Reference
Last revision 2026/01/27
Principle
The Gravity: BNO055 + BMP280 10DOF AHRS module combines inertial measurement and barometric sensing to achieve orientation and altitude detection.
1. BNO055 – 9-Axis Absolute Orientation Principle
The BNO055 integrates:
- 3-axis accelerometer (14-bit)
- 3-axis gyroscope (16-bit)
- 3-axis geomagnetic sensor
- Built-in 32-bit microcontroller (MCU)
Working mechanism:
- The accelerometer measures linear acceleration along X, Y, and Z axes.
- The gyroscope measures angular velocity.
- The geomagnetic sensor detects Earth's magnetic field for heading reference.
The built-in MCU performs real-time sensor fusion using embedded algorithms. It processes raw data from the three sensors and outputs high-level orientation data, including:
- Euler angles
- Quaternions
- Rotation vectors
- Linear acceleration
- Gravity vectors
- Heading
Because fusion is performed internally, the host controller does not need to implement complex Kalman filtering or attitude algorithms, significantly reducing system complexity.
2. BMP280 – Barometric Pressure Measurement Principle
The BMP280 is based on piezoresistive pressure sensing technology.
Working mechanism:
- Atmospheric pressure causes mechanical deformation of the internal sensing element.
- The resistance changes proportionally to pressure variation.
- The internal ADC converts this change into digital pressure data.
- Temperature is measured simultaneously for compensation.
Altitude can be calculated from pressure using the standard barometric formula.
3. 10DOF System Concept
By combining:
- 9-axis motion and orientation sensing (BNO055)
- 1-axis barometric pressure sensing (BMP280)
the module achieves 10 Degrees of Freedom (10DOF), enabling:
- 3D orientation tracking
- Heading detection
- Motion sensing
- Altitude estimation
All data are accessed via the Gravity I2C interface, allowing simplified integration with external microcontrollers.
API Function
class DFRobot_BNO055 {
public:
/**
* @brief global axis declare (excepet eular and quaternion)
*/
typedef enum {
eAxisAcc,
eAxisMag,
eAxisGyr,
eAxisLia,
eAxisGrv
} eAxis_t;
/**
* @brief global single axis declare
*/
typedef enum {
eSingleAxisX,
eSingleAxisY,
eSingleAxisZ
} eSingleAxis_t;
// registers ----------------------------------------------------------------
typedef struct {
uint8_t MAG: 2;
uint8_t ACC: 2;
uint8_t GYR: 2;
uint8_t SYS: 2;
} sRegCalibState_t;
typedef enum {
eStResultFaild,
eStResultPassed
} eStResult_t;
typedef struct {
uint8_t ACC: 1;
uint8_t MAG: 1;
uint8_t GYR: 1;
uint8_t MCU: 1;
} sRegStResult_t;
/**
* @brief enum interrupt
*/
typedef enum {
eIntGyrAm = 0x04,
eIntGyrHighRate = 0x08,
eIntAccHighG = 0x20,
eIntAccAm = 0x40,
eIntAccNm = 0x80,
eIntAll = 0xec
} eInt_t;
typedef struct {
uint8_t reserved1: 2;
uint8_t GYRO_AM: 1;
uint8_t HYR_HIGH_RATE: 1;
uint8_t reserved2: 1;
uint8_t ACC_HIGH_G: 1;
uint8_t ACC_AM: 1;
uint8_t ACC_NM: 1;
} sRegIntSta_t;
typedef struct {
uint8_t ST_MAIN_CLK: 1;
} sRegSysClkStatus_t;
typedef struct {
uint8_t ACC: 1;
