable.
48* The copyright holder assumes no responsibility for the consequences of use
49* of such information nor for any infringement of patents or
50* other rights of third parties which may result from its use.
51* No license is granted by implication or otherwise under any patent or
52* patent rights of the copyright holder.
53*/
54#include "NAxisMotion.h"
55//Function Definitions
56/*******************************************************************************************
57*Description: Constructor of the class with the default initialization
58*Input Parameters: None
59*Return Parameter: None
60*******************************************************************************************/
61NAxisMotion::NAxisMotion()
62{
63 //Blank
64}
65
66/*******************************************************************************************
67*Description: Function with the bare minimum initialization
68*Input Parameters: None
69*Return Parameter: None
70*******************************************************************************************/
71void NAxisMotion::initSensor(unsigned int address)
72{
73 //Initialize the GPIO peripheral
74 pinMode(INT_PIN, INPUT_PULLUP); //Configure Interrupt pin
75 pinMode(RESET_PIN, OUTPUT); //Configure Reset pin
76
77 //Power on the BNO055
78 resetSensor(address);
79}
80
81/*******************************************************************************************
82*Description: This function is used to reset the BNO055
83*Input Parameters: None
84*Return Parameter: None
85*******************************************************************************************/
86void NAxisMotion::resetSensor(unsigned int address)
87{
88 //Reset sequence
89 digitalWrite(RESET_PIN, LOW); //Set the Reset pin LOW
90 delay(RESET_PERIOD); //Hold it for a while
91 digitalWrite(RESET_PIN, HIGH); //Set the Reset pin HIGH
92 delay(INIT_PERIOD); //Pause for a while to let the sensor initialize completely (Anything >500ms should be fine)
93 //Initialization sequence
94 //Link the function pointers for communication (late-binding)
95 myBNO.bus_read = BNO055_I2C_bus_read;
96 myBNO.bus_write = BNO055_I2C_bus_write;
97 myBNO.delay_msec = _delay;
98
99 //Set the I2C address here !!! ADDR1 is the default address
100 //myBNO.dev_addr = BNO055_I2C_ADDR1;
101 myBNO.dev_addr = address;
102 //myBNO.dev_addr = BNO055_I2C_ADDR2;
103
104 //Initialize the BNO055 structure to hold the device information
105 bno055_init(&myBNO);
106
107 //Post initialization delay
108 delay(POST_INIT_PERIOD);
109
110 //To set the output data format to the Android style
111 bno055_set_data_output_format(ANDROID);
112
113 //Set the default data update mode to auto
114 dataUpdateMode = AUTO;
115}
116
117/*******************************************************************************************
118*Description: This function is used to set the operation mode of the BNO055
119*Input Parameters:
120* byte operationMode: To assign which operation mode the device has to
121* ---------------------------------------------------
122* Constant Definition Constant Value Comment
123* ---------------------------------------------------
124* OPERATION_MODE_CONFIG 0x00 Configuration Mode
125* (Transient Mode)
126* OPERATION_MODE_ACCONLY 0x01 Accelerometer only
127* OPERATION_MODE_MAGONLY 0x02 Magnetometer only
128* OPERATION_MODE_GYRONLY 0x03 Gyroscope only
129* OPERATION_MODE_ACCMAG 0x04 Accelerometer and Magnetometer only
130* OPERATION_MODE_ACCGYRO 0x05 Accelerometer and Gyroscope only
131* OPERATION_MODE_MAGGYRO 0x06 Magnetometer and Gyroscope only
132* OPERATION_MODE_AMG 0x07 Accelerometer, Magnetometer and
133* Gyroscope (without fusion)
134* OPERATION_MODE_IMUPLUS 0x08 Inertial Measurement Unit
135* (Accelerometer and Gyroscope
136* Sensor Fusion Mode)
137* OPERATION_MODE_COMPASS 0x09 Tilt Compensated Compass
138* (Accelerometer and Magnetometer
139* Sensor Fusion Mode)
140* OPERATION_MODE_M4G 0x0A Magnetometer and Gyroscope Sensor
141* Fusion Mode
142* OPERATION_MODE_NDOF_FMC_OFF 0x0B 9 Degrees of Freedom Sensor Fusion
143* with Fast Magnetometer Calibration Off
144* OPERATION_MODE_NDOF 0x0C 9 Degrees of Freedom Sensor Fusion
145*Return Parameter: None
146*******************************************************************************************/
147void NAxisMotion::setOperationMode(byte operationMode)
148{
149 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
150 comRes = bno055_set_operation_mode(operationMode); //Set the Operation Mode
151}
152
153/*******************************************************************************************
154*Description: This function is used to set the power mode
155*Input Parameters:
156* byte powerMode: To assign the power mode the device has to switch to
157* --------------------------------------
158* Constant Definition Constant Value
159* --------------------------------------
160* POWER_MODE_NORMAL 0x00
