[136] | 1 | /****************************************************************************
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| 2 | * Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
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| 3 | *
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| 4 | * NAxisMotion.cpp
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| 5 | * Date: 2015/02/10
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| 6 | * Revision: 3.0 $
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| 7 | *
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| 8 | * Usage: Source file of the C++ Wrapper for the BNO055 Sensor API
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| 9 | *
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| 10 | ****************************************************************************
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| 11 | *
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| 12 | * Added Arduino M0/M0 Pro support
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| 13 | *
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| 14 | * Date: 07/27/2015
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| 15 | *
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| 16 | * Modified by: Arduino.org development Team.
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| 17 | *
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| 18 | ****************************************************************************
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| 19 | /***************************************************************************
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| 20 | * License:
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| 21 | *
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| 22 | * Redistribution and use in source and binary forms, with or without
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| 23 | * modification, are permitted provided that the following conditions are met:
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| 24 | *
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| 25 | * Redistributions of source code must retain the above copyright
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| 26 | * notice, this list of conditions and the following disclaimer.
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| 27 | *
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| 28 | * Redistributions in binary form must reproduce the above copyright
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| 29 | * notice, this list of conditions and the following disclaimer in the
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| 30 | * documentation and/or other materials provided with the distribution.
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| 31 | *
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| 32 | * Neither the name of the copyright holder nor the names of the
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| 33 | * contributors may be used to endorse or promote products derived from
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| 34 | * this software without specific prior written permission.
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| 35 | *
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| 36 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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| 37 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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| 38 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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| 39 | * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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| 40 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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| 41 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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| 42 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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| 43 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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| 44 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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| 45 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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| 46 | *
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| 47 | * The information provided is believed to be accurate and reliable.
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| 48 | * The copyright holder assumes no responsibility for the consequences of use
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| 49 | * of such information nor for any infringement of patents or
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| 50 | * other rights of third parties which may result from its use.
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| 51 | * No license is granted by implication or otherwise under any patent or
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| 52 | * patent rights of the copyright holder.
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| 53 | */
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| 54 | #include "NAxisMotion.h"
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| 55 | //Function Definitions
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| 56 | /*******************************************************************************************
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| 57 | *Description: Constructor of the class with the default initialization
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| 58 | *Input Parameters: None
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| 59 | *Return Parameter: None
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| 60 | *******************************************************************************************/
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| 61 | NAxisMotion::NAxisMotion()
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| 62 | {
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| 63 | //Blank
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| 64 | }
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| 65 |
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| 66 | /*******************************************************************************************
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| 67 | *Description: Function with the bare minimum initialization
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| 68 | *Input Parameters: None
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| 69 | *Return Parameter: None
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| 70 | *******************************************************************************************/
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| 71 | void NAxisMotion::initSensor(unsigned int address)
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| 72 | {
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| 73 | //Initialize the GPIO peripheral
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| 74 | pinMode(INT_PIN, INPUT_PULLUP); //Configure Interrupt pin
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| 75 | pinMode(RESET_PIN, OUTPUT); //Configure Reset pin
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| 76 |
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| 77 | //Power on the BNO055
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| 78 | resetSensor(address);
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| 79 | }
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| 80 |
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| 81 | /*******************************************************************************************
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| 82 | *Description: This function is used to reset the BNO055
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| 83 | *Input Parameters: None
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| 84 | *Return Parameter: None
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| 85 | *******************************************************************************************/
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| 86 | void NAxisMotion::resetSensor(unsigned int address)
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| 87 | {
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| 88 | //Reset sequence
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| 89 | digitalWrite(RESET_PIN, LOW); //Set the Reset pin LOW
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| 90 | delay(RESET_PERIOD); //Hold it for a while
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| 91 | digitalWrite(RESET_PIN, HIGH); //Set the Reset pin HIGH
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| 92 | delay(INIT_PERIOD); //Pause for a while to let the sensor initialize completely (Anything >500ms should be fine)
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| 93 | //Initialization sequence