uint8_t GYR: 1;
uint8_t EUL: 1;
uint8_t reserved1: 1;
uint8_t TEMP: 1;
uint8_t reserved2: 2;
uint8_t ORI_ANDROID_WINDOWS: 1;
} sRegUnitSel_t;
/**
* @brief Operation mode enum
*/
typedef enum {
eOprModeConfig,
eOprModeAccOnly,
eOprModeMagOnly,
eOprModeGyroOnly,
eOprModeAccMag,
eOprModeAccGyro,
eOprModeMagGyro,
eOprModeAMG,
eOprModeImu,
eOprModeCompass,
eOprModeM4G,
eOprModeNdofFmcOff,
eOprModeNdof
} eOprMode_t;
typedef struct {
uint8_t mode: 4;
} sRegOprMode_t;
/**
* @brief Poewr mode enum
*/
typedef enum {
ePowerModeNormal,
ePowerModeLowPower,
ePowerModeSuspend
} ePowerMode_t;
typedef struct {
uint8_t mode: 2;
} sRegPowerMode_t;
typedef struct {
uint8_t SELF_TEST: 1;
uint8_t reserved1: 4;
uint8_t RST_SYS: 1;
uint8_t RST_INT: 1;
uint8_t CLK_SEL: 1;
} sRegSysTrigger_t;
typedef struct {
uint8_t TEMP_SOURCE: 2;
} sRegTempSource_t;
typedef struct {
//uint8_t remappedXAxisVal: 2;
//uint8_t remappedYAxisVal: 2;
//uint8_t remappedZAxisVal: 2;
uint8_t remappedAxisConfig: 6;
} sRegAxisMapConfig_t;
typedef struct {
//uint8_t remappedZAxisSign: 1;
//uint8_t remappedYAxisSign: 1;
//uint8_t remappedXAxisSign: 1;
uint8_t remappedAxisSign: 3;
} sRegAxisMapSign_t;
typedef struct {
int16_t x, y, z;
} sAxisData_t;
/**
* @brief axis analog data struct
*/
typedef struct {
float x, y, z;
} sAxisAnalog_t;
/**
* @brief eular analog data struct
*/
typedef struct {
float head, roll, pitch;
} sEulAnalog_t;
typedef struct {
int16_t head, roll, pitch;
} sEulData_t;
/**
* @brief qua analog data struct
*/
typedef struct {
float w, x, y, z;
} sQuaAnalog_t;
typedef struct {
int16_t w, x, y, z;
} sQuaData_t;
typedef struct {
uint8_t CHIP_ID; // 0x00
#define BNO055_REG_CHIP_ID_DEFAULT 0xa0
uint8_t ACC_ID;
#define BNO055_REG_ACC_ID_DEFAULT 0xfb
uint8_t MAG_ID;
#define BNO055_REG_MAG_ID_DEFAULT 0x32
uint8_t GYR_ID;
#define BNO055_REG_GYR_ID_DEFAULT 0x0f
uint16_t SW_REV_ID;
#define BNO055_REG_SW_REV_ID_DEFAULT 0x0308
uint8_t BL_REV;
uint8_t PAGE_ID;
sAxisData_t ACC_DATA;
sAxisData_t MAG_DATA; // 0x0f
sAxisData_t GYR_DATA;
sEulData_t EUL_DATA;
sQuaData_t QUA_DATA; // 0x20
sAxisData_t LIA_DATA;
sAxisData_t GRV_DATA; // 0x2f
uint8_t TEMP;
sRegCalibState_t CALIB_STATE;
sRegStResult_t ST_RESULT;
sRegIntSta_t INT_STA;
sRegSysClkStatus_t SYS_CLK_STATUS;
uint8_t SYS_STATUS;
uint8_t SYS_ERR;
sRegUnitSel_t UNIT_SEL;
uint8_t reserved1;
sRegOprMode_t OPR_MODE;
sRegPowerMode_t PWR_MODE;
sRegSysTrigger_t SYS_TRIGGER;
sRegTempSource_t TEMP_SOURCE; // 0x40
sRegAxisMapConfig_t AXIS_MAP_CONFIG;
sRegAxisMapSign_t AXIS_MAP_SIGN;
uint8_t reserved2[(0x54 - 0x43 + 1)];
sAxisData_t ACC_OFFSET; // 0x55
sAxisData_t MAG_OFFSET;
sAxisData_t GYR_OFFSET; // 0x61
uint16_t ACC_RADIUS;
uint16_t MAG_RADIUS;
} sRegsPage0_t;
typedef enum {
eMapSign_P1,
eMapSign_P5,
eMapSign_P3,
eMapSign_P4,
eMapSign_P0,
eMapSign_P7,
eMapSign_P2,
eMapSign_P6,
} eMapSign_t;
typedef enum {
eMapConfig_P0 = 0x21,
eMapConfig_P1 = 0x24,
eMapConfig_P2 = 0x24,
eMapConfig_P3 = 0x21,
eMapConfig_P4 = 0x24,
eMapConfig_P5 = 0x21,
eMapConfig_P6 = 0x21,
eMapConfig_P7 = 0x24,
} eMapConfig_t;
/**
