/*
This is a library written for the BNO080
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/14586
Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor
to maintain and complete all the complex calculations for various VR, inertial, step counting,
and movement operations.
This library handles the initialization of the BNO080 and is able to query the sensor
for different readings.
https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.3
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "SparkFun_BNO080_Arduino_Library.h"
//Attempt communication with the device
//Return true if we got a 'Polo' back from Marco
boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort)
{
_deviceAddress = deviceAddress; //If provided, store the I2C address from user
_i2cPort = &wirePort; //Grab which port the user wants us to use
//We expect caller to begin their I2C port, with the speed of their choice external to the library
//But if they forget, we start the hardware here.
_i2cPort->begin();
//Begin by resetting the IMU
softReset();
//Check communication with device
shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
shtpData[1] = 0; //Reserved
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
return(true);
}
}
return(false); //Something went wrong
}
//Calling this function with nothing sets the debug port to Serial
//You can also call it with other streams like Serial1, SerialUSB, etc.
void BNO080::enableDebugging(Stream &debugPort)
{
_debugPort = &debugPort;
_printDebug = true;
}
//Updates the latest variables if possible
//Returns false if new readings are not available
bool BNO080::dataAvailable(void)
{
if (receivePacket() == true)
{
//Check to see if this packet is a sensor reporting its data to us
if (shtpHeader[2] == CHANNEL_REPORTS && shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP)
{
parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found
return(true);
}
}
return(false);
}
//This function pulls the data from the input report
//The input reports vary in length so this function stores the various 16-bit values as globals
//Unit responds with packet that contains the following:
//shtpHeader[0:3]: First, a 4 byte header
//shtpData[0:4]: Then a 5 byte timestamp of microsecond clicks since reading was taken
//shtpData[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector)
//shtpData[5 + 1]: Sequence number (See 6.5.18.2)
//shtpData[5 + 2]: Status
//shtpData[3]: Delay
//shtpData[4:5]: i/accel x/gyro x/etc
//shtpData[6:7]: j/accel y/gyro y/etc
//shtpData[8:9]: k/accel z/gyro z/etc
//shtpData[10:11]: real/gyro temp/etc
//shtpData[12:13]: Accuracy estimate
void BNO080::parseInputReport(void)
{
//Calculate the number of data bytes in this packet
int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]);
dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last.
//Ignore it for now. TODO catch this as an error and exit
dataLength -= 4; //Remove the header bytes from the data count
uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits
uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4];
uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6];
uint16_t data3 = (uint16_t)shtpData[5 + 9] << 8 | shtpData[5 + 8];
uint16_t data4 = 0;
uint16_t data5 = 0;
if(dataLength - 5 > 9)
{
data4= (uint16_t)shtpData[5 + 11] << 8 | shtpData[5 + 10];
}
if(dataLength - 5 > 11)
{
data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12];
}
//Store these generic values to their proper global variable
if(shtpData[5] == SENSOR_REPORTID_ACCELEROMETER)
{
accelAccuracy = status;
rawAccelX = data1;
rawAccelY = data2;
rawAccelZ = data3;
}
else if(shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION)
{
accelLinAccuracy = status;
rawLinAccelX = data1;
rawLinAccelY = data2;
rawLinAccelZ = data3;
}
else if(shtpData[5] == SENSOR_REPORTID_GYROSCOPE)
{
gyroAccuracy = status;
rawGyroX = data1;
rawGyroY = data2;
rawGyroZ = data3;
}
else if(shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD)
{
magAccuracy = status;
rawMagX = data1;
rawMagY = data2;
rawMagZ = data3;
}
else if(shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR)
{
quatAccuracy = status;
rawQuatI = data1;
rawQuatJ = data2;
rawQuatK = data3;
rawQuatReal = data4;
rawQuatRadianAccuracy = data5; //Only available on rotation vector, not game rot vector
}
else if(shtpData[5] == SENSOR_REPORTID_STEP_COUNTER)
{
stepCount = data3; //Bytes 8/9
}
else if(shtpData[5] == SENSOR_REPORTID_STABILITY_CLASSIFIER)
{
stabilityClassifier = shtpData[5 + 4]; //Byte 4 only
}
else if(shtpData[5] == SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER)
{
activityClassifier = shtpData[5 + 5]; //Most likely state
//Load activity classification confidences into the array
for(uint8_t x = 0 ; x < 9 ; x++) //Hardcoded to max of 9. TODO - bring in array size
_activityConfidences[x] = shtpData[5 + 6 + x]; //5 bytes of timestamp, byte 6 is first confidence byte
}
else
{
//This sensor report ID is unhandled.