161* POWER_MODE_LOWPOWER 0x01
162* POWER_MODE_SUSPEND 0x02
163*Return Parameter:
164*******************************************************************************************/
165void NAxisMotion::setPowerMode(byte powerMode)
166{
167 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
168 comRes = bno055_set_power_mode(powerMode); //Set the Power Mode
169}
170
171/*******************************************************************************************
172*Description: This function is used to update the accelerometer data in m/s2
173*Input Parameters: None
174*Return Parameter: None
175*******************************************************************************************/
176void NAxisMotion::updateAccel(void)
177{
178 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
179 comRes = bno055_convert_float_accel_xyz_msq(&accelData); //Read the data from the sensor
180}
181
182/*******************************************************************************************
183*Description: This function is used to update the magnetometer data in microTesla
184*Input Parameters: None
185*Return Parameter: None
186*******************************************************************************************/
187void NAxisMotion::updateMag(void)
188{
189 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
190 comRes = bno055_convert_float_mag_xyz_uT(&magData); //Read the data from the sensor
191}
192
193/*******************************************************************************************
194*Description: This function is used to update the gyroscope data in deg/s
195*Input Parameters: None
196*Return Parameter: None
197*******************************************************************************************/
198void NAxisMotion::updateGyro(void)
199{
200 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
201 comRes = bno055_convert_float_gyro_xyz_dps(&gyroData); //Read the data from the sensor
202}
203
204/*******************************************************************************************
205*Description: This function is used to update the quaternion data
206*Input Parameters: None
207*Return Parameter: None
208*******************************************************************************************/
209void NAxisMotion::updateQuat(void)
210{
211 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
212 comRes = bno055_read_quaternion_wxyz(&quatData); //Read the data from the sensor
213}
214
215/*******************************************************************************************
216*Description: This function is used to update the euler data in degrees
217*Input Parameters: None
218*Return Parameter: None
219*******************************************************************************************/
220void NAxisMotion::updateEuler(void)
221{
222 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
223 comRes = bno055_convert_float_euler_hpr_deg(&eulerData); //Read the data from the sensor
224}
225
226
227/*******************************************************************************************
228*Description: This function is used to update the linear acceleration data in m/s2
229*Input Parameters: None
230*Return Parameter: None
231*******************************************************************************************/
232void NAxisMotion::updateLinearAccel(void)
233{
234 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
235 comRes = bno055_convert_float_linear_accel_xyz_msq(&linearAccelData); //Read the data from the sensor
236}
237
238/*******************************************************************************************
239*Description: This function is used to update the gravity acceleration data in m/s2
240*Input Parameters: None
241*Return Parameter: None
242*******************************************************************************************/
243void NAxisMotion::updateGravAccel(void)
244{
245 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
246 comRes = bno055_convert_float_gravity_xyz_msq(&gravAccelData); //Read the data from the sensor
247}
248
249/*******************************************************************************************
250*Description: This function is used to update the calibration status
251*Input Parameters: None
252*Return Parameter: None
253*******************************************************************************************/
254void NAxisMotion::updateCalibStatus(void)
255{
256 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
257 comRes = bno055_get_accel_calib_stat(&calibStatus.accel);
258 comRes = bno055_get_mag_calib_stat(&calibStatus.mag);
259 comRes = bno055_get_gyro_calib_stat(&calibStatus.gyro);
260 comRes = bno055_get_sys_calib_stat(&calibStatus.system);
261}
262
263/*******************************************************************************************
