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bno055DataSheet.h
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//
// Created by volundr on 7/6/16.
//
#ifndef BNO055_BNO055ENUM_H
#define BNO055_BNO055ENUM_H
#include <cstring>
#include <sstream>
#include "UartInterface.h"
#define BNO055_BAUD_RATE B115200
#define BNO055_MAX_PACKET_DATA_LENGTH 128
namespace bno055 {
enum RegistersPage0 {
CHIP_ID=0,
ACC_ID,
MAG_ID,
GYR_ID,
SW_REV_ID_LSB,
SW_REV_ID_MSB,
BL_Rev_ID,
Page_ID,
ACC_DATA_X_LSB,
ACC_DATA_X_MSB,
ACC_DATA_Y_LSB,
ACC_DATA_Y_MSB,
ACC_DATA_Z_LSB,
ACC_DATA_Z_MSB,
MAG_DATA_X_LSB,
MAG_DATA_X_MSB,
MAG_DATA_Y_LSB,
MAG_DATA_Y_MSB,
MAG_DATA_Z_LSB,
MAG_DATA_Z_MSB,
GYR_DATA_X_LSB,
GYR_DATA_X_MSB,
GYR_DATA_Y_LSB,
GYR_DATA_Y_MSB,
GYR_DATA_Z_LSB,
GYR_DATA_Z_MSB,
EUL_Heading_LSB,
EUL_Heading_MSB,
EUL_Roll_LSB,
EUL_Roll_MSB,
EUL_Pitch_LSB,
EUL_Pitch_MSB,
QUA_Data_w_LSB,
QUA_Data_w_MSB,
QUA_Data_x_LSB,
QUA_Data_x_MSB,
QUA_Data_y_LSB,
QUA_Data_y_MSB,
QUA_Data_z_LSB,
QUA_Data_z_MSB,
LIA_Data_X_LSB,
LIA_Data_X_MSB,
LIA_Data_Y_LSB,
LIA_Data_Y_MSB,
LIA_Data_Z_LSB,
LIA_Data_Z_MBS,
GRV_Data_X_LSB,
GRV_Data_X_MSB,
GRV_Data_Y_LSB,
GRV_Data_Y_MSB,
GRV_Data_Z_LSB,
GRV_Data_Z_MSB,
TEMP,
CALIB_STAT,
ST_RESULT,
INT_STA,
SYS_CLK_STATUS,
SYS_STATUS,
SYS_ERR,
UNIT_SEL,
/*Reserved,*/
OPR_MODE = 0x3D,
PWR_MODE,
SYS_TRIGGER,
TEMP_SOURCE,
AXIS_MAP_CONFIG,
AXIS_MAP_SIGN,
/*Reserved,...,*/
ACC_OFFSET_X_LSB=0x55,
ACC_OFFSET_X_MSB,
ACC_OFFSET_Y_LSB,
ACC_OFFSET_Y_MSB,
ACC_OFFSET_Z_LSB,
ACC_OFFSET_Z_MSB,
MAG_OFFSET_X_LSB,
MAG_OFFSET_X_MSB,
MAG_OFFSET_Y_LSB,
MAG_OFFSET_Y_MSB,
MAG_OFFSET_Z_LSB,
MAG_OFFSET_Z_MSB,
GYR_OFFSET_X_LSB,
GYR_OFFSET_X_MSB,
GYR_OFFSET_Y_LSB,
GYR_OFFSET_Y_MSB,
GYR_OFFSET_Z_LSB,
GYR_OFFSET_Z_MSB,
ACC_RADIUS_LSB,
ACC_RADIUS_MSB,
MAG_RADIUS_LSB,
MAG_RADIUS_MSB,
};
enum RegisterPage1 {
/*Reserved,...,*/
/*Page_ID=0x07,*/
ACC_Config = 0x08,
MAG_Config,
GYR_Config_0,
GYR_Config_1,
ACC_Sleep_Config,
GYR_Sleep_Config,
/*Reserved,*/
INT_MSK = 0x0F,
INT_EN,
ACC_AM_THRES,
ACC_INT_SET,
ACC_HG_DURATION,
ACC_HG_THRES,
ACC_NM_THRES,
ACC_NM_SET,
GYR_INT_SET,
GYR_HR_X_SET,
GYR_DUR_X,
GYR_HR_Y_SET,
GYR_DUR_Y,
GYR_HR_Z_SET,
GYR_DUR_Z,
GYR_AM_THRES,
GYR_AM_SET,
/*Reserved,...,*/
UNIQE_ID_0=0x50,
UNIQE_ID_1=0x51,
UNIQE_ID_2=0x52,
UNIQE_ID_3=0x53,
UNIQE_ID_4=0x54,
UNIQE_ID_5=0x55,
UNIQE_ID_6=0x56,
UNIQE_ID_7=0x57,
UNIQE_ID_8=0x58,
UNIQE_ID_9=0x59,
UNIQE_ID_A=0x5A,
UNIQE_ID_B=0x5B,
UNIQE_ID_C=0x5C,
UNIQE_ID_D=0x5D,
UNIQE_ID_E=0x5E,
UNIQE_ID_F=0x5F,
/*Reserved,...,*/
};
enum OpMode {
CONFIG,
ACCONLY,
MAGONLY,
GYROONLY,
ACCMAG,
ACCGYRO,
MAGGYRO,
AMG,
IMU,
COMPASS,
M4G,
NDOF_FMC_OFF,
NDOF,
};
enum PowerMode {
NORMAL,
LOW,
SUSPEND
};
enum PacketFormat {
SEND_START_HEADER_BYTE = 0xAA,
SEND_WRITE_HEADER_BYTE = 0x00,
SEND_READ_HEADER_BYTE = 0x01,
RECV_ACK_HEADER_BYTE = 0xEE,
RECV_READ_HEADER_BYTE = 0xBB,
};
enum AckResponse {
WRITE_SUCCESS = 0x01,
READ_FAIL,
WRITE_FAIL,
REGMAP_INVALID_ADDRESS,
REGMAP_WRITE_DISABLED,
WRONG_START_BYTE,
BUS_OVER_RUN_ERROR,
MAX_LENGTH_ERROR,
MIN_LENGTH_ERROR,
RECEIVE_CHARACTER_TIMEOUT,
};
}
#endif //BNO055_BNO055ENUM_H