* @brief enum accelerometer range, unit G
*/
typedef enum {
eAccRange_2G,
eAccRange_4G,
eAccRange_8G,
eAccRange_16G
} eAccRange_t;
/**
* @brief enum accelerometer band width, unit HZ
*/
typedef enum {
eAccBandWidth_7_81, // 7.81HZ
eAccBandWidth_15_63, // 16.63HZ
eAccBandWidth_31_25,
eAccBandWidth_62_5,
eAccBandWidth_125,
eAccBandWidth_250,
eAccBandWidth_500,
eAccBandWidth_1000
} eAccBandWidth_t;
/**
* @brief enum accelerometer power mode
*/
typedef enum {
eAccPowerModeNormal,
eAccPowerModeSuspend,
eAccPowerModeLowPower1,
eAccPowerModeStandby,
eAccPowerModeLowPower2,
eAccPowerModeDeepSuspend
} eAccPowerMode_t;
typedef struct {
uint8_t ACC_RANGE: 2;
uint8_t ACC_BW: 3;
uint8_t ACC_PWR_MODE: 3;
} sRegAccConfig_t;
/**
* @brief enum magnetometer data output rate, unit HZ
*/
typedef enum {
eMagDataRate_2,
eMagDataRate_6,
eMagDataRate_8,
eMagDataRate_10,
eMagDataRate_15,
eMagDataRate_20,
eMagDataRate_25,
eMagDataRate_30
} eMagDataRate_t;
/**
* @brief enum magnetometer operation mode
*/
typedef enum {
eMagOprModeLowPower,
eMagOprModeRegular,
eMagOprModeEnhancedRegular,
eMagOprModeHighAccuracy
} eMagOprMode_t;
/**
* @brief enum magnetometer power mode
*/
typedef enum {
eMagPowerModeNormal,
eMagPowerModeSleep,
eMagPowerModeSuspend,
eMagPowerModeForce
} eMagPowerMode_t;
typedef struct {
uint8_t MAG_DATA_OUTPUT_RATE: 3;
uint8_t MAG_OPR_MODE: 2;
uint8_t MAG_POWER_MODE: 2;
} sRegMagConfig_t;
/**
* @brief enum gyroscope range, unit dps
*/
typedef enum {
eGyrRange_2000,
eGyrRange_1000,
eGyrRange_500,
eGyrRange_250,
eGyrRange_125
} eGyrRange_t;
/**
* @brief enum gyroscope band width, unit HZ
*/
typedef enum {
eGyrBandWidth_523,
eGyrBandWidth_230,
eGyrBandWidth_116,
eGyrBandWidth_47,
eGyrBandWidth_23,
eGyrBandWidth_12,
eGyrBandWidth_64,
eGyrBandWidth_32
} eGyrBandWidth_t;
typedef struct {
uint8_t GYR_RANGE: 3;
uint8_t GYR_BANDWIDTH: 3;
} sRegGyrConfig0_t;
/**
* @brief enum gyroscope power mode
*/
typedef enum {
eGyrPowerModeNormal,
eGyrPowerModeFastPowerUp,
eGyrPowerModeDeepSuspend,
eGyrPowerModeSuspend,
eGyrPowerModeAdvancedPowersave
} eGyrPowerMode_t;
typedef struct {
uint8_t GYR_POWER_MODE: 3;
} sRegGyrConfig1_t;
typedef enum {
eAccSleepModeEventDriven,
eAccSleepModeEquidstantSampling
} eAccSleepMode_t;
typedef enum {
eAccSleepDuration_0_5 = 5, // 0.5 ms
eAccSleepDuration_1,
eAccSleepDuration_2,
eAccSleepDuration_4,
eAccSleepDuration_6,
eAccSleepDuration_10,
eAccSleepDuration_25,
eAccSleepDuration_50,
eAccSleepDuration_100,
eAccSleepDuration_500,
eAccSleepDuration_1000
} eAccSleepDuration_t;
typedef struct {
uint8_t SLP_MODE: 1;
uint8_t SLP_DURATION: 4;
} sRegAccSleepConfig_t;
typedef enum {
eGyrSleepDuration_2,
eGyrSleepDuration_4,
eGyrSleepDuration_5,
eGyrSleepDuration_8,
eGyrSleepDuration_10,
eGyrSleepDuration_15,
eGyrSleepDuration_18,
eGyrSleepDuration_20
} eGyrSleepDuration_t;
typedef enum {
eGyrAutoSleepDuration_No,
eGyrAutoSleepDuration_4,
eGyrAutoSleepDuration_5,
eGyrAutoSleepDuration_8,
eGyrAutoSleepDuration_10,
eGyrAutoSleepDuration_15,
eGyrAutoSleepDuration_20,
eGyrAutoSleepDuration_40
} eGyrAutoSleepDuration_t;
