source: rtos_arduino/trunk/arduino_lib/libraries/NAxesMotion/NAxisMotion.h

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1/****************************************************************************
2* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
3*
4* NAxisMotion.h
5* Date: 2015/02/10
6* Revision: 3.0 $
7*
8* Usage: Header 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#ifndef __NAXISMOTION_H__
55#define __NAXISMOTION_H__
56
57
58
59
60extern "C" {
61#include <utility/BNO055.h>
62}
63#include <Wire.h>
64#include "Arduino.h"
65
66//Custom Data structures
67//Structure to hold the calibration status
68struct bno055_calib_stat_t {
69 uint8_t accel; //Calibration Status of the accelerometer
70 uint8_t mag; //Calibration Status of the magnetometer
71 uint8_t gyro; //Calibration Status of the gyroscope
72 uint8_t system; //Calibration Status of the overall system
73};
74
75//Structure to hold the accelerometer configurations
76struct bno055_accel_stat_t {
77 uint8_t range; //Range: 2G - 16G
78 uint8_t bandwidth; //Bandwidth: 7.81Hz - 1000Hz
79 uint8_t powerMode; //Power mode: Normal - Deep suspend
80};
81
82//GPIO pins used for controlling the Sensor
83#define RESET_PIN 4 //GPIO to reset the BNO055 (RESET pin has to be HIGH for the BNO055 to operate)
84
85#if defined(__AVR_ATmega32U4__) //Arduino Yun and Leonardo
86#define INT_PIN 4 //GPIO to receive the Interrupt from the BNO055 for the Arduino Uno(Interrupt is visible on the INT LED on the Shield)
87#elif defined(ARDUINO_ARCH_SAM) //INT_PIN is the interrupt number not the interrupt pin
88#define INT_PIN 2
89#elif defined(ARDUINO_ARCH_SAMD)
90#define INT_PIN 7
91#else
92#define INT_PIN 0
93#endif
94
95#define ENABLE 1 //For use in function parameters
96#define DISABLE 0 //For use in function parameters
97#define NO_MOTION 1 //Enables the no motion interrupt
98#define SLOW_MOTION 0 //Enables the slow motion interrupt
99#define ANDROID 1 //To set the Output Data Format to Android style
100
101#if defined(ARDUINO_SAM_DUE)
102#define I2C Wire1 //Define which I2C bus is used. Wire1 for the Arduino Due
103#else
104#define I2C Wire //Or Wire
105#endif
106
107#define INIT_PERIOD 600 //Initialization period set to 600ms
108#define RESET_PERIOD 300 //Reset period set to 300ms
109#define POST_INIT_PERIOD 50 //Post initialization delay of 50ms
110#define MANUAL 1 //To manually call the update data functions
111#define AUTO 0 //To automatically call the update data functions
112class NAxisMotion {
113private:
114 bool dataUpdateMode; //Variable to store the mode of updating data
115 struct bno055_t myBNO; //Structure that stores the device information
116 struct bno055_accel_float_t accelData; //Structure that holds the accelerometer data
117 struct bno055_mag_float_t magData; //Structure that holds the magnetometer data
118 struct bno055_gyro_float_t gyroData; //Structure that holds the gyroscope data
119 struct bno055_quaternion_t quatData; //Structure that holds the quaternion data
120 struct bno055_euler_float_t eulerData; //Structure that holds the euler data
121 struct bno055_linear_accel_float_t linearAccelData; //Structure that holds the linear acceleration data
122 struct bno055_gravity_float_t gravAccelData; //Structure that holds the gravity acceleration data
123 struct bno055_calib_stat_t calibStatus; //Structure to hold the calibration status
124 struct bno055_accel_stat_t accelStatus; //Structure to hold the status of the accelerometer configurations
125public:
126 //Function Declarations
127 /*******************************************************************************************
128 *Description: Constructor of the class with the default initialization
129 *Input Parameters: None
130 *Return Parameter: None
131 *******************************************************************************************/
132 NAxisMotion();
133
134 /*******************************************************************************************
135 *Description: Function with the bare minimum initialization
136 *Input Parameters: None
137 *Return Parameter: None
138 *******************************************************************************************/
139 void initSensor(unsigned int address = 0x28);
140
141 /*******************************************************************************************
142 *Description: This function is used to reset the BNO055
143 *Input Parameters: None
144 *Return Parameter: None
145 *******************************************************************************************/
146 void resetSensor(unsigned int address);
147
148 /*******************************************************************************************
149 *Description: This function is used to set the operation mode of the BNO055
150 *Input Parameters:
151 * byte operationMode: To assign which operation mode the device has to
152 * ---------------------------------------------------
153 * Constant Definition Constant Value Comment