264*Description: This function is used to write the accelerometer configurations
265*Input Parameters:
266* uint8_t range: To assign the range of the accelerometer
267* --------------------------------------
268* Constant Definition Constant Value
269* --------------------------------------
270* ACCEL_RANGE_2G 0X00
271* ACCEL_RANGE_4G 0X01
272* ACCEL_RANGE_8G 0X02
273* ACCEL_RANGE_16G 0X03
274* uint8_t bandwidth: To assign the filter bandwidth of the accelerometer
275* --------------------------------------
276* Constant Definition Constant Value
277* --------------------------------------
278* ACCEL_BW_7_81HZ 0x00
279* ACCEL_BW_15_63HZ 0x01
280* ACCEL_BW_31_25HZ 0x02
281* ACCEL_BW_62_5HZ 0X03
282* ACCEL_BW_125HZ 0X04
283* ACCEL_BW_250HZ 0X05
284* ACCEL_BW_500HZ 0X06
285* ACCEL_BW_1000HZ 0X07
286* uint8_t powerMode: To assign the power mode of the accelerometer
287* --------------------------------------
288* Constant Definition Constant Value
289* --------------------------------------
290* ACCEL_NORMAL 0X00
291* ACCEL_SUSPEND 0X01
292* ACCEL_LOWPOWER_1 0X02
293* ACCEL_STANDBY 0X03
294* ACCEL_LOWPOWER_2 0X04
295* ACCEL_DEEPSUSPEND 0X05
296*Return Parameter: None
297*******************************************************************************************/
298void NAxisMotion::writeAccelConfig(uint8_t range, uint8_t bandwidth, uint8_t powerMode)
299{
300 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
301 comRes = bno055_set_accel_range(range);
302 comRes = bno055_set_accel_bw(bandwidth);
303 comRes = bno055_set_accel_power_mode(powerMode);
304}
305
306/*******************************************************************************************
307*Description: This function is used to update the accelerometer configurations
308*Input Parameters: None
309*Return Parameter: None
310*******************************************************************************************/
311void NAxisMotion::updateAccelConfig(void)
312{
313 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
314 comRes = bno055_get_accel_range(&accelStatus.range);
315 comRes = bno055_get_accel_bw(&accelStatus.bandwidth);
316 comRes = bno055_get_accel_power_mode(&accelStatus.powerMode);
317}
318
319/*******************************************************************************************
320*Description: This function is used to control which axis of the accelerometer triggers the
321* interrupt
322*Input Parameters:
323* bool xStatus: To know whether the x axis has to trigger the interrupt
324* ---------------------------------------------------
325* Constant Definition Constant Value Comment
326* ---------------------------------------------------
327* ENABLE 1 Enables interrupts from that axis
328* DISABLE 0 Disables interrupts from that axis
329* bool yStatus: To know whether the x axis has to trigger the interrupt
330* ---------------------------------------------------
331* Constant Definition Constant Value Comment
332* ---------------------------------------------------
333* ENABLE 1 Enables interrupts from that axis
334* DISABLE 0 Disables interrupts from that axis
335* bool zStatus: To know whether the x axis has to trigger the interrupt
336* ---------------------------------------------------
337* Constant Definition Constant Value Comment
338* ---------------------------------------------------
339* ENABLE 1 Enables interrupts from that axis
340* DISABLE 0 Disables interrupts from that axis
341*Return Parameter: None
342*******************************************************************************************/
343void NAxisMotion::accelInterrupts(bool xStatus, bool yStatus, bool zStatus)
344{
345 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
346 comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS, xStatus);
347 comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS, yStatus);
348 comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS, zStatus);
349}
350
351/*******************************************************************************************
352*Description: This function is used to reset the interrupt line
353*Input Parameters: None
354*Return Parameter: None
355*******************************************************************************************/
356void NAxisMotion::resetInterrupt(void)
357{
358 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
359 comRes = bno055_set_intr_rst(ENABLE);
360}
361
362/*******************************************************************************************
363*Description: This function is used to enable the any motion interrupt based on the
364* accelerometer
365*Input Parameters:
366* uint8_t threshold: The threshold that triggers the any motion interrupt
367* The threshold should be entered as an integer. The corresponding value of
368* the threshold depends on the range that has been set on the
369* accelerometer. Below is a table showing the value of 1LSB in
370* corresponding units.
