| /* |
| * Licensed to the Apache Software Foundation (ASF) under one |
| * or more contributor license agreements. See the NOTICE file |
| * distributed with this work for additional information |
| * resarding copyright ownership. The ASF licenses this file |
| * to you under the Apache License, Version 2.0 (the |
| * "License"); you may not use this file except in compliance |
| * with the License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, |
| * software distributed under the License is distributed on an |
| * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY |
| * KIND, either express or implied. See the License for the |
| * specific language governing permissions and limitations |
| * under the License. |
| */ |
| |
| /* Page id register definition */ |
| #define BNO055_PAGE_ID_ADDR 0X07 |
| |
| /* PAGE0 REGISTER DEFINITION START*/ |
| #define BNO055_CHIP_ID_ADDR 0x00 |
| #define BNO055_ACCEL_REV_ID_ADDR 0x01 |
| #define BNO055_MAG_REV_ID_ADDR 0x02 |
| #define BNO055_GYRO_REV_ID_ADDR 0x03 |
| #define BNO055_SW_REV_ID_LSB_ADDR 0x04 |
| #define BNO055_SW_REV_ID_MSB_ADDR 0x05 |
| #define BNO055_BL_REV_ID_ADDR 0X06 |
| /* Accel data register */ |
| #define BNO055_ACCEL_DATA_X_LSB_ADDR 0X08 |
| #define BNO055_ACCEL_DATA_X_MSB_ADDR 0X09 |
| #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0X0A |
| #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0X0B |
| #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0X0C |
| #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0X0D |
| |
| /* Mag data register */ |
| #define BNO055_MAG_DATA_X_LSB_ADDR 0X0E |
| #define BNO055_MAG_DATA_X_MSB_ADDR 0X0F |
| #define BNO055_MAG_DATA_Y_LSB_ADDR 0X10 |
| #define BNO055_MAG_DATA_Y_MSB_ADDR 0X11 |
| #define BNO055_MAG_DATA_Z_LSB_ADDR 0X12 |
| #define BNO055_MAG_DATA_Z_MSB_ADDR 0X13 |
| |
| /* Gyro data registers */ |
| #define BNO055_GYRO_DATA_X_LSB_ADDR 0X14 |
| #define BNO055_GYRO_DATA_X_MSB_ADDR 0X15 |
| #define BNO055_GYRO_DATA_Y_LSB_ADDR 0X16 |
| #define BNO055_GYRO_DATA_Y_MSB_ADDR 0X17 |
| #define BNO055_GYRO_DATA_Z_LSB_ADDR 0X18 |
| #define BNO055_GYRO_DATA_Z_MSB_ADDR 0X19 |
| |
| /* Euler data registers */ |
| #define BNO055_EULER_H_LSB_ADDR 0X1A |
| #define BNO055_EULER_H_MSB_ADDR 0X1B |
| #define BNO055_EULER_R_LSB_ADDR 0X1C |
| #define BNO055_EULER_R_MSB_ADDR 0X1D |
| #define BNO055_EULER_P_LSB_ADDR 0X1E |
| #define BNO055_EULER_P_MSB_ADDR 0X1F |
| |
| /* Quaternion data registers */ |
| #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0X20 |
| #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0X21 |
| #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0X22 |
| #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0X23 |
| #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0X24 |
| #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0X25 |