154 * ---------------------------------------------------
155 * OPERATION_MODE_CONFIG 0x00 Configuration Mode
156 * (Transient Mode)
157 * OPERATION_MODE_ACCONLY 0x01 Accelerometer only
158 * OPERATION_MODE_MAGONLY 0x02 Magnetometer only
159 * OPERATION_MODE_GYRONLY 0x03 Gyroscope only
160 * OPERATION_MODE_ACCMAG 0x04 Accelerometer and Magnetometer only
161 * OPERATION_MODE_ACCGYRO 0x05 Accelerometer and Gyroscope only
162 * OPERATION_MODE_MAGGYRO 0x06 Magnetometer and Gyroscope only
163 * OPERATION_MODE_AMG 0x07 Accelerometer, Magnetometer and
164 * Gyroscope (without fusion)
165 * OPERATION_MODE_IMUPLUS 0x08 Inertial Measurement Unit
166 * (Accelerometer and Gyroscope
167 * Sensor Fusion Mode)
168 * OPERATION_MODE_COMPASS 0x09 Tilt Compensated Compass
169 * (Accelerometer and Magnetometer
170 * Sensor Fusion Mode)
171 * OPERATION_MODE_M4G 0x0A Magnetometer and Accelerometer Sensor
172 * Fusion Mode
173 * OPERATION_MODE_NDOF_FMC_OFF 0x0B 9 Degrees of Freedom Sensor Fusion
174 * with Fast Magnetometer Calibration Off
175 * OPERATION_MODE_NDOF 0x0C 9 Degrees of Freedom Sensor Fusion
176 *Return Parameter: None
177 *******************************************************************************************/
178 void setOperationMode(byte operationMode);
179
180 /*******************************************************************************************
181 *Description: This function is used to set the power mode
182 *Input Parameters:
183 * byte powerMode: To assign the power mode the device has to switch to
184 * --------------------------------------
185 * Constant Definition Constant Value
186 * --------------------------------------
187 * POWER_MODE_NORMAL 0x00
188 * POWER_MODE_LOWPOWER 0x01
189 * POWER_MODE_SUSPEND 0x02
190 *Return Parameter:
191 *******************************************************************************************/
192 void setPowerMode(byte powerMode);
193
194 /*******************************************************************************************
195 *Description: This function is used to update the accelerometer data in m/s2
196 *Input Parameters: None
197 *Return Parameter: None
198 *******************************************************************************************/
199 void updateAccel(void);
200
201 /*******************************************************************************************
202 *Description: This function is used to update the magnetometer data in microTesla
203 *Input Parameters: None
204 *Return Parameter: None
205 *******************************************************************************************/
206 void updateMag(void);
207
208 /*******************************************************************************************
209 *Description: This function is used to update the gyroscope data in deg/s
210 *Input Parameters: None
211 *Return Parameter: None
212 *******************************************************************************************/
213 void updateGyro(void);
214
215 /*******************************************************************************************
216 *Description: This function is used to update the quaternion data
217 *Input Parameters: None
218 *Return Parameter: None
219 *******************************************************************************************/
220 void updateQuat(void);
221
222 /*******************************************************************************************
223 *Description: This function is used to update the euler data
224 *Input Parameters: None
225 *Return Parameter: None
226 *******************************************************************************************/
227 void updateEuler(void);
228
229 /*******************************************************************************************
230 *Description: This function is used to update the linear acceleration data in m/s2
231 *Input Parameters: None
232 *Return Parameter: None
233 *******************************************************************************************/
234 void updateLinearAccel(void);
235
236 /*******************************************************************************************
237 *Description: This function is used to update the gravity acceleration data in m/s2
238 *Input Parameters: None
239 *Return Parameter: None
240 *******************************************************************************************/
241 void updateGravAccel(void);
242
243 /*******************************************************************************************
244 *Description: This function is used to update the calibration status
245 *Input Parameters: None
246 *Return Parameter: None
247 *******************************************************************************************/
248 void updateCalibStatus(void);
249
250 /*******************************************************************************************
251 *Description: This function is used to write the accelerometer configurations
252 *Input Parameters:
