API for the BNO055 Absolute Orientation 9DOF Fusion Hub. More...

Detailed Description

ID: bno055
Name: Intelligent 9-axis Absolute Orientation Sensor
Category: accelerometer compass
Manufacturer: bosch adafruit
Connection: i2c gpio
Link: https://www.adafruit.com/products/2472

The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of +/- 2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.

This sensor handles the hard problem of combining various sensor information into a reliable measurement of sensor orientation (refered to as 'sensor fusion'). The onboard MCU runs this software and can provide fusion output in the form of Euler Angles, Quaternions, Linear Acceleration, and Gravity Vectors in 3 axes.

The focus on this driver has been on supporting the fusion components. Less support is available for use of this device as a generic accelerometer, gyroscope and magnetometer, however enough infrastructure is available to add any missing functionality.

This device requires calibration in order to operate accurately. Methods are provided to retrieve calibration data (once calibrated) to be stored somewhere else, like in a file. A method is provided to load this data as well. Calibration data is lost on a power cycle. See one of the examples for a description of how to calibrate the device, but in essence:

There is a calibration status register available (getCalibrationStatus()) that returns the calibration status of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS). Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration involves certain motions to get all 4 values at 3. The motions are as follows (though see the datasheet for more information):

GYR: Simply let the sensor sit flat for a few seconds.

ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45 degrees, hold for a few seconds, then continue rotating another 45 degrees and hold, etc. 6 or more movements of this type may be required. You can move through any axis you desire, but make sure that the device is lying at least once perpendicular to the x, y, and z axis.

MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.

SYS: This will usually reach 3 when the other items have also reached 3. If not, continue slowly moving the device though various axes until it does.

    // Instantiate an BNO055 using default parameters (bus 0, addr
    // 0x28).  The default running mode is NDOF absolute orientation
    // mode.
    upm::BNO055 sensor;
    // First we need to calibrate....
    cout << "First we need to calibrate.  4 numbers will be output every" << endl;
    cout << "second for each sensor.  0 means uncalibrated, and 3 means" << endl;
    cout << "fully calibrated." << endl;
    cout << "See the UPM documentation on this sensor for instructions on" << endl;
    cout << "what actions are required to calibrate." << endl;
    cout << endl;
    // do the calibration...
    while (shouldRun && !sensor.isFullyCalibrated()) {
        int mag, acc, gyr, sys;
        sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
        cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
             << " System: " << sys << endl;
        upm_delay(1);
    }
    cout << endl;
    cout << "Calibration complete." << endl;
    cout << endl;
    // now output various fusion data every 250 milliseconds
    while (shouldRun) {
        float w, x, y, z;
        sensor.update();
        sensor.getEulerAngles(&x, &y, &z);
        cout << "Euler: Heading: " << x << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
        sensor.getQuaternions(&w, &x, &y, &z);
        cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
        sensor.getLinearAcceleration(&x, &y, &z);
        cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
        sensor.getGravityVectors(&x, &y, &z);
        cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
        cout << endl;
        upm_delay_us(250000);
    }

Public Member Functions
	BNO055 (int bus=BNO055_DEFAULT_I2C_BUS, uint8_t addr=BNO055_DEFAULT_ADDR)

virtual	~BNO055 ()

void	update ()

uint8_t	getChipID ()

uint8_t	getACCID ()

uint8_t	getMAGID ()

uint8_t	getGYRID ()

uint16_t	getSWRevID ()

uint8_t	getBootLoaderID ()

void	setClockExternal (bool extClock)

void	setTemperatureSource (BNO055_TEMP_SOURCES_T src)

void	setOperationMode (BNO055_OPERATION_MODES_T mode)

void	resetSystem ()

void	getCalibrationStatus (int mag, int acc, int gyr, int sys)

std::vector< int >	getCalibrationStatus ()

bool	isFullyCalibrated ()

std::vector< uint8_t >	readCalibrationData ()

void	writeCalibrationData (std::vector< uint8_t > calibrationData)

float	getTemperature (bool fahrenheit=false)

void	getEulerAngles (float heading, float roll, float *pitch)

std::vector< float >	getEulerAngles ()

void	getQuaternions (float w, float x, float y, float z)

std::vector< float >	getQuaternions ()

void	getLinearAcceleration (float x, float y, float *z)

std::vector< float >	getLinearAcceleration ()

void	getGravityVectors (float x, float y, float *z)

std::vector< float >	getGravityVectors ()

void	getAccelerometer (float x, float y, float *z)

std::vector< float >	getAccelerometer ()

void	getMagnetometer (float x, float y, float *z)

std::vector< float >	getMagnetometer ()

void	getGyroscope (float x, float y, float *z)

std::vector< float >	getGyroscope ()

