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i2c_bno055.c
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i2c_bno055.c
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/* ------------------------------------------------------------ *
* file: i2c_bno055.c *
* purpose: Extract sensor data from Bosch BNO055 modules. *
* Functions for I2C bus communication, get and *
* set sensor register data. Ths file belongs to *
* the pi-bno055 package. Functions are called *
* from getbno055.c, globals are in getbno055.h. *
* *
* Requires: I2C development packages i2c-tools libi2c-dev *
* *
* author: 07/14/2018 Frank4DD *
* ------------------------------------------------------------ */
#include <stdio.h>
#include <stdlib.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <fcntl.h>
#include "getbno055.h"
/* ------------------------------------------------------------ *
* global variables *
* ------------------------------------------------------------ */
int i2cfd; // I2C file descriptor
/* ------------------------------------------------------------ *
* get_i2cbus() - Enables the I2C bus communication. Raspberry *
* Pi 2 uses i2c-1, RPI 1 used i2c-0, NanoPi also uses i2c-0. *
* ------------------------------------------------------------ */
void get_i2cbus(char *i2cbus, char *i2caddr) {
if((i2cfd = open(i2cbus, O_RDWR)) < 0) {
printf("Error failed to open I2C bus [%s].\n", i2cbus);
exit(-1);
}
if(verbose == 1) printf("Debug: I2C bus device: [%s]\n", i2cbus);
/* --------------------------------------------------------- *
* Set I2C device (BNO055 I2C address is 0x28 or 0x29) *
* --------------------------------------------------------- */
int addr = (int)strtol(i2caddr, NULL, 16);
if(verbose == 1) printf("Debug: Sensor address: [0x%02X]\n", addr);
if(ioctl(i2cfd, I2C_SLAVE, addr) != 0) {
printf("Error can't find sensor at address [0x%02X].\n", addr);
exit(-1);
}
/* --------------------------------------------------------- *
* I2C communication test is the only way to confirm success *
* --------------------------------------------------------- */
char reg = BNO055_CHIP_ID_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure register [0x%02X], sensor addr [0x%02X]?\n", reg, addr);
exit(-1);
}
}
/* --------------------------------------------------------------- *
* bno_dump() dumps the register map data. *
* --------------------------------------------------------------- */
int bno_dump() {
int count = 0;
printf("------------------------------------------------------\n");
printf("BNO055 page-0:\n");
printf("------------------------------------------------------\n");
printf(" reg 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
printf("------------------------------------------------------\n");
while(count < 8) {
char reg = count;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
exit(-1);
}
char data[16] = {0};
if(read(i2cfd, &data, 16) != 16) {
printf("Error: I2C read failure for register 0x%02X\n", reg);
exit(-1);
}
printf("[0x%02X] %02X %02X %02X %02X %02X %02X %02X %02X",
(reg*16), data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
printf(" %02X %02X %02X %02X %02X %02X %02X %02X\n",
data[8], data[9], data[10], data[11], data[12], data[13], data[14], data[15]);
count++;
}
set_page1();
usleep(50 * 1000);
count = 0;
printf("------------------------------------------------------\n");
printf("BNO055 page-1:\n");
printf("------------------------------------------------------\n");
printf(" reg 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
printf("------------------------------------------------------\n");
while(count < 8) {
char reg = count;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
exit(-1);
}
char data[16] = {0};
if(read(i2cfd, &data, 16) != 16) {
printf("Error: I2C read failure for register 0x%02X\n", reg);
exit(-1);
}
printf("[0x%02X] %02X %02X %02X %02X %02X %02X %02X %02X",
(reg*16), data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
printf(" %02X %02X %02X %02X %02X %02X %02X %02X\n",
data[8], data[9], data[10], data[11], data[12], data[13], data[14], data[15]);
count++;
}
set_page0();
usleep(50 * 1000);
exit(0);
}
/* --------------------------------------------------------------- *
* bno_reset() resets the sensor. It will come up in CONFIG mode. *
* --------------------------------------------------------------- */
int bno_reset() {
char data[2];
data[0] = BNO055_SYS_TRIGGER_ADDR;
data[1] = 0x20;
if(write(i2cfd, data, 2) != 2) {
printf("Error: I2C write failure for register 0x%02X\n", data[0]);
exit(-1);
}