253 * uint8_t range: To assign the range of the accelerometer
254 * --------------------------------------
255 * Constant Definition Constant Value
256 * --------------------------------------
257 * ACCEL_RANGE_2G 0X00
258 * ACCEL_RANGE_4G 0X01
259 * ACCEL_RANGE_8G 0X02
260 * ACCEL_RANGE_16G 0X03
261 * uint8_t bandwidth: To assign the filter bandwidth of the accelerometer
262 * --------------------------------------
263 * Constant Definition Constant Value
264 * --------------------------------------
265 * ACCEL_BW_7_81HZ 0x00
266 * ACCEL_BW_15_63HZ 0x01
267 * ACCEL_BW_31_25HZ 0x02
268 * ACCEL_BW_62_5HZ 0X03
269 * ACCEL_BW_125HZ 0X04
270 * ACCEL_BW_250HZ 0X05
271 * ACCEL_BW_500HZ 0X06
272 * ACCEL_BW_1000HZ 0X07
273 * uint8_t powerMode: To assign the power mode of the accelerometer
274 * --------------------------------------
275 * Constant Definition Constant Value
276 * --------------------------------------
277 * ACCEL_NORMAL 0X00
278 * ACCEL_SUSPEND 0X01
279 * ACCEL_LOWPOWER_1 0X02
280 * ACCEL_STANDBY 0X03
281 * ACCEL_LOWPOWER_2 0X04
282 * ACCEL_DEEPSUSPEND 0X05
283 *Return Parameter: None
284 *******************************************************************************************/
285 void writeAccelConfig(uint8_t range, uint8_t bandwidth, uint8_t powerMode);
286
287 /*******************************************************************************************
288 *Description: This function is used to update the accelerometer configurations
289 *Input Parameters: None
290 *Return Parameter: None
291 *******************************************************************************************/
292 void updateAccelConfig(void);
293
294 /*******************************************************************************************
295 *Description: This function is used to control which axis of the accelerometer triggers the
296 * interrupt
297 *Input Parameters:
298 * bool xStatus: To know whether the x axis has to trigger the interrupt
299 * ---------------------------------------------------
300 * Constant Definition Constant Value Comment
301 * ---------------------------------------------------
302 * ENABLE 1 Enables interrupts from that axis
303 * DISABLE 0 Disables interrupts from that axis
304 * bool yStatus: To know whether the x axis has to trigger the interrupt
305 * ---------------------------------------------------
306 * Constant Definition Constant Value Comment
307 * ---------------------------------------------------
308 * ENABLE 1 Enables interrupts from that axis
309 * DISABLE 0 Disables interrupts from that axis
310 * bool zStatus: To know whether the x axis has to trigger the interrupt
311 * ---------------------------------------------------
312 * Constant Definition Constant Value Comment
313 * ---------------------------------------------------
314 * ENABLE 1 Enables interrupts from that axis
315 * DISABLE 0 Disables interrupts from that axis
316 *Return Parameter: None
317 *******************************************************************************************/
318 void accelInterrupts(bool xStatus, bool yStatus, bool zStatus);
319
320 /*******************************************************************************************
321 *Description: This function is used to reset the interrupt line
322 *Input Parameters: None
323 *Return Parameter: None
324 *******************************************************************************************/
325 void resetInterrupt(void);
326
327 /*******************************************************************************************
328 *Description: This function is used to enable the any motion interrupt based on the
329 * accelerometer
330 *Input Parameters:
331 * uint8_t threshold: The threshold that triggers the any motion interrupt
332 * The threshold should be entered as an integer. The corresponding value of
333 * the threshold depends on the range that has been set on the
334 * accelerometer. Below is a table showing the value of 1LSB in
335 * corresponding units.
336 * Resolution:
337 * ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
338 * ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
339 * ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
340 * ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
341 * Maximum:
342 * ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
343 * ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
344 * ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
345 * ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
346 * uint8_t duration: The duration for which the desired threshold exist
347 * The time difference between the successive acceleration signals depends
348 * on the selected bandwidth and equates to 1/(2*bandwidth).
349 * In order to suppress false triggers, the interrupt is only generated (cleared)
350 * if a certain number N of consecutive slope data points is larger (smaller)
351 * than the slope 'threshold'. This number is set by the 'duration'.
352 * It is N = duration + 1.
