1 | /****************************************************************************
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2 | * Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
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3 | *
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4 | * NAxisMotion.h
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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: Header 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 | #ifndef __NAXISMOTION_H__
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55 | #define __NAXISMOTION_H__
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56 |
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57 |
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58 |
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59 |
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60 | extern "C" {
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61 | #include <utility/BNO055.h>
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62 | }
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63 | #include <Wire.h>
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64 | #include "Arduino.h"
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65 |
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66 | //Custom Data structures
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67 | //Structure to hold the calibration status
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68 | struct bno055_calib_stat_t {
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69 | uint8_t accel; //Calibration Status of the accelerometer
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70 | uint8_t mag; //Calibration Status of the magnetometer
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71 | uint8_t gyro; //Calibration Status of the gyroscope
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72 | uint8_t system; //Calibration Status of the overall system
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73 | };
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74 |
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75 | //Structure to hold the accelerometer configurations
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76 | struct bno055_accel_stat_t {
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77 | uint8_t range; //Range: 2G - 16G
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78 | uint8_t bandwidth; //Bandwidth: 7.81Hz - 1000Hz
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79 | uint8_t powerMode; //Power mode: Normal - Deep suspend
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80 | };
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81 |
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82 | //GPIO pins used for controlling the Sensor
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83 | #define RESET_PIN 4 //GPIO to reset the BNO055 (RESET pin has to be HIGH for the BNO055 to operate)
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84 |
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85 | #if defined(__AVR_ATmega32U4__) //Arduino Yun and Leonardo
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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)
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87 | #elif defined(ARDUINO_ARCH_SAM) //INT_PIN is the interrupt number not the interrupt pin
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88 | #define INT_PIN 2
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89 | #elif defined(ARDUINO_ARCH_SAMD)
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90 | #define INT_PIN 7
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91 | #else
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92 | #define INT_PIN 0
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93 | #endif
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94 |
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95 | #define ENABLE 1 //For use in function parameters
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96 | #define DISABLE 0 //For use in function parameters
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97 | #define NO_MOTION 1 //Enables the no motion interrupt
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98 | #define SLOW_MOTION 0 //Enables the slow motion interrupt
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99 | #define ANDROID 1 //To set the Output Data Format to Android style
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100 |
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101 | #if defined(ARDUINO_SAM_DUE)
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102 | #define I2C Wire1 //Define which I2C bus is used. Wire1 for the Arduino Due
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103 | #else
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104 | #define I2C Wire //Or Wire
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105 | #endif
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106 |
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107 | #define INIT_PERIOD 600 //Initialization period set to 600ms
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108 | #define RESET_PERIOD 300 //Reset period set to 300ms
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109 | #define POST_INIT_PERIOD 50 //Post initialization delay of 50ms
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110 | #define MANUAL 1 //To manually call the update data functions
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111 | #define AUTO 0 //To automatically call the update data functions
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112 | class NAxisMotion {
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113 | private:
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114 | bool dataUpdateMode; //Variable to store the mode of updating data
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115 | struct bno055_t myBNO; //Structure that stores the device information
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116 | struct bno055_accel_float_t accelData; //Structure that holds the accelerometer data
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117 | struct bno055_mag_float_t magData; //Structure that holds the magnetometer data
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118 | struct bno055_gyro_float_t gyroData; //Structure that holds the gyroscope data
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119 | struct bno055_quaternion_t quatData; //Structure that holds the quaternion data
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120 | struct bno055_euler_float_t eulerData; //Structure that holds the euler data
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121 | struct bno055_linear_accel_float_t linearAccelData; //Structure that holds the linear acceleration data
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122 | struct bno055_gravity_float_t gravAccelData; //Structure that holds the gravity acceleration data
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123 | struct bno055_calib_stat_t calibStatus; //Structure to hold the calibration status
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124 | struct bno055_accel_stat_t accelStatus; //Structure to hold the status of the accelerometer configurations
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125 | public:
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126 | //Function Declarations
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127 | /*******************************************************************************************
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128 | *Description: Constructor of the class with the default initialization
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129 | *Input Parameters: None
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130 | *Return Parameter: None
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131 | *******************************************************************************************/
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132 | NAxisMotion();
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133 |
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134 | /*******************************************************************************************
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135 | *Description: Function with the bare minimum initialization
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136 | *Input Parameters: None
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137 | *Return Parameter: None
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138 | *******************************************************************************************/
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139 | void initSensor(unsigned int address = 0x28);
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140 |
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141 | /*******************************************************************************************
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142 | *Description: This function is used to reset the BNO055
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143 | *Input Parameters: None
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144 | *Return Parameter: None
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145 | *******************************************************************************************/
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146 | void resetSensor(unsigned int address);
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147 |
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148 | /*******************************************************************************************
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149 | *Description: This function is used to set the operation mode of the BNO055
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150 | *Input Parameters:
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151 | * byte operationMode: To assign which operation mode the device has to