if(verbose == 1) printf("Debug: BNO055 Sensor Reset complete\n");
/* ------------------------------------------------------------ *
* After a reset, the sensor needs at leat 650ms to boot up. *
* ------------------------------------------------------------ */
usleep(650 * 1000);
exit(0);
}
/* ------------------------------------------------------------ *
* get_calstatus() gets the calibration state from the sensor. *
* Calibration status has 4 values, encoded as 2bit in reg 0x35 *
* ------------------------------------------------------------ */
int get_calstatus(struct bnocal *bno_ptr) {
char reg = BNO055_CALIB_STAT_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char data = 0;
if(read(i2cfd, &data, 1) != 1) {
printf("Error: I2C read failure for register 0x%02X\n", reg);
return(-1);
}
bno_ptr->scal_st = (data & 0b11000000) >> 6; // system calibration status
if(verbose == 1) printf("Debug: sensor system calibration: [%d]\n", bno_ptr->scal_st);
bno_ptr->gcal_st = (data & 0b00110000) >> 4; // gyro calibration
if(verbose == 1) printf("Debug: gyroscope calibration: [%d]\n", bno_ptr->gcal_st);
bno_ptr->acal_st = (data & 0b00001100) >> 2; // accel calibration status
if(verbose == 1) printf("Debug: accelerometer calibration: [%d]\n", bno_ptr->acal_st);
bno_ptr->mcal_st = (data & 0b00000011); // magneto calibration status
if(verbose == 1) printf("Debug: magnetometer calibration: [%d]\n", bno_ptr->mcal_st);
return(0);
}
/* ------------------------------------------------------------ *
* Calibration offset is stored in 3x6 (18) registers 0x55~0x66 *
* plus 4 registers 0x67~0x6A accelerometer/magnetometer radius *
* ------------------------------------------------------------ */
int get_caloffset(struct bnocal *bno_ptr) {
/* --------------------------------------------------------- *
* Registers may not update in fusion mode, switch to CONFIG *
* --------------------------------------------------------- */
opmode_t oldmode = get_mode();
set_mode(config);
char reg = ACC_OFFSET_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read %d bytes starting at register 0x%02X\n", CALIB_BYTECOUNT, reg);
char data[CALIB_BYTECOUNT] = {0};
if(read(i2cfd, data, CALIB_BYTECOUNT) != CALIB_BYTECOUNT) {
printf("Error: I2C calibration data read from 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) {
int i = 0;
printf("Debug: Calibrationset:");
while(i<CALIB_BYTECOUNT) {
printf(" %02X", data[i]);
i++;
}
printf("\n");
}
/* ------------------------------------------------------------ *
* assigning accelerometer X-Y-Z offset, range per G-range *
* 16G = +/-16000, 8G = +/-8000, 4G = +/-4000, 2G = +/-2000 *
* ------------------------------------------------------------ */
if(verbose == 1) printf("Debug: accelerometer offset: [%d] [%d] [%d] (X-Y-Z)\n",
((int16_t)data[1] << 8) | data[0],
((int16_t)data[3] << 8) | data[2],
((int16_t)data[5] << 8) | data[4]);
bno_ptr->aoff_x = ((int16_t)data[1] << 8) | data[0];
bno_ptr->aoff_y = ((int16_t)data[3] << 8) | data[2];
bno_ptr->aoff_z = ((int16_t)data[5] << 8) | data[4];
/* ------------------------------------------------------------ *
* assigning magnetometer X-Y-Z offset, offset range is +/-6400 *
* ------------------------------------------------------------ */
if(verbose == 1) printf("Debug: magnetometer offset: [%d] [%d] [%d] (X-Y-Z)\n",
((int16_t)data[7] << 8) | data[6],
((int16_t)data[9] << 8) | data[8],
((int16_t)data[11] << 8) | data[10]);
bno_ptr->moff_x = ((int16_t)data[7] << 8) | data[6];
bno_ptr->moff_y = ((int16_t)data[9] << 8) | data[8];
bno_ptr->moff_z = ((int16_t)data[11] << 8) | data[10];
/* ------------------------------------------------------------ *
* assigning gyroscope X-Y-Z offset, range depends on dps value *
* 2000 = +/-32000, 1000 = +/-16000, 500 = +/-8000, etc *
* ------------------------------------------------------------ */
if(verbose == 1) printf("Debug: gyroscope offset: [%d] [%d] [%d] (X-Y-Z)\n",
((int16_t)data[13] << 8) | data[12],
((int16_t)data[15] << 8) | data[14],
((int16_t)data[17] << 8) | data[16]);
bno_ptr->goff_x = ((int16_t)data[13] << 8) | data[12];
bno_ptr->goff_y = ((int16_t)data[15] << 8) | data[14];
bno_ptr->goff_z = ((int16_t)data[17] << 8) | data[16];
/* ------------------------------------------------------------ *
* assigning accelerometer radius, range is +/-1000 *
* ------------------------------------------------------------ */
if(verbose == 1) printf("Debug: accelerometer radius: [%d] (+/-1000)\n",
((int16_t)data[19] << 8) | data[18]);
bno_ptr->acc_rad = ((int16_t)data[19] << 8) | data[18];
/* ------------------------------------------------------------ *