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| 94 | //Link the function pointers for communication (late-binding)
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| 95 | myBNO.bus_read = BNO055_I2C_bus_read;
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| 96 | myBNO.bus_write = BNO055_I2C_bus_write;
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| 97 | myBNO.delay_msec = _delay;
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| 98 |
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| 99 | //Set the I2C address here !!! ADDR1 is the default address
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| 100 | //myBNO.dev_addr = BNO055_I2C_ADDR1;
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| 101 | myBNO.dev_addr = address;
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| 102 | //myBNO.dev_addr = BNO055_I2C_ADDR2;
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| 103 |
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| 104 | //Initialize the BNO055 structure to hold the device information
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| 105 | bno055_init(&myBNO);
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| 106 |
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| 107 | //Post initialization delay
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| 108 | delay(POST_INIT_PERIOD);
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| 109 |
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| 110 | //To set the output data format to the Android style
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| 111 | bno055_set_data_output_format(ANDROID);
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| 112 |
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| 113 | //Set the default data update mode to auto
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| 114 | dataUpdateMode = AUTO;
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| 115 | }
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| 116 |
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| 117 | /*******************************************************************************************
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| 118 | *Description: This function is used to set the operation mode of the BNO055
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| 119 | *Input Parameters:
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| 120 | * byte operationMode: To assign which operation mode the device has to
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| 121 | * ---------------------------------------------------
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| 122 | * Constant Definition Constant Value Comment
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| 123 | * ---------------------------------------------------
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| 124 | * OPERATION_MODE_CONFIG 0x00 Configuration Mode
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| 125 | * (Transient Mode)
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| 126 | * OPERATION_MODE_ACCONLY 0x01 Accelerometer only
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| 127 | * OPERATION_MODE_MAGONLY 0x02 Magnetometer only
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| 128 | * OPERATION_MODE_GYRONLY 0x03 Gyroscope only
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| 129 | * OPERATION_MODE_ACCMAG 0x04 Accelerometer and Magnetometer only
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| 130 | * OPERATION_MODE_ACCGYRO 0x05 Accelerometer and Gyroscope only
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| 131 | * OPERATION_MODE_MAGGYRO 0x06 Magnetometer and Gyroscope only
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| 132 | * OPERATION_MODE_AMG 0x07 Accelerometer, Magnetometer and
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| 133 | * Gyroscope (without fusion)
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| 134 | * OPERATION_MODE_IMUPLUS 0x08 Inertial Measurement Unit
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| 135 | * (Accelerometer and Gyroscope
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| 136 | * Sensor Fusion Mode)
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| 137 | * OPERATION_MODE_COMPASS 0x09 Tilt Compensated Compass
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| 138 | * (Accelerometer and Magnetometer
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| 139 | * Sensor Fusion Mode)
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| 140 | * OPERATION_MODE_M4G 0x0A Magnetometer and Gyroscope Sensor
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| 141 | * Fusion Mode
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| 142 | * OPERATION_MODE_NDOF_FMC_OFF 0x0B 9 Degrees of Freedom Sensor Fusion
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| 143 | * with Fast Magnetometer Calibration Off
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| 144 | * OPERATION_MODE_NDOF 0x0C 9 Degrees of Freedom Sensor Fusion
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| 145 | *Return Parameter: None
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| 146 | *******************************************************************************************/
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| 147 | void NAxisMotion::setOperationMode(byte operationMode)
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| 148 | {
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| 149 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 150 | comRes = bno055_set_operation_mode(operationMode); //Set the Operation Mode
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| 151 | }
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| 152 |
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| 153 | /*******************************************************************************************
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| 154 | *Description: This function is used to set the power mode
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| 155 | *Input Parameters:
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| 156 | * byte powerMode: To assign the power mode the device has to switch to
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| 157 | * --------------------------------------
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| 158 | * Constant Definition Constant Value
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| 159 | * --------------------------------------
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| 160 | * POWER_MODE_NORMAL 0x00
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| 161 | * POWER_MODE_LOWPOWER 0x01
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| 162 | * POWER_MODE_SUSPEND 0x02
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| 163 | *Return Parameter:
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| 164 | *******************************************************************************************/
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| 165 | void NAxisMotion::setPowerMode(byte powerMode)
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| 166 | {
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| 167 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 168 | comRes = bno055_set_power_mode(powerMode); //Set the Power Mode
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| 169 | }
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| 170 |
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| 171 | /*******************************************************************************************
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| 172 | *Description: This function is used to update the accelerometer data in m/s2
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| 173 | *Input Parameters: None
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| 174 | *Return Parameter: None
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| 175 | *******************************************************************************************/
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| 176 | void NAxisMotion::updateAccel(void)
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| 177 | {
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| 178 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 179 | comRes = bno055_convert_float_accel_xyz_msq(&accelData); //Read the data from the sensor
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| 180 | }
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| 181 |
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| 182 | /*******************************************************************************************
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| 183 | *Description: This function is used to update the magnetometer data in microTesla
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| 184 | *Input Parameters: None
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| 185 | *Return Parameter: None
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| 186 | *******************************************************************************************/
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| 187 | void NAxisMotion::updateMag(void)