//See reference manual to add additional feature reports as needed
}
//TODO additional feature reports may be strung together. Parse them all.
}
//Return the rotation vector quaternion I
float BNO080::getQuatI()
{
float quat = qToFloat(rawQuatI, rotationVector_Q1);
return(quat);
}
//Return the rotation vector quaternion J
float BNO080::getQuatJ()
{
float quat = qToFloat(rawQuatJ, rotationVector_Q1);
return(quat);
}
//Return the rotation vector quaternion K
float BNO080::getQuatK()
{
float quat = qToFloat(rawQuatK, rotationVector_Q1);
return(quat);
}
//Return the rotation vector quaternion Real
float BNO080::getQuatReal()
{
float quat = qToFloat(rawQuatReal, rotationVector_Q1);
return(quat);
}
//Return the rotation vector accuracy
float BNO080::getQuatRadianAccuracy()
{
float quat = qToFloat(rawQuatRadianAccuracy, rotationVector_Q1);
return(quat);
}
//Return the acceleration component
uint8_t BNO080::getQuatAccuracy()
{
return(quatAccuracy);
}
//Return the acceleration component
float BNO080::getAccelX()
{
float accel = qToFloat(rawAccelX, accelerometer_Q1);
return(accel);
}
//Return the acceleration component
float BNO080::getAccelY()
{
float accel = qToFloat(rawAccelY, accelerometer_Q1);
return(accel);
}
//Return the acceleration component
float BNO080::getAccelZ()
{
float accel = qToFloat(rawAccelZ, accelerometer_Q1);
return(accel);
}
//Return the acceleration component
uint8_t BNO080::getAccelAccuracy()
{
return(accelAccuracy);
}
// linear acceleration, i.e. minus gravity
//Return the acceleration component
float BNO080::getLinAccelX()
{
float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1);
return(accel);
}
//Return the acceleration component
float BNO080::getLinAccelY()
{
float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1);
return(accel);
}
//Return the acceleration component
float BNO080::getLinAccelZ()
{
float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1);
return(accel);
}
//Return the acceleration component
uint8_t BNO080::getLinAccelAccuracy()
{
return(accelLinAccuracy);
}
//Return the gyro component
float BNO080::getGyroX()
{
float gyro = qToFloat(rawGyroX, gyro_Q1);
return(gyro);
}
//Return the gyro component
float BNO080::getGyroY()
{
float gyro = qToFloat(rawGyroY, gyro_Q1);
return(gyro);
}
//Return the gyro component
float BNO080::getGyroZ()
{
float gyro = qToFloat(rawGyroZ, gyro_Q1);
return(gyro);
}
//Return the gyro component
uint8_t BNO080::getGyroAccuracy()
{
return(gyroAccuracy);
}
//Return the magnetometer component
float BNO080::getMagX()
{
float mag = qToFloat(rawMagX, magnetometer_Q1);
return(mag);
}
//Return the magnetometer component
float BNO080::getMagY()
{
float mag = qToFloat(rawMagY, magnetometer_Q1);
return(mag);
}
//Return the magnetometer component
float BNO080::getMagZ()
{
float mag = qToFloat(rawMagZ, magnetometer_Q1);
return(mag);
}
//Return the mag component
uint8_t BNO080::getMagAccuracy()
{
return(magAccuracy);
}
//Return the step count
uint16_t BNO080::getStepCount()
{
return(stepCount);
}
//Return the stability classifier
uint8_t BNO080::getStabilityClassifier()
{
return(stabilityClassifier);
}
//Return the activity classifier
uint8_t BNO080::getActivityClassifier()
{
return(activityClassifier);
}
//Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated)
//Q1 is used for all sensor data calculations
int16_t BNO080::getQ1(uint16_t recordID)
{
//Q1 is always the lower 16 bits of word 7
uint16_t q = readFRSword(recordID, 7) & 0xFFFF; //Get word 7, lower 16 bits
return(q);
}
//Given a record ID, read the Q2 value from the metaData record in the FRS
//Q2 is used in sensor bias
int16_t BNO080::getQ2(uint16_t recordID)
{
//Q2 is always the upper 16 bits of word 7
uint16_t q = readFRSword(recordID, 7) >> 16; //Get word 7, upper 16 bits
return(q);
}
//Given a record ID, read the Q3 value from the metaData record in the FRS
//Q3 is used in sensor change sensitivity
int16_t BNO080::getQ3(uint16_t recordID)
{
//Q3 is always the upper 16 bits of word 8
uint16_t q = readFRSword(recordID, 8) >> 16; //Get word 8, upper 16 bits
return(q);
}
//Given a record ID, read the resolution value from the metaData record in the FRS for a given sensor
float BNO080::getResolution(uint16_t recordID)
{
//The resolution Q value are 'the same as those used in the sensor's input report'
//This should be Q1.
