#include <atomic>
#include <yarp/sig/Vector.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/dev/IGenericSensor.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <yarp/math/Quaternion.h>
#include <mutex>

Include dependency graph for imuBosch_BNO055.h:

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Go to the source code of this file.

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 105 of file imuBosch_BNO055.h.

◆ ATTEMPTS_NUM_OF_SEND_CONFIG_CMD

#define ATTEMPTS_NUM_OF_SEND_CONFIG_CMD 3

Definition at line 123 of file imuBosch_BNO055.h.

◆ BNO055_ID

#define BNO055_ID 0xA0

Definition at line 116 of file imuBosch_BNO055.h.

◆ CONFIG_MODE

#define CONFIG_MODE 0x00

Definition at line 104 of file imuBosch_BNO055.h.

◆ ERROR_HEAD

#define ERROR_HEAD 0xEE

Definition at line 73 of file imuBosch_BNO055.h.

◆ IMU_MODE

#define IMU_MODE 0x08

Definition at line 106 of file imuBosch_BNO055.h.

◆ M4G_MODE

#define M4G_MODE 0x0A

Definition at line 107 of file imuBosch_BNO055.h.

◆ NDOF_MODE

#define NDOF_MODE 0x0C

Definition at line 108 of file imuBosch_BