22 #ifndef __ADAFRUIT_BNO055_H__ 23 #define __ADAFRUIT_BNO055_H__ 27 #include "utility/imumaths.h" 28 #include <Adafruit_I2CDevice.h> 29 #include <Adafruit_Sensor.h> 32 #define BNO055_ADDRESS_A (0x28) 34 #define BNO055_ADDRESS_B (0x29) 36 #define BNO055_ID (0xA0) 39 #define NUM_BNO055_OFFSET_REGISTERS (22) 62 OPERATION_MODE_CONFIG = 0X00,
63 OPERATION_MODE_ACCONLY = 0X01,
64 OPERATION_MODE_MAGONLY = 0X02,
65 OPERATION_MODE_GYRONLY = 0X03,
66 OPERATION_MODE_ACCMAG = 0X04,
67 OPERATION_MODE_ACCGYRO = 0X05,
68 OPERATION_MODE_MAGGYRO = 0X06,
69 OPERATION_MODE_AMG = 0X07,
70 OPERATION_MODE_IMUPLUS = 0X08,
71 OPERATION_MODE_COMPASS = 0X09,
72 OPERATION_MODE_M4G = 0X0A,
73 OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
74 OPERATION_MODE_NDOF = 0X0C
86 BNO055_PAGE_ID_ADDR = 0X07,
89 BNO055_CHIP_ID_ADDR = 0x00,
90 BNO055_ACCEL_REV_ID_ADDR = 0x01,
91 BNO055_MAG_REV_ID_ADDR = 0x02,
92 BNO055_GYRO_REV_ID_ADDR = 0x03,
93 BNO055_SW_REV_ID_LSB_ADDR = 0x04,
94 BNO055_SW_REV_ID_MSB_ADDR = 0x05,
95 BNO055_BL_REV_ID_ADDR = 0X06,
98 BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
99 BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
100 BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
101 BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
102 BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
103 BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
106 BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
107 BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
108 BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
109 BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
110 BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
111 BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
114 BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
115 BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
116 BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
117 BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
118 BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
119 BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
122 BNO055_EULER_H_LSB_ADDR = 0X1A,
123 BNO055_EULER_H_MSB_ADDR = 0X1B,
124 BNO055_EULER_R_LSB_ADDR = 0X1C,
125 BNO055_EULER_R_MSB_ADDR = 0X1D,
126 BNO055_EULER_P_LSB_ADDR = 0X1E,
127 BNO055_EULER_P_MSB_ADDR = 0X1F,
130 BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
131 BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
132 BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
133 BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
134 BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
135 BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
136 BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
137 BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
140 BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
141 BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
142 BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
143 BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
144 BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
145 BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
148 BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
149 BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
150 BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
151 BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
152 BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
153 BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
156 BNO055_TEMP_ADDR = 0X34,
159 BNO055_CALIB_STAT_ADDR = 0X35,
160 BNO055_SELFTEST_RESULT_ADDR = 0X36,
161 BNO055_INTR_STAT_ADDR = 0X37,
163 BNO055_SYS_CLK_STAT_ADDR = 0X38,
164 BNO055_SYS_STAT_ADDR = 0X39,
165 BNO055_SYS_ERR_ADDR = 0X3A,
168 BNO055_UNIT_SEL_ADDR = 0X3B,
171 BNO055_OPR_MODE_ADDR = 0X3D,
172 BNO055_PWR_MODE_ADDR = 0X3E,
174 BNO055_SYS_TRIGGER_ADDR = 0X3F,
175 BNO055_TEMP_SOURCE_ADDR = 0X40,
178 BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