int16_t Q = getQ1(recordID);
//Resolution is always word 2
uint32_t value = readFRSword(recordID, 2); //Get word 2
float resolution = qToFloat(value, Q);
return(resolution);
}
//Given a record ID, read the range value from the metaData record in the FRS for a given sensor
float BNO080::getRange(uint16_t recordID)
{
//The resolution Q value are 'the same as those used in the sensor's input report'
//This should be Q1.
int16_t Q = getQ1(recordID);
//Range is always word 1
uint32_t value = readFRSword(recordID, 1); //Get word 1
float range = qToFloat(value, Q);
return(range);
}
//Given a record ID and a word number, look up the word data
//Helpful for pulling out a Q value, range, etc.
//Use readFRSdata for pulling out multi-word objects for a sensor (Vendor data for example)
uint32_t BNO080::readFRSword(uint16_t recordID, uint8_t wordNumber)
{
if(readFRSdata(recordID, wordNumber, 1) == true) //Get word number, just one word in length from FRS
return(metaData[0]); //Return this one word
return(0); //Error
}
//Ask the sensor for data from the Flash Record System
//See 6.3.6 page 40, FRS Read Request
void BNO080::frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize)
{
shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; //FRS Read Request
shtpData[1] = 0; //Reserved
shtpData[2] = (readOffset >> 0) & 0xFF; //Read Offset LSB
shtpData[3] = (readOffset >> 8) & 0xFF; //Read Offset MSB
shtpData[4] = (recordID >> 0) & 0xFF; //FRS Type LSB
shtpData[5] = (recordID >> 8) & 0xFF; //FRS Type MSB
shtpData[6] = (blockSize >> 0) & 0xFF; //Block size LSB
shtpData[7] = (blockSize >> 8) & 0xFF; //Block size MSB
//Transmit packet on channel 2, 8 bytes
sendPacket(CHANNEL_CONTROL, 8);
}
//Given a sensor or record ID, and a given start/stop bytes, read the data from the Flash Record System (FRS) for this sensor
//Returns true if metaData array is loaded successfully
//Returns false if failure
bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead)
{
uint8_t spot = 0;
//First we send a Flash Record System (FRS) request
frsReadRequest(recordID, startLocation, wordsToRead); //From startLocation of record, read a # of words
//Read bytes until FRS reports that the read is complete
while (1)
{
//Now we wait for response
while (1)
{
uint8_t counter = 0;
while(receivePacket() == false)
{
if(counter++ > 100) return(false); //Give up
delay(1);
}
//We have the packet, inspect it for the right contents
//See page 40. Report ID should be 0xF3 and the FRS types should match the thing we requested
if (shtpData[0] == SHTP_REPORT_FRS_READ_RESPONSE)
if ( ( (uint16_t)shtpData[13] << 8 | shtpData[12]) == recordID)
break; //This packet is one we are looking for
}
uint8_t dataLength = shtpData[1] >> 4;
uint8_t frsStatus = shtpData[1] & 0x0F;
uint32_t data0 = (uint32_t)shtpData[7] << 24 | (uint32_t)shtpData[6] << 16 | (uint32_t)shtpData[5] << 8 | (uint32_t)shtpData[4];
uint32_t data1 = (uint32_t)shtpData[11] << 24 | (uint32_t)shtpData[10] << 16 | (uint32_t)shtpData[9] << 8 | (uint32_t)shtpData[8];
//Record these words to the metaData array
if (dataLength > 0)
{
metaData[spot++] = data0;
}
if (dataLength > 1)
{
metaData[spot++] = data1;
}
if (spot >= MAX_METADATA_SIZE)
{
if(_printDebug == true) _debugPort->println(F("metaData array over run. Returning."));
return(true); //We have run out of space in our array. Bail.
