summaryrefslogtreecommitdiff
path: root/src/unused/sensorIMU.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/unused/sensorIMU.cpp')
-rw-r--r--src/unused/sensorIMU.cpp385
1 files changed, 0 insertions, 385 deletions
diff --git a/src/unused/sensorIMU.cpp b/src/unused/sensorIMU.cpp
deleted file mode 100644
index 941ea35..0000000
--- a/src/unused/sensorIMU.cpp
+++ /dev/null
@@ -1,385 +0,0 @@
-#include "../include/sensorIMU.hpp"
-
-IMUSensor::IMUSensor(std::string I2C_FILE) {
- this -> I2C_FILE = I2C_FILE;
-}
-
-bool IMUSensor::init(void* data) {
-
- //I2C_File passed on object creation, stored in sensorI2C parent
- setupI2C(I2C_FILE);
-
- //In the adafruit code there's a big step of waiting for timeout and connection stuff for up to a full second
- //I don't do that here because the BBB takes like 17 years to boot so we'll just hope it goes faster than that
-
- //Sanity check for factory device ID
- uint8_t id = readSingleRegister(BNO055_CHIP_ID_ADDR);
- if (id != BNO055_ID) {
- fprintf(stderr, "DEVICE ID DID NOT PASS SANITY CHECK FOR BNO IMU!");
- return false;
- }
-
- //Set default operating mode of IMU into config from startup (will be set properly after config phase)
- setModeHard(OPERATION_MODE_CONFIG);
-
- //Writes 1 to the system reset bit in the trigger register
- writeRegister(BNO055_SYS_TRIGGER_ADDR, 0x20);
- //Wait for reset to complete by doing sanity check again
- while (readSingleRegister(BNO055_CHIP_ID_ADDR) != BNO055_ID);
-
- //Set power mode for sensor
- writeRegister(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
-
- //Sensor chip uses two "pages" to multiplex register values
- //Page 0 contains the sensor data (not configuration), which is what we want
- writeRegister(BNO055_PAGE_ID_ADDR, 0);
-
- //Genuinely no idea why Adafruit does this, ensuring all triggers are off before mode config I guess
- writeRegister(BNO055_SYS_TRIGGER_ADDR, 0x0);
-
- setModeTemp(default_mode);
-
- return true;
-}
-
-//Sets mode so it can be undone for temporary changes, like operation setting
-void IMUSensor::setModeTemp(adafruit_bno055_opmode_t mode) {
- currentMode = mode;
- writeRegister(BNO055_OPR_MODE_ADDR, currentMode);
-}
-
-//Sets mode *AND* internal state variable
-void IMUSensor::setModeTemp(adafruit_bno055_opmode_t mode) {
- writeRegister(BNO055_OPR_MODE_ADDR, currentMode);
-}
-
-adafruit_bno055_opmode_t IMUSensor::getMode() {
- return (adafruit_bno055_opmode_t)readSingleRegister(BNO055_OPR_MODE_ADDR);
-}
-
-imu::Vector<3> IMUSensor::getVector(adafruit_vector_type_t vector_type) {
- imu::Vector<3> xyz;
- uint8_t buffer[6] = readMultipleRegisters((adafruit_bno055_reg_t)vector_type, 6);
-
- int16_t x, y, z;
- x = y = z = 0;
-
- /* Read vector data (6 bytes) */
- x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
- y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
- z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
-
- /*!
- * Convert the value to an appropriate range (section 3.6.4)
- * and assign the value to the Vector type
- */
- switch (vector_type) {
- case VECTOR_MAGNETOMETER:
- /* 1uT = 16 LSB */
- xyz[0] = ((double)x) / 16.0;
- xyz[1] = ((double)y) / 16.0;
- xyz[2] = ((double)z) / 16.0;
- break;
- case VECTOR_GYROSCOPE:
- /* 1dps = 16 LSB */
- xyz[0] = ((double)x) / 16.0;
- xyz[1] = ((double)y) / 16.0;
- xyz[2] = ((double)z) / 16.0;
- break;
- case VECTOR_EULER:
- /* 1 degree = 16 LSB */
- xyz[0] = ((double)x) / 16.0;
- xyz[1] = ((double)y) / 16.0;
- xyz[2] = ((double)z) / 16.0;
- break;
- case VECTOR_ACCELEROMETER:
- /* 1m/s^2 = 100 LSB */
- xyz[0] = ((double)x) / 100.0;
- xyz[1] = ((double)y) / 100.0;
- xyz[2] = ((double)z) / 100.0;
- break;
- case VECTOR_LINEARACCEL:
- /* 1m/s^2 = 100 LSB */
- xyz[0] = ((double)x) / 100.0;
- xyz[1] = ((double)y) / 100.0;
- xyz[2] = ((double)z) / 100.0;
- break;
- case VECTOR_GRAVITY:
- /* 1m/s^2 = 100 LSB */
- xyz[0] = ((double)x) / 100.0;
- xyz[1] = ((double)y) / 100.0;
- xyz[2] = ((double)z) / 100.0;
- break;
- }
-
- return xyz;
-}
-imu::Quaternion IMUSensor::getQuat() {
- uint8_t buffer[8] = readMultipleRegisters(BNO055_QUATERNION_DATA_W_LSB_ADDR, 8);
-
- int16_t x, y, z, w;
- x = y = z = w = 0;
-
- //Bit shift data into the right places and store it
- w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
- x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
- y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
- z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
-
- /*!