179 BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
182 BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
183 BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
184 BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
185 BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
186 BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
187 BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
188 BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
189 BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
190 BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
191 BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
192 BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
193 BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
194 BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
195 BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
196 BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
197 BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
198 BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
199 BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
202 ACCEL_OFFSET_X_LSB_ADDR = 0X55,
203 ACCEL_OFFSET_X_MSB_ADDR = 0X56,
204 ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
205 ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
206 ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
207 ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
210 MAG_OFFSET_X_LSB_ADDR = 0X5B,
211 MAG_OFFSET_X_MSB_ADDR = 0X5C,
212 MAG_OFFSET_Y_LSB_ADDR = 0X5D,
213 MAG_OFFSET_Y_MSB_ADDR = 0X5E,
214 MAG_OFFSET_Z_LSB_ADDR = 0X5F,
215 MAG_OFFSET_Z_MSB_ADDR = 0X60,
218 GYRO_OFFSET_X_LSB_ADDR = 0X61,
219 GYRO_OFFSET_X_MSB_ADDR = 0X62,
220 GYRO_OFFSET_Y_LSB_ADDR = 0X63,
221 GYRO_OFFSET_Y_MSB_ADDR = 0X64,
222 GYRO_OFFSET_Z_LSB_ADDR = 0X65,
223 GYRO_OFFSET_Z_MSB_ADDR = 0X66,
226 ACCEL_RADIUS_LSB_ADDR = 0X67,
227 ACCEL_RADIUS_MSB_ADDR = 0X68,
228 MAG_RADIUS_LSB_ADDR = 0X69,
229 MAG_RADIUS_MSB_ADDR = 0X6A
234 POWER_MODE_NORMAL = 0X00,
235 POWER_MODE_LOWPOWER = 0X01,
236 POWER_MODE_SUSPEND = 0X02
241 REMAP_CONFIG_P0 = 0x21,
242 REMAP_CONFIG_P1 = 0x24,
243 REMAP_CONFIG_P2 = 0x24,
244 REMAP_CONFIG_P3 = 0x21,
245 REMAP_CONFIG_P4 = 0x24,
246 REMAP_CONFIG_P5 = 0x21,
247 REMAP_CONFIG_P6 = 0x21,
248 REMAP_CONFIG_P7 = 0x24
253 REMAP_SIGN_P0 = 0x04,
254 REMAP_SIGN_P1 = 0x00,
255 REMAP_SIGN_P2 = 0x06,
256 REMAP_SIGN_P3 = 0x02,
257 REMAP_SIGN_P4 = 0x03,
258 REMAP_SIGN_P5 = 0x01,
259 REMAP_SIGN_P6 = 0x07,
274 VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
275 VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
276 VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
277 VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
278 VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
279 VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
283 TwoWire *theWire = &Wire);
292 void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
293 uint8_t *system_error);
294 void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
297 imu::Vector<3>
getVector(adafruit_vector_type_t vector_type);
303 bool getEvent(sensors_event_t *, adafruit_vector_type_t);
322 Adafruit_I2CDevice *i2c_dev = NULL;
int8_t getTemp()
Gets the temperature in degrees celsius.
Definition: Adafruit_BNO055.cpp:384
void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
Gets the latest system status info.
Definition: Adafruit_BNO055.cpp:269
int16_t gyro_offset_z
Definition: Adafruit_BNO055.h:53
adafruit_vector_type_t
Definition: Adafruit_BNO055.h:273
int16_t mag_offset_x
Definition: Adafruit_BNO055.h:47
void setSensorOffsets(const uint8_t *calibData)
Writes an array of calibration values to the sensor's offset.
Definition: Adafruit_BNO055.cpp:687
uint8_t accel_rev
Definition: Adafruit_BNO055.h:265
void enterNormalMode()
Enter Normal mode (i.e., wake)
Definition: Adafruit_BNO055.cpp:831
Adafruit_BNO055(int32_t sensorID=-1, uint8_t address=BNO055_ADDRESS_A, TwoWire *theWire=&Wire)
Instantiates a new Adafruit_BNO055 class.