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| 188 | {
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| 189 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 190 | comRes = bno055_convert_float_mag_xyz_uT(&magData); //Read the data from the sensor
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| 191 | }
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| 192 |
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| 193 | /*******************************************************************************************
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| 194 | *Description: This function is used to update the gyroscope data in deg/s
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| 195 | *Input Parameters: None
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| 196 | *Return Parameter: None
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| 197 | *******************************************************************************************/
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| 198 | void NAxisMotion::updateGyro(void)
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| 199 | {
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| 200 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 201 | comRes = bno055_convert_float_gyro_xyz_dps(&gyroData); //Read the data from the sensor
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| 202 | }
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| 203 |
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| 204 | /*******************************************************************************************
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| 205 | *Description: This function is used to update the quaternion data
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| 206 | *Input Parameters: None
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| 207 | *Return Parameter: None
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| 208 | *******************************************************************************************/
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| 209 | void NAxisMotion::updateQuat(void)
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| 210 | {
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| 211 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 212 | comRes = bno055_read_quaternion_wxyz(&quatData); //Read the data from the sensor
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| 213 | }
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| 214 |
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| 215 | /*******************************************************************************************
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| 216 | *Description: This function is used to update the euler data in degrees
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| 217 | *Input Parameters: None
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| 218 | *Return Parameter: None
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| 219 | *******************************************************************************************/
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| 220 | void NAxisMotion::updateEuler(void)
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| 221 | {
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| 222 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 223 | comRes = bno055_convert_float_euler_hpr_deg(&eulerData); //Read the data from the sensor
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| 224 | }
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| 225 |
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| 226 |
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| 227 | /*******************************************************************************************
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| 228 | *Description: This function is used to update the linear acceleration data in m/s2
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| 229 | *Input Parameters: None
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| 230 | *Return Parameter: None
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| 231 | *******************************************************************************************/
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| 232 | void NAxisMotion::updateLinearAccel(void)
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| 233 | {
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| 234 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 235 | comRes = bno055_convert_float_linear_accel_xyz_msq(&linearAccelData); //Read the data from the sensor
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| 236 | }
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| 237 |
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| 238 | /*******************************************************************************************
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| 239 | *Description: This function is used to update the gravity acceleration data in m/s2
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| 240 | *Input Parameters: None
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| 241 | *Return Parameter: None
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| 242 | *******************************************************************************************/
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| 243 | void NAxisMotion::updateGravAccel(void)
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| 244 | {
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| 245 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 246 | comRes = bno055_convert_float_gravity_xyz_msq(&gravAccelData); //Read the data from the sensor
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| 247 | }
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| 248 |
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| 249 | /*******************************************************************************************
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| 250 | *Description: This function is used to update the calibration status
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| 251 | *Input Parameters: None
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| 252 | *Return Parameter: None
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| 253 | *******************************************************************************************/
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| 254 | void NAxisMotion::updateCalibStatus(void)
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| 255 | {
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| 256 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 257 | comRes = bno055_get_accel_calib_stat(&calibStatus.accel);
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| 258 | comRes = bno055_get_mag_calib_stat(&calibStatus.mag);
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| 259 | comRes = bno055_get_gyro_calib_stat(&calibStatus.gyro);
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| 260 | comRes = bno055_get_sys_calib_stat(&calibStatus.system);
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| 261 | }
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| 262 |
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| 263 | /*******************************************************************************************
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| 264 | *Description: This function is used to write the accelerometer configurations
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| 265 | *Input Parameters:
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| 266 | * uint8_t range: To assign the range of the accelerometer
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| 267 | * --------------------------------------
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| 268 | * Constant Definition Constant Value
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| 269 | * --------------------------------------
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| 270 | * ACCEL_RANGE_2G 0X00
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| 271 | * ACCEL_RANGE_4G 0X01
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| 272 | * ACCEL_RANGE_8G 0X02
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| 273 | * ACCEL_RANGE_16G 0X03
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| 274 | * uint8_t bandwidth: To assign the filter bandwidth of the accelerometer
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| 275 | * --------------------------------------
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| 276 | * Constant Definition Constant Value
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| 277 | * --------------------------------------
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| 278 | * ACCEL_BW_7_81HZ 0x00
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| 279 | * ACCEL_BW_15_63HZ 0x01
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| 280 | * ACCEL_BW_31_25HZ 0x02
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| 281 | * ACCEL_BW_62_5HZ 0X03