371* Resolution:
372* ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
373* ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
374* ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
375* ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
376* Maximum:
377* ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
378* ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
379* ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
380* ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
381* uint8_t duration: The duration for which the desired threshold exist
382* The time difference between the successive acceleration signals depends
383* on the selected bandwidth and equates to 1/(2*bandwidth).
384* In order to suppress false triggers, the interrupt is only generated (cleared)
385* if a certain number N of consecutive slope data points is larger (smaller)
386* than the slope 'threshold'. This number is set by the 'duration'.
387* It is N = duration + 1.
388* Resolution:
389* ACCEL_BW_7_81HZ, 1LSB = 64ms
390* ACCEL_BW_15_63HZ, 1LSB = 32ms
391* ACCEL_BW_31_25HZ, 1LSB = 16ms
392* ACCEL_BW_62_5HZ, 1LSB = 8ms
393* ACCEL_BW_125HZ, 1LSB = 4ms
394* ACCEL_BW_250HZ, 1LSB = 2ms
395* ACCEL_BW_500HZ, 1LSB = 1ms
396* ACCEL_BW_1000HZ, 1LSB = 0.5ms
397*Return Parameter: None
398*******************************************************************************************/
399void NAxisMotion::enableAnyMotion(uint8_t threshold, uint8_t duration)
400{
401 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
402 comRes = bno055_set_accel_any_motion_thres(threshold);
403 comRes = bno055_set_accel_any_motion_durn(duration);
404 comRes = bno055_set_intr_accel_any_motion(ENABLE);
405 comRes = bno055_set_intr_mask_accel_any_motion(ENABLE);
406}
407
408/*******************************************************************************************
409*Description: This function is used to disable the any motion interrupt
410*Input Parameters: None
411*Return Parameter: None
412*******************************************************************************************/
413void NAxisMotion::disableAnyMotion(void)
414{
415 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
416 comRes = bno055_set_intr_accel_any_motion(DISABLE);
417 comRes = bno055_set_intr_mask_accel_any_motion(DISABLE);
418}
419
420/*******************************************************************************************
421*Description: This function is used to enable the slow or no motion interrupt based on the
422* accelerometer
423*Input Parameters:
424* uint8_t threshold: The threshold that triggers the no motion interrupt
425* The threshold should be entered as an integer. The corresponding value of
426* the threshold depends on the range that has been set on the
427* accelerometer. Below is a table showing the value of 1LSB in
428* corresponding units.
429* Resolution:
430* ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
431* ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
432* ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
433* ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
434* Maximum:
435* ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
436* ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
437* ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
438* ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
439* uint8_t duration: The duration for which the desired threshold should be surpassed
440* The time difference between the successive acceleration signals depends
441* on the selected bandwidth and equates to 1/(2*bandwidth).
442* In order to suppress false triggers, the interrupt is only generated (cleared)
443* if a certain number N of consecutive slope data points is larger (smaller)
444* than the slope 'threshold'. This number is set by the 'duration'.
445* It is N = duration + 1.
