diff options
Diffstat (limited to 'include/imu.hpp')
| -rw-r--r-- | include/imu.hpp | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/include/imu.hpp b/include/imu.hpp deleted file mode 100644 index a1b72ef..0000000 --- a/include/imu.hpp +++ /dev/null @@ -1,207 +0,0 @@ -#pragma once - -#include <stdint.h> -#include "hardware/i2c.h" - -#include <Eigen/Dense> - - -#define BNO055_NUM_OFFSET_REGISTERS 22 - - -typedef enum { - CONFIG = 0x00, - ACCELERATON_ONLY = 0x01, - MAGNETOMETER_ONLY = 0x02, - GYROSCOPE_ONLY = 0x03, - ACCEL_MAG = 0x04, - ACCEL_GYRO = 0x05, - MAG_GYRO = 0x06, - ACCEL_MAG_GYRO = 0x07, - IMU_PLUS = 0x08, - COMPASS = 0x09, - M4G = 0x0A, - NDOF_FMC_OFF = 0x0B, - NDOF = 0x0C -} imu_opmode_t; - -typedef enum { - PAGE_ID = 0x07, - - CHIP_ID = 0x00, - ACCEL_REV_ID = 0x01, - MAG_REV_ID = 0x02, - GYRO_REV_ID = 0x03, - SW_REV_ID_LSB = 0x04, - SW_REV_ID_MSB = 0x05, - BL_REV_ID = 0x06, - - ACCELERATION_X_LSB = 0x08, - ACCELERATION_X_MSB = 0x09, - ACCELERATION_Y_LSB = 0x0A, - ACCELERATION_Y_MSB = 0x0B, - ACCELERATION_Z_LSB = 0x0C, - ACCELERATION_Z_MSB = 0x0D, - - MAGNETOMETER_X_LSB = 0x0E, - MAGNETOMETER_X_MSB = 0x0F, - MAGNETOMETER_Y_LSB = 0x10, - MAGNETOMETER_Y_MSB = 0x11, - MAGNETOMETER_Z_LSB = 0x12, - MAGNETOMETER_Z_MSB = 0x13, - - GYROSCOPE_X_LSB = 0x14, - GYROSCOPE_X_MSB = 0x15, - GYROSCOPE_Y_LSB = 0x16, - GYROSCOPE_Y_MSB = 0x17, - GYROSCOPE_Z_LSB = 0x18, - GYROSCOPE_Z_MSB = 0x19, - - EULER_H_LSB = 0x1A, - EULER_H_MSB = 0x1B, - EULER_R_LSB = 0x1C, - EULER_R_MSB = 0x1D, - EULER_P_LSB = 0x1E, - EULER_P_MSB = 0x1F, - - QUATERNION_W_LSB = 0x20, - QUATERNION_W_MSB = 0x21, - QUATERNION_X_LSB = 0x22, - QUATERNION_X_MSB = 0x23, - QUATERNION_Y_LSB = 0x24, - QUATERNION_Y_MSB = 0x25, - QUATERNION_Z_LSB = 0x26, - QUATERNION_Z_MSB = 0x27, - - LINEAR_ACCELERATION_X_LSB = 0x28, - LINEAR_ACCELERATION_X_MSB = 0x29, - LINEAR_ACCELERATION_Y_LSB = 0x2A, - LINEAR_ACCELERATION_Y_MSB = 0x2B, - LINEAR_ACCELERATION_Z_LSB = 0x2C, - LINEAR_ACCELERATION_Z_MSB = 0x2D, - - GRAVITY_X_LSB = 0x2E, - GRAVITY_X_MSB = 0x2F, - GRAVITY_Y_LSB = 0x30, - GRAVITY_Y_MSB = 0x31, - GRAVITY_Z_LSB = 0x32, - GRAVITY_Z_MSB = 0x33, - - TEMPERATURE = 0x34, - - CALIBRATION_STATUS = 0x35, - SELF_TEST_RESULT = 0x36, - INTERRUPT_STATUS = 0x37, - - SYS_CLK_STATUS = 0x38, - SYS_STATUS = 0x39, - SYS_ERROR = 0x3A, - - UNIT_SELECTION = 0x3B, - - OPERATION_MODE = 0x3D, - POWER_MODE = 