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| 282 | * ACCEL_BW_125HZ 0X04
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| 283 | * ACCEL_BW_250HZ 0X05
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| 284 | * ACCEL_BW_500HZ 0X06
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| 285 | * ACCEL_BW_1000HZ 0X07
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| 286 | * uint8_t powerMode: To assign the power mode of the accelerometer
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| 287 | * --------------------------------------
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| 288 | * Constant Definition Constant Value
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| 289 | * --------------------------------------
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| 290 | * ACCEL_NORMAL 0X00
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| 291 | * ACCEL_SUSPEND 0X01
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| 292 | * ACCEL_LOWPOWER_1 0X02
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| 293 | * ACCEL_STANDBY 0X03
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| 294 | * ACCEL_LOWPOWER_2 0X04
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| 295 | * ACCEL_DEEPSUSPEND 0X05
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| 296 | *Return Parameter: None
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| 297 | *******************************************************************************************/
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| 298 | void NAxisMotion::writeAccelConfig(uint8_t range, uint8_t bandwidth, uint8_t powerMode)
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| 299 | {
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| 300 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 301 | comRes = bno055_set_accel_range(range);
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| 302 | comRes = bno055_set_accel_bw(bandwidth);
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| 303 | comRes = bno055_set_accel_power_mode(powerMode);
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| 304 | }
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| 305 |
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| 306 | /*******************************************************************************************
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| 307 | *Description: This function is used to update the accelerometer configurations
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| 308 | *Input Parameters: None
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| 309 | *Return Parameter: None
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| 310 | *******************************************************************************************/
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| 311 | void NAxisMotion::updateAccelConfig(void)
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| 312 | {
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| 313 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 314 | comRes = bno055_get_accel_range(&accelStatus.range);
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| 315 | comRes = bno055_get_accel_bw(&accelStatus.bandwidth);
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| 316 | comRes = bno055_get_accel_power_mode(&accelStatus.powerMode);
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| 317 | }
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| 318 |
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| 319 | /*******************************************************************************************
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| 320 | *Description: This function is used to control which axis of the accelerometer triggers the
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| 321 | * interrupt
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| 322 | *Input Parameters:
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| 323 | * bool xStatus: To know whether the x axis has to trigger the interrupt
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| 324 | * ---------------------------------------------------
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| 325 | * Constant Definition Constant Value Comment
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| 326 | * ---------------------------------------------------
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| 327 | * ENABLE 1 Enables interrupts from that axis
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| 328 | * DISABLE 0 Disables interrupts from that axis
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| 329 | * bool yStatus: To know whether the x axis has to trigger the interrupt
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| 330 | * ---------------------------------------------------
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| 331 | * Constant Definition Constant Value Comment
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| 332 | * ---------------------------------------------------
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| 333 | * ENABLE 1 Enables interrupts from that axis
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| 334 | * DISABLE 0 Disables interrupts from that axis
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| 335 | * bool zStatus: To know whether the x axis has to trigger the interrupt
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| 336 | * ---------------------------------------------------
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| 337 | * Constant Definition Constant Value Comment
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| 338 | * ---------------------------------------------------
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| 339 | * ENABLE 1 Enables interrupts from that axis
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| 340 | * DISABLE 0 Disables interrupts from that axis
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| 341 | *Return Parameter: None
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| 342 | *******************************************************************************************/
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| 343 | void NAxisMotion::accelInterrupts(bool xStatus, bool yStatus, bool zStatus)
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| 344 | {
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| 345 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 346 | comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_X_AXIS, xStatus);
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| 347 | comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_Y_AXIS, yStatus);
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| 348 | comRes = bno055_set_accel_any_motion_no_motion_axis_enable(BNO055_ACCEL_ANY_MOTION_NO_MOTION_Z_AXIS, zStatus);
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| 349 | }
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| 350 |
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| 351 | /*******************************************************************************************
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| 352 | *Description: This function is used to reset the interrupt line
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| 353 | *Input Parameters: None
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| 354 | *Return Parameter: None
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| 355 | *******************************************************************************************/
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| 356 | void NAxisMotion::resetInterrupt(void)
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| 357 | {
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| 358 | BNO055_RETURN_FUNCTION_TYPE comRes = BNO055_ZERO_U8X; //Holds the communication results
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| 359 | comRes = bno055_set_intr_rst(ENABLE);
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| 360 | }
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| 361 |
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| 362 | /*******************************************************************************************
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| 363 | *Description: This function is used to enable the any motion interrupt based on the
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| 364 | * accelerometer
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| 365 | *Input Parameters:
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| 366 | * uint8_t threshold: The threshold that triggers the any motion interrupt
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| 367 | * The threshold should be entered as an integer. The corresponding value of
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| 368 | * the threshold depends on the range that has been set on the
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| 369 | * accelerometer. Below is a table showing the value of 1LSB in
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| 370 | * corresponding units.