typedef struct {
uint8_t SLP_DURATION: 3;
uint8_t AUTO_SLP_DURATION: 3;
} sRegGyrSleepConfig_t;
typedef struct {
uint8_t reserved1: 2;
uint8_t GYRO_AM: 1;
uint8_t GYR_HIGH_RATE: 1;
uint8_t reserved2: 1;
uint8_t ACC_HIGH_G: 1;
uint8_t ACC_AM: 1;
uint8_t ACC_NM: 1;
} sRegIntMask_t;
typedef struct {
uint8_t reserved1: 2;
uint8_t GYRO_AM: 1;
uint8_t GYR_HIGH_RATE: 1;
uint8_t reserved2: 1;
uint8_t ACC_HIGH_G: 1;
uint8_t ACC_AM: 1;
uint8_t ACC_NM: 1;
} sRegIntEn_t;
/**
* @brief Enum accelerometer interrupt settings
*/
typedef enum {
eAccIntSetAmnmXAxis = (0x01 << 2),
eAccIntSetAmnmYAxis = (0x01 << 3),
eAccIntSetAmnmZAxis = (0x01 << 4),
eAccIntSetHgXAxis = (0x01 << 5),
eAccIntSetHgYAxis = (0x01 << 6),
eAccIntSetHgZAxis = (0x01 << 7),
eAccIntSetAll = 0xfc
} eAccIntSet_t;
typedef struct {
uint8_t AM_DUR: 2;
uint8_t AMNM_X_AXIS: 1;
uint8_t AMNM_Y_AXIS: 1;
uint8_t AMNM_Z_AXIS: 1;
uint8_t HG_X_AXIS: 1;
uint8_t HG_Y_AXIS: 1;
uint8_t HG_Z_AXIS: 1;
} sRegAccIntSet_t;
/**
* @brief Enum accelerometer slow motion mode or no motion mode
*/
typedef enum {
eAccNmSmnmSm, // slow motion mode
eAccNmSmnmNm // no motion mode
} eAccNmSmnm_t;
typedef struct {
uint8_t SMNM: 2;
uint8_t NO_SLOW_MOTION_DURATION: 5;
} sRegAccNmSet_t;
/**
* @brief Enum gyroscope interrupt settings
*/
typedef enum {
eGyrIntSetAmXAxis = (0x01 << 0),
eGyrIntSetAmYAxis = (0x01 << 1),
eGyrIntSetAmZAxis = (0x01 << 2),
eGyrIntSetHrXAxis = (0x01 << 3),
eGyrIntSetHrYAxis = (0x01 << 4),
eGyrIntSetHrZAxis = (0x01 << 5),
eGyrIntSetAmFilt = (0x01 << 6),
eGyrIntSetHrFilt = (0x01 << 7),
eGyrIntSetAll = 0x3f
} eGyrIntSet_t;
typedef struct {
uint8_t AM_X_AXIS: 1;
uint8_t AM_Y_AXIS: 1;
uint8_t AM_Z_AXIS: 1;
uint8_t HR_X_AXIS: 1;
uint8_t HR_Y_AXIS: 1;
uint8_t HR_Z_AXIS: 1;
uint8_t AM_FILT: 1;
uint8_t HR_FILT: 1;
} sRegGyrIntSetting_t;
typedef struct {
uint8_t HR_THRESHOLD: 5;
uint8_t HR_THRES_HYST: 2;
} sRegGyrHrSet_t;
typedef struct {
uint8_t GYRO_ANY_MOTION_THRESHOLD: 7;
} sRegGyrAmThres_t;
typedef struct {
uint8_t SLOPE_SAMPLES: 2;
uint8_t AWAKE_DURATION: 2;
} sRegGyrAmSet_t;
typedef uint8_t UniqueId_t[(0x5f - 0x50 + 1)];
typedef struct {
uint8_t reserved1[(0x06 - 0x00 + 1)];
uint8_t PAGE_ID; // 0x07
sRegAccConfig_t ACC_CONFIG;
sRegMagConfig_t MAG_CONFIG;
sRegGyrConfig0_t GYR_CONFIG0;
sRegGyrConfig1_t GYR_CONFIG1;
sRegAccSleepConfig_t ACC_SLEEP;
sRegGyrSleepConfig_t GYR_SLEEP;
uint8_t reserved2;
sRegIntMask_t INT_MASK;
sRegIntEn_t INT_EN; // 0x10
uint8_t ACC_AM_THRES;
sRegAccIntSet_t ACC_INT_SETTINGS;
uint8_t ACC_HG_DURATION;
uint8_t ACC_HG_THRES;
uint8_t ACC_NM_THRES;
sRegAccNmSet_t ACC_NM_SET;
sRegGyrIntSetting_t GYR_INT_SETTING;
sRegGyrHrSet_t GYR_HR_X_SET;
uint8_t GYR_DUR_X;
sRegGyrHrSet_t GYR_HR_Y_SET;
uint8_t GYR_DUR_Y;
sRegGyrHrSet_t GYR_HR_Z_SET;
uint8_t GYR_DUR_Z;
sRegGyrAmThres_t GYR_AM_THRES;
sRegGyrAmSet_t GYR_AM_SET; // 0x1f
uint8_t reserved3[(0x4f - 0x20 + 1)];
UniqueId_t UNIQUE_ID; // 0x5f
} sRegsPage1_t;
/**
* @brief Declare sensor status
*/
typedef enum {
eStatusOK, // everything OK
eStatusErr, // unknow error