* assigning magnetometer radius, range is +/-960 *
* ------------------------------------------------------------ */
if(verbose == 1) printf("Debug: magnetometer radius: [%d] (+/- 960)\n",
((int16_t)data[21] << 8) | data[20]);
bno_ptr->mag_rad = ((int16_t)data[21] << 8) | data[20];
set_mode(oldmode);
return(0);
}
/* ------------------------------------------------------------ *
* save_cal() - writes calibration data to file for reuse *
* ------------------------------------------------------------ */
int save_cal(char *file) {
/* --------------------------------------------------------- *
* Read 34 bytes calibration data from registers 0x43~66, *
* plus 4 reg 0x67~6A with accelerometer/magnetometer radius *
* switch to CONFIG, data is only visible in non-fusion mode *
* --------------------------------------------------------- */
opmode_t oldmode = get_mode();
set_mode(config);
int i = 0;
//char reg = ACC_OFFSET_X_LSB_ADDR;
char reg = BNO055_SIC_MATRIX_0_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read %d bytes starting at register 0x%02X\n",
CALIB_BYTECOUNT, reg);
char data[CALIB_BYTECOUNT] = {0};
if(read(i2cfd, data, CALIB_BYTECOUNT) != CALIB_BYTECOUNT) {
printf("Error: I2C calibration data read from 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) {
printf("Debug: Calibrationset:");
while(i<CALIB_BYTECOUNT) {
printf(" %02X", data[i]);
i++;
}
printf("\n");
}
/* -------------------------------------------------------- *
* Open the calibration data file for writing. *
* -------------------------------------------------------- */
FILE *calib;
if(! (calib=fopen(file, "w"))) {
printf("Error: Can't open %s for writing.\n", file);
exit(-1);
}
if(verbose == 1) printf("Debug: Write to file: [%s]\n", file);
/* -------------------------------------------------------- *
* write the bytes in data[] out *
* -------------------------------------------------------- */
int outbytes = fwrite(data, 1, CALIB_BYTECOUNT, calib);
fclose(calib);
if(verbose == 1) printf("Debug: Bytes to file: [%d]\n", outbytes);
if(outbytes != CALIB_BYTECOUNT) {
printf("Error: %d/%d bytes written to file.\n", outbytes, CALIB_BYTECOUNT);
return(-1);
}
set_mode(oldmode);
return(0);
}
/* ------------------------------------------------------------ *
* load_cal() load previously saved calibration data from file *
* ------------------------------------------------------------ */
int load_cal(char *file) {
/* -------------------------------------------------------- *
* Open the calibration data file for reading. *
* -------------------------------------------------------- */
FILE *calib;
if(! (calib=fopen(file, "r"))) {
printf("Error: Can't open %s for reading.\n", file);
exit(-1);
}
if(verbose == 1) printf("Debug: Load from file: [%s]\n", file);
/* -------------------------------------------------------- *
* Read 34 bytes from file into data[], starting at data[1] *
* -------------------------------------------------------- */
char data[CALIB_BYTECOUNT+1] = {0};
//data[0] = ACC_OFFSET_X_LSB_ADDR;
data[0] = BNO055_SIC_MATRIX_0_LSB_ADDR;
int inbytes = fread(&data[1], 1, CALIB_BYTECOUNT, calib);
fclose(calib);
if(inbytes != CALIB_BYTECOUNT) {
printf("Error: %d/%d bytes read to file.\n", inbytes, CALIB_BYTECOUNT);
return(-1);
}
if(verbose == 1) {
printf("Debug: Calibrationset:");
int i = 1;
while(i<CALIB_BYTECOUNT+1) {
printf(" %02X", data[i]);
i++;
}
printf("\n");
}
/* -------------------------------------------------------- *
* Write 34 bytes from file into sensor registers from 0x43 *
* We need to switch in and out of CONFIG mode if needed... *
* -------------------------------------------------------- */
opmode_t oldmode = get_mode();
set_mode(config);
usleep(50 * 1000);
if(write(i2cfd, data, (CALIB_BYTECOUNT+1)) != (CALIB_BYTECOUNT+1)) {
printf("Error: I2C write failure for register 0x%02X\n", data[0]);
return(-1);
}
/* -------------------------------------------------------- *
* To verify, we read 34 bytes from 0x43 & compare to input *
* -------------------------------------------------------- */
//char reg = ACC_OFFSET_X_LSB_ADDR;
char reg = BNO055_SIC_MATRIX_0_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char newdata[CALIB_BYTECOUNT] = {0};
if(read(i2cfd, newdata, CALIB_BYTECOUNT) != CALIB_BYTECOUNT) {
printf("Error: I2C calibration data read from 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: Registerupdate:");
int i = 0;
while(i<CALIB_BYTECOUNT) {
if(data[i+1] != newdata[i]) {
printf("\nError: Calibration load failure %02X register 0x%02X\n", newdata[i], reg+i);