| #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0X26 |
| #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0X27 |
| |
| /* Linear acceleration data registers */ |
| #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0X28 |
| #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0X29 |
| #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0X2A |
| #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0X2B |
| #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0X2C |
| #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0X2D |
| |
| /* Gravity data registers */ |
| #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0X2E |
| #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0X2F |
| #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0X30 |
| #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0X31 |
| #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0X32 |
| #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0X33 |
| |
| /* Temperature data register */ |
| #define BNO055_TEMP_ADDR 0X34 |
| |
| /* Status registers */ |
| #define BNO055_CALIB_STAT_ADDR 0X35 |
| #define BNO055_SELFTEST_RESULT_ADDR 0X36 |
| #define BNO055_INTR_STAT_ADDR 0X37 |
| |
| #define BNO055_SYS_CLK_STAT_ADDR 0X38 |
| #define BNO055_SYS_STAT_ADDR 0X39 |
| #define BNO055_SYS_ERR_ADDR 0X3A |
| |
| /* Unit selection register */ |
| #define BNO055_UNIT_SEL_ADDR 0X3B |
| |
| #define BNO055_DATA_SELECT_ADDR 0X3C |
| |
| /* Mode registers */ |
| #define BNO055_OPR_MODE_ADDR 0X3D |
| #define BNO055_PWR_MODE_ADDR 0X3E |
| |
| #define BNO055_SYS_TRIGGER_ADDR 0X3F |
| #define BNO055_SYS_TRIGGER_CLK_SEL (0x01 << 7) |
| #define BNO055_SYS_TRIGGER_RST_INT (0x01 << 6) |
| #define BNO055_SYS_TRIGGER_RST_SYS (0x01 << 5) |
| #define BNO055_SYS_TRIGGER_SELF_TEST (0x01) |
| |
| #define BNO055_TEMP_SOURCE_ADDR 0X40 |
| |
| /* Axis remap registers */ |
| #define BNO055_AXIS_MAP_CONFIG_ADDR 0X41 |
| #define BNO055_AXIS_MAP_SIGN_ADDR 0X42 |
| |
| /* SIC registers */ |
| #define BNO055_SIC_MATRIX_0_LSB_ADDR 0X43 |
| #define BNO055_SIC_MATRIX_0_MSB_ADDR 0X44 |
| #define BNO055_SIC_MATRIX_1_LSB_ADDR 0X45 |
| #define BNO055_SIC_MATRIX_1_MSB_ADDR 0X46 |
| #define BNO055_SIC_MATRIX_2_LSB_ADDR 0X47 |
| #define BNO055_SIC_MATRIX_2_MSB_ADDR 0X48 |
| #define BNO055_SIC_MATRIX_3_LSB_ADDR 0X49 |
| #define BNO055_SIC_MATRIX_3_MSB_ADDR 0X4A |
| #define BNO055_SIC_MATRIX_4_LSB_ADDR 0X4B |
| #define BNO055_SIC_MATRIX_4_MSB_ADDR 0X4C |
| #define BNO055_SIC_MATRIX_5_LSB_ADDR 0X4D |
| #define BNO055_SIC_MATRIX_5_MSB_ADDR 0X4E |
| #define BNO055_SIC_MATRIX_6_LSB_ADDR 0X4F |
| #define BNO055_SIC_MATRIX_6_MSB_ADDR 0X50 |
| #define BNO055_SIC_MATRIX_7_LSB_ADDR 0X51 |
| #define BNO055_SIC_MATRIX_7_MSB_ADDR 0X52 |
| #define BNO055_SIC_MATRIX_8_LSB_ADDR 0X53 |
| #define BNO055_SIC_MATRIX_8_MSB_ADDR 0X54 |
| |
| /* Accelerometer Offset registers */ |