}
if (frsStatus == 3 || frsStatus == 6 || frsStatus == 7)
{
return(true); //FRS status is read completed! We're done!
}
}
}
//Send command to reset IC
//Read all advertisement packets from sensor
//The sensor has been seen to reset twice if we attempt too much too quickly.
//This seems to work reliably.
void BNO080::softReset(void)
{
shtpData[0] = 1; //Reset
//Attempt to start communication with sensor
sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte
//Read all incoming data and flush it
delay(50);
while (receivePacket() == true) ;
delay(50);
while (receivePacket() == true) ;
}
//Get the reason for the last reset
//1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other
uint8_t BNO080::resetReason()
{
shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
shtpData[1] = 0; //Reserved
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
return(shtpData[1]);
}
}
return(0);
}
//Given a register value and a Q point, convert to float
//See https://en.wikipedia.org/wiki/Q_(number_format)
float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint)
{
float qFloat = fixedPointValue;
qFloat *= pow(2, qPoint * -1);
return (qFloat);
}
//Sends the packet to enable the rotation vector
void BNO080::enableRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the rotation vector
void BNO080::enableGameRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the accelerometer
void BNO080::enableAccelerometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports);
}
//Sends the packet to enable the accelerometer
void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports);
}
//Sends the packet to enable the gyro
void BNO080::enableGyro(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports);
}
//Sends the packet to enable the magnetometer
void BNO080::enableMagnetometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_MAGNETIC_FIELD, timeBetweenReports);
}
//Sends the packet to enable the step counter
void BNO080::enableStepCounter(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_STEP_COUNTER, timeBetweenReports);
}
//Sends the packet to enable the Stability Classifier
void BNO080::enableStabilityClassifier(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_STABILITY_CLASSIFIER, timeBetweenReports);
}
//Sends the packet to enable the various activity classifiers
void BNO080::enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9])
{
_activityConfidences = activityConfidences; //Store pointer to array
setFeatureCommand(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable);
}
//Sends the commands to begin calibration of the accelerometer
void BNO080::calibrateAccelerometer()
{
sendCalibrateCommand(CALIBRATE_ACCEL);
}
//Sends the commands to begin calibration of the gyro
void BNO080::calibrateGyro()
{
sendCalibrateCommand(CALIBRATE_GYRO);
}
//Sends the commands to begin calibration of the magnetometer
void BNO080::calibrateMagnetometer()
{
sendCalibrateCommand(CALIBRATE_MAG);
}
//Sends the commands to begin calibration of the planar accelerometer
void BNO080::calibratePlanarAccelerometer()
{
sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL);
}
//See 2.2 of the Calibration Procedure document 1000-4044
void BNO080::calibrateAll()
{
sendCalibrateCommand(CALIBRATE_ACCEL_GYRO_MAG);
}
void BNO080::endCalibration()
{
sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations
}
//Given a sensor's report ID, this tells the BNO080 to begin reporting the values
void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports)
{
setFeatureCommand(reportID, timeBetweenReports, 0); //No specific config
}
//Given a sensor's report ID, this tells the BNO080 to begin reporting the values
//Also sets the specific config word. Useful for personal activity classifier
void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig)
{
long microsBetweenReports = (long)timeBetweenReports * 1000L;
shtpData[0] = SHTP_REPORT_SET_FEATURE_COMMAND; //Set feature command. Reference page 55
shtpData[1] = reportID; //Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector
shtpData[2] = 0; //Feature flags
shtpData[3] = 0; //Change sensitivity (LSB)
shtpData[4] = 0; //Change sensitivity (MSB)