//exit(-1);
}
if(verbose == 1) printf(" %02X", newdata[i]);
i++;
}
if(verbose == 1) printf("\n");
set_mode(oldmode);
/* -------------------------------------------------------- *
* 650 ms delay are only needed if -l and -t are both used *
* to let the fusion code process the new calibration data *
* -------------------------------------------------------- */
usleep(650 * 1000);
return(0);
}
/* ------------------------------------------------------------ *
* print_unit() - Extract the SI unit config from register 0x3B *
* ------------------------------------------------------------ */
void print_unit(int unit_sel) {
// bit-0
printf("Acceleration Unit = ");
if((unit_sel >> 0) & 0x01) printf("mg\n");
else printf("m/s2\n");
// bit-1
printf(" Gyroscope Unit = ");
if((unit_sel >> 1) & 0x01) printf("rps\n");
else printf("dps\n");
// bit-2
printf(" Euler Unit = ");
if((unit_sel >> 2) & 0x01) printf("Radians\n");
else printf("Degrees\n");
// bit-3: unused
// bit-4
printf(" Temperature Unit = ");
if((unit_sel >> 4) & 0x01) printf("Fahrenheit\n");
else printf("Celsius\n");
// bit-5: unused
// bit-6: unused
// bit-7
printf(" Orientation Mode = ");
if((unit_sel >> 3) & 0x01) printf("Android\n");
else printf("Windows\n");
}
/* ------------------------------------------------------------ *
* get_inf() queries the BNO055 and write the info data into *
* the global struct bnoinf defined in getbno055.h *
* ------------------------------------------------------------ */
int get_inf(struct bnoinf *bno_ptr) {
char reg = 0x00;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char data[7] = {0};
if(read(i2cfd, data, 7) != 7) {
printf("Error: I2C read failure for register data 0x00-0x06\n");
return(-1);
}
/* --------------------------------------------------------- *
* 1-byte chip ID in register 0x00, default: 0xA0 *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: Sensor CHIP ID: [0x%02X]\n", data[0]);
bno_ptr->chip_id = data[0];
/* --------------------------------------------------------- *
* 1-byte Accelerometer ID in register 0x01, default: 0xFB *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: Sensor ACC ID: [0x%02X]\n", data[1]);
bno_ptr->acc_id = data[1];
/* --------------------------------------------------------- *
* 1-byte Magnetometer ID in register 0x02, default 0x32 *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: Sensor MAG ID: [0x%02X]\n", data[2]);
bno_ptr->mag_id = data[2];
/* --------------------------------------------------------- *
* 1-byte Gyroscope ID in register 0x03, default: 0x0F *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: Sensor GYR ID: [0x%02X]\n", data[3]);
bno_ptr->gyr_id = data[3];
/* --------------------------------------------------------- *
* 1-byte SW Revsion ID LSB in register 0x04, default: 0x08 *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: SW Rev-ID LSB: [0x%02X]\n", data[4]);
bno_ptr->sw_lsb = data[4];
/* --------------------------------------------------------- *
* 1-byte SW Revision ID MSB in register 0x05, default: 0x03 *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: SW Rev-ID MSB: [0x%02X]\n", data[5]);
bno_ptr->sw_msb = data[5];
/* --------------------------------------------------------- *
* 1-byte BootLoader Revision ID register 0x06, no default *
* --------------------------------------------------------- */
if(verbose == 1) printf("Debug: Bootloader Ver: [0x%02X]\n", data[6]);
bno_ptr->bl_rev = data[6];
/* --------------------------------------------------------- *
* Read the operations mode with get_mode(), default: 0x0 *
* --------------------------------------------------------- */
bno_ptr->opr_mode = get_mode();
/* --------------------------------------------------------- *
* Read the power mode with get_power(), default: 0x0 *
* --------------------------------------------------------- */
bno_ptr->pwr_mode = get_power();
/* --------------------------------------------------------- *
* Read the axis remap config get_remap('c'), default: 0x24 *
* --------------------------------------------------------- */
bno_ptr->axr_conf = get_remap('c');
/* --------------------------------------------------------- *
* Read the axis remap sign get_remap('s'), default: 0x00 *
* --------------------------------------------------------- */
bno_ptr->axr_sign = get_remap('s');
/* --------------------------------------------------------- *
* Read 1-byte system status from register 0x39, no default *
* --------------------------------------------------------- */
reg = BNO055_SYS_STAT_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
data[0] = 0;
if(read(i2cfd, data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: System Status: [0x%02X]\n", data[0]);
bno_ptr->sys_stat = data[0];
/* --------------------------------------------------------- *
* Read 1-byte Self Test Result register 0x36, 0x0F=pass *
* --------------------------------------------------------- */
reg = BNO055_SELFTSTRES_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
data[0] = 0;
if(read(i2cfd, data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: Self-Test Mode: [0x%02X] 4bit [0x%02X]\n", data[0], data[0] & 0x0F);
bno_ptr->selftest = data[0] & 0x0F; // only get the lowest 4 bits
/* --------------------------------------------------------- *
* Read 1-byte System Error from register 0x3A, 0=OK *
* --------------------------------------------------------- */
reg = BNO055_SYS_ERR_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
data[0] = 0;
if(read(i2cfd, data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: Internal Error: [0x%02X]\n", data[0]);
bno_ptr->sys_err = data[0];
/* --------------------------------------------------------- *
* Read 1-byte Unit definition from register 0x3B, 0=OK *
* --------------------------------------------------------- */
reg = BNO055_UNIT_SEL_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
data[0] = 0;
if(read(i2cfd, data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: UnitDefinition: [0x%02X]\n", data[0]);
bno_ptr->unitsel = data[0];
/* --------------------------------------------------------- *
* Extract the temperature unit from the unit selection data *
* --------------------------------------------------------- */
char t_unit;
if((data[0] >> 4) & 0x01) t_unit = 'F';
else t_unit = 'C';
/* --------------------------------------------------------- *
* Read sensor temperature from register 0x34, no default *
* --------------------------------------------------------- */
reg = BNO055_TEMP_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
data[0] = 0;
if(read(i2cfd, data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: Temperature: [0x%02X] [%d°%c]\n", data[0], data[0], t_unit);
bno_ptr->temp_val = data[0];
return(0);
}
/* ------------------------------------------------------------ *
* get_acc() - read accelerometer data into the global struct *
* ------------------------------------------------------------ */
int get_acc(struct bnoacc *bnod_ptr) {
char reg = BNO055_ACC_DATA_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char data[6] = {0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Accelerometer Data X: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->adata_x = (double) buf;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Accelerometer Data Y: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->adata_y = (double) buf;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Accelerometer Data Z: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->adata_z = (double) buf;
return(0);
}
/* ------------------------------------------------------------ *
* get_mag() - read magnetometer data into the global struct *
* Convert magnetometer data in microTesla. 1 microTesla = 16 *
* ------------------------------------------------------------ */
int get_mag(struct bnomag *bnod_ptr) {
char reg = BNO055_MAG_DATA_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char data[6] = {0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Magnetometer Data X: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->mdata_x = (double) buf / 1.6;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Magnetometer Data Y: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->mdata_y = (double) buf / 1.6;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Magnetometer Data Z: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->mdata_z = (double) buf / 1.6;
return(0);
}
/* ------------------------------------------------------------ *
* get_gyr() - read gyroscope data into the global struct *
* ------------------------------------------------------------ */
int get_gyr(struct bnogyr *bnod_ptr) {
char reg = BNO055_GYRO_DATA_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char data[6] = {0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Gyroscope Data X: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->gdata_x = (double) buf / 16.0;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Gyrosscope Data Y: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->gdata_y = (double) buf / 16.0;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Gyroscope Data Z: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->gdata_z = (double) buf / 16.0;