eStatusErrDeviceNotDetect, // device not detected
eStatusErrDeviceReadyTimeOut, // device ready time out
eStatusErrDeviceStatus, // device internal status error
eStatusErrParameter // function parameter error
} eStatus_t;
/** Remap Signs **/
typedef enum {
REMAP_SIGN_P0 = 0x04,
REMAP_SIGN_P1 = 0x00, // default
REMAP_SIGN_P2 = 0x06,
REMAP_SIGN_P3 = 0x02,
REMAP_SIGN_P4 = 0x03,
REMAP_SIGN_P5 = 0x01,
REMAP_SIGN_P6 = 0x07,
REMAP_SIGN_P7 = 0x05
} eRemap_sign_t;
// functions
public:
DFRobot_BNO055();
/**
* @brief begin Sensor begin
* @return Sensor status
*/
eStatus_t begin();
/**
* @brief getAxisAnalog Get axis analog data
* @param eAxis One axis type from eAxis_t
* @return Struct sAxisAnalog_t, contains axis analog data, members unit depend on eAxis:
* case eAxisAcc, unit mg
* case eAxisLia, unit mg
* case eAxisGrv, unit mg
* case eAxisMag, unit ut
* case eAxisGyr, unit dps
*/
sAxisAnalog_t getAxis(eAxis_t eAxis);
/**
* @brief getEulAnalog Get euler analog data
* @return Struct sEulAnalog_t, contains euler analog data
*/
sEulAnalog_t getEul();
/**
* @brief getQuaAnalog Get quaternion analog data
* @return Struct sQuaAnalog_t, contains quaternion analog data
*/
sQuaAnalog_t getQua();
void setAxisMapSign(eMapSign_t eSign);
void setAxisMapConfig(eMapConfig_t eConfig);
/**
* @brief setAccOffset Set axis offset data
* @param eAxis One axis type from eAxis_t, only support accelerometer, magnetometer and gyroscope
* @param sOffset Struct sAxisAnalog_t, contains axis analog data, members unit depend on eAxis:
* case eAxisAcc, unit mg, members can't out of acc range
* case eAxisMag, unit ut, members can't out of mag range
* case eAxisGyr, unit dps, members can't out of gyr range
*/
void setAxisOffset(eAxis_t eAxis, sAxisAnalog_t sOffset);
/**
* @brief setOprMode Set operation mode
* @param eOpr One operation mode from eOprMode_t
*/
void setOprMode(eOprMode_t eMode);
/**
* @brief setPowerMode Set power mode
* @param eMode One power mode from ePowerMode_t
*/
void setPowerMode(ePowerMode_t eMode);
/**
* @brief Reset sensor
*/
void reset();
/**
* @brief setAccRange Set accelerometer measurement range, default value is 4g
* @param eRange One range enum from eAccRange_t
*/
void setAccRange(eAccRange_t eRange);
/**
* @brief setAccBandWidth Set accelerometer band width, default value is 62.5hz
* @param eBand One band enum from eAccBandWidth_t
*/
void setAccBandWidth(eAccBandWidth_t eBand);
/**
* @brief setAccPowerMode Set accelerometer power mode, default value is eAccPowerModeNormal
* @param eMode One mode enum from eAccPowerMode_t
*/
void setAccPowerMode(eAccPowerMode_t eMode);
/**
* @brief setMagDataRate Set magnetometer data output rate, default value is 20hz
* @param eRate One rate enum from eMagDataRate_t
*/
void setMagDataRate(eMagDataRate_t eRate);
/**
* @brief setMagOprMode Set magnetometer operation mode, default value is eMagOprModeRegular
* @param eMode One mode enum from eMagOprMode_t
*/
void setMagOprMode(eMagOprMode_t eMode);
/**
* @brief setMagPowerMode Set magnetometer power mode, default value is eMagePowerModeForce