shtpData[5] = (microsBetweenReports >> 0) & 0xFF; //Report interval (LSB) in microseconds. 0x7A120 = 500ms
shtpData[6] = (microsBetweenReports >> 8) & 0xFF; //Report interval
shtpData[7] = (microsBetweenReports >> 16) & 0xFF; //Report interval
shtpData[8] = (microsBetweenReports >> 24) & 0xFF; //Report interval (MSB)
shtpData[9] = 0; //Batch Interval (LSB)
shtpData[10] = 0; //Batch Interval
shtpData[11] = 0; //Batch Interval
shtpData[12] = 0; //Batch Interval (MSB)
shtpData[13] = (specificConfig >> 0) & 0xFF; //Sensor-specific config (LSB)
shtpData[14] = (specificConfig >> 8) & 0xFF; //Sensor-specific config
shtpData[15] = (specificConfig >> 16) & 0xFF; //Sensor-specific config
shtpData[16] = (specificConfig >> 24) & 0xFF; //Sensor-specific config (MSB)
//Transmit packet on channel 2, 17 bytes
sendPacket(CHANNEL_CONTROL, 17);
}
//Tell the sensor to do a command
//See 6.3.8 page 41, Command request
//The caller is expected to set P0 through P8 prior to calling
void BNO080::sendCommand(uint8_t command)
{
shtpData[0] = SHTP_REPORT_COMMAND_REQUEST; //Command Request
shtpData[1] = commandSequenceNumber++; //Increments automatically each function call
shtpData[2] = command; //Command
//Caller must set these
/*shtpData[3] = 0; //P0
shtpData[4] = 0; //P1
shtpData[5] = 0; //P2
shtpData[6] = 0;
shtpData[7] = 0;
shtpData[8] = 0;
shtpData[9] = 0;
shtpData[10] = 0;
shtpData[11] = 0;*/
//Transmit packet on channel 2, 12 bytes
sendPacket(CHANNEL_CONTROL, 12);
}
//This tells the BNO080 to begin calibrating
//See page 50 of reference manual and the 1000-4044 calibration doc
void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate)
{
/*shtpData[3] = 0; //P0 - Accel Cal Enable
shtpData[4] = 0; //P1 - Gyro Cal Enable
shtpData[5] = 0; //P2 - Mag Cal Enable
shtpData[6] = 0; //P3 - Subcommand 0x00
shtpData[7] = 0; //P4 - Planar Accel Cal Enable
shtpData[8] = 0; //P5 - Reserved
shtpData[9] = 0; //P6 - Reserved
shtpData[10] = 0; //P7 - Reserved
shtpData[11] = 0; //P8 - Reserved*/
for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array
shtpData[x] = 0;
if(thingToCalibrate == CALIBRATE_ACCEL) shtpData[3] = 1;
else if(thingToCalibrate == CALIBRATE_GYRO) shtpData[4] = 1;
else if(thingToCalibrate == CALIBRATE_MAG) shtpData[5] = 1;
else if(thingToCalibrate == CALIBRATE_PLANAR_ACCEL) shtpData[7] = 1;
else if(thingToCalibrate == CALIBRATE_ACCEL_GYRO_MAG)
{
shtpData[3] = 1;
shtpData[4] = 1;
shtpData[5] = 1;
}
else if(thingToCalibrate == CALIBRATE_STOP) ; //Do nothing, bytes are set to zero
//Using this shtpData packet, send a command
sendCommand(COMMAND_ME_CALIBRATE);
}
//This tells the BNO080 to save the Dynamic Calibration Data (DCD) to flash
//See page 49 of reference manual and the 1000-4044 calibration doc
void BNO080::saveCalibration()
{
/*shtpData[3] = 0; //P0 - Reserved
shtpData[4] = 0; //P1 - Reserved
shtpData[5] = 0; //P2 - Reserved
shtpData[6] = 0; //P3 - Reserved
shtpData[7] = 0; //P4 - Reserved
shtpData[8] = 0; //P5 - Reserved
shtpData[9] = 0; //P6 - Reserved
shtpData[10] = 0; //P7 - Reserved
shtpData[11] = 0; //P8 - Reserved*/
for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array
shtpData[x] = 0;
//Using this shtpData packet, send a command
sendCommand(COMMAND_DCD); //Save DCD command
}
//Wait a certain time for incoming I2C bytes before giving up
//Returns false if failed
boolean BNO080::waitForI2C()
{
for (uint8_t counter = 0 ; counter < 100 ; counter++) //Don't got more than 255
{
if (_i2cPort->available() > 0) return (true);
delay(1);
}
if(_printDebug == true) _debugPort->println(F("I2C timeout"));
return (false);
}
//Check to see if there is any new data available
//Read the contents of the incoming packet into the shtpData array
boolean BNO080::receivePacket(void)
{
_i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)4); //Ask for four bytes to find out how much data we need to read
if (waitForI2C() == false) return (false); //Error
//Get the first four bytes, aka the packet header
uint8_t packetLSB = _i2cPort->read();
uint8_t packetMSB = _i2cPort->read();
uint8_t channelNumber = _i2cPort->read();
uint8_t sequenceNumber = _i2cPort->read(); //Not sure if we need to store this or not
//Store the header info.