353 * Resolution:
354 * ACCEL_BW_7_81HZ, 1LSB = 64ms
355 * ACCEL_BW_15_63HZ, 1LSB = 32ms
356 * ACCEL_BW_31_25HZ, 1LSB = 16ms
357 * ACCEL_BW_62_5HZ, 1LSB = 8ms
358 * ACCEL_BW_125HZ, 1LSB = 4ms
359 * ACCEL_BW_250HZ, 1LSB = 2ms
360 * ACCEL_BW_500HZ, 1LSB = 1ms
361 * ACCEL_BW_1000HZ, 1LSB = 0.5ms
362 *Return Parameter: None
363 *******************************************************************************************/
364 void enableAnyMotion(uint8_t threshold, uint8_t duration);
365
366 /*******************************************************************************************
367 *Description: This function is used to disable the any motion interrupt
368 *Input Parameters: None
369 *Return Parameter: None
370 *******************************************************************************************/
371 void disableAnyMotion(void);
372
373
374 /*******************************************************************************************
375 *Description: This function is used to enable the slow or no motion interrupt based on the
376 * accelerometer
377 *Input Parameters:
378 * uint8_t threshold: The threshold that triggers the no motion interrupt
379 * The threshold should be entered as an integer. The corresponding value of
380 * the threshold depends on the range that has been set on the
381 * accelerometer. Below is a table showing the value of 1LSB in
382 * corresponding units.
383 * Resolution:
384 * ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
385 * ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
386 * ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
387 * ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
388 * Maximum:
389 * ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
390 * ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
391 * ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
392 * ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
393 * uint8_t duration: The duration for which the desired threshold should be surpassed
394 * The time difference between the successive acceleration signals depends
395 * on the selected bandwidth and equates to 1/(2*bandwidth).
396 * In order to suppress false triggers, the interrupt is only generated (cleared)
397 * if a certain number N of consecutive slope data points is larger (smaller)
398 * than the slope 'threshold'. This number is set by the 'duration'.
399 * It is N = duration + 1.
400 * Resolution:
401 * ACCEL_BW_7_81HZ, 1LSB = 64ms
402 * ACCEL_BW_15_63HZ, 1LSB = 32ms
403 * ACCEL_BW_31_25HZ, 1LSB = 16ms
404 * ACCEL_BW_62_5HZ, 1LSB = 8ms
405 * ACCEL_BW_125HZ, 1LSB = 4ms
406 * ACCEL_BW_250HZ, 1LSB = 2ms
407 * ACCEL_BW_500HZ, 1LSB = 1ms
408 * ACCEL_BW_1000HZ, 1LSB = 0.5ms
409 * bool motion: To trigger either a Slow motion or a No motion interrupt
410 * ---------------------------------------------------
411 * Constant Definition Constant Value Comment
412 * ---------------------------------------------------
413 * NO_MOTION 1 Enables the no motion interrupt
414 * SLOW_MOTION 0 Enables the slow motion interrupt
415 *Return Parameter: None
416 *******************************************************************************************/
417 void enableSlowNoMotion(uint8_t threshold, uint8_t duration, bool motion);
418
419 /*******************************************************************************************
420 *Description: This function is used to disable the slow or no motion interrupt
421 *Input Parameters: None
422 *Return Parameter: None
423 *******************************************************************************************/
424 void disableSlowNoMotion(void);
425
426 /*******************************************************************************************
427 *Description: This function is used to change the mode of updating the local data
428 *Input Parameters: None
429 *Return Parameter: None
430 *******************************************************************************************/
431 void setUpdateMode(bool updateMode);
432
433 /*******************************************************************************************
434 *Description: This function is used to return the x-axis of the accelerometer data
435 *Input Parameters: None
436 *Return Parameter:
437 * float: X-axis accelerometer data in m/s2
438 *******************************************************************************************/
439 float readAccelX(void);
440
441 /*******************************************************************************************
442 *Description: This function is used to return the y-axis of the accelerometer data
443 *Input Parameters: None
444 *Return Parameter:
445 * float: Y-axis accelerometer data in m/s2
446 *******************************************************************************************/
447 float readAccelY(void);
448
449 /*******************************************************************************************
450 *Description: This function is used to return the z-axis of the accelerometer data
451 *Input Parameters: None
452 *Return Parameter:
453 * float: Z-axis accelerometer data in m/s2
454 *******************************************************************************************/
455 float readAccelZ(void);
456
457 /*******************************************************************************************
458 *Description: This function is used to return the x-axis of the gyroscope data
459 *Input Parameters: None
460 *Return Parameter:
461 * float: X-axis gyroscope data in deg/s
462 *******************************************************************************************/
463 float readGyroX(void);
464
465 /*******************************************************************************************
466 *Description: This function is used to return the y-axis of the gyroscope data
467 *Input Parameters: None
468 *Return Parameter:
469 * float: Y-axis gyroscope data in deg/s