0x3E, - - SYS_TRIGGER = 0x3F, - TEMP_SOURCE = 0x40, - - AXIS_MAP_CONFIG = 0x41, - AXIS_MAP_SIGN = 0x42, - - SIC_MATRIX_0_LSB = 0x43, - SIC_MATRIX_0_MSB = 0x44, - SIC_MATRIX_1_LSB = 0x45, - SIC_MATRIX_1_MSB = 0x46, - SIC_MATRIX_2_LSB = 0x47, - SIC_MATRIX_2_MSB = 0x48, - SIC_MATRIX_3_LSB = 0x49, - SIC_MATRIX_3_MSB = 0x4A, - SIC_MATRIX_4_LSB = 0x4B, - SIC_MATRIX_4_MSB = 0x4C, - SIC_MATRIX_5_LSB = 0x4D, - SIC_MATRIX_5_MSB = 0x4E, - SIC_MATRIX_6_LSB = 0x4F, - SIC_MATRIX_6_MSB = 0x50, - SIC_MATRIX_7_LSB = 0x51, - SIC_MATRIX_7_MSB = 0x52, - SIC_MATRIX_8_LSB = 0x53, - SIC_MATRIX_8_MSB = 0x54, - - ACCELERATION_OFFSET_X_LSB = 0x55, - ACCELERATION_OFFSET_X_MSB = 0x56, - ACCELERATION_OFFSET_Y_LSB = 0x57, - ACCELERATION_OFFSET_Y_MSB = 0x58, - ACCELERATION_OFFSET_Z_LSB = 0x59, - ACCELERATION_OFFSET_Z_MSB = 0x5A, - - MAGNETOMETER_OFFSET_X_LSB = 0x5B, - MAGNETOMETER_OFFSET_X_MSB = 0x5C, - MAGNETOMETER_OFFSET_Y_LSB = 0x5D, - MAGNETOMETER_OFFSET_Y_MSB = 0x5E, - MAGNETOMETER_OFFSET_Z_LSB = 0x5F, - MAGNETOMETER_OFFSET_Z_MSB = 0x60, - - GYROSCOPE_OFFSET_X_LSB = 0x61, - GYROSCOPE_OFFSET_X_MSB = 0x62, - GYROSCOPE_OFFSET_Y_LSB = 0x63, - GYROSCOPE_OFFSET_Y_MSB = 0x64, - GYROSCOPE_OFFSET_Z_LSB = 0x65, - GYROSCOPE_OFFSET_Z_MSB = 0x66, - - ACCEL_RADIUS_LSB = 0x67, - ACCEL_RADIUS_MSB = 0x68, - MAG_RADIUS_LSB = 0x69, - MAG_RADIUS_MSB = 0x6A, - - RESET_INTERRUPT = 0x01, - - NO_MOTION_INTERRUPT = 0x00, - SLOW_NO_MOTION_INTERRUPT = 0x01, - THRESHOLD_INTERRUPT = 0x02, -} imu_reg_t; - -typedef enum { - NORMAL = 0x00, - LOW_POWER = 0x01, - SUSPEND = 0x02 -} imu_power_mode_t; - -typedef struct { - uint8_t sys; - uint8_t gyro; - uint8_t accel; - uint8_t mag; -} calibration_status_t ; - -class imu { - private: - i2c_inst_t* inst; - uint8_t addr; - uint8_t id; - imu_opmode_t mode; - - uint8_t buffer[10]; - uint8_t accel_buffer[6]; - uint8_t quat_buffer[8]; - - void read_register(uint8_t reg, size_t len, uint8_t* buffer); - - public: - imu(i2c_inst_t* inst, uint8_t addr, uint8_t id, imu_opmode_t mode); - - void initialize(); - - void reset(); - - void linear_acceleration(Eigen::Vector3f& vec); - - void quaternion(Eigen::Vector4f& vec); - - void quaternion_euler(Eigen::Vector3f& angles, Eigen::Vector4f& quat); - - void calibration_status(calibration_status_t* status); - - uint32_t expose_acceleration_buffer(uint8_t** buffer); - - uint32_t expose_quaternion_buffer(uint8_t** buffer); -}; |