shtpHeader[0] = packetLSB;
shtpHeader[1] = packetMSB;
shtpHeader[2] = channelNumber;
shtpHeader[3] = sequenceNumber;
//Calculate the number of data bytes in this packet
int16_t dataLength = ((uint16_t)packetMSB << 8 | packetLSB);
dataLength &= ~(1 << 15); //Clear the MSbit.
//This bit indicates if this package is a continuation of the last. Ignore it for now.
//TODO catch this as an error and exit
if (dataLength == 0)
{
//Packet is empty
return (false); //All done
}
dataLength -= 4; //Remove the header bytes from the data count
getData(dataLength);
return (true); //We're done!
}
//Sends multiple requests to sensor until all data bytes are received from sensor
//The shtpData buffer has max capacity of MAX_PACKET_SIZE. Any bytes over this amount will be lost.
//Arduino I2C read limit is 32 bytes. Header is 4 bytes, so max data we can read per interation is 28 bytes
boolean BNO080::getData(uint16_t bytesRemaining)
{
uint16_t dataSpot = 0; //Start at the beginning of shtpData array
//Setup a series of chunked 32 byte reads
while (bytesRemaining > 0)
{
uint16_t numberOfBytesToRead = bytesRemaining;
if (numberOfBytesToRead > (I2C_BUFFER_LENGTH-4)) numberOfBytesToRead = (I2C_BUFFER_LENGTH-4);
_i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)(numberOfBytesToRead + 4));
if (waitForI2C() == false) return (0); //Error
//The first four bytes are header bytes and are throw away
_i2cPort->read();
_i2cPort->read();
_i2cPort->read();
_i2cPort->read();
for (uint8_t x = 0 ; x < numberOfBytesToRead ; x++)
{
uint8_t incoming = _i2cPort->read();
if (dataSpot < MAX_PACKET_SIZE)
{
shtpData[dataSpot++] = incoming; //Store data into the shtpData array
}
else
{
//Do nothing with the data
}
}
bytesRemaining -= numberOfBytesToRead;
}
return (true); //Done!
}
//Given the data packet, send the header then the data
//Returns false if sensor does not ACK
//TODO - Arduino has a max 32 byte send. Break sending into multi packets if needed.
boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength)
{
uint8_t packetLength = dataLength + 4; //Add four bytes for the header
//if(packetLength > I2C_BUFFER_LENGTH) return(false); //You are trying to send too much. Break into smaller packets.
_i2cPort->beginTransmission(_deviceAddress);
//Send the 4 byte packet header
_i2cPort->write(packetLength & 0xFF); //Packet length LSB
_i2cPort->write(packetLength >> 8); //Packet length MSB
_i2cPort->write(channelNumber); //Channel number
_i2cPort->write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel
//Send the user's data packet
for (uint8_t i = 0 ; i < dataLength ; i++)
{
_i2cPort->write(shtpData[i]);
}
if (_i2cPort->endTransmission() != 0)
{
return (false);
}
return (true);
}
//Pretty prints the contents of the current shtp header and data packets
void BNO080::printPacket(void)
{
if(_printDebug == true)
{
uint16_t packetLength = (uint16_t)shtpHeader[1] << 8 | shtpHeader[0];
//Print the four byte header
_debugPort->print(F("Header:"));
for(uint8_t x = 0 ; x < 4 ; x++)
{
_debugPort->print(F(" "));
if(shtpHeader[x] < 0x10) _debugPort->print(F("0"));
_debugPort->print(shtpHeader[x], HEX);
}
uint8_t printLength = packetLength - 4;
if(printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book.