470 *******************************************************************************************/
471 float readGyroY(void);
472
473 /*******************************************************************************************
474 *Description: This function is used to return the z-axis of the gyroscope data
475 *Input Parameters: None
476 *Return Parameter:
477 * float: Z-axis gyroscope data in deg/s
478 *******************************************************************************************/
479 float readGyroZ(void);
480
481 /*******************************************************************************************
482 *Description: This function is used to return the x-axis of the magnetometer data
483 *Input Parameters: None
484 *Return Parameter:
485 * float: X-axis magnetometer data in µT
486 *******************************************************************************************/
487 float readMagX(void);
488
489 /*******************************************************************************************
490 *Description: This function is used to return the y-axis of the magnetometer data
491 *Input Parameters: None
492 *Return Parameter:
493 * float: Y-axis magnetometer data in µT
494 *******************************************************************************************/
495 float readMagY(void);
496
497 /*******************************************************************************************
498 *Description: This function is used to return the z-axis of the magnetometer data
499 *Input Parameters: None
500 *Return Parameter:
501 * float: Z-axis magnetometer data in µT
502 *******************************************************************************************/
503 float readMagZ(void);
504
505 /*******************************************************************************************
506 *Description: This function is used to return the w-axis of the quaternion data
507 *Input Parameters: None
508 *Return Parameter:
509 * int16_t: W-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
510 *******************************************************************************************/
511 int16_t readQuatW(void);
512
513 /*******************************************************************************************
514 *Description: This function is used to return the x-axis of the quaternion data
515 *Input Parameters: None
516 *Return Parameter:
517 * int16_t: X-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
518 *******************************************************************************************/
519 int16_t readQuatX(void);
520
521 /*******************************************************************************************
522 *Description: This function is used to return the y-axis of the quaternion data
523 *Input Parameters: None
524 *Return Parameter:
525 * int16_t: Y-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
526 *******************************************************************************************/
527 int16_t readQuatY(void);
528
529 /*******************************************************************************************
530 *Description: This function is used to return the z-axis of the quaternion data
531 *Input Parameters: None
532 *Return Parameter:
533 * int16_t: Z-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
534 *******************************************************************************************/
535 int16_t readQuatZ(void);
536
537 /*******************************************************************************************
538 *Description: This function is used to return the heading(yaw) of the euler data
539 *Input Parameters: None
540 *Return Parameter:
541 * float: Heading of the euler data
542 *******************************************************************************************/
543 float readEulerHeading(void);
544
545 /*******************************************************************************************
546 *Description: This function is used to return the roll of the euler data
547 *Input Parameters: None
548 *Return Parameter:
549 * float: Roll of the euler data
550 *******************************************************************************************/
551 float readEulerRoll(void);
552
553 /*******************************************************************************************
554 *Description: This function is used to return the pitch of the euler data
555 *Input Parameters: None
556 *Return Parameter:
557 * float: Pitch of the euler data
558 *******************************************************************************************/
559 float readEulerPitch(void);
560
561 /*******************************************************************************************
562 *Description: This function is used to return the x-axis of the linear acceleration data
563 * (accelerometer data without the gravity vector)
564 *Input Parameters: None
565 *Return Parameter:
566 * float: X-axis Linear Acceleration data in m/s2
567 *******************************************************************************************/
568 float readLinearAccelX(void);
569
570 /*******************************************************************************************
571 *Description: This function is used to return the y-axis of the linear acceleration data
572 * (accelerometer data without the gravity vector)
573 *Input Parameters: None
574 *Return Parameter:
575 * float: Y-axis Linear Acceleration data in m/s2
576 *******************************************************************************************/
577 float readLinearAccelY(void);
578
579 /*******************************************************************************************
580 *Description: This function is used to return the z-axis of the linear acceleration data
581 * (accelerometer data without the gravity vector)
582 *Input Parameters: None
583 *Return Parameter:
584 * float: Z-axis Linear Acceleration data in m/s2