- * Assign to Quaternion
- * See
- * https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
- * 3.6.5.5 Orientation (Quaternion)
- */
- const double scale = (1.0 / (1 << 14));
- imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
- return quat;
-}
-
-int8_t IMUSensor::getTemp() {
- int8_t temp = (int8_t)(readSingleRegister(BNO055_TEMP_ADDR));
- return temp;
-}
-
-void IMUSensor::setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode) {
- //Put into proper config for mapping stuff
- setModeTemp(OPERATION_MODE_CONFIG);
- writeRegister(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode);
-
- //Return mode to operating mode
- setModeTemp(currentMode);
-}
-
-void IMUSensor::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
- //See above method, pretty much the exact same
- setModeTemp(OPERATION_MODE_CONFIG);
- writeRegister(BNO055_AXIS_MAP_SIGN_ADDR, remapsign);
- setModeTemp(currentMode);
-}
-
-//This method is weird; it intakes several existing byte pointers to see what action it should take. Luckily, we shouldn't have to use it.
-void IMUSensor::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error) {
- //Make sure IMU is on proper register page to get system status
- writeRegister(BNO055_PAGE_ID_ADDR, 0);
-
- //If system status requested, read the status.
- if (system_status != 0) *system_status = readSingleRegister(BNO055_SYS_STAT_ADDR);
- //If self test result requested, pull the self test results.
- if (self_test_result != 0) *self_test_result = readSingleRegister(BNO055_SELFTEST_RESULT_ADDR);
- //Finally, if there's an error pull and stash it.
- if (system_error != 0) *system_error = readSingleRegister(BNO055_SYS_ERR_ADDR);
-}
-
-//Same as above method, byte pointers are fed into it as parameters that get populated by method.
-void IMUSensor::getCalibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel, uint8_t *mag) {
- uint8_t calData = readSingleRegister(BNO055_CALIB_STAT_ADDR);
- if (sys != NULL) {
- *sys = (calData >> 6) & 0x03;
- }
- if (gyro != NULL) {
- *gyro = (calData >> 4) & 0x03;
- }
- if (accel != NULL) {
- *accel = (calData >> 2) & 0x03;
- }
- if (mag != NULL) {
- *mag = calData & 0x03;
- }
-}
-
-/* Functions to deal with raw calibration data */
-bool IMUSensor::getSensorOffsets(uint8_t *calibData) {
- if (isFullyCalibrated()) {
- setModeTemp(OPERATION_MODE_CONFIG);
-
- calibData = readMultipleRegisters(ACCEL_OFFSET_X_LSB_ADDR, NUM_BNO055_OFFSET_REGISTERS);
-
- setModeTemp(currentMode);
- return true;
- }
- return false;
-}
-
-//Fully populated offset getter using type of offset, not just calibration data
-bool IMUSensor::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type) {
- if (isFullyCalibrated()) {
- setModeTemp(OPERATION_MODE_CONFIG);
-
- /* Accel offset range depends on the G-range:
- +/-2g = +/- 2000 mg
- +/-4g = +/- 4000 mg
- +/-8g = +/- 8000 mg
- +/-1§g = +/- 16000 mg */
- offsets_type.accel_offset_x = (readSingleRegister(ACCEL_OFFSET_X_MSB_ADDR) << 8) |
- (readSingleRegister(ACCEL_OFFSET_X_LSB_ADDR));
- offsets_type.accel_offset_y = (readSingleRegister(ACCEL_OFFSET_Y_MSB_ADDR) << 8) |
- (readSingleRegister(ACCEL_OFFSET_Y_LSB_ADDR));
- offsets_type.accel_offset_z = (readSingleRegister(ACCEL_OFFSET_Z_MSB_ADDR) << 8) |
- (readSingleRegister(ACCEL_OFFSET_Z_LSB_ADDR));
-
- /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
- offsets_type.mag_offset_x =
- (readSingleRegister(MAG_OFFSET_X_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_X_LSB_ADDR));
- offsets_type.mag_offset_y =
- (readSingleRegister(MAG_OFFSET_Y_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_Y_LSB_ADDR));
- offsets_type.mag_offset_z =
- (readSingleRegister(MAG_OFFSET_Z_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_Z_LSB_ADDR));
-
- /* Gyro offset range depends on the DPS range:
- 2000 dps = +/- 32000 LSB
- 1000 dps = +/- 16000 LSB
- 500 dps = +/- 8000 LSB
- 250 dps = +/- 4000 LSB
- 125 dps = +/- 2000 LSB
- ... where 1 DPS = 16 LSB */
- offsets_type.gyro_offset_x =
- (readSingleRegister(GYRO_OFFSET_X_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_X_LSB_ADDR));
- offsets_type.gyro_offset_y =
- (readSingleRegister(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_Y_LSB_ADDR));
- offsets_type.gyro_offset_z =
- (readSingleRegister(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_Z_LSB_ADDR));
-
- /* Accelerometer radius = +/- 1000 LSB */
- offsets_type.accel_radius =
- (readSingleRegister(ACCEL_RADIUS_MSB_ADDR) << 8) | (readSingleRegister(ACCEL_RADIUS_LSB_ADDR));
-
- /* Magnetometer radius = +/- 960 LSB */
- offsets_type.mag_radius =
- (readSingleRegister(MAG_RADIUS_MSB_ADDR) << 8) | (readSingleRegister(MAG_RADIUS_LSB_ADDR));
-
- setModeTemp(currentMode);
- return true;
- }
- return false;
-}
-
-void IMUSensor::setSensorOffsets(const uint8_t *calibData) {
- setModeTemp(OPERATION_MODE_CONFIG);
-
- /* Note: Configuration will take place only when user writes to the last
- byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