_debugPort->print(F(" Body:"));
for(uint8_t x = 0 ; x < printLength ; x++)
{
_debugPort->print(F(" "));
if(shtpData[x] < 0x10) _debugPort->print(F("0"));
_debugPort->print(shtpData[x], HEX);
}
if (packetLength & 1 << 15)
{
_debugPort->println(F(" [Continued packet] "));
packetLength &= ~(1 << 15);
}
_debugPort->print(F(" Length:"));
_debugPort->print (packetLength);
_debugPort->print(F(" Channel:"));
if (shtpHeader[2] == 0) _debugPort->print(F("Command"));
else if (shtpHeader[2] == 1) _debugPort->print(F("Executable"));
else if (shtpHeader[2] == 2) _debugPort->print(F("Control"));
else if (shtpHeader[2] == 3) _debugPort->print(F("Sensor-report"));
else if (shtpHeader[2] == 4) _debugPort->print(F("Wake-report"));
else if (shtpHeader[2] == 5) _debugPort->print(F("Gyro-vector"));
else _debugPort->print(shtpHeader[2]);
_debugPort->println();
}
}
/*
This is a library written for the BNO080
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/14586
Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor
to maintain and complete all the complex calculations for various VR, inertial, step counting,
and movement operations.
This library handles the initialization of the BNO080 and is able to query the sensor
for different readings.
https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.3
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <Wire.h>
//The default I2C address for the BNO080 on the SparkX breakout is 0x4B. 0x4A is also possible.
#define BNO080_DEFAULT_ADDRESS 0x4B
//Platform specific configurations
//Define the size of the I2C buffer based on the platform the user has
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
//I2C_BUFFER_LENGTH is defined in Wire.H
#define I2C_BUFFER_LENGTH BUFFER_LENGTH
#elif defined(__SAMD21G18A__)
//SAMD21 uses RingBuffer.h
#define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE
#elif __MK20DX256__
//Teensy
#elif ARDUINO_ARCH_ESP32
//ESP32 based platforms
#else
//The catch-all default is 32
#define I2C_BUFFER_LENGTH 32
#endif
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Registers
const byte CHANNEL_COMMAND = 0;
const byte CHANNEL_EXECUTABLE = 1;
const byte CHANNEL_CONTROL = 2;
const byte CHANNEL_REPORTS = 3;
const byte CHANNEL_WAKE_REPORTS = 4;
const byte CHANNEL_GYRO = 5;
//All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual
//These are used for low level communication with the sensor, on channel 2
#define SHTP_REPORT_COMMAND_RESPONSE 0xF1
#define SHTP_REPORT_COMMAND_REQUEST 0xF2
#define SHTP_REPORT_FRS_READ_RESPONSE 0xF3
#define SHTP_REPORT_FRS_READ_REQUEST 0xF4
#define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8
#define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9
#define SHTP_REPORT_BASE_TIMESTAMP 0xFB
#define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD
//All the different sensors and features we can get reports from
//These are used when enabling a given sensor
#define SENSOR_REPORTID_ACCELEROMETER 0x01
#define SENSOR_REPORTID_GYROSCOPE 0x02
#define SENSOR_REPORTID_MAGNETIC_FIELD 0x03
#define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04
#define SENSOR_REPORTID_ROTATION_VECTOR 0x05
#define SENSOR_REPORTID_GRAVITY 0x06
#define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08
#define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09
#define SENSOR_REPORTID_TAP_DETECTOR 0x10
#define SENSOR_REPORTID_STEP_COUNTER 0x11
#define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13
#define SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER 0x1E
//Record IDs from figure 29, page 29 reference manual
//These are used to read the metadata for each sensor type
#define FRS_RECORDID_ACCELEROMETER 0xE302
#define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306
#define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309
#define FRS_RECORDID_ROTATION_VECTOR 0xE30B
//Command IDs from section 6.4, page 42
//These are used to calibrate, initialize, set orientation, tare etc the sensor
#define COMMAND_ERRORS 1
#define COMMAND_COUNTER 2
#define COMMAND_TARE 3
#define COMMAND_INITIALIZE 4
#define COMMAND_DCD 6
#define COMMAND_ME_CALIBRATE 7
#define COMMAND_DCD_PERIOD_SAVE 9
#define COMMAND_OSCILLATOR 10
#define COMMAND_CLEAR_DCD 11
#define CALIBRATE_ACCEL 0
#define CALIBRATE_GYRO 1
#define CALIBRATE_MAG 2
#define CALIBRATE_PLANAR_ACCEL 3
#define CALIBRATE_ACCEL_GYRO_MAG 4
#define CALIBRATE_STOP 5
#define MAX_PACKET_SIZE 128 //Packets can be up to 32k but we don't have that much RAM.