void	setAccelerationConfig (BNO055_ACC_RANGE_T range, BNO055_ACC_BW_T bw, BNO055_ACC_PWR_MODE_T pwr)

void	setMagnetometerConfig (BNO055_MAG_ODR_T odr, BNO055_MAG_OPR_T opr, BNO055_MAG_POWER_T pwr)

void	setGyroscopeConfig (BNO055_GYR_RANGE_T range, BNO055_GYR_BW_T bw, BNO055_GYR_POWER_MODE_T pwr)

void	setAccelerometerUnits (bool mg=false)

void	setGyroscopeUnits (bool radians=false)

void	setEulerUnits (bool radians=false)

void	resetInterruptStatus ()

uint8_t	getInterruptStatus ()

uint8_t	getInterruptEnable ()

void	setInterruptEnable (uint8_t enables)

uint8_t	getInterruptMask ()

void	setInterruptMask (uint8_t mask)

BNO055_SYS_STATUS_T	getSystemStatus ()

BNO055_SYS_ERR_T	getSystemError ()

void	installISR (int gpio, mraa_gpio_edge_t level, void(isr)(void ), void *arg)

void	uninstallISR ()

Protected Member Functions
void	setPage (uint8_t page, bool force=false)

uint8_t	readReg (uint8_t reg)

void	readRegs (uint8_t reg, uint8_t *buffer, int len)

void	writeReg (uint8_t reg, uint8_t val)

void	writeRegs (uint8_t reg, uint8_t *buffer, int len)

Protected Attributes
bno055_context	m_bno055

Constructor & Destructor Documentation

BNO055	(	int	bus = `BNO055_DEFAULT_I2C_BUS`,
		uint8_t	addr = `BNO055_DEFAULT_ADDR`
	)

BNO055 constructor.

By default, the constructor sets the acceleration units to m/s^2, gyro and Euler units to degrees, and temperature to celsius. It then enters the NDOF fusion mode.

In addition, the internal clock is used so that compatibility with other implementations is assured. If you are using a device with an external clock, call setClockExternal(true) to enable it.

Parameters

bus	I2C bus to use.
address	The address for this device.

Exceptions

std::runtime_error on initialization failure.

~BNO055 ( )

virtual

BNO055 Destructor.

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Member Function Documentation

void update ( void )

Update the internal stored values from sensor data.

Exceptions

std::runtime_error on failure.

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uint8_t getChipID ( )

Return the chip ID.

Returns: The chip ID (BNO055_CHIPID).

Exceptions

std::runtime_error on failure.

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uint8_t getACCID ( )

Return the accelerometer chip ID.

Returns: The chip ID.

Exceptions

std::runtime_error on failure.

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uint8_t getMAGID ( )

Return the magnetometer chip ID.

Returns: The chip ID.

Exceptions

std::runtime_error on failure.

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uint8_t getGYRID ( )

Return the gyroscope chip ID.

Returns: The chip ID.

Exceptions

std::runtime_error on failure.

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uint16_t getSWRevID ( )

Return the fusion firmware revison.

Returns: The firmware revison.

Exceptions

std::runtime_error on failure.

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uint8_t getBootLoaderID ( )

Return the bootloader ID.

Returns: The bootloader ID.

Exceptions

std::runtime_error on failure.

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void setClockExternal ( bool extClock )

Enable or disables the use of the external clock. The Adafruit device does contain an external clock which might be more stable. By default, the internal clock is used.

Parameters

extClock true to use external clock, false otherwise.

Exceptions

std::runtime_error on failure.

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void setTemperatureSource ( BNO055_TEMP_SOURCES_T src )

Select the temperature source. This can be the accelerometer or the gyroscope. By default, the accelerometer temperature is used as the source.

Parameters

src	One of the BNO055_TEMP_SOURCES_T values.

Exceptions

std::runtime_error on failure.

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void setOperationMode ( BNO055_OPERATION_MODES_T mode )

Set the operating mode for the device. This places the device into a config mode, one of 7 non-fusion modes, or one of 5 fusion modes. All stored sensor data is cleared when switching modes. The device must be in config mode for most configuration operations. See the datasheet for details.

Parameters

mode	One of the BNO055_OPERATION_MODES_T values.

Exceptions

std::runtime_error on failure.

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void resetSystem ( )

Reboot the sensor. This is equivalent to a power on reset. All calibration data will be lost, and the device must be recalibrated.

Exceptions

std::runtime_error on failure.

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void getCalibrationStatus	(	int *	mag,
		int *	acc,
		int *	gyr,
		int *	sys
	)

Read the calibration status registers and return them. The values range from 0 (uncalibrated) to 3 (fully calibrated).

Parameters

mag	The calibration status of the magnetometer.
acc	The calibration status of the accelerometer.
mag	The calibration status of the gyroscope.
mag	The calibration status of the overall system.