return(0);
}
/* ------------------------------------------------------------ *
* get_eul() - read Euler orientation into the global struct *
* ------------------------------------------------------------ */
int get_eul(struct bnoeul *bnod_ptr) {
char reg = BNO055_EULER_H_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read 6 bytes starting at register 0x%02X\n", reg);
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Euler Orientation H: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->eul_head = (double) buf / 16.0;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Euler Orientation R: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->eul_roll = (double) buf / 16.0;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Euler Orientation P: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->eul_pitc = (double) buf / 16.0;
return(0);
}
/* ------------------------------------------------------------ *
* get_qua() - read Quaternation data into the global struct *
* ------------------------------------------------------------ */
int get_qua(struct bnoqua *bnod_ptr) {
char reg = BNO055_QUATERNION_DATA_W_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read 8 bytes starting at register 0x%02X\n", reg);
unsigned char data[8] = {0};
if(read(i2cfd, data, 8) != 8) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Quaternation W: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->quater_w = (double) buf / 16384.0;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Quaternation X: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->quater_x = (double) buf / 16384.0;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Quaternation Y: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->quater_y = (double) buf / 16384.0;
buf = ((int16_t)data[7] << 8) | data[6];
if(verbose == 1) printf("Debug: Quaternation Z: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[6], data[7],buf);
bnod_ptr->quater_z = (double) buf / 16384.0;
return(0);
}
/* ------------------------------------------------------------ *
* get_gra() - read gravity vector into the global struct *
* ------------------------------------------------------------ */
int get_gra(struct bnogra *bnod_ptr) {
/* --------------------------------------------------------- *
* Get the unit conversion: 1 m/s2 = 100 LSB, 1 mg = 1 LSB *
* --------------------------------------------------------- */
char reg = BNO055_UNIT_SEL_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char unit_sel;
if(read(i2cfd, &unit_sel, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
double ufact;
if((unit_sel >> 0) & 0x01) ufact = 1.0;
else ufact = 100.0;
/* --------------------------------------------------------- *
* Get the gravity vector data *
* --------------------------------------------------------- */
reg = BNO055_GRAVITY_DATA_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read 6 bytes starting at register 0x%02X\n", reg);
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Gravity Vector H: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->gravityx = (double) buf / ufact;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Gravity Vector M: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->gravityy = (double) buf / ufact;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Gravity Vector P: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->gravityz = (double) buf / ufact;
return(0);
}
/* ------------------------------------------------------------ *
* get_lin() - read linear acceleration into the global struct *
* ------------------------------------------------------------ */
int get_lin(struct bnolin *bnod_ptr) {
/* --------------------------------------------------------- *
* Get the unit conversion: 1 m/s2 = 100 LSB, 1 mg = 1 LSB *
* --------------------------------------------------------- */
char reg = BNO055_UNIT_SEL_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
char unit_sel;
if(read(i2cfd, &unit_sel, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
double ufact;
if((unit_sel >> 0) & 0x01) ufact = 1.0;
else ufact = 100.0;
/* --------------------------------------------------------- *
* Get the linear acceleration data *
* --------------------------------------------------------- */
reg = BNO055_LIN_ACC_DATA_X_LSB_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: I2C read 6 bytes starting at register 0x%02X\n", reg);
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
