BNO055 IMU Sensor

This library has been modified by Kubos to utilize the Kubos-HAL I2C interface. More...

Data Structures

struct  bno055_rev_info_t
 
struct  bno055_offsets_t
 
struct  bno055_quat_data_t
 
struct  bno055_vector_data_t
 
struct  bno055_system_status_t
 
struct  bno055_calibration_data_t
 

Enumerations

enum  bno055_reg_t {
  BNO055_PAGE_ID_ADDR = 0x07, 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,
  BNO055_ACCEL_DATA_X_LSB_ADDR = 0x08, BNO055_MAG_DATA_X_LSB_ADDR = 0x0E, BNO055_GYRO_DATA_X_LSB_ADDR = 0x14, BNO055_EULER_H_LSB_ADDR = 0x1A,
  BNO055_QUATERNION_DATA_W_LSB_ADDR = 0x20, BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0x28, BNO055_GRAVITY_DATA_X_LSB_ADDR = 0x2E, BNO055_TEMP_ADDR = 0x34,
  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, BNO055_UNIT_SEL_ADDR = 0x3B, BNO055_DATA_SELECT_ADDR = 0x3C,
  BNO055_OPR_MODE_ADDR = 0x3D, BNO055_PWR_MODE_ADDR = 0x3E, BNO055_SYS_TRIGGER_ADDR = 0x3F, BNO055_TEMP_SOURCE_ADDR = 0x40,
  BNO055_AXIS_MAP_CONFIG_ADDR = 0x41, BNO055_AXIS_MAP_SIGN_ADDR = 0x42, 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,
  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, 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,
  ACCEL_RADIUS_LSB_ADDR = 0x67, ACCEL_RADIUS_MSB_ADDR = 0x68, MAG_RADIUS_LSB_ADDR = 0x69, MAG_RADIUS_MSB_ADDR = 0x6A
}
 
enum  bno055_powermode_t { POWER_MODE_NORMAL = 0x00, POWER_MODE_LOWPOWER = 0x01, POWER_MODE_SUSPEND = 0x02 }
 
enum  bno055_opmode_t {
  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, OPERATION_MODE_INVALID = 0x99
}
 
enum  bno055_axis_remap_config_t {
  REMAP_CONFIG_P0 = 0x21, REMAP_CONFIG_P1 = 0x24, REMAP_CONFIG_P2 = 0x24, REMAP_CONFIG_P3 = 0x21,
  REMAP_CONFIG_P4 = 0x24, REMAP_CONFIG_P5 = 0x21, REMAP_CONFIG_P6 = 0x21, REMAP_CONFIG_P7 = 0x24
}
 
enum  bno055_axis_remap_sign_t {
  REMAP_SIGN_P0 = 0x04, REMAP_SIGN_P1 = 0x00, REMAP_SIGN_P2 = 0x06, REMAP_SIGN_P3 = 0x02,
  REMAP_SIGN_P4 = 0x03, REMAP_SIGN_P5 = 0x01, REMAP_SIGN_P6 = 0x07, REMAP_SIGN_P7 = 0x05
}
 
enum  vector_type_t {
  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
}
 

Functions

KSensorStatus bno055_setup (bno055_opmode_t mode)
 
KSensorStatus bno055_init (bno055_opmode_t mode)
 
KSensorStatus bno055_set_mode (bno055_opmode_t mode)
 
KSensorStatus bno055_get_mode (uint8_t *value)
 
KSensorStatus bno055_get_rev_info (bno055_rev_info_t *info)
 
KSensorStatus bno055_set_ext_crystal_use (int use)
 
KSensorStatus bno055_get_system_status (bno055_system_status_t *status)
 
KSensorStatus bno055_get_calibration (bno055_calibration_data_t *data)
 
KSensorStatus bno055_get_single_data (bno055_reg_t reg, uint8_t *value)
 
KSensorStatus bno055_get_data_vector (vector_type_t type, bno055_vector_data_t *vector)
 
KSensorStatus bno055_get_position (bno055_quat_data_t *quat)
 
KSensorStatus bno055_get_temperature (int8_t *temp)
 
KSensorStatus bno055_get_sensor_offset_struct (bno055_offsets_t *offsets_type)
 
KSensorStatus bno055_set_sensor_offset_struct (const bno055_offsets_t offsets_type)
 

