BNO055_STM32.h

/*
 * BNO055_STM32.h
 *
 *  Created on: Jun 5, 2025
 *      Author: jacka
 *
 *  \copyright Copyright (c) 2024 Afebia
 *
 *  Permission is hereby granted, free of charge, to any person obtaining a copy
 *  of this software and associated documentation files (the "Software"), to deal
 *  in the Software without restriction, including without limitation the rights
 *  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 *  copies of the Software, and to permit persons to whom the Software is
 *  furnished to do so, subject to the following conditions:
 *
 *  The above copyright notice and this permission notice shall be included in all
 *  copies or substantial portions of the Software.
 *
 *  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 *  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 *  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 *  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 *  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 *  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 *  SOFTWARE.
 */
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
#ifndef INC_BNO055_STM32_H_
#define INC_BNO055_STM32_H_
 
#include <stdint.h>
#include <stdio.h>
#include "stm32f4xx_hal.h"
#include <stdbool.h>
 
extern I2C_HandleTypeDef hi2c1;
#define bno_i2c (hi2c1)
 
 
#define P_BNO055                    (0x29<<1)           
#define BNO055_ID                   0xA0                
 
/*===========================================================================================================================*/
/*                                  *[Page 0 Register Addresses Macro Definition]*                                           */
/*===========================================================================================================================*/
 
/*
 *      Radius registers
 */
#define MAG_RADIUS_MSB_ADDR         0x6A
#define MAG_RADIUS_LSB_ADDR         0x69
#define ACC_RADIUS_MSB_ADDR         0x68
#define ACC_RADIUS_LSB_ADDR         0x67
 
/*
 *  Gyroscope offset register address macros
 */
#define GYRO_OFFSET_Z_MSB_ADDR      0x66
#define GYRO_OFFSET_Z_LSB_ADDR      0x65
#define GYRO_OFFSET_Y_MSB_ADDR      0x64
#define GYRO_OFFSET_Y_LSB_ADDR      0x63
#define GYRO_OFFSET_X_MSB_ADDR      0x62
#define GYRO_OFFSET_X_LSB_ADDR      0x61
 
/*
 *  Magnetometer offset register address macros
 */
#define MAG_OFFSET_Z_MSB_ADDR       0x60
#define MAG_OFFSET_Z_LSB_ADDR       0x5F
#define MAG_OFFSET_Y_MSB_ADDR       0x5E
#define MAG_OFFSET_Y_LSB_ADDR       0x5D
#define MAG_OFFSET_X_MSB_ADDR       0x5C
#define MAG_OFFSET_X_LSB_ADDR       0x5B
 
/*
 *  Accelerometer offset register address macros
 */
#define ACC_OFFSET_Z_MSB_ADDR       0x5A
#define ACC_OFFSET_Z_LSB_ADDR       0x59
#define ACC_OFFSET_Y_MSB_ADDR       0x58
#define ACC_OFFSET_Y_LSB_ADDR       0x57
#define ACC_OFFSET_X_MSB_ADDR       0x56
#define ACC_OFFSET_X_LSB_ADDR       0x55
 
#define AXIS_MAP_SIGN_ADDR          0x42   
#define AXIS_MAP_CONFIG_ADDR        0x41   
#define TEMP_SOURCE_ADDR            0x40   
#define SYS_TRIGGER_ADDR            0x3F   
#define PWR_MODE_ADDR               0x3E   
#define OPR_MODE_ADDR               0x3D   
 
#define UNIT_SEL_ADDR               0x3B   
 
#define SYS_ERR_ADDR                0x3A   
#define SYS_STATUS_ADDR             0x39   
#define SYS_CLK_STATUS_ADDR         0x38   
#define INT_STA_ADDR                0x37
#define ST_RESULT_ADDR              0x36   
#define CALIB_STAT_ADDR             0x35   
#define TEMP_ADDR                   0x34   
 