585 *******************************************************************************************/
586 float readLinearAccelZ(void);
587
588 /*******************************************************************************************
589 *Description: This function is used to return the x-axis of the gravity acceleration data
590 * (accelerometer data with only the gravity vector)
591 *Input Parameters: None
592 *Return Parameter:
593 * float: X-axis Gravity Acceleration data in m/s2
594 *******************************************************************************************/
595 float readGravAccelX(void);
596
597 /*******************************************************************************************
598 *Description: This function is used to return the y-axis of the gravity acceleration data
599 * (accelerometer data with only the gravity vector)
600 *Input Parameters: None
601 *Return Parameter:
602 * float: Y-axis Gravity Acceleration data in m/s2
603 *******************************************************************************************/
604 float readGravAccelY(void);
605
606 /*******************************************************************************************
607 *Description: This function is used to return the z-axis of the gravity acceleration data
608 * (accelerometer data with only the gravity vector)
609 *Input Parameters: None
610 *Return Parameter:
611 * float: Z-axis Gravity Acceleration data in m/s2
612 *******************************************************************************************/
613 float readGravAccelZ(void);
614
615 /*******************************************************************************************
616 *Description: This function is used to return the accelerometer calibration status
617 *Input Parameters: None
618 *Return Parameter:
619 * uint8_t: Accelerometer calibration status, 0-3 (0 - low, 3 - high)
620 *******************************************************************************************/
621 uint8_t readAccelCalibStatus(void);
622
623 /*******************************************************************************************
624 *Description: This function is used to return the gyroscope calibration status
625 *Input Parameters: None
626 *Return Parameter:
627 * uint8_t: Gyroscope calibration status, 0-3 (0 - low, 3 - high)
628 *******************************************************************************************/
629 uint8_t readGyroCalibStatus(void);
630
631 /*******************************************************************************************
632 *Description: This function is used to return the magnetometer calibration status
633 *Input Parameters: None
634 *Return Parameter:
635 * uint8_t: Magnetometer calibration status, 0-3 (0 - low, 3 - high)
636 *******************************************************************************************/
637 uint8_t readMagCalibStatus(void);
638
639 /*******************************************************************************************
640 *Description: This function is used to return the system calibration status
641 *Input Parameters: None
642 *Return Parameter:
643 * uint8_t: System calibration status, 0-3 (0 - low, 3 - high)
644 *******************************************************************************************/
645 uint8_t readSystemCalibStatus(void);
646
647 /*******************************************************************************************
648 *Description: This function is used to return the accelerometer range
649 *Input Parameters: None
650 *Return Parameter:
651 * uint8_t range: Range of the accelerometer
652 * --------------------------------------
653 * Constant Definition Constant Value
654 * --------------------------------------
655 * ACCEL_RANGE_2G 0X00
656 * ACCEL_RANGE_4G 0X01
657 * ACCEL_RANGE_8G 0X02
658 * ACCEL_RANGE_16G 0X03
659 *******************************************************************************************/
660 uint8_t readAccelRange(void);
661
662 /*******************************************************************************************
663 *Description: This function is used to return the accelerometer bandwidth
664 *Input Parameters: None
665 *Return Parameter:
666 * uint8_t bandwidth: Bandwidth of the accelerometer
667 * --------------------------------------
668 * Constant Definition Constant Value
669 * --------------------------------------
670 * ACCEL_BW_7_81HZ 0x00
671 * ACCEL_BW_15_63HZ 0x01
672 * ACCEL_BW_31_25HZ 0x02
673 * ACCEL_BW_62_5HZ 0X03
674 * ACCEL_BW_125HZ 0X04
675 * ACCEL_BW_250HZ 0X05
676 * ACCEL_BW_500HZ 0X06
677 * ACCEL_BW_1000HZ 0X07
678 *******************************************************************************************/
679 uint8_t readAccelBandwidth(void);
680
681 /*******************************************************************************************
682 *Description: This function is used to return the accelerometer power mode
683 *Input Parameters: None
684 *Return Parameter:
685 * uint8_t powerMode: Power mode of the accelerometer
686 * --------------------------------------
687 * Constant Definition Constant Value
688 * --------------------------------------
689 * ACCEL_NORMAL 0X00
690 * ACCEL_SUSPEND 0X01
691 * ACCEL_LOWPOWER_1 0X02
692 * ACCEL_STANDBY 0X03
693 * ACCEL_LOWPOWER_2 0X04
694 * ACCEL_DEEPSUSPEND 0X05
695 *******************************************************************************************/
696 uint8_t readAccelPowerMode(void);
697
698
699
700};
701
702/******************** Bridge Functions for the Sensor API to control the Arduino Hardware******************************************/
703signed char BNO055_I2C_bus_read(unsigned char,unsigned char, unsigned char*, unsigned char);
704signed char BNO055_I2C_bus_write(unsigned char ,unsigned char , unsigned char* , unsigned char );
705void _delay(u_32);
706
707#endif __NAXISMOTION_H__
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