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152 | * ---------------------------------------------------
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153 | * Constant Definition Constant Value Comment
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154 | * ---------------------------------------------------
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155 | * OPERATION_MODE_CONFIG 0x00 Configuration Mode
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156 | * (Transient Mode)
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157 | * OPERATION_MODE_ACCONLY 0x01 Accelerometer only
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158 | * OPERATION_MODE_MAGONLY 0x02 Magnetometer only
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159 | * OPERATION_MODE_GYRONLY 0x03 Gyroscope only
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160 | * OPERATION_MODE_ACCMAG 0x04 Accelerometer and Magnetometer only
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161 | * OPERATION_MODE_ACCGYRO 0x05 Accelerometer and Gyroscope only
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162 | * OPERATION_MODE_MAGGYRO 0x06 Magnetometer and Gyroscope only
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163 | * OPERATION_MODE_AMG 0x07 Accelerometer, Magnetometer and
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164 | * Gyroscope (without fusion)
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165 | * OPERATION_MODE_IMUPLUS 0x08 Inertial Measurement Unit
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166 | * (Accelerometer and Gyroscope
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167 | * Sensor Fusion Mode)
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168 | * OPERATION_MODE_COMPASS 0x09 Tilt Compensated Compass
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169 | * (Accelerometer and Magnetometer
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170 | * Sensor Fusion Mode)
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171 | * OPERATION_MODE_M4G 0x0A Magnetometer and Accelerometer Sensor
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172 | * Fusion Mode
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173 | * OPERATION_MODE_NDOF_FMC_OFF 0x0B 9 Degrees of Freedom Sensor Fusion
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174 | * with Fast Magnetometer Calibration Off
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175 | * OPERATION_MODE_NDOF 0x0C 9 Degrees of Freedom Sensor Fusion
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176 | *Return Parameter: None
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177 | *******************************************************************************************/
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178 | void setOperationMode(byte operationMode);
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179 |
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180 | /*******************************************************************************************
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181 | *Description: This function is used to set the power mode
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182 | *Input Parameters:
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183 | * byte powerMode: To assign the power mode the device has to switch to
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184 | * --------------------------------------
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185 | * Constant Definition Constant Value
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186 | * --------------------------------------
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187 | * POWER_MODE_NORMAL 0x00
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188 | * POWER_MODE_LOWPOWER 0x01
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189 | * POWER_MODE_SUSPEND 0x02
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190 | *Return Parameter:
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191 | *******************************************************************************************/
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192 | void setPowerMode(byte powerMode);
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193 |
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194 | /*******************************************************************************************
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195 | *Description: This function is used to update the accelerometer data in m/s2
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196 | *Input Parameters: None
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197 | *Return Parameter: None
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198 | *******************************************************************************************/
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199 | void updateAccel(void);
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200 |
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201 | /*******************************************************************************************
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202 | *Description: This function is used to update the magnetometer data in microTesla
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203 | *Input Parameters: None
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204 | *Return Parameter: None
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205 | *******************************************************************************************/
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206 | void updateMag(void);
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207 |
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208 | /*******************************************************************************************
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209 | *Description: This function is used to update the gyroscope data in deg/s
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210 | *Input Parameters: None
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211 | *Return Parameter: None
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212 | *******************************************************************************************/
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213 | void updateGyro(void);
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214 |
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215 | /*******************************************************************************************
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216 | *Description: This function is used to update the quaternion data
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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 updateQuat(void);
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221 |
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222 | /*******************************************************************************************
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223 | *Description: This function is used to update the euler data
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224 | *Input Parameters: None
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225 | *Return Parameter: None
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226 | *******************************************************************************************/
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227 | void updateEuler(void);
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228 |
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229 | /*******************************************************************************************
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230 | *Description: This function is used to update the linear acceleration data in m/s2
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231 | *Input Parameters: None
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232 | *Return Parameter: None
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233 | *******************************************************************************************/
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234 | void updateLinearAccel(void);
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235 |
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236 | /*******************************************************************************************
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237 | *Description: This function is used to update the gravity acceleration data in m/s2
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238 | *Input Parameters: None
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239 | *Return Parameter: None
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240 | *******************************************************************************************/
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241 | void updateGravAccel(void);
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242 |
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243 | /*******************************************************************************************
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244 | *Description: This function is used to update the calibration status
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245 | *Input Parameters: None
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246 | *Return Parameter: None
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247 | *******************************************************************************************/
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248 | void updateCalibStatus(void);
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249 |
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250 | /*******************************************************************************************
