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#pragma once
#include <vector>
#include <string>
#include "boards/pico_w.h"
#include "hardware/gpio.h"
#include "hardware/i2c.h"
#include "pico/stdlib.h"
#include "pico/time.h"
#include "pico/types.h"
#include <Eigen/Geometry>
//Register addresses and data structs copied from Adafruit implementation
/** BNO055 Address A **/
#define BNO055_ADDRESS_A (0x28)
/** BNO055 Address B **/
#define BNO055_ADDRESS_B (0x29)
/** BNO055 ID **/
#define BNO055_ID (0xA0)
/** Offsets registers **/
#define NUM_BNO055_OFFSET_REGISTERS (22)
/** A structure to represent offsets **/
typedef struct {
int16_t accel_offset_x; /**< x acceleration offset */
int16_t accel_offset_y; /**< y acceleration offset */
int16_t accel_offset_z; /**< z acceleration offset */
int16_t mag_offset_x; /**< x magnetometer offset */
int16_t mag_offset_y; /**< y magnetometer offset */
int16_t mag_offset_z; /**< z magnetometer offset */
int16_t gyro_offset_x; /**< x gyroscrope offset */
int16_t gyro_offset_y; /**< y gyroscrope offset */
int16_t gyro_offset_z; /**< z gyroscrope offset */
int16_t accel_radius; /**< acceleration radius */
int16_t mag_radius; /**< magnetometer radius */
} bno055_offsets_t;
/** Operation mode settings **/
typedef enum {
OPERATION_MODE_CONFIG = 0X00,
OPERATION_MODE_ACCONLY = 0X01,
OPERATION_MODE_MAGONLY = 0X02,
OPERATION_MODE_GYRONLY = 0X03,
OPERATION_MODE_ACCMAG = 0X04,
OPERATION_MODE_ACCGYRO = 0X05,
OPERATION_MODE_MAGGYRO = 0X06,
OPERATION_MODE_AMG = 0X07,
OPERATION_MODE_IMUPLUS = 0X08,
OPERATION_MODE_COMPASS = 0X09,
OPERATION_MODE_M4G = 0X0A,
OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
OPERATION_MODE_NDOF = 0X0C
} bno055_opmode_t;
/** BNO055 Registers **/
typedef enum {
/* Page id register definition */
BNO055_PAGE_ID_ADDR = 0X07,
/* PAGE0 REGISTER DEFINITION START*/
BNO055_CHIP_ID_ADDR = 0x00,
BNO055_ACCEL_REV_ID_ADDR = 0x01,
BNO055_MAG_REV_ID_ADDR = 0x02,
BNO055_GYRO_REV_ID_ADDR = 0x03,
BNO055_SW_REV_ID_LSB_ADDR = 0x04,
BNO055_SW_REV_ID_MSB_ADDR = 0x05,
BNO055_BL_REV_ID_ADDR = 0X06,
/* Accel data register */
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
/* Mag data register */
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
/* Gyro data registers */
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
/* Euler data registers */
BNO055_EULER_H_LSB_ADDR = 0X1A,
BNO055_EULER_H_MSB_ADDR = 0X1B,
BNO055_EULER_R_LSB_ADDR = 0X1C,
BNO055_EULER_R_MSB_ADDR = 0X1D,
BNO055_EULER_P_LSB_ADDR = 0X1E,
BNO055_EULER_P_MSB_ADDR = 0X1F,
/* Quaternion data registers */
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
/* Linear acceleration data registers */
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
/* Gravity data registers */
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
/* Temperature data register */
BNO055_TEMP_ADDR = 0X34,
/* Status registers */
BNO055_CALIB_STAT_ADDR = 0X35,
BNO055_SELFTEST_RESULT_ADDR = 0X36,
BNO055_INTR_STAT_ADDR = 0X37,
BNO055_SYS_CLK_STAT_ADDR = 0X38,
BNO055_SYS_STAT_ADDR = 0X39,
BNO055_SYS_ERR_ADDR = 0X3A,
/* Unit selection register */
BNO055_UNIT_SEL_ADDR = 0X3B,
/* Mode registers */
BNO055_OPR_MODE_ADDR = 0X3D,
BNO055_PWR_MODE_ADDR = 0X3E,
BNO055_SYS_TRIGGER_ADDR = 0X3F,
BNO055_TEMP_SOURCE_ADDR = 0X40,
/* Axis remap registers */
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
/* SIC registers */
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
/* Accelerometer Offset registers */
ACCEL_OFFSET_X_LSB_ADDR = 0X55,
ACCEL_OFFSET_X_MSB_ADDR = 0X56,
ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
/* Magnetometer Offset registers */
MAG_OFFSET_X_LSB_ADDR = 0X5B,
MAG_OFFSET_X_MSB_ADDR = 0X5C,
MAG_OFFSET_Y_LSB_ADDR = 0X5D,
MAG_OFFSET_Y_MSB_ADDR = 0X5E,
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
MAG_OFFSET_Z_MSB_ADDR = 0X60,
/* Gyroscope Offset register s*/
GYRO_OFFSET_X_LSB_ADDR = 0X61,
GYRO_OFFSET_X_MSB_ADDR = 0X62,
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
GYRO_OFFSET_Y_MSB_ADDR = 0X64,
GYRO_OFFSET_Z_LSB_ADDR = 0X65,
GYRO_OFFSET_Z_MSB_ADDR = 0X66,
/* Radius registers */
ACCEL_RADIUS_LSB_ADDR = 0X67,
ACCEL_RADIUS_MSB_ADDR = 0X68,
MAG_RADIUS_LSB_ADDR = 0X69,
MAG_RADIUS_MSB_ADDR = 0X6A,
/* Interrupt registers*/
RST_INT = 0x01,
NO_MOTION_INT_ADDR = 0x00,
SLOW_NO_MOTION_INT_ADDR = 0x01,
THRESHOLD_INT_ADDR = 0x02,
} bno055_reg_t;
/** BNO055 power settings */
typedef enum {
POWER_MODE_NORMAL = 0X00,
POWER_MODE_LOWPOWER = 0X01,
POWER_MODE_SUSPEND = 0X02
} bno055_powermode_t;
/** Vector Mappings **/
typedef enum {
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
} vector_type_t;
struct quarternion {
float w;
float x;
float y;
float z;
};
struct vector3f {
float x;
float y;
float z;
};
struct CALIB_STATUS {
uint8_t sys;
uint8_t gyro;
uint8_t accel;
uint8_t mag;
};
extern volatile vector3f linear_acceleration;
extern volatile vector3f acceleration;
extern volatile quarternion abs_quaternion;
extern volatile CALIB_STATUS calib_status;
extern volatile vector3f euler_angles;
extern volatile vector3f abs_lin_accel;
extern volatile vector3f rot_y_vec;
extern volatile vector3f vel_at_angle;
extern volatile vector3f accel_gravity;
extern uint8_t accel[6];
extern uint8_t quat[8];
class BNO055 {
public:
BNO055();
//Sanity check for factory device ID
void reset_bno055();
void init();
void read_lin_accel();
void read_abs_quaternion();
void read_euler_angles();
void read_accel();
void read_calib_status();
void calculate_abs_linear_acceleration();
void accel_to_gravity();
void quaternion_to_euler();
void get_rotation_vector();
void clamp_close_zero(volatile float &val);
private:
unsigned char bno055_address;
int32_t _sensorID;
bno055_opmode_t default_mode;
};
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