Definition: Adafruit_BNO055.cpp:46
bool isFullyCalibrated()
Checks of all cal status values are set to 3 (fully calibrated)
Definition: Adafruit_BNO055.cpp:788
Class that stores state and functions for interacting with BNO055 Sensor.
Definition: Adafruit_BNO055.h:81
adafruit_bno055_reg_t
Definition: Adafruit_BNO055.h:84
int16_t accel_radius
Definition: Adafruit_BNO055.h:55
int16_t accel_offset_x
Definition: Adafruit_BNO055.h:43
int16_t mag_offset_z
Definition: Adafruit_BNO055.h:49
void setMode(adafruit_bno055_opmode_t mode)
Puts the chip in the specified operating mode.
Definition: Adafruit_BNO055.cpp:171
uint8_t bl_rev
Definition: Adafruit_BNO055.h:269
void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode)
Changes the chip's axis remap.
Definition: Adafruit_BNO055.cpp:199
void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign)
Changes the chip's axis signs.
Definition: Adafruit_BNO055.cpp:225
Definition: Adafruit_BNO055.h:264
int16_t accel_offset_z
Definition: Adafruit_BNO055.h:45
bool getEvent(sensors_event_t *)
Reads the sensor and returns the data as a sensors_event_t.
Definition: Adafruit_BNO055.cpp:518
adafruit_bno055_opmode_t getMode()
Gets the current operating mode of the chip.
Definition: Adafruit_BNO055.cpp:182
int16_t gyro_offset_x
Definition: Adafruit_BNO055.h:51
#define BNO055_ADDRESS_A
Definition: Adafruit_BNO055.h:32
void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel, uint8_t *mag)
Gets current calibration state. Each value should be a uint8_t pointer and it will be set to 0 if not...
Definition: Adafruit_BNO055.cpp:363
void getRevInfo(adafruit_bno055_rev_info_t *)
Gets the chip revision numbers.
Definition: Adafruit_BNO055.cpp:326
void getSensor(sensor_t *)
Provides the sensor_t data for this sensor.
Definition: Adafruit_BNO055.cpp:496
bool begin(adafruit_bno055_opmode_t mode=OPERATION_MODE_NDOF)
Sets up the HW.
Definition: Adafruit_BNO055.cpp:76
uint16_t sw_rev
Definition: Adafruit_BNO055.h:268
Definition: Adafruit_BNO055.h:42
int16_t accel_offset_y
Definition: Adafruit_BNO055.h:44
uint8_t gyro_rev
Definition: Adafruit_BNO055.h:267
imu::Vector< 3 > getVector(adafruit_vector_type_t vector_type)
Gets a vector reading from the specified source.
Definition: Adafruit_BNO055.cpp:401
uint8_t mag_rev
Definition: Adafruit_BNO055.h:266
imu::Quaternion getQuat()
Gets a quaternion reading from the specified source.
Definition: Adafruit_BNO055.cpp:466
int16_t gyro_offset_y
Definition: Adafruit_BNO055.h:52
adafruit_bno055_axis_remap_config_t
Definition: Adafruit_BNO055.h:240
adafruit_bno055_axis_remap_sign_t
Definition: Adafruit_BNO055.h:252
int16_t mag_offset_y
Definition: Adafruit_BNO055.h:48
adafruit_bno055_opmode_t
Definition: Adafruit_BNO055.h:61
int16_t mag_radius
Definition: Adafruit_BNO055.h:57
void setExtCrystalUse(boolean usextal)
Use the external 32.768KHz crystal.
Definition: Adafruit_BNO055.cpp:242
adafruit_bno055_powermode_t
Definition: Adafruit_BNO055.h:233
bool getSensorOffsets(uint8_t *calibData)
Reads the sensor's offset registers into a byte array.
Definition: Adafruit_BNO055.cpp:608
void enterSuspendMode()
Enter Suspend mode (i.e., sleep)
Definition: Adafruit_BNO055.cpp:816