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251 | *Description: This function is used to write the accelerometer configurations
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252 | *Input Parameters:
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253 | * uint8_t range: To assign the range of the accelerometer
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254 | * --------------------------------------
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255 | * Constant Definition Constant Value
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256 | * --------------------------------------
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257 | * ACCEL_RANGE_2G 0X00
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258 | * ACCEL_RANGE_4G 0X01
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259 | * ACCEL_RANGE_8G 0X02
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260 | * ACCEL_RANGE_16G 0X03
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261 | * uint8_t bandwidth: To assign the filter bandwidth of the accelerometer
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262 | * --------------------------------------
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263 | * Constant Definition Constant Value
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264 | * --------------------------------------
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265 | * ACCEL_BW_7_81HZ 0x00
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266 | * ACCEL_BW_15_63HZ 0x01
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267 | * ACCEL_BW_31_25HZ 0x02
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268 | * ACCEL_BW_62_5HZ 0X03
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269 | * ACCEL_BW_125HZ 0X04
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270 | * ACCEL_BW_250HZ 0X05
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271 | * ACCEL_BW_500HZ 0X06
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272 | * ACCEL_BW_1000HZ 0X07
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273 | * uint8_t powerMode: To assign the power mode of the accelerometer
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274 | * --------------------------------------
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275 | * Constant Definition Constant Value
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276 | * --------------------------------------
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277 | * ACCEL_NORMAL 0X00
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278 | * ACCEL_SUSPEND 0X01
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279 | * ACCEL_LOWPOWER_1 0X02
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280 | * ACCEL_STANDBY 0X03
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281 | * ACCEL_LOWPOWER_2 0X04
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282 | * ACCEL_DEEPSUSPEND 0X05
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283 | *Return Parameter: None
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284 | *******************************************************************************************/
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285 | void writeAccelConfig(uint8_t range, uint8_t bandwidth, uint8_t powerMode);
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286 |
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287 | /*******************************************************************************************
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288 | *Description: This function is used to update the accelerometer configurations
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289 | *Input Parameters: None
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290 | *Return Parameter: None
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291 | *******************************************************************************************/
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292 | void updateAccelConfig(void);
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293 |
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294 | /*******************************************************************************************
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295 | *Description: This function is used to control which axis of the accelerometer triggers the
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296 | * interrupt
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297 | *Input Parameters:
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298 | * bool xStatus: To know whether the x axis has to trigger the interrupt
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299 | * ---------------------------------------------------
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300 | * Constant Definition Constant Value Comment
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301 | * ---------------------------------------------------
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302 | * ENABLE 1 Enables interrupts from that axis
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303 | * DISABLE 0 Disables interrupts from that axis
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304 | * bool yStatus: To know whether the x axis has to trigger the interrupt
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305 | * ---------------------------------------------------
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306 | * Constant Definition Constant Value Comment
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307 | * ---------------------------------------------------
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308 | * ENABLE 1 Enables interrupts from that axis
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309 | * DISABLE 0 Disables interrupts from that axis
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310 | * bool zStatus: To know whether the x axis has to trigger the interrupt
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311 | * ---------------------------------------------------
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312 | * Constant Definition Constant Value Comment
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313 | * ---------------------------------------------------
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314 | * ENABLE 1 Enables interrupts from that axis
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315 | * DISABLE 0 Disables interrupts from that axis
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316 | *Return Parameter: None
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317 | *******************************************************************************************/
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318 | void accelInterrupts(bool xStatus, bool yStatus, bool zStatus);
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319 |
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320 | /*******************************************************************************************
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321 | *Description: This function is used to reset the interrupt line
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322 | *Input Parameters: None
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323 | *Return Parameter: None
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324 | *******************************************************************************************/
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325 | void resetInterrupt(void);
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326 |
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327 | /*******************************************************************************************
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328 | *Description: This function is used to enable the any motion interrupt based on the
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329 | * accelerometer
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330 | *Input Parameters:
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331 | * uint8_t threshold: The threshold that triggers the any motion interrupt
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332 | * The threshold should be entered as an integer. The corresponding value of
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333 | * the threshold depends on the range that has been set on the
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334 | * accelerometer. Below is a table showing the value of 1LSB in
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335 | * corresponding units.
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336 | * Resolution:
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337 | * ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
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338 | * ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
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339 | * ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
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340 | * ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
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341 | * Maximum:
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342 | * ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
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343 | * ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
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344 | * ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
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345 | * ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
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346 | * uint8_t duration: The duration for which the desired threshold exist
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347 | * The time difference between the successive acceleration signals depends
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348 | * on the selected bandwidth and equates to 1/(2*bandwidth).