#define MAX_METADATA_SIZE 9 //This is in words. There can be many but we mostly only care about the first 9 (Qs, range, etc)
class BNO080 {
public:
boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire); //By default use the default I2C addres, and use Wire port
void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used.
void softReset(); //Try to reset the IMU via software
uint8_t resetReason(); //Query the IMU for the reason it last reset
float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number
boolean waitForI2C(); //Delay based polling for I2C traffic
boolean receivePacket(void);
boolean getData(uint16_t bytesRemaining); //Given a number of bytes, send the requests in I2C_BUFFER_LENGTH chunks
boolean sendPacket(uint8_t channelNumber, uint8_t dataLength);
void printPacket(void); //Prints the current shtp header and data packets
void enableRotationVector(uint16_t timeBetweenReports);
void enableGameRotationVector(uint16_t timeBetweenReports);
void enableAccelerometer(uint16_t timeBetweenReports);
void enableLinearAccelerometer(uint16_t timeBetweenReports);
void enableGyro(uint16_t timeBetweenReports);
void enableMagnetometer(uint16_t timeBetweenReports);
void enableStepCounter(uint16_t timeBetweenReports);
void enableStabilityClassifier(uint16_t timeBetweenReports);
void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]);
bool dataAvailable(void);
void parseInputReport(void);
float getQuatI();
float getQuatJ();
float getQuatK();
float getQuatReal();
float getQuatRadianAccuracy();
uint8_t getQuatAccuracy();
float getAccelX();
float getAccelY();
float getAccelZ();
uint8_t getAccelAccuracy();
float getLinAccelX();
float getLinAccelY();
float getLinAccelZ();
uint8_t getLinAccelAccuracy();
float getGyroX();
float getGyroY();
float getGyroZ();
uint8_t getGyroAccuracy();
float getMagX();
float getMagY();
float getMagZ();
uint8_t getMagAccuracy();
void calibrateAccelerometer();
void calibrateGyro();
void calibrateMagnetometer();
void calibratePlanarAccelerometer();
void calibrateAll();
void endCalibration();
void saveCalibration();
uint16_t getStepCount();
uint8_t getStabilityClassifier();
uint8_t getActivityClassifier();
void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports);
void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig);
void sendCommand(uint8_t command);
void sendCalibrateCommand(uint8_t thingToCalibrate);
//Metadata functions
int16_t getQ1(uint16_t recordID);
int16_t getQ2(uint16_t recordID);
int16_t getQ3(uint16_t recordID);
float getResolution(uint16_t recordID);
float getRange(uint16_t recordID);
uint32_t readFRSword(uint16_t recordID, uint8_t wordNumber);
void frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize);
bool readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead);
//Global Variables
uint8_t shtpHeader[4]; //Each packet has a header of 4 bytes
uint8_t shtpData[MAX_PACKET_SIZE];
uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0}; //There are 6 com channels. Each channel has its own seqnum
uint8_t commandSequenceNumber = 0; //Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel
uint32_t metaData[MAX_METADATA_SIZE]; //There is more than 10 words in a metadata record but we'll stop at Q point 3
private:
//Variables
TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware
uint8_t _deviceAddress; //Keeps track of I2C address. setI2CAddress changes this.
Stream *_debugPort; //The stream to send debug messages to if enabled. Usually Serial.
boolean _printDebug = false; //Flag to print debugging variables
//These are the raw sensor values pulled from the user requested Input Report
uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy;
uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy;
uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
uint16_t stepCount;
uint8_t stabilityClassifier;
uint8_t activityClassifier;
uint8_t *_activityConfidences; //Array that store the confidences of the 9 possible activities
//These Q values are defined in the datasheet but can also be obtained by querying the meta data records
//See the read metadata example for more info
int16_t rotationVector_Q1 = 14;
int16_t accelerometer_Q1 = 8;
int16_t linear_accelerometer_Q1 = 8;
int16_t gyro_Q1 = 9;
int16_t magnetometer_Q1 = 4;
};
请根据以上参考代码，写出我所需的STM32F411ceu6基于I2C控制BNO080的库函数
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