Enumeration Type Documentation

Enumerator
REMAP_CONFIG_P0 
REMAP_CONFIG_P1 
REMAP_CONFIG_P2 
REMAP_CONFIG_P3 
REMAP_CONFIG_P4 
REMAP_CONFIG_P5 
REMAP_CONFIG_P6 
REMAP_CONFIG_P7 
Enumerator
REMAP_SIGN_P0 
REMAP_SIGN_P1 
REMAP_SIGN_P2 
REMAP_SIGN_P3 
REMAP_SIGN_P4 
REMAP_SIGN_P5 
REMAP_SIGN_P6 
REMAP_SIGN_P7 
Enumerator
OPERATION_MODE_CONFIG 
OPERATION_MODE_ACCONLY 
OPERATION_MODE_MAGONLY 
OPERATION_MODE_GYRONLY 
OPERATION_MODE_ACCMAG 
OPERATION_MODE_ACCGYRO 
OPERATION_MODE_MAGGYRO 
OPERATION_MODE_AMG 
OPERATION_MODE_IMUPLUS 
OPERATION_MODE_COMPASS 
OPERATION_MODE_M4G 
OPERATION_MODE_NDOF_FMC_OFF 
OPERATION_MODE_NDOF 
OPERATION_MODE_INVALID 
Enumerator
POWER_MODE_NORMAL 
POWER_MODE_LOWPOWER 
POWER_MODE_SUSPEND 
Enumerator
BNO055_PAGE_ID_ADDR 
BNO055_CHIP_ID_ADDR 
BNO055_ACCEL_REV_ID_ADDR 
BNO055_MAG_REV_ID_ADDR 
BNO055_GYRO_REV_ID_ADDR 
BNO055_SW_REV_ID_LSB_ADDR 
BNO055_SW_REV_ID_MSB_ADDR 
BNO055_BL_REV_ID_ADDR 
BNO055_ACCEL_DATA_X_LSB_ADDR 
BNO055_MAG_DATA_X_LSB_ADDR 
BNO055_GYRO_DATA_X_LSB_ADDR 
BNO055_EULER_H_LSB_ADDR 
BNO055_QUATERNION_DATA_W_LSB_ADDR 
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 
BNO055_GRAVITY_DATA_X_LSB_ADDR 
BNO055_TEMP_ADDR 
BNO055_CALIB_STAT_ADDR 
BNO055_SELFTEST_RESULT_ADDR 
BNO055_INTR_STAT_ADDR 
BNO055_SYS_CLK_STAT_ADDR 
BNO055_SYS_STAT_ADDR 
BNO055_SYS_ERR_ADDR 
BNO055_UNIT_SEL_ADDR 
BNO055_DATA_SELECT_ADDR 
BNO055_OPR_MODE_ADDR 
BNO055_PWR_MODE_ADDR 
BNO055_SYS_TRIGGER_ADDR 
BNO055_TEMP_SOURCE_ADDR 
BNO055_AXIS_MAP_CONFIG_ADDR 
BNO055_AXIS_MAP_SIGN_ADDR 
ACCEL_OFFSET_X_LSB_ADDR 
ACCEL_OFFSET_X_MSB_ADDR 
ACCEL_OFFSET_Y_LSB_ADDR 
ACCEL_OFFSET_Y_MSB_ADDR 
ACCEL_OFFSET_Z_LSB_ADDR 
ACCEL_OFFSET_Z_MSB_ADDR 
MAG_OFFSET_X_LSB_ADDR 
MAG_OFFSET_X_MSB_ADDR 
MAG_OFFSET_Y_LSB_ADDR 
MAG_OFFSET_Y_MSB_ADDR 
MAG_OFFSET_Z_LSB_ADDR 
MAG_OFFSET_Z_MSB_ADDR 
GYRO_OFFSET_X_LSB_ADDR 
GYRO_OFFSET_X_MSB_ADDR 
GYRO_OFFSET_Y_LSB_ADDR 
GYRO_OFFSET_Y_MSB_ADDR 
GYRO_OFFSET_Z_LSB_ADDR 
GYRO_OFFSET_Z_MSB_ADDR 
ACCEL_RADIUS_LSB_ADDR 
ACCEL_RADIUS_MSB_ADDR 
MAG_RADIUS_LSB_ADDR 
MAG_RADIUS_MSB_ADDR 
Enumerator
VECTOR_ACCELEROMETER 
VECTOR_MAGNETOMETER 
VECTOR_GYROSCOPE 
VECTOR_EULER 
VECTOR_LINEARACCEL 
VECTOR_GRAVITY 

Function Documentation

KSensorStatus bno055_get_calibration ( bno055_calibration_data_t data)
KSensorStatus bno055_get_data_vector ( vector_type_t  type,
bno055_vector_data_t vector 
)
KSensorStatus bno055_get_mode ( uint8_t *  value)
KSensorStatus bno055_get_position ( bno055_quat_data_t quat)
KSensorStatus bno055_get_rev_info ( bno055_rev_info_t info)
KSensorStatus bno055_get_sensor_offset_struct ( bno055_offsets_t offsets_type)
KSensorStatus bno055_get_single_data ( bno055_reg_t  reg,
uint8_t *  value 
)
KSensorStatus bno055_get_system_status ( bno055_system_status_t status)
KSensorStatus bno055_get_temperature ( int8_t *  temp)
KSensorStatus bno055_init ( bno055_opmode_t  mode)
KSensorStatus bno055_set_ext_crystal_use ( int  use)
KSensorStatus bno055_set_mode ( bno055_opmode_t  mode)
KSensorStatus bno055_set_sensor_offset_struct ( const bno055_offsets_t  offsets_type)
KSensorStatus bno055_setup ( bno055_opmode_t  mode)