Exceptions

std::runtime_error on failure.

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vector< int > getCalibrationStatus ( )

Read the calibration status registers and return them as an integer vector. The values range from 0 (uncalibrated) to 3 (fully calibrated).

Returns: An integer vector containing the values in the order: mag, acc, gyr, and sys.

Exceptions

std::runtime_error on failure.

bool isFullyCalibrated ( )

Read the calibration status registers and return true or false, indicating whether all of the calibration parameters are fully calibrated.

Returns: True if all 4 calibration parameters are fully calibrated, else false.

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std::vector< uint8_t > readCalibrationData ( )

Read the calibration data and return it as a string. This data can then be saved for later reuse by writeCalibrationData() to restore calibration data after a reset. The sensor must be fully calibrated before calibration data can be read.

Returns: A vector of uint8_t's representing the calibration data. This vector will always be exactly BNO055_CALIBRATION_DATA_SIZE in size.

Exceptions

std::runtime_error if an error occurs.

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void writeCalibrationData ( std::vector< uint8_t > calibrationData )

Write previously saved calibration data to the calibration registers.

Parameters

calibrationData A vector of uint8_t (bytes) representing calibration data as returned by readCalibrationData(). It's length must always be exactly BNO055_CALIBRATION_DATA_SIZE.

Exceptions

std::length_error if the vector size is not equal to BNO055_CALIBRATION_DATA_SIZE.

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float getTemperature ( bool fahrenheit = false )

Return the current measured temperature. Note, this is not ambient temperature - this is the temperature of the selected source on the chip. update() must have been called prior to calling this method.

Parameters

fahrenheit true to return data in Fahrenheit, false for Celicus. Celsius is the default.

Returns: The temperature in degrees Celsius or Fahrenheit.

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void getEulerAngles	(	float *	heading,
		float *	roll,
		float *	pitch
	)

Return current orientation fusion data in the form of Euler Angles. By default, the returned values are in degrees. update() must have been called prior to calling this method.

Parameters

heading	Pointer to a floating point value that will have the current heading angle placed into it.
roll	Pointer to a floating point value that will have the current roll angle placed into it.
pitch	Pointer to a floating point value that will have the current pitch angle placed into it.

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vector< float > getEulerAngles ( )

Return current orientation fusion data in the form of Euler Angles as a floating point vector. By default, the returned values are in degrees. update() must have been called prior to calling this method.

Returns: A floating point vector containing heading, roll, and pitch, in that order.

void getQuaternions	(	float *	w,
		float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of Quaternions. update() must have been called prior to calling this method.

Parameters

w	Pointer to a floating point value that will have the current w component placed into it.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getQuaternions ( )

Return current orientation fusion data in the form of Quaternions, as a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing w, x, y, and z in that order.

void getLinearAcceleration	(	float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of Linear Acceleration. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getLinearAcceleration ( )

Return current orientation fusion data in the form of Linear Acceleration, as a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

void getGravityVectors	(	float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of a Gravity Vector per-axis. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getGravityVectors ( )

Return current orientation fusion data in the form of a Gravity Vector per-axis as a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

void getAccelerometer	(	float *	x,
		float *	y,
		float *	z
	)

Return uncompensated accelerometer data (non-fusion). In fusion modes, this data will be of little value. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getAccelerometer ( )

Return current uncompensated accelerometer (non-fusion) data in the form of a floating point vector. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

void getMagnetometer	(	float *	x,
		float *	y,
		float *	z
	)

Return uncompensated magnetometer data (non-fusion). In fusion modes, this data will be of little value. The returned values are in micro-teslas (uT). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getMagnetometer ( )

Return current uncompensated magnetometer (non-fusion) data in the form of a floating point vector. The returned values are in micro-teslas (uT). update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

void getGyroscope	(	float *	x,
		float *	y,
		float *	z
	)

Return uncompensated gyroscope data (non-fusion). In fusion modes, this data will be of little value. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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vector< float > getGyroscope ( )

Return current uncompensated gyroscope (non-fusion) data in the form of a floating point vector. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

void setAccelerationConfig	(	BNO055_ACC_RANGE_T	range,
		BNO055_ACC_BW_T	bw,
		BNO055_ACC_PWR_MODE_T	pwr
	)

Set the bandwidth, range, and power modes of the accelerometer. In fusion modes, these values will be ignored.

Parameters

range	One of the BNO055_ACC_RANGE_T values.
bw	One of the BNO055_ACC_BW_T values.
pwr	One of the BNO055_ACC_PWR_MODE_T values.

Exceptions

std::runtime_error on failure.

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void setMagnetometerConfig	(	BNO055_MAG_ODR_T	odr,
		BNO055_MAG_OPR_T	opr,
		BNO055_MAG_POWER_T	pwr
	)

Set the output data rate, operating mode and power mode of the magnetometer. In fusion modes, these values will be ignored.

