| /* |
| * 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 |
| * regarding 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. |
| */ |
| |
| #ifndef __BNO055_H__ |
| #define __BNO055_H__ |
| |
| #include "os/mynewt.h" |
| #include "sensor/sensor.h" |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| /* Power modes */ |
| #define BNO055_PWR_MODE_NORMAL 0X00 |
| #define BNO055_PWR_MODE_LOWPOWER 0X01 |
| #define BNO055_PWR_MODE_SUSPEND 0X02 |
| |
| /* Operation Modes */ |
| #define BNO055_OPR_MODE_CONFIG 0X00 |
| #define BNO055_OPR_MODE_ACCONLY 0X01 |
| #define BNO055_OPR_MODE_MAGONLY 0X02 |
| #define BNO055_OPR_MODE_GYRONLY 0X03 |
| #define BNO055_OPR_MODE_ACCMAG 0X04 |
| #define BNO055_OPR_MODE_ACCGYRO 0X05 |
| #define BNO055_OPR_MODE_MAGGYRO 0X06 |
| #define BNO055_OPR_MODE_AMG 0X07 |
| #define BNO055_OPR_MODE_IMUPLUS 0X08 |
| #define BNO055_OPR_MODE_COMPASS 0X09 |
| #define BNO055_OPR_MODE_M4G 0X0A |
| #define BNO055_OPR_MODE_NDOF_FMC_OFF 0X0B |
| #define BNO055_OPR_MODE_NDOF 0X0C |
| |
| #define BNO055_ACC_UNIT_MS2 0x0 |
| #define BNO055_ACC_UNIT_MG 0x1 |
| #define BNO055_ANGRATE_UNIT_DPS (0 << 1) |
| #define BNO055_ANGRATE_UNIT_RPS (1 << 1) |
| #define BNO055_EULER_UNIT_DEG (0 << 2) |
| #define BNO055_EULER_UNIT_RAD (1 << 2) |
| #define BNO055_TEMP_UNIT_DEGC (0 << 4) |
| #define BNO055_TEMP_UNIT_DEGF (1 << 4) |
| #define BNO055_DO_FORMAT_WINDOWS (0 << 7) |
| #define BNO055_DO_FORMAT_ANDROID (1 << 7) |
| |
| /* Accelerometer config */ |
| #define BNO055_ACC_CFG_RNG_2G 0x0 |
| #define BNO055_ACC_CFG_RNG_4G 0x1 |
| #define BNO055_ACC_CFG_RNG_8G 0x2 |
| #define BNO055_ACC_CFG_RNG_16G 0x3 |
| |
| #define BNO055_ACC_CFG_BW_7_81HZ (0x0 << 2) |
| #define BNO055_ACC_CFG_BW_15_63HZ (0x1 << 2) |
| #define BNO055_ACC_CFG_BW_31_25HZ (0x2 << 2) |
| #define BNO055_ACC_CFG_BW_6_25HZ (0x3 << 2) |
| #define BNO055_ACC_CFG_BW_125HZ (0x4 << 2) |
| #define BNO055_ACC_CFG_BW_250HZ (0x5 << 2) |
| #define BNO055_ACC_CFG_BW_500HZ (0x6 << 2) |
| #define BNO055_ACC_CFG_BW_1000HZ (0x7 << 2) |
| |
| #define BNO055_ACC_CFG_OPR_MODE_NORMAL (0x0 << 5) |
| #define BNO055_ACC_CFG_OPR_MODE_SUSPEND (0x1 << 5) |
| #define BNO055_ACC_CFG_OPR_MODE_LOWPWR1 (0x2 << 5) |
| #define BNO055_ACC_CFG_OPR_MODE_STD (0x3 << 5) |
| #define BNO055_ACC_CFG_OPR_MODE_LOWPWR2 (0x4 << 5) |
| #define BNO055_ACC_CFG_OPR_MODE_DSUSPEND (0x5 << 5) |
| |
| /* Gyroscope config */ |
| #define BNO055_GYR_CFG_RNG_2000DPS 0x0 |
| #define BNO055_GYR_CFG_RNG_1000DPS 0x1 |
| #define BNO055_GYR_CFG_RNG_500DPS 0x2 |
| #define BNO055_GYR_CFG_RNG_250DPS 0x3 |
| #define BNO055_GYR_CFG_RNG_125DPS 0x4 |
| |
| #define BNO055_GYR_CFG_BW_523HZ (0x0 << 3) |
| #define BNO055_GYR_CFG_BW_230HZ (0x1 << 3) |
| #define BNO055_GYR_CFG_BW_116HZ (0x2 << 3) |
| #define BNO055_GYR_CFG_BW_47HZ (0x3 << 3) |
| #define BNO055_GYR_CFG_BW_23HZ (0x4 << 3) |
| #define BNO055_GYR_CFG_BW_12HZ (0x5 << 3) |
| #define BNO055_GYR_CFG_BW_64HZ (0x6 << 3) |
| #define BNO055_GYR_CFG_BW_32HZ (0x7 << 3) |
| |
| #define BNO055_GYR_CFG_OPR_MODE_NORMAL (0x0 << 5) |
| #define BNO055_GYR_CFG_OPR_MODE_FAST_PWR_UP (0x1 << 5) |
| #define BNO055_GYR_CFG_OPR_MODE_DSUSPEND (0x2 << 5) |
| #define BNO055_GYR_CFG_OPR_MODE_SUSPEND (0x3 << 5) |
| #define BNO055_GYR_CFG_OPR_MODE_ADV_PWR_SAVE (0x4 << 5) |
| |
| /* Magnetometer config */ |
| #define BNO055_MAG_CFG_ODR_2HZ 0x0 |
| #define BNO055_MAG_CFG_ODR_6HZ 0x1 |
| #define BNO055_MAG_CFG_ODR_8HZ 0x2 |
| #define BNO055_MAG_CFG_ODR_10HZ 0x3 |
| #define BNO055_MAG_CFG_ODR_15HZ 0x4 |
| #define BNO055_MAG_CFG_ODR_20HZ 0x5 |
| #define BNO055_MAG_CFG_ODR_25HZ 0x6 |
| #define BNO055_MAG_CFG_ODR_30HZ 0x7 |
| |
| #define BNO055_MAG_CFG_OPR_MODE_LOWPWR (0x0 << 3) |
| #define BNO055_MAG_CFG_OPR_MODE_REG (0x1 << 3) |
| #define BNO055_MAG_CFG_OPR_MODE_EREG (0x2 << 3) |
| #define BNO055_MAG_CFG_OPR_MODE_HIGHACC (0x3 << 3) |
| |
| #define BNO055_MAG_CFG_PWR_MODE_NORMAL (0x0 << 5) |
| #define BNO055_MAG_CFG_PWR_MODE_SLEEP (0x1 << 5) |
| #define BNO055_MAG_CFG_PWR_MODE_SUSPEND (0x2 << 5) |
| #define BNO055_MAG_CFG_PWR_MODE_FORCE_MODE (0x3 << 5) |
| |
| /* |
| * Just a placeholder to specify resolution/axis x:13 bits, y:13 bits, |
| * z:15 bits |
| */ |
| #define BNO055_MAG_RES_13_13_15 0x00 |
| |
| #define BNO055_AXIS_CFG_P0 0x00 |
| #define BNO055_AXIS_CFG_P1 0x01 /* Default */ |
| #define BNO055_AXIS_CFG_P2 0x02 |
| #define BNO055_AXIS_CFG_P3 0x03 |
| #define BNO055_AXIS_CFG_P4 0x04 |
| #define BNO055_AXIS_CFG_P5 0x05 |
| #define BNO055_AXIS_CFG_P6 0x06 |
| #define BNO055_AXIS_CFG_P7 0x07 |
| |
| struct bno055_cfg { |
| uint8_t bc_opr_mode; |
| uint8_t bc_pwr_mode; |
| uint8_t bc_units; |
| uint8_t bc_placement; |
| uint8_t bc_acc_range; |
| uint8_t bc_acc_bw; |
| uint8_t bc_acc_opr_mode; |
| uint8_t bc_acc_res; |
| uint8_t bc_gyro_range; |
| uint8_t bc_gyro_bw; |
| uint8_t bc_gyro_opr_mode; |
| uint8_t bc_gyro_res; |
| uint8_t bc_mag_odr; |
| uint8_t bc_mag_xy_rep; |
| uint8_t bc_mag_z_rep; |
| uint8_t bc_mag_res; |
| uint8_t bc_mag_pwr_mode; |
| uint8_t bc_mag_opr_mode; |
| uint8_t bc_use_ext_xtal; |
| uint32_t bc_mask; |
| }; |
| |
| struct bno055 { |
| struct os_dev dev; |
| struct sensor sensor; |
| struct bno055_cfg cfg; |
| os_time_t last_read_time; |
| }; |
| |
| struct bno055_rev_info { |
| uint8_t bri_accel_rev; |
| uint8_t bri_mag_rev; |
| uint8_t bri_gyro_rev; |
| uint8_t bri_bl_rev; |
| uint16_t bri_sw_rev; |
| }; |
| |
| struct bno055_calib_info { |
| uint8_t bci_sys; |
| uint8_t bci_gyro; |
| uint8_t bci_accel; |
| uint8_t bci_mag; |
| }; |
| |
| struct bno055_sensor_offsets { |
| uint16_t bso_acc_off_x; |
| uint16_t bso_acc_off_y; |
| uint16_t bso_acc_off_z; |
| uint16_t bso_gyro_off_x; |
| uint16_t bso_gyro_off_y; |
| uint16_t bso_gyro_off_z; |
| uint16_t bso_mag_off_x; |
| uint16_t bso_mag_off_y; |
| uint16_t bso_mag_off_z; |
| uint16_t bso_acc_radius; |
| uint16_t bso_mag_radius; |
| }; |
| |
| /** |
| * Initialize the bno055. This function is normally called by sysinit. |
| * |
| * @param dev Pointer to the bno055_dev device descriptor |
| */ |
| int bno055_init(struct os_dev *dev, void *arg); |
| |
| int bno055_config(struct bno055 *, struct bno055_cfg *); |
| |
| /** |
| * Get vector data from sensor |
| * |
| * @param The sensor ineterface |
| * @param pointer to the structure to be filled up |
| * @param Type of sensor |
| * @return 0 on success, non-zero on error |
| */ |
| int |
| bno055_get_vector_data(struct sensor_itf *itf, void *datastruct, int type); |
| |
| /** |
| * Get quat data from sensor |
| * |
| * @param The sensor ineterface |
| * @param sensor quat data to be filled up |
| * @return 0 on success, non-zero on error |
| */ |
| int |
| bno055_get_quat_data(struct sensor_itf *itf, void *sqd); |
| |
| /** |
| * Get temperature from bno055 sensor |
| * |
| * @param The sensor ineterface |
| * @return temperature in degree celcius |
| */ |
| int |
| bno055_get_temp(struct sensor_itf *itf, uint8_t *temp); |
| |
| /** |
| * Gets current calibration status |
| * |
| * @param The sensor ineterface |
| * @param Calibration info structure to fill up calib state |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_calib_status(struct sensor_itf *itf, struct bno055_calib_info *bci); |
| |
| /** |
| * Checks if bno055 is fully calibrated |
| * |
| * @param The sensor ineterface |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_is_calib(struct sensor_itf *itf); |
| |
| /** |
| * Reads the sensor's offset registers into a byte array |