446* Resolution:
447* ACCEL_BW_7_81HZ, 1LSB = 64ms
448* ACCEL_BW_15_63HZ, 1LSB = 32ms
449* ACCEL_BW_31_25HZ, 1LSB = 16ms
450* ACCEL_BW_62_5HZ, 1LSB = 8ms
451* ACCEL_BW_125HZ, 1LSB = 4ms
452* ACCEL_BW_250HZ, 1LSB = 2ms
453* ACCEL_BW_500HZ, 1LSB = 1ms
454* ACCEL_BW_1000HZ, 1LSB = 0.5ms
455* bool motion: To trigger either a Slow motion or a No motion interrupt
456* ---------------------------------------------------
457* Constant Definition Constant Value Comment
458* ---------------------------------------------------
459* NO_MOTION 1 Enables the no motion interrupt
460* SLOW_MOTION 0 Enables the slow motion interrupt
461*Return Parameter: None
462*******************************************************************************************/
463void NAxisMotion::enableSlowNoMotion(uint8_t threshold, uint8_t duration, bool motion)
464{
465 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
466 comRes = bno055_set_accel_slow_no_motion_enable(motion);
467 comRes = bno055_set_accel_slow_no_motion_thres(threshold);
468 comRes = bno055_set_accel_slow_no_motion_durn(duration);
469 comRes = bno055_set_intr_accel_no_motion(ENABLE);
470 comRes = bno055_set_intr_mask_accel_no_motion(ENABLE);
471}
472
473/*******************************************************************************************
474*Description: This function is used to disable the slow or no motion interrupt
475*Input Parameters: None
476*Return Parameter: None
477*******************************************************************************************/
478void NAxisMotion::disableSlowNoMotion(void)
479{
480 BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
481 comRes = bno055_set_intr_accel_no_motion(DISABLE);
482 comRes = bno055_set_intr_mask_accel_any_motion(DISABLE);
483}
484
485/*******************************************************************************************
486*Description: This function is used to change the mode of updating the local data
487*Input Parameters: None
488*Return Parameter: None
489*******************************************************************************************/
490void NAxisMotion::setUpdateMode(bool updateMode)
491{
492 dataUpdateMode = updateMode;
493}
494
495/*******************************************************************************************
496*Description: This function is used to return the x-axis of the accelerometer data
497*Input Parameters: None
498*Return Parameter:
499* float: X-axis accelerometer data in m/s2
500*******************************************************************************************/
501float NAxisMotion::readAccelX(void)
502{
503 if (dataUpdateMode == AUTO)
504 {
505 updateAccel();
506 }
507 return accelData.x;
508}
509
510/*******************************************************************************************
511*Description: This function is used to return the y-axis of the accelerometer data
512*Input Parameters: None
513*Return Parameter:
514* float: Y-axis accelerometer data in m/s2
515*******************************************************************************************/
516float NAxisMotion::readAccelY(void)
517{
518 if (dataUpdateMode == AUTO)
519 {
520 updateAccel();
521 }
522 return accelData.y;
523}
524
525/*******************************************************************************************
526*Description: This function is used to return the z-axis of the accelerometer data
527*Input Parameters: None
528*Return Parameter:
529* float: Z-axis accelerometer data in m/s2
530*******************************************************************************************/
531float NAxisMotion::readAccelZ(void)
532{
533 if (dataUpdateMode == AUTO)
534 {
535 updateAccel();
536 }
537 return accelData.z;
538}
539
540/*******************************************************************************************
541*Description: This function is used to return the x-axis of the gyroscope data
542*Input Parameters: None
543*Return Parameter:
544* float: X-axis gyroscope data in deg/s
545*******************************************************************************************/
546float NAxisMotion::readGyroX(void)
547{
548 if (dataUpdateMode == AUTO)
549 {
550 updateGyro();
551 }
552 return gyroData.x;
553}
554
555/*******************************************************************************************
556*Description: This function is used to return the y-axis of the gyroscope data
557*Input Parameters: None
558*Return Parameter:
559* float: Y-axis gyroscope data in deg/s
560*******************************************************************************************/
561float NAxisMotion::readGyroY(void)
562{
563 if (dataUpdateMode == AUTO)
564 {
565 updateGyro();
566 }
567 return gyroData.y;
568}
569
570/*******************************************************************************************
571*Description: This function is used to return the z-axis of the gyroscope data
572*Input Parameters: None
573*Return Parameter:
574* float: Z-axis gyroscope data in deg/s