Parameters

odr	One of the BNO055_MAG_ODR_T values.
opr	One of the BNO055_MAG_OPR_T values.
pwr	One of the BNO055_MAG_POWER_T values.

Exceptions

std::runtime_error on failure.

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void setGyroscopeConfig	(	BNO055_GYR_RANGE_T	range,
		BNO055_GYR_BW_T	bw,
		BNO055_GYR_POWER_MODE_T	pwr
	)

Set the range, bandwidth and power modes of the gyroscope. In fusion modes, these values will be ignored.

Parameters

range	One of the BNO055_GYR_RANGE_T values.
bw	One of the BNO055_GYR_BW_T values.
pwr	One of the BNO055_GYR_POWER_MODE_T values.

Exceptions

std::runtime_error on failure.

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void setAccelerometerUnits ( bool mg = false )

Set the unit of measurement for the accelerometer related sensor values. The choices are mg (milligravities) or meters per-second squared (m/s^2). The default is m/s^2.

Parameters

mg	true for mg, false for m/s^2.

Exceptions

std::runtime_error on failure.

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void setGyroscopeUnits ( bool radians = false )

Set the unit of measurement for the gyroscope related sensor values. The choices are degrees and radians. The default is degrees.

Parameters

radians true for radians, false for degrees.

Exceptions

std::runtime_error on failure.

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void setEulerUnits ( bool radians = false )

Set the unit of measurement for the Euler Angle related sensor values. The choices are degrees and radians. The default is degrees.

Parameters

radians true for radians, false for degrees.

Exceptions

std::runtime_error on failure.

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void resetInterruptStatus ( )

Reset all interrupt status bits and interrupt output.

Exceptions

std::runtime_error on failure.

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uint8_t getInterruptStatus ( )

Return the interrupt status register. This is a bitmask of the BNO055_INT_STA_BITS_T bits.

Returns: a bitmask of BNO055_INT_STA_BITS_T bits.

Exceptions

std::runtime_error on failure.

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uint8_t getInterruptEnable ( )

Return the interrupt enables register. This is a bitmask of the BNO055_INT_STA_BITS_T bits.

Returns: a bitmask of BNO055_INT_STA_BITS_T bits currently set in the enable register.

Exceptions

std::runtime_error on failure.

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void setInterruptEnable ( uint8_t enables )

Set the interrupt enable register. This is composed of a bitmask of the BNO055_INT_STA_BITS_T bits.

Parameters

enables a bitmask of BNO055_INT_STA_BITS_T bits to enable

Exceptions

std::runtime_error on failure.

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uint8_t getInterruptMask ( )

Return the interrupt mask register. This is a bitmask of the BNO055_INT_STA_BITS_T bits. The interrupt mask is used to mask off enabled interrupts from generating a hardware interrupt. The interrupt status register can still be used to detect masked interrupts if they are enabled.

Returns: a bitmask of BNO055_INT_STA_BITS_T bits currently set in the interrupt mask register.

Exceptions

std::runtime_error on failure.

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void setInterruptMask ( uint8_t mask )

Set the interrupt mask register. This is a bitmask of the BNO055_INT_STA_BITS_T bits. The interrupt mask is used to mask off enabled interrupts from generating a hardware interrupt. The interrupt status register can still be used to detect masked interrupts if they are enabled.

Parameters

mask	A bitmask of BNO055_INT_STA_BITS_T bits to set in the interrupt mask register.

Exceptions

std::runtime_error on failure.

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BNO055_SYS_STATUS_T getSystemStatus ( )

Return the value of the system status register. This method can be used to determine the overall status of the device.

Returns: One of the BNO055_SYS_STATUS_T values.

Exceptions

std::runtime_error on failure.

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BNO055_SYS_ERR_T getSystemError ( )

Return the value of the system error register. This mathod can be used to determine a variety of system related error conditions.

Returns: One of the BNO055_SYS_ERR_T values.

Exceptions

std::runtime_error on failure.

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void installISR	(	int	gpio,
		mraa_gpio_edge_t	level,
		void()(void )	isr,
		void *	arg
	)

install an interrupt handler.

Parameters

gpio	gpio pin to use as interrupt pin
level	the interrupt trigger level (one of mraa_gpio_edge_t values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isr	the interrupt handler, accepting a void * argument
arg	the argument to pass the the interrupt handler

Exceptions

std::runtime_error on failure.

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void uninstallISR ( )

uninstall a previously installed interrupt handler

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void setPage	(	uint8_t	page,
		bool	force = `false`
	)

protected

Set the current internal device register page. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
page	The page number to set. This can only be 0 or 1.
force	If true, force the device page state to match indicated internal page state regardless of current state.

Exceptions

std::runtime_error on failure.

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