| #define BNO055_ACCEL_OFFSET_X_LSB_ADDR 0X55 |
| #define BNO055_ACCEL_OFFSET_X_MSB_ADDR 0X56 |
| #define BNO055_ACCEL_OFFSET_Y_LSB_ADDR 0X57 |
| #define BNO055_ACCEL_OFFSET_Y_MSB_ADDR 0X58 |
| #define BNO055_ACCEL_OFFSET_Z_LSB_ADDR 0X59 |
| #define BNO055_ACCEL_OFFSET_Z_MSB_ADDR 0X5A |
| |
| /* Magnetometer Offset registers */ |
| #define BNO055_MAG_OFFSET_X_LSB_ADDR 0X5B |
| #define BNO055_MAG_OFFSET_X_MSB_ADDR 0X5C |
| #define BNO055_MAG_OFFSET_Y_LSB_ADDR 0X5D |
| #define BNO055_MAG_OFFSET_Y_MSB_ADDR 0X5E |
| #define BNO055_MAG_OFFSET_Z_LSB_ADDR 0X5F |
| #define BNO055_MAG_OFFSET_Z_MSB_ADDR 0X60 |
| |
| /* Gyroscope Offset register s*/ |
| #define BNO055_GYRO_OFFSET_X_LSB_ADDR 0X61 |
| #define BNO055_GYRO_OFFSET_X_MSB_ADDR 0X62 |
| #define BNO055_GYRO_OFFSET_Y_LSB_ADDR 0X63 |
| #define BNO055_GYRO_OFFSET_Y_MSB_ADDR 0X64 |
| #define BNO055_GYRO_OFFSET_Z_LSB_ADDR 0X65 |
| #define BNO055_GYRO_OFFSET_Z_MSB_ADDR 0X66 |
| |
| /* Radius registers */ |
| #define BNO055_ACCEL_RADIUS_LSB_ADDR 0X67 |
| #define BNO055_ACCEL_RADIUS_MSB_ADDR 0X68 |
| #define BNO055_MAG_RADIUS_LSB_ADDR 0X69 |
| #define BNO055_MAG_RADIUS_MSB_ADDR 0X6A |
| |
| /* Remap config - Default: 0x24 */ |
| #define BNO055_REMAP_CONFIG_P0 0x21 |
| #define BNO055_REMAP_CONFIG_P1 0x24 |
| #define BNO055_REMAP_CONFIG_P2 0x24 |
| #define BNO055_REMAP_CONFIG_P3 0x21 |
| #define BNO055_REMAP_CONFIG_P4 0x24 |
| #define BNO055_REMAP_CONFIG_P5 0x21 |
| #define BNO055_REMAP_CONFIG_P6 0x21 |
| #define BNO055_REMAP_CONFIG_P7 0x24 |
| |
| /* Remap Sign - Default: 0x00 */ |
| #define BNO055_REMAP_SIGN_P0 0x04 |
| #define BNO055_REMAP_SIGN_P1 0x00 |
| #define BNO055_REMAP_SIGN_P2 0x06 |
| #define BNO055_REMAP_SIGN_P3 0x02 |
| #define BNO055_REMAP_SIGN_P4 0x03 |
| #define BNO055_REMAP_SIGN_P5 0x01 |
| #define BNO055_REMAP_SIGN_P6 0x07 |
| #define BNO055_REMAP_SIGN_P7 0x05 |
| |
| /* PAGE1 REGISTERS DEFINITION START*/ |
| /* Configuration registers*/ |
| #define BNO055_ACCEL_CONFIG_ADDR 0X08 |
| #define BNO055_MAG_CONFIG_ADDR 0X09 |
| #define BNO055_GYRO_CONFIG_ADDR 0X0A |
| #define BNO055_GYRO_MODE_CONFIG_ADDR 0X0B |
| #define BNO055_ACCEL_SLEEP_CONFIG_ADDR 0X0C |
| #define BNO055_GYRO_SLEEP_CONFIG_ADDR 0X0D |
| #define BNO055_MAG_SLEEP_CONFIG_ADDR 0x0E |
| |
| /* Interrupt Registers */ |
| #define BNO055_INT_MASK_ADDR 0X0F |
| |
| #define BNO055_INT_EN_ADDR 0X10 |
| #define BNO055_INT_EN_ACC_NM (1 << 7) |
| #define BNO055_INT_EN_ACC_AM (1 << 6) |
| #define BNO055_INT_EN_ACC_HG (1 << 5) |
| #define BNO055_INT_EN_GYR_HR (1 << 3) |
| #define BNO055_INT_EN_GYR_AM (1 << 2) |
| |
| #define BNO055_ACCEL_ANY_MOTION_THRES_ADDR 0X11 |
| #define BNO055_ACCEL_INTR_SETTINGS_ADDR 0X12 |
| #define BNO055_ACCEL_HIGH_G_DURN_ADDR 0X13 |
| #define BNO055_ACCEL_HIGH_G_THRES_ADDR 0X14 |
| |
| #define BNO055_ACCEL_NO_MOTION_THRES_ADDR 0X15 |
| #define BNO055_ACCEL_SMNM (1 << 0) |
| |