575*******************************************************************************************/
576float NAxisMotion::readGyroZ(void)
577{
578 if (dataUpdateMode == AUTO)
579 {
580 updateGyro();
581 }
582 return gyroData.z;
583}
584
585/*******************************************************************************************
586*Description: This function is used to return the x-axis of the magnetometer data
587*Input Parameters: None
588*Return Parameter:
589* float: X-axis magnetometer data in µT
590*******************************************************************************************/
591float NAxisMotion::readMagX(void)
592{
593 if (dataUpdateMode == AUTO)
594 {
595 updateMag();
596 }
597 return magData.x;
598}
599
600/*******************************************************************************************
601*Description: This function is used to return the y-axis of the magnetometer data
602*Input Parameters: None
603*Return Parameter:
604* float: Y-axis magnetometer data in µT
605*******************************************************************************************/
606float NAxisMotion::readMagY(void)
607{
608 if (dataUpdateMode == AUTO)
609 {
610 updateMag();
611 }
612 return magData.y;
613}
614
615/*******************************************************************************************
616*Description: This function is used to return the z-axis of the magnetometer data
617*Input Parameters: None
618*Return Parameter:
619* float: Z-axis magnetometer data in µT
620*******************************************************************************************/
621float NAxisMotion::readMagZ(void)
622{
623 if (dataUpdateMode == AUTO)
624 {
625 updateMag();
626 }
627 return magData.z;
628}
629
630/*******************************************************************************************
631*Description: This function is used to return the w-axis of the quaternion data
632*Input Parameters: None
633*Return Parameter:
634* int16_t: W-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
635*******************************************************************************************/
636int16_t NAxisMotion::readQuatW(void)
637{
638 if (dataUpdateMode == AUTO)
639 {
640 updateQuat();
641 }
642 return quatData.w;
643}
644
645/*******************************************************************************************
646*Description: This function is used to return the x-axis of the quaternion data
647*Input Parameters: None
648*Return Parameter:
649* int16_t: X-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
650*******************************************************************************************/
651int16_t NAxisMotion::readQuatX(void)
652{
653 if (dataUpdateMode == AUTO)
654 {
655 updateQuat();
656 }
657 return quatData.x;
658}
659
660/*******************************************************************************************
661*Description: This function is used to return the y-axis of the quaternion data
662*Input Parameters: None
663*Return Parameter:
664* int16_t: Y-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
665*******************************************************************************************/
666int16_t NAxisMotion::readQuatY(void)
667{
668 if (dataUpdateMode == AUTO)
669 {
670 updateQuat();
671 }
672 return quatData.y;
673}
674
675/*******************************************************************************************
676*Description: This function is used to return the z-axis of the quaternion data
677*Input Parameters: None
678*Return Parameter:
679* int16_t: Z-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
680*******************************************************************************************/
681int16_t NAxisMotion::readQuatZ(void)
682{
683 if (dataUpdateMode == AUTO)
684 {
685 updateQuat();
686 }
687 return quatData.z;
688}
689
690/*******************************************************************************************
691*Description: This function is used to return the heading(yaw) of the euler data
692*Input Parameters: None
693*Return Parameter:
694* float: Heading of the euler data
695*******************************************************************************************/
696float NAxisMotion::readEulerHeading(void)
697{
698 if (dataUpdateMode == AUTO)
699 {
700 updateEuler();
701 }
702 return eulerData.h;
703}
704
705/*******************************************************************************************
706*Description: This function is used to return the roll of the euler data
707*Input Parameters: None
708*Return Parameter:
709* float: Roll of the euler data
710*******************************************************************************************/
711float NAxisMotion::readEulerRoll(void)
712{
713 if (dataUpdateMode == AUTO)
714 {
715 updateEuler();
716 }
717 return eulerData.r;
718}
719
720/*******************************************************************************************
721*Description: This function is used to return the pitch of the euler data