- Therefore the last byte must be written whenever the user wants to
- changes the configuration. */
-
- /* A writeLen() would make this much cleaner */
- writeRegister(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
- writeRegister(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
- writeRegister(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
- writeRegister(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
- writeRegister(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
- writeRegister(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
-
- writeRegister(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
- writeRegister(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
- writeRegister(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
- writeRegister(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
- writeRegister(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
- writeRegister(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
-
- writeRegister(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
- writeRegister(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
- writeRegister(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
- writeRegister(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
- writeRegister(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
- writeRegister(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
-
- writeRegister(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
- writeRegister(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
-
- writeRegister(MAG_RADIUS_LSB_ADDR, calibData[20]);
- writeRegister(MAG_RADIUS_MSB_ADDR, calibData[21]);
-
- setModeTemp(currentMode);
-}
-
-void IMUSensor::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) {
- setModeTemp(OPERATION_MODE_CONFIG);
-
- /* Note: Configuration will take place only when user writes to the last
- byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
- Therefore the last byte must be written whenever the user wants to
- changes the configuration. */
-
- writeRegister(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
- writeRegister(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
- writeRegister(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
- writeRegister(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
- writeRegister(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
- writeRegister(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
-
- writeRegister(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
- writeRegister(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
- writeRegister(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
- writeRegister(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
- writeRegister(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
- writeRegister(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
-
- writeRegister(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
- writeRegister(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
- writeRegister(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
- writeRegister(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
- writeRegister(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
- writeRegister(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
-
- writeRegister(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
- writeRegister(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
-
- writeRegister(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
- writeRegister(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
-
- setModeTemp(currentMode);
-
-}
-
-bool IMUSensor::isFullyCalibrated() {
- uint8_t system, gyro, accel, mag;
- getCalibration(&system, &gyro, &accel, &mag);
-
- switch (currentMode) {
- case OPERATION_MODE_ACCONLY:
- return (accel == 3);
- case OPERATION_MODE_MAGONLY:
- return (mag == 3);
- case OPERATION_MODE_GYRONLY:
- case OPERATION_MODE_M4G: /* No magnetometer calibration required. */
- return (gyro == 3);
- case OPERATION_MODE_ACCMAG:
- case OPERATION_MODE_COMPASS:
- return (accel == 3 && mag == 3);
- case OPERATION_MODE_ACCGYRO:
- case OPERATION_MODE_IMUPLUS:
- return (accel == 3 && gyro == 3);
- case OPERATION_MODE_MAGGYRO:
- return (mag == 3 && gyro == 3);
- default:
- return (system == 3 && gyro == 3 && accel == 3 && mag == 3);
- }
-}
-
-/* Power managments functions */
-void IMUSensor::enterSuspendMode() {
- /* Switch to config mode (just in case since this is the default) */
- setModeTemp(OPERATION_MODE_CONFIG);
- writeRegister(BNO055_PWR_MODE_ADDR, 0x02);
- /* Set the requested operating mode (see section 3.3) */
- setModeTemp(currentMode);
-}
-
-void IMUSensor::enterNormalMode() {
- /* Switch to config mode (just in case since this is the default) */
- setModeTemp(OPERATION_MODE_CONFIG);
- writeRegister(BNO055_PWR_MODE_ADDR, 0x00);
- /* Set the requested operating mode (see section 3.3) */
- setModeTemp(modeback);
-}
-
-
-
-
-
-
-
-
-
-
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-12 16:22:52 +0000