/*
 * Address macros of gravity vector data output registers
 * Note: Read-only register access
 */
#define GRV_DATA_Z_MSB_ADDR         0x33
#define GRV_DATA_Z_LSB_ADDR         0x32
#define GRV_DATA_Y_MSB_ADDR         0x31
#define GRV_DATA_Y_LSB_ADDR         0x30
#define GRV_DATA_X_MSB_ADDR         0x2F
#define GRV_DATA_X_LSB_ADDR         0x2E
#define GRV_DATA_BASEADDR           GRV_DATA_X_LSB_ADDR
 
/*
 * Address macros of linear acceleration data output registers
 * Note: Read-only register access
 */
#define LIA_DATA_Z_MSB_ADDR         0x2D
#define LIA_DATA_Z_LSB_ADDR         0x2C
#define LIA_DATA_Y_MSB_ADDR         0x2B
#define LIA_DATA_Y_LSB_ADDR         0x2A
#define LIA_DATA_X_MSB_ADDR         0x29
#define LIA_DATA_X_LSB_ADDR         0x28
#define LIA_DATA_BASEADDR           LIA_DATA_X_LSB_ADDR
 
/*
 * Address macros of quaternion data output registers
 * Note: Read-only register access
 */
#define QUA_DATA_Z_MSB_ADDR         0x27
#define QUA_DATA_Z_LSB_ADDR         0x26
#define QUA_DATA_Y_MSB_ADDR         0x25
#define QUA_DATA_Y_LSB_ADDR         0x24
#define QUA_DATA_X_MSB_ADDR         0x23
#define QUA_DATA_X_LSB_ADDR         0x22
#define QUA_DATA_W_MSB_ADDR         0x21
#define QUA_DATA_W_LSB_ADDR         0x20
#define QUA_DATA_BASEADDR           QUA_DATA_W_LSB_ADDR
 
/*
 * Address macros of euler data output registers
 * Note: Read-only register access
 */
#define EUL_PITCH_MSB_ADDR          0x1F
#define EUL_PITCH_LSB_ADDR          0x1E
#define EUL_ROLL_MSB_ADDR           0x1D
#define EUL_ROLL_LSB_ADDR           0x1C
#define EUL_HEADING_MSB_ADDR        0x1B
#define EUL_HEADING_LSB_ADDR        0x1A
#define EUL_DATA_BASEADDR           EUL_HEADING_LSB_ADDR
 
/*
 * Address macros of gyroscope data output registers
 * Note: Read-only register access
 */
#define GYRO_DATA_Z_MSB_ADDR        0x19
#define GYRO_DATA_Z_LSB_ADDR        0x18
#define GYRO_DATA_Y_MSB_ADDR        0x17
#define GYRO_DATA_Y_LSB_ADDR        0x16
#define GYRO_DATA_X_MSB_ADDR        0x15
#define GYRO_DATA_X_LSB_ADDR        0x14
#define GYRO_DATA_BASEADDR          GYRO_DATA_X_LSB_ADDR
 
/*
 * Address macros of magnetometer data output registers
 * Note: Read-only register access
 */
#define MAG_DATA_Z_MSB_ADDR         0x13
#define MAG_DATA_Z_LSB_ADDR         0x12
#define MAG_DATA_Y_MSB_ADDR         0x11
#define MAG_DATA_Y_LSB_ADDR         0x10
#define MAG_DATA_X_MSB_ADDR         0x0F
#define MAG_DATA_X_LSB_ADDR         0x0E
#define MAG_DATA_BASEADDR           MAG_DATA_X_LSB_ADDR
 
/*
 * Address macros of accelerometer data output registers
 * Note: Read-only register access
 */
#define ACCEL_DATA_Z_MSB_ADDR       0x0D
#define ACCEL_DATA_Z_LSB_ADDR       0x0C
#define ACCEL_DATA_Y_MSB_ADDR       0x0B
#define ACCEL_DATA_Y_LSB_ADDR       0x0A
#define ACCEL_DATA_X_MSB_ADDR       0x09
#define ACCEL_DATA_X_LSB_ADDR       0x08
#define ACCEL_DATA_BASEADDR     ACCEL_DATA_X_LSB_ADDR
 