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349 | * In order to suppress false triggers, the interrupt is only generated (cleared)
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350 | * if a certain number N of consecutive slope data points is larger (smaller)
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351 | * than the slope 'threshold'. This number is set by the 'duration'.
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352 | * It is N = duration + 1.
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353 | * Resolution:
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354 | * ACCEL_BW_7_81HZ, 1LSB = 64ms
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355 | * ACCEL_BW_15_63HZ, 1LSB = 32ms
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356 | * ACCEL_BW_31_25HZ, 1LSB = 16ms
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357 | * ACCEL_BW_62_5HZ, 1LSB = 8ms
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358 | * ACCEL_BW_125HZ, 1LSB = 4ms
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359 | * ACCEL_BW_250HZ, 1LSB = 2ms
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360 | * ACCEL_BW_500HZ, 1LSB = 1ms
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361 | * ACCEL_BW_1000HZ, 1LSB = 0.5ms
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362 | *Return Parameter: None
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363 | *******************************************************************************************/
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364 | void enableAnyMotion(uint8_t threshold, uint8_t duration);
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365 |
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366 | /*******************************************************************************************
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367 | *Description: This function is used to disable the any motion interrupt
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368 | *Input Parameters: None
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369 | *Return Parameter: None
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370 | *******************************************************************************************/
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371 | void disableAnyMotion(void);
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372 |
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373 |
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374 | /*******************************************************************************************
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375 | *Description: This function is used to enable the slow or no motion interrupt based on the
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376 | * accelerometer
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377 | *Input Parameters:
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378 | * uint8_t threshold: The threshold that triggers the no motion interrupt
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379 | * The threshold should be entered as an integer. The corresponding value of
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380 | * the threshold depends on the range that has been set on the
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381 | * accelerometer. Below is a table showing the value of 1LSB in
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382 | * corresponding units.
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383 | * Resolution:
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384 | * ACCEL_RANGE_2G, 1LSB = 3.91mg = ~0.03835m/s2
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385 | * ACCEL_RANGE_4G, 1LSB = 7.81mg = ~0.07661m/s2
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386 | * ACCEL_RANGE_8G, 1LSB = 15.6mg = ~0.15303m/s2
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387 | * ACCEL_RANGE_16G, 1LSB = 31.3mg = ~0.30705m/s2
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388 | * Maximum:
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389 | * ACCEL_RANGE_2G, 1LSB = 996mg = ~9.77076m/s2,
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390 | * ACCEL_RANGE_4G, 1LSB = 1.99g = ~19.5219m/s2
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391 | * ACCEL_RANGE_8G, 1LSB = 3.98g = ~39.0438m/s2
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392 | * ACCEL_RANGE_16G, 1LSB = 7.97g = ~97.1857m/s2
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393 | * uint8_t duration: The duration for which the desired threshold should be surpassed
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394 | * The time difference between the successive acceleration signals depends
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395 | * on the selected bandwidth and equates to 1/(2*bandwidth).
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396 | * In order to suppress false triggers, the interrupt is only generated (cleared)
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397 | * if a certain number N of consecutive slope data points is larger (smaller)
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398 | * than the slope 'threshold'. This number is set by the 'duration'.
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399 | * It is N = duration + 1.
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400 | * Resolution:
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401 | * ACCEL_BW_7_81HZ, 1LSB = 64ms
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402 | * ACCEL_BW_15_63HZ, 1LSB = 32ms
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403 | * ACCEL_BW_31_25HZ, 1LSB = 16ms
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404 | * ACCEL_BW_62_5HZ, 1LSB = 8ms
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405 | * ACCEL_BW_125HZ, 1LSB = 4ms
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406 | * ACCEL_BW_250HZ, 1LSB = 2ms
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407 | * ACCEL_BW_500HZ, 1LSB = 1ms
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408 | * ACCEL_BW_1000HZ, 1LSB = 0.5ms
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409 | * bool motion: To trigger either a Slow motion or a No motion interrupt
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410 | * ---------------------------------------------------
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411 | * Constant Definition Constant Value Comment
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412 | * ---------------------------------------------------
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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******************************************/
|
---|
703 | signed char BNO055_I2C_bus_read(unsigned char,unsigned char, unsigned char*, unsigned char);
|
---|
704 | signed char BNO055_I2C_bus_write(unsigned char ,unsigned char , unsigned char* , unsigned char );
|
---|
705 | void _delay(u_32);
|
---|
706 |
|
---|
707 | #endif __NAXISMOTION_H__
|
---|