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| 371 | * Resolution:
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| 372 | * ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
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| 373 | * ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
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| 374 | * ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
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| 375 | * ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
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| 376 | * Maximum:
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| 377 | * ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
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| 378 | * ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
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| 379 | * ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
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| 380 | * ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
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| 381 | * uint8_t duration: The duration for which the desired threshold exist
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| 382 | * The time difference between the successive acceleration signals depends
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| 383 | * on the selected bandwidth and equates to 1/(2*bandwidth).
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| 384 | * In order to suppress false triggers, the interrupt is only generated (cleared)
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| 385 | * if a certain number N of consecutive slope data points is larger (smaller)
|
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| 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 | *******************************************************************************************/
|
---|
| 399 | void 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 | *******************************************************************************************/
|
---|
| 413 | void 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 | *******************************************************************************************/
|
---|
| 463 | void 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 | *******************************************************************************************/
|
---|
| 478 | void 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 | *******************************************************************************************/
|
---|
| 490 | void 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 | *******************************************************************************************/
|
---|
| 501 | float 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 | *******************************************************************************************/
|
---|
| 516 | float 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 | *******************************************************************************************/
|
---|
| 531 | float 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 | *******************************************************************************************/
|
---|
| 546 | float 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 | *******************************************************************************************/
|
---|
| 561 | float 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 | *******************************************************************************************/
|
---|
| 576 | float 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 | *******************************************************************************************/
|
---|
| 591 | float 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 | *******************************************************************************************/
|
---|
| 606 | float 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 | *******************************************************************************************/
|
---|
| 621 | float 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 | *******************************************************************************************/
|
---|
| 636 | int16_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 | *******************************************************************************************/
|
---|
| 651 | int16_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 | *******************************************************************************************/
|
---|
| 666 | int16_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 | *******************************************************************************************/
|
---|
| 681 | int16_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 | *******************************************************************************************/
|
---|
| 696 | float 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 | *******************************************************************************************/
|
---|
| 711 | float 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 | *******************************************************************************************/
|
---|
| 726 | float 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 | *******************************************************************************************/
|
---|
| 742 | float 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 | *******************************************************************************************/
|
---|
| 758 | float 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 | *******************************************************************************************/
|
---|
| 774 | float 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 | *******************************************************************************************/
|
---|
| 790 | float 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 | *******************************************************************************************/
|
---|
| 806 | float 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 | *******************************************************************************************/
|
---|
| 822 | float 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 | *******************************************************************************************/
|
---|
| 837 | uint8_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 | *******************************************************************************************/
|
---|
| 852 | uint8_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 | *******************************************************************************************/
|
---|
| 867 | uint8_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 | *******************************************************************************************/
|
---|
| 882 | uint8_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 | *******************************************************************************************/
|
---|
| 904 | uint8_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 | *******************************************************************************************/
|
---|
| 930 | uint8_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 | *******************************************************************************************/
|
---|
| 954 | uint8_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******************************************/
|
---|
| 965 | signed 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 |
|
---|
| 982 | signed 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 |
|
---|
| 997 | void _delay(u_32 period)
|
---|
| 998 | {
|
---|
| 999 | delay(period);
|
---|
| 1000 | }
|
---|