722*Input Parameters: None
723*Return Parameter:
724* float: Pitch of the euler data
725*******************************************************************************************/
726float NAxisMotion::readEulerPitch(void)
727{
728 if (dataUpdateMode == AUTO)
729 {
730 updateEuler();
731 }
732 return eulerData.p;
733}
734
735/*******************************************************************************************
736*Description: This function is used to return the x-axis of the linear acceleration data
737* (accelerometer data without the gravity vector)
738*Input Parameters: None
739*Return Parameter:
740* float: X-axis Linear Acceleration data in m/s2
741*******************************************************************************************/
742float NAxisMotion::readLinearAccelX(void)
743{
744 if (dataUpdateMode == AUTO)
745 {
746 updateLinearAccel();
747 }
748 return linearAccelData.x;
749}
750
751/*******************************************************************************************
752*Description: This function is used to return the y-axis of the linear acceleration data
753* (accelerometer data without the gravity vector)
754*Input Parameters: None
755*Return Parameter:
756* float: Y-axis Linear Acceleration data in m/s2
757*******************************************************************************************/
758float NAxisMotion::readLinearAccelY(void)
759{
760 if (dataUpdateMode == AUTO)
761 {
762 updateLinearAccel();
763 }
764 return linearAccelData.y;
765}
766
767/*******************************************************************************************
768*Description: This function is used to return the z-axis of the linear acceleration data
769* (accelerometer data without the gravity vector)
770*Input Parameters: None
771*Return Parameter:
772* float: Z-axis Linear Acceleration data in m/s2
773*******************************************************************************************/
774float NAxisMotion::readLinearAccelZ(void)
775{
776 if (dataUpdateMode == AUTO)
777 {
778 updateLinearAccel();
779 }
780 return linearAccelData.z;
781}
782
783/*******************************************************************************************
784*Description: This function is used to return the x-axis of the gravity acceleration data
785* (accelerometer data with only the gravity vector)
786*Input Parameters: None
787*Return Parameter:
788* float: X-axis Gravity Acceleration data in m/s2
789*******************************************************************************************/
790float NAxisMotion::readGravAccelX(void)
791{
792 if (dataUpdateMode == AUTO)
793 {
794 updateGravAccel();
795 }
796 return gravAccelData.x;
797}
798
799/*******************************************************************************************
800*Description: This function is used to return the y-axis of the gravity acceleration data
801* (accelerometer data with only the gravity vector)
802*Input Parameters: None
803*Return Parameter:
804* float: Y-axis Gravity Acceleration data in m/s2
805*******************************************************************************************/
806float NAxisMotion::readGravAccelY(void)
807{
808 if (dataUpdateMode == AUTO)
809 {
810 updateGravAccel();
811 }
812 return gravAccelData.y;
813}
814
815/*******************************************************************************************
816*Description: This function is used to return the z-axis of the gravity acceleration data
817* (accelerometer data with only the gravity vector)
818*Input Parameters: None
819*Return Parameter:
820* float: Z-axis Gravity Acceleration data in m/s2
821*******************************************************************************************/
822float NAxisMotion::readGravAccelZ(void)
823{
824 if (dataUpdateMode == AUTO)
825 {
826 updateGravAccel();
827 }
828 return gravAccelData.z;
829}
830
831/*******************************************************************************************
832*Description: This function is used to return the accelerometer calibration status
833*Input Parameters: None
834*Return Parameter:
835* uint8_t: Accelerometer calibration status, 0-3 (0 - low, 3 - high)
836*******************************************************************************************/
837uint8_t NAxisMotion::readAccelCalibStatus(void)
838{
839 if (dataUpdateMode == AUTO)
840 {
841 updateCalibStatus();
842 }
843 return calibStatus.accel;
844}
845
846/*******************************************************************************************
847*Description: This function is used to return the gyroscope calibration status
848*Input Parameters: None
849*Return Parameter:
850* uint8_t: Gyroscope calibration status, 0-3 (0 - low, 3 - high)
851*******************************************************************************************/
852uint8_t NAxisMotion::readGyroCalibStatus(void)
853{
854 if (dataUpdateMode == AUTO)
855 {
856 updateCalibStatus();
857 }
858 return calibStatus.gyro;
859}
860
