YARP
Yet Another Robot Platform
imuBosch_BNO055.h File Reference
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Classes

class  BoschIMU
 imuBosch_BNO055: This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application. More...
 

Macros

#define START_BYTE   0xAA
 
#define WRITE_CMD   0x00
 
#define READ_CMD   0x01
 
#define REPLY_HEAD   0xBB
 
#define ERROR_HEAD   0xEE
 
#define WRITE_SUCC   0x01
 
#define READ_FAIL   0x02
 
#define WRITE_FAIL   0x03
 
#define REGISTER_NOT_READY   0x07
 
#define REG_CHIP_ID   0x00
 
#define REG_SW_VERSION   0x04
 
#define REG_BOOTLOADER   0x06
 
#define REG_PAGE_ID   0x07
 
#define REG_ACC_DATA   0x08
 
#define REG_MAGN_DATA   0x0E
 
#define REG_GYRO_DATA   0x14
 
#define REG_RPY_DATA   0x1A
 
#define REG_QUATERN_DATA   0x20
 
#define REG_GRAVITY   0x2E
 
#define REG_CALIB_STATUS   0x35
 
#define REG_SYS_CLK_STATUS   0x38
 
#define REG_SYS_STATUS   0x39
 
#define REG_SYS_ERR   0x3A
 
#define REG_UNIT_SEL   0x3B
 
#define REG_OP_MODE   0x3D
 
#define REG_POWER_MODE   0x3E
 
#define REG_SYS_TRIGGER   0x3F
 
#define CONFIG_MODE   0x00
 
#define AMG_MODE   0x07
 
#define IMU_MODE   0x08
 
#define M4G_MODE   0x0A
 
#define NDOF_MODE   0x0C
 
#define TRIG_EXT_CLK_SEL   0x80
 
#define TRIG_RESET_INT   0x40
 
#define TRIG_RESET_SYSTEM   0x20
 
#define TRIG_SELF_TEST   0x01
 
#define BNO055_ID   0xA0
 
#define RESP_HEADER_SIZE   2
 
#define SWITCHING_TIME   0.020
 
#define TIME_REPORT_INTERVAL   30
 
#define ATTEMPTS_NUM_OF_SEND_CONFIG_CMD   3
 

Variables

constexpr int MAX_MSG_LENGTH = 128
 

Macro Definition Documentation

◆ AMG_MODE

#define AMG_MODE   0x07

Definition at line 92 of file imuBosch_BNO055.h.

◆ ATTEMPTS_NUM_OF_SEND_CONFIG_CMD

#define ATTEMPTS_NUM_OF_SEND_CONFIG_CMD   3

Definition at line 110 of file imuBosch_BNO055.h.

◆ BNO055_ID

#define BNO055_ID   0xA0

Definition at line 103 of file imuBosch_BNO055.h.

◆ CONFIG_MODE

#define CONFIG_MODE   0x00

Definition at line 91 of file imuBosch_BNO055.h.

◆ ERROR_HEAD

#define ERROR_HEAD   0xEE

Definition at line 60 of file imuBosch_BNO055.h.

◆ IMU_MODE

#define IMU_MODE   0x08

Definition at line 93 of file imuBosch_BNO055.h.

◆ M4G_MODE

#define M4G_MODE   0x0A

Definition at line 94 of file imuBosch_BNO055.h.

◆ NDOF_MODE

#define NDOF_MODE   0x0C

Definition at line 95 of file imuBosch_BNO055.h.

◆ READ_CMD

#define READ_CMD   0x01

Definition at line 56 of file imuBosch_BNO055.h.

◆ READ_FAIL

#define READ_FAIL   0x02

Definition at line 62 of file imuBosch_BNO055.h.

◆ REG_ACC_DATA

#define REG_ACC_DATA   0x08

Definition at line 75 of file imuBosch_BNO055.h.

◆ REG_BOOTLOADER

#define REG_BOOTLOADER   0x06

Definition at line 72 of file imuBosch_BNO055.h.

◆ REG_CALIB_STATUS

#define REG_CALIB_STATUS   0x35

Definition at line 81 of file imuBosch_BNO055.h.