/*
 * Address macros of register which contains various ID parameters
 * Note: Read-only register access
 */
#define PAGE_ID_ADDR                0x07        
#define BL_REV_ID_ADDR              0x06        
#define SW_REV_ID_MSB_ADDR          0x05        
#define SW_REV_ID_LSB_ADDR          0x04        
#define GYR_ID_ADDR                 0x03        
#define MAG_ID_ADDR                 0x02        
#define ACC_ID_ADDR                 0x01        
#define CHIP_ID_ADDR                0x00        
 
/*===========================================================================================================================*/
/*                                  *[ Page 1 Register Addresses Macro Definition]*                                          */
/*===========================================================================================================================*/
 
/*
 * NOTE: All page 1 registers have read-only access
 */
#define UNIQUE_ID_BASEADDR          0x50    
#define GYR_AM_SET_ADDR             0x1F    
#define GYR_AM_THRES_ADDR           0x1E    
#define GYR_DUR_Z_ADDR              0x1D    
#define GYR_HR_Z_SET_ADDR           0x1C    
#define GYR_DUR_Y_ADDR              0x1B    
#define GYR_HR_Y_SET_ADDR           0x1A    
#define GYR_DUR_X_ADDR              0x19    
#define GYR_HR_X_SET_ADDR           0x18    
#define GYR_INT_SETING_ADDR         0x17    
#define ACC_NM_SET_ADDR             0x16    
#define ACC_NM_THRES_ADDR           0x15    
#define ACC_HG_THRES_ADDR           0x14    
#define ACC_HG_DURATION_ADDR        0x13    
#define ACC_INT_Setting_ADDR        0x12    
#define ACC_AM_THRES_ADDR           0x11    
#define INT_EN_ADDR                 0x10    
#define INT_MSK_ADDR                0x0F    
#define GYR_Sleep_Config_ADDR       0x0D    
#define ACC_Sleep_Config_ADDR       0x0C    
#define GYRO_CONFIG_1_ADDR          0x0B    
#define GYRO_CONFIG_0_ADDR          0x0A    
#define MAG_CONFIG_ADDR             0x09    
#define ACC_CONFIG_ADDR             0x08    
 
/*
 * Page macros
 */
#define PAGE_0                      0x00
#define PAGE_1                      0x01

  */
typedef struct{
    uint8_t STresult;   //First 4 bit[0:3] indicates self test resulst 3:ST_MCU, 2:ST_GYRO, 1:ST_MAG, 0:ST_ACCEL
    uint8_t SYSError;   //Contains system error type If SYSStatus is System_Error(0x01)
    uint8_t SYSStatus;
}BNO_Status_t;
 
typedef struct{
    uint8_t System;
    uint8_t Gyro;
    uint8_t Acc;
    uint8_t MAG;
}Calib_status_t;

  */
typedef struct{ //SENSOR DATA AXIS X, Y and Z
    float X;
    float Y;
    float Z;
}BNO055_Data_XYZ_t;
 
typedef struct{ //SENSOR DATA AXIS W, X, Y and Z (Only for quaternion data)
    float W;
    float X;
    float Y;
    float Z;
}BNO055_QuaData_WXYZ_t;
 
typedef struct{ //SENSOR DATAS
    BNO055_Data_XYZ_t Accel;
    BNO055_Data_XYZ_t Gyro;
    BNO055_Data_XYZ_t Magneto;
    BNO055_Data_XYZ_t Euler;
    BNO055_Data_XYZ_t LineerAcc;
    BNO055_Data_XYZ_t Gravity;
    BNO055_QuaData_WXYZ_t Quaternion;
}BNO055_Sensors_t;
 
typedef enum {
    SENSOR_GRAVITY     = 0x01,
    SENSOR_QUATERNION  = 0x02,
    SENSOR_LINACC      = 0x04,
    SENSOR_GYRO        = 0x08,
    SENSOR_ACCEL       = 0x10,
    SENSOR_MAG         = 0x20,
    SENSOR_EULER       = 0x40,
} BNO055_Sensor_Type;
 