* @param eMode One mode enum from eMagPowerMode_t
*/
void setMagPowerMode(eMagPowerMode_t eMode);
/**
* @brief setGyrRange Set gyroscope range, default value is 2000
* @param eRange One range enum from eGyrRange_t
*/
void setGyrRange(eGyrRange_t eRange);
/**
* @brief setGyrBandWidth Set gyroscope band width, default value is 32HZ
* @param eBandWidth One band width enum from eGyrBandWidth_t
*/
void setGyrBandWidth(eGyrBandWidth_t eBandWidth);
/**
* @brief setGyrPowerMode Set gyroscope power mode, default value is eGyrPowerModeNormal
* @param eMode One power mode enum from eGyrPowerMode_t
*/
void setGyrPowerMode(eGyrPowerMode_t eMode);
/**
* @brief getIntState Get interrupt state, interrupt auto clear after read
* @return If result > 0, at least one interrupt triggered. Result & eIntXXX (from eInt_t) to test is triggered
*/
uint8_t getIntState();
/**
* @brief setIntMask Set interrupt mask enable, there will generate a interrupt signal (raising) on INT pin if corresponding interrupt enabled
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntMaskEnable(eInt_t eInt);
/**
* @brief setIntMaskDisable Set corresponding interrupt mask disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntMaskDisable(eInt_t eInt);
/**
* @brief setIntEnEnable Set corresponding interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntEnable(eInt_t eInt);
/**
* @brief setIntEnDisable Set corresponding interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setIntDisable(eInt_t eInt);
/**
* @brief setAccAmThres Set accelerometer any motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccAmThres(uint16_t thres);
/**
* @brief setAccIntDur Set accelerometer interrupt duration,
* any motion interrupt triggers if duration (dur + 1) consecutive data points are above the any motion interrupt
* threshold define in any motion threshold
* @param dur Duration to set, range form 1 to 4
*/
void setAccIntAmDur(uint8_t dur);
/**
* @brief setAccIntEnable Set accelerometer interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setAccIntEnable(eAccIntSet_t eInt);
/**
* @brief setAccIntDisable Set accelerometer interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setAccIntDisable(eAccIntSet_t eInt);
/**
* @brief setAccHighGDuration Set accelerometer high-g interrupt, the high-g interrupt delay according to [dur + 1] * 2 ms
* @param dur Duration from 2ms to 512ms
*/
void setAccHighGDuration(uint16_t dur);
/**
* @brief setAccHighGThres Set accelerometer high-g threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccHighGThres(uint16_t thres);
/**
* @brief setAccNmThres Set accelerometer no motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2g, no more than 1991
* case 4g, no more than 3985
* case 8g, no more than 7968
* case 16g, no more than 15937
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccNmThres(uint16_t thres);
/**
* @brief setAccNmSet Set accelerometer slow motion or no motion mode and duration
* @param eSmnm Enum of eAccNmSmnm_t
* @param dur Interrupt trigger delay (unit seconds), no more than 344.