861/*******************************************************************************************
862*Description: This function is used to return the magnetometer calibration status
863*Input Parameters: None
864*Return Parameter:
865* uint8_t: Magnetometer calibration status, 0-3 (0 - low, 3 - high)
866*******************************************************************************************/
867uint8_t NAxisMotion::readMagCalibStatus(void)
868{
869 if (dataUpdateMode == AUTO)
870 {
871 updateCalibStatus();
872 }
873 return calibStatus.mag;
874}
875
876/*******************************************************************************************
877*Description: This function is used to return the system calibration status
878*Input Parameters: None
879*Return Parameter:
880* uint8_t: System calibration status, 0-3 (0 - low, 3 - high)
881*******************************************************************************************/
882uint8_t NAxisMotion::readSystemCalibStatus(void)
883{
884 if (dataUpdateMode == AUTO)
885 {
886 updateCalibStatus();
887 }
888 return calibStatus.system;
889}
890
891/*******************************************************************************************
892*Description: This function is used to return the accelerometer range
893*Input Parameters: None
894*Return Parameter:
895* uint8_t range: Range of the accelerometer
896* --------------------------------------
897* Constant Definition Constant Value
898* --------------------------------------
899* ACCEL_RANGE_2G 0X00
900* ACCEL_RANGE_4G 0X01
901* ACCEL_RANGE_8G 0X02
902* ACCEL_RANGE_16G 0X03
903*******************************************************************************************/
904uint8_t NAxisMotion::readAccelRange(void)
905{
906 if (dataUpdateMode == AUTO)
907 {
908 updateAccelConfig();
909 }
910 return accelStatus.range;
911}
912
913/*******************************************************************************************
914*Description: This function is used to return the accelerometer bandwidth
915*Input Parameters: None
916*Return Parameter:
917* uint8_t bandwidth: Bandwidth of the accelerometer
918* --------------------------------------
919* Constant Definition Constant Value
920* --------------------------------------
921* ACCEL_BW_7_81HZ 0x00
922* ACCEL_BW_15_63HZ 0x01
923* ACCEL_BW_31_25HZ 0x02
924* ACCEL_BW_62_5HZ 0X03
925* ACCEL_BW_125HZ 0X04
926* ACCEL_BW_250HZ 0X05
927* ACCEL_BW_500HZ 0X06
928* ACCEL_BW_1000HZ 0X07
929*******************************************************************************************/
930uint8_t NAxisMotion::readAccelBandwidth(void)
931{
932 if (dataUpdateMode == AUTO)
933 {
934 updateAccelConfig();
935 }
936 return accelStatus.bandwidth;
937}
938
939/*******************************************************************************************
940*Description: This function is used to return the accelerometer power mode
941*Input Parameters: None
942*Return Parameter:
943* uint8_t powerMode: Power mode of the accelerometer
944* --------------------------------------
945* Constant Definition Constant Value
946* --------------------------------------
947* ACCEL_NORMAL 0X00
948* ACCEL_SUSPEND 0X01
949* ACCEL_LOWPOWER_1 0X02
950* ACCEL_STANDBY 0X03
951* ACCEL_LOWPOWER_2 0X04
952* ACCEL_DEEPSUSPEND 0X05
953*******************************************************************************************/
954uint8_t NAxisMotion::readAccelPowerMode(void)
955{
956 if (dataUpdateMode == AUTO)
957 {
958 updateAccelConfig();
959 }
960 return accelStatus.powerMode;
961}
962
963
964/******************** Bridge Functions for the Sensor API to control the Arduino Hardware******************************************/
965signed char BNO055_I2C_bus_read(unsigned char dev_addr,unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
966{
967 BNO055_RETURN_FUNCTION_TYPE comres = BNO055_ZERO_U8X;
968 I2C.beginTransmission(dev_addr); //Start of transmission
969 I2C.write(reg_addr); //Desired start register
970 comres = I2C.endTransmission(); //Stop of transmission
971 delayMicroseconds(150); //Caution Delay
972 I2C.requestFrom(dev_addr, cnt); //Request data
973 while(I2C.available()) //The slave device may send less than requested (burst read)
974 {
975 *reg_data = I2C.read(); //Receive a byte
976 reg_data++; //Increment pointer
977 }
978 return comres;
979}
980
981
982signed char BNO055_I2C_bus_write(unsigned char dev_addr,unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
983{
984 BNO055_RETURN_FUNCTION_TYPE comres = BNO055_ZERO_U8X;
985 I2C.beginTransmission(dev_addr); //Start of transmission
986 I2C.write(reg_addr); //Desired start register
987 for(unsigned char index = 0; index < cnt; index++) //Note that the BNO055 supports burst write
988 {
989 I2C.write(*reg_data); //Write the data
990 reg_data++; //Increment pointer
991 }
992 comres = I2C.endTransmission(); //Stop of transmission
993 delayMicroseconds(150); //Caution Delay
994 return comres;
995}
996
997void _delay(u_32 period)
998{
999 delay(period);
1000}
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