if(read(i2cfd, data, 6) != 6) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
int16_t buf = ((int16_t)data[1] << 8) | data[0];
if(verbose == 1) printf("Debug: Linear Acceleration H: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[0], data[1],buf);
bnod_ptr->linacc_x = (double) buf / ufact;
buf = ((int16_t)data[3] << 8) | data[2];
if(verbose == 1) printf("Debug: Linear Acceleration M: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[2], data[3],buf);
bnod_ptr->linacc_y = (double) buf / ufact;
buf = ((int16_t)data[5] << 8) | data[4];
if(verbose == 1) printf("Debug: Linear Acceleration P: LSB [0x%02X] MSB [0x%02X] INT16 [%d]\n", data[4], data[5],buf);
bnod_ptr->linacc_z = (double) buf / ufact;
return(0);
}
/* ------------------------------------------------------------ *
* set_mode() - set the sensor operational mode register 0x3D *
* The modes cannot be switched over directly, first it needs *
* to be set to "config" mode before switching to the new mode. *
* ------------------------------------------------------------ */
int set_mode(opmode_t newmode) {
char data[2] = {0};
data[0] = BNO055_OPR_MODE_ADDR;
opmode_t oldmode = get_mode();
if(oldmode == newmode) return(0); // if new mode is the same
else if(oldmode > 0 && newmode > 0) { // switch to "config" first
data[1] = 0x0;
if(verbose == 1) printf("Debug: Write opr_mode: [0x%02X] to register [0x%02X]\n", data[1], data[0]);
if(write(i2cfd, data, 2) != 2) {
printf("Error: I2C write failure for register 0x%02X\n", data[0]);
return(-1);
}
/* --------------------------------------------------------- *
* switch time: any->config needs 7ms + small buffer = 10ms *
* --------------------------------------------------------- */
usleep(10 * 1000);
}
data[1] = newmode;
if(verbose == 1) printf("Debug: Write opr_mode: [0x%02X] to register [0x%02X]\n", data[1], data[0]);
if(write(i2cfd, data, 2) != 2) {
printf("Error: I2C write failure for register 0x%02X\n", data[0]);
return(-1);
}
/* --------------------------------------------------------- *
* switch time: config->any needs 19ms + small buffer = 25ms *
* --------------------------------------------------------- */
usleep(25 * 1000);
if(get_mode() == newmode) return(0);
else return(-1);
}
/* ------------------------------------------------------------ *
* get_mode() - returns sensor operational mode register 0x3D *
* Reads 1 byte from Operations Mode register 0x3d, and uses *
* only the lowest 4 bit. Bits 4-7 are unused, stripped off *
* ------------------------------------------------------------ */
int get_mode() {
int reg = BNO055_OPR_MODE_ADDR;
if(write(i2cfd, ®, 1) != 1) {
printf("Error: I2C write failure for register 0x%02X\n", reg);
return(-1);
}
unsigned int data = 0;
if(read(i2cfd, &data, 1) != 1) {
printf("Error: I2C read failure for register data 0x%02X\n", reg);
return(-1);
}
if(verbose == 1) printf("Debug: Operation Mode: [0x%02X]\n", data & 0x0F);
return(data & 0x0F); // only return the lowest 4 bits
}
/* ------------------------------------------------------------ *
* print_mode() - prints sensor operational mode string from *
* sensor operational mode numeric value. *
* ------------------------------------------------------------ */
int print_mode(int mode) {
if(mode < 0 || mode > 12) return(-1);
switch(mode) {
case 0x00:
printf("CONFIG\n");
break;
case 0x01:
printf("ACCONLY\n");
break;
case 0x02:
printf("MAGONLY\n");
break;
case 0x03:
printf("GYRONLY\n");
break;
case 0x04:
printf("ACCMAG\n");
break;
case 0x05:
printf("ACCGYRO\n");
break;
case 0x06:
printf("MAGGYRO\n");
break;
case 0x07:
printf("AMG\n");
break;
case 0x08:
printf("IMU\n");
break;
case 0x09:
printf("COMPASS\n");
break;
case 0x0A:
printf("M4G\n");
break;
case 0x0B:
printf("NDOF_FMC_OFF\n");
break;
case 0x0C:
printf("NDOF_FMC\n");
break;
}
return(0);
}
/* ------------------------------------------------------------ *
* set_power() - set the sensor power mode in register 0x3E. *
* The power modes cannot be switched over directly, first the *
* ops mode needs to be "config" to write the new power mode. *
* ------------------------------------------------------------ */
int set_power(power_t pwrmode) {
char data[2] = {0};
/* ------------------------------------------------------------ *
* Check what operational mode we are in *
* ------------------------------------------------------------ */
opmode_t oldmode = get_mode();
/* ------------------------------------------------------------ *
* If ops mode wasn't config, switch to "CONFIG" mode first *
* ------------------------------------------------------------ */