* Attenion: The set value will be slightly biased according to datasheet
*/
void setAccNmSet(eAccNmSmnm_t eSmnm, uint16_t dur);
/**
* @brief setGyrIntEnable Set corresponding gyroscope interrupt enable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setGyrIntEnable(eGyrIntSet_t eInt);
/**
* @brief setGyrIntDisable Set corresponding gyroscope interrupt disable
* @param eInt One or more interrupt flags to set, input them through operate or
*/
void setGyrIntDisable(eGyrIntSet_t eInt);
/**
* @brief setGyrHrSet Set gyroscope high rate settings
* @param eSingleAxis Single axis to set
* @param thres High rate threshold to set, unit degree/seconds, value is dependent on gyroscope range selected,
* case 2000, no more than 1937
* case 1000, no more than 968
* case 500, no more than 484
* case 250, no more than 242
* case 125, no more than 121
* Attenion: The set value will be slightly biased according to datasheet
* @param dur High rate duration to set, unit ms, duration from 2.5ms to 640ms
* Attenion: The set value will be slightly biased according to datasheet
*/
void setGyrHrSet(eSingleAxis_t eSingleAxis, uint16_t thres, uint16_t dur);
/**
* @brief setGyrAmThres Set gyroscope any motion threshold
* @param thres Threshold to set, unit mg, value is dependent on accelerometer range selected,
* case 2000, no more than 128
* case 1000, no more than 64
* case 500, no more than 32
* case 250, no more than 16
* case 125, no more than 8
* Attenion: The set value will be slightly biased according to datasheet
*/
void setGyrAmThres(uint8_t thres);
protected:
virtual void readReg(uint8_t reg, uint8_t *pBuf, uint8_t len) = 0;
virtual void writeReg(uint8_t reg, uint8_t *pBuf, uint8_t len) = 0;
uint8_t getReg(uint8_t reg, uint8_t pageId);
void setToPage(uint8_t pageId);
void setUnit();
void writeRegBits(uint8_t reg, uint8_t flied, uint8_t val);
uint16_t mapAccThres(uint16_t thres);
void mapGyrHrThres(uint8_t *pHysteresis, uint16_t *pThres, uint16_t *pDur);
void mapGyrAmThres(uint8_t *pThres);
sAxisData_t getAxisRaw(eAxis_t eAxis);
sEulData_t getEulRaw();
sQuaData_t getQuaRaw();
// variables ----------------------------------------------------------------
public:
/**
* @brief lastOpreateStatus Show last operate status
*/
eStatus_t lastOperateStatus;
protected:
uint8_t _currentPage;
eAccRange_t _eAccRange;
eGyrRange_t _eGyrRange;
};
// utils class ----------------------------------------------------------------
class DFRobot_BNO055_IIC : public DFRobot_BNO055 {
public:
/**
* @brief The eCom3State enum, sensor address is according to pin(com3) state
*/
typedef enum {
eCom3Low,
eCom3High
} eCom3State_t;
/**
* @brief DFRobot_BNO055_IIC class constructor
* @param pWire select One TwoWire peripheral
* @param addr Sensor address
*/
DFRobot_BNO055_IIC(TwoWire *pWire, uint8_t addr);
protected:
void readReg(uint8_t reg, uint8_t *pBuf, uint8_t len);
void writeReg(uint8_t reg, uint8_t *pBuf, uint8_t len);
protected:
TwoWire *_pWire;
uint8_t _addr;
};
Was this article helpful?