| * |
| * @param The sensor ineterface |
| * @param byte array to return offsets into |
| * @return 0 on success, non-zero on failure |
| * |
| */ |
| int |
| bno055_get_raw_sensor_offsets(struct sensor_itf *itf, uint8_t *offsets); |
| |
| /** |
| * |
| * Reads the sensor's offset registers into an offset struct |
| * |
| * @param The sensor ineterface |
| * @param structure to fill up offsets data |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_sensor_offsets(struct sensor_itf *itf, |
| struct bno055_sensor_offsets *offsets); |
| |
| /** |
| * |
| * Writes calibration data to the sensor's offset registers |
| * |
| * @param The sensor ineterface |
| * @param calibration data |
| * @return 0 on success, non-zero on success |
| */ |
| int |
| bno055_set_sensor_raw_offsets(struct sensor_itf *itf, uint8_t* calibdata, |
| uint8_t len); |
| |
| /** |
| * |
| * Writes to the sensor's offset registers from an offset struct |
| * |
| * @param The sensor ineterface |
| * @param pointer to the offset structure |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_set_sensor_offsets(struct sensor_itf *itf, |
| struct bno055_sensor_offsets *offsets); |
| |
| /** |
| * Set operation mode for the bno055 sensor |
| * |
| * @param The sensor interface |
| * @param Operation mode for the sensor |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_set_opr_mode(struct sensor_itf *itf, uint8_t mode); |
| |
| #if MYNEWT_VAL(BNO055_CLI) |
| int bno055_shell_init(void); |
| #endif |
| |
| /** |
| * Get Revision info for different sensors in the bno055 |
| * |
| * @param The sensor interface |
| * @param pass the pointer to the revision structure |
| * @return 0 on success, non-zero on error |
| */ |
| int |
| bno055_get_rev_info(struct sensor_itf *itf, struct bno055_rev_info *ri); |
| |
| /** |
| * Set power mode for the sensor |
| * |
| * @param The sensor interface |
| * @return mode |
| */ |
| int |
| bno055_set_pwr_mode(struct sensor_itf *itf, uint8_t mode); |
| |
| /** |
| * Setting units for the bno055 sensor |
| * |
| * @param The sensor interface |
| * @param power mode for the sensor |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_set_units(struct sensor_itf *itf, uint8_t val); |
| |
| /** |
| * Read current power mode of the sensor |
| * |
| * @param The sensor interface |
| * @param ptr to mode variableto fill up |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_pwr_mode(struct sensor_itf *itf, uint8_t *mode); |
| |
| /** |
| * Read current operational mode of the sensor |
| * |
| * @param The sensor interface |
| * @param ptr to mode variable to fill up |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_opr_mode(struct sensor_itf *itf, uint8_t *mode); |
| |
| /** |
| * Get units of the sensor |
| * |
| * @param The sensor interface |
| * @param ptr to the units variable |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_units(struct sensor_itf *itf, uint8_t *units); |
| |
| /** |
| * Gets system status, test results and errors if any from the sensor |
| * |
| * @param The sensor interface |
| * @param ptr to system status |
| * @param ptr to self test result |
| * @param ptr to system error |
| */ |
| |
| int |
| bno055_get_sys_status(struct sensor_itf *itf, uint8_t *system_status, |
| uint8_t *self_test_result, uint8_t *system_error); |
| |
| /** |
| * Get chip ID from the sensor |
| * |
| * @param The sensor interface |
| * @param Pointer to the variable to fill up chip ID in |
| * @return 0 on success, non-zero on failure |
| */ |
| int |
| bno055_get_chip_id(struct sensor_itf *itf, uint8_t *id); |
| |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| |
| #endif /* __BNO055_H__ */ |