| #define BNO055_ACCEL_NO_MOTION_SET_ADDR 0X16 |
| #define BNO055_GYRO_INTR_SETTINGS_ADDR 0X17 |
| #define BNO055_GYRO_HIGHRATE_X_SET_ADDR 0X18 |
| #define BNO055_GYRO_DURN_X_ADDR 0X19 |
| #define BNO055_GYRO_HIGHRATE_Y_SET_ADDR 0X1A |
| #define BNO055_GYRO_DURN_Y_ADDR 0X1B |
| #define BNO055_GYRO_HIGHRATE_Z_SET_ADDR 0X1C |
| #define BNO055_GYRO_DURN_Z_ADDR 0X1D |
| #define BNO055_GYRO_ANY_MOTION_THRES_ADDR 0X1E |
| #define BNO055_GYRO_ANY_MOTION_SET_ADDR 0X1F |
| |
| #define BNO055_NUM_OFFSET_REGISTERS 22 |
| |
| #define BNO055_INT_ACC_AM_POS 0 |
| #define BNO055_INT_ACC_HG_POS 8 |
| #define BNO055_INT_GYR_HR_POS 16 |
| #define BNO055_INT_GYR_AM_POS 24 |
| |
| #define BNO055_INT_ACC_AM 1 |
| #define BNO055_INT_ACC_AM_X_AXIS (1 << 2) << BNO055_INT_ACC_AM_POS |
| #define BNO055_INT_ACC_AM_Y_AXIS (1 << 3) << BNO055_INT_ACC_AM_POS |
| #define BNO055_INT_ACC_AM_Z_AXIS (1 << 4) << BNO055_INT_ACC_AM_POS |
| |
| #define BNO055_INT_ACC_HG 2 |
| #define BNO055_INT_ACC_HG_X_AXIS (1 << 5) << BNO055_INT_ACC_HG_POS |
| #define BNO055_INT_ACC_HG_Y_AXIS (1 << 6) << BNO055_INT_ACC_HG_POS |
| #define BNO055_INT_ACC_HG_Z_AXIS (1 << 7) << BNO055_INT_ACC_HG_POS |
| |
| #define BNO055_INT_GYR_HR 4 |
| #define BNO055_INT_GYR_HR_X_AXIS (1 << 3) << BNO055_INT_GYR_HR_POS |
| #define BNO055_INT_GYR_HR_Y_AXIS (1 << 4) << BNO055_INT_GYR_HR_POS |
| #define BNO055_INT_GYR_HR_Z_AXIS (1 << 5) << BNO055_INT_GYR_HR_POS |
| |
| #define BNO055_INT_GYR_AM 8 |
| #define BNO055_INT_GYR_AM_X_AXIS (1 << 0) << BNO055_INT_GYR_AM_POS |
| #define BNO055_INT_GYR_AM_Y_AXIS (1 << 1) << BNO055_INT_GYR_AM_POS |
| #define BNO055_INT_GYR_AM_Z_AXIS (1 << 2) << BNO055_INT_GYR_AM_POS |
| |
| #define BNO055_INT_ACC_NM 16 |
| |
| #define BNO055_INT_ACC_SM 32 |
| |
| #define BNO055_ID 0xA0 |
| |
| struct sensor_itf; |
| |
| /** |
| * Reads a single byte from the specified register |
| * |
| * @param The sensor interface |
| * @param The register address to read from |
| * @param Pointer to where the register value should be written |
| * |
| * @return 0 on success, non-zero error on failure. |
| */ |
| int |
| bno055_read8(struct sensor_itf *itf, uint8_t reg, uint8_t *value); |
| |
| /** |
| * Writes a single byte to the specified register |
| * |
| * @param The sensor interface |
| * @param The register address to write to |
| * @param The value to write |
| * |
| * @return 0 on success, non-zero error on failure. |
| */ |
| int |
| bno055_write8(struct sensor_itf *itf, uint8_t reg, uint8_t value); |
| |
| /** |
| * Writes a multiple bytes to the specified register |
| * |
| * @param The sensor interface |
| * @param The register address to write to |
| * @param The data buffer to write from |
| * |
| * @return 0 on success, non-zero error on failure. |
| */ |
| int |
| bno055_writelen(struct sensor_itf *itf, uint8_t reg, uint8_t *buffer, |
| uint8_t len); |
| |