//Base Addresses of output data register
#define BNO_ACCEL                   ACCEL_DATA_BASEADDR
#define BNO_GYRO                    GYRO_DATA_BASEADDR
#define BNO_MAG                     MAG_DATA_BASEADDR
#define BNO_EULER                   EUL_DATA_BASEADDR
#define BNO_LINACC                  LIA_DATA_BASEADDR
#define BNO_GRAVITY                 GRV_DATA_BASEADDR
#define BNO_QUATERNION              QUA_DATA_BASEADDR

  */
typedef struct
{
    uint8_t Unit_Sel;
    uint8_t Axis;
    uint8_t Axis_sign;
    uint8_t Mode;
    uint8_t OP_Modes;
    uint8_t Clock_Source;
    uint8_t ACC_Range;
}BNO055_Init_t;
 
typedef enum{// OPERATION MODES
    CONFIG_MODE =0x00,      //This is the only mode in which all the writable register map entries can be changed (Except INT , INT_MASK, OPR_MODE)
    ACC_ONLY =0x01,
    MAG_ONLY =0x02,
    GYRO_ONLY =0x03,
    ACC_MAG =0x04,
    ACC_GYRO =0x05,
    MAG_GYRO =0x06,
    AMG= 0x07,
    IMU= 0x08,
    COMPASS =0x09,
    M4G= 0x0A,
    NDOF_FMC_OFF =0x0B,
    NDOF= 0x0C
}Op_Modes_t;
 
#define BNO055_NORMAL_MODE          0
#define BNO055_LOWPOWER_MODE        1
#define BNO055_SUSPEND_MODE         2
 
#define DEFAULT_AXIS_REMAP          0x24
#define DEFAULT_AXIS_SIGN           0x00
 
#define CLOCK_EXTERNAL              (1 << 7)
#define CLOCK_INTERNAL              (0 << 7)
 
/*
 * UNIT_SELECT register macros definition
 */
#define UNIT_ORI_ANDROID            (1 << 7)
#define UNIT_ORI_WINDOWS            (0 << 7)
#define UNIT_TEMP_CELCIUS           (0 << 4)
#define UNIT_TEMP_FAHRENHEIT        (1 << 4)
#define UNIT_EUL_DEG                (0 << 2)
#define UNIT_EUL_RAD                (1 << 2)
#define UNIT_GYRO_DPS               (0 << 1)
#define UNIT_GYRO_RPS               (1 << 1)
#define UNIT_ACC_MS2                (0 << 0)
#define UNIT_ACC_MG                 (1 << 0)
 
/*
 * ACCEL range macros definition for ACC_CONFIG register
 */
#define Range_2G                    0x00
#define Range_4G                    0x01
#define Range_8G                    0x02
#define Range_16G                   0x03
 
/*
 * BNO055 library function declaration
 */
void getCalibration(Calib_status_t *calib);
Op_Modes_t getCurrentMode(void);
bool isFullyCalibrated(void);
void setSensorOffsets(const uint8_t *calibData) ;
void getSensorOffsets(uint8_t *calibData);
bool Calibrate_BNO055(void);
 
void Set_Operation_Mode(Op_Modes_t Mode);
void Clock_Source(uint8_t source);
void SetPowerMODE(uint8_t BNO055_);
void BNO055_Axis(uint8_t remap, uint8_t sign);
void SelectPage(uint8_t page);
void SET_Accel_Range(uint8_t range);
void BNO055_Init(BNO055_Init_t Init);
void ReadData(BNO055_Sensors_t *sensorData,BNO055_Sensor_Type sensors);
void Check_Status(BNO_Status_t *result);
void ResetBNO055(void);
 
#endif /* INC_BNO055_STM32_H_ */
 
 
#ifdef __cplusplus
}
#endif