◆ REG_CHIP_ID

#define REG_CHIP_ID   0x00

Definition at line 70 of file imuBosch_BNO055.h.

◆ REG_GRAVITY

#define REG_GRAVITY   0x2E

Definition at line 80 of file imuBosch_BNO055.h.

◆ REG_GYRO_DATA

#define REG_GYRO_DATA   0x14

Definition at line 77 of file imuBosch_BNO055.h.

◆ REG_MAGN_DATA

#define REG_MAGN_DATA   0x0E

Definition at line 76 of file imuBosch_BNO055.h.

◆ REG_OP_MODE

#define REG_OP_MODE   0x3D

Definition at line 86 of file imuBosch_BNO055.h.

◆ REG_PAGE_ID

#define REG_PAGE_ID   0x07

Definition at line 73 of file imuBosch_BNO055.h.

◆ REG_POWER_MODE

#define REG_POWER_MODE   0x3E

Definition at line 87 of file imuBosch_BNO055.h.

◆ REG_QUATERN_DATA

#define REG_QUATERN_DATA   0x20

Definition at line 79 of file imuBosch_BNO055.h.

◆ REG_RPY_DATA

#define REG_RPY_DATA   0x1A

Definition at line 78 of file imuBosch_BNO055.h.

◆ REG_SW_VERSION

#define REG_SW_VERSION   0x04

Definition at line 71 of file imuBosch_BNO055.h.

◆ REG_SYS_CLK_STATUS

#define REG_SYS_CLK_STATUS   0x38

Definition at line 82 of file imuBosch_BNO055.h.

◆ REG_SYS_ERR

#define REG_SYS_ERR   0x3A

Definition at line 84 of file imuBosch_BNO055.h.

◆ REG_SYS_STATUS

#define REG_SYS_STATUS   0x39

Definition at line 83 of file imuBosch_BNO055.h.

◆ REG_SYS_TRIGGER

#define REG_SYS_TRIGGER   0x3F

Definition at line 88 of file imuBosch_BNO055.h.

◆ REG_UNIT_SEL

#define REG_UNIT_SEL   0x3B

Definition at line 85 of file imuBosch_BNO055.h.

◆ REGISTER_NOT_READY

#define REGISTER_NOT_READY   0x07

Definition at line 66 of file imuBosch_BNO055.h.

◆ REPLY_HEAD

#define REPLY_HEAD   0xBB

Definition at line 59 of file imuBosch_BNO055.h.

◆ RESP_HEADER_SIZE

#define RESP_HEADER_SIZE   2

Definition at line 105 of file imuBosch_BNO055.h.

◆ START_BYTE

#define START_BYTE   0xAA

Definition at line 54 of file imuBosch_BNO055.h.

◆ SWITCHING_TIME

#define SWITCHING_TIME   0.020

Definition at line 107 of file imuBosch_BNO055.h.

◆ TIME_REPORT_INTERVAL

#define TIME_REPORT_INTERVAL   30

Definition at line 108 of file imuBosch_BNO055.h.

◆ TRIG_EXT_CLK_SEL

#define TRIG_EXT_CLK_SEL   0x80

Definition at line 98 of file imuBosch_BNO055.h.

◆ TRIG_RESET_INT

#define TRIG_RESET_INT   0x40

Definition at line 99 of file imuBosch_BNO055.h.

◆ TRIG_RESET_SYSTEM

#define TRIG_RESET_SYSTEM   0x20

Definition at line 100 of file imuBosch_BNO055.h.

◆ TRIG_SELF_TEST

#define TRIG_SELF_TEST   0x01

Definition at line 101 of file imuBosch_BNO055.h.

◆ WRITE_CMD

#define WRITE_CMD   0x00

Definition at line 55 of file imuBosch_BNO055.h.

◆ WRITE_FAIL

#define WRITE_FAIL   0x03

Definition at line 63 of file imuBosch_BNO055.h.

◆ WRITE_SUCC

#define WRITE_SUCC   0x01

Definition at line 61 of file imuBosch_BNO055.h.

Variable Documentation

◆ MAX_MSG_LENGTH

constexpr int MAX_MSG_LENGTH = 128
constexpr

Definition at line 51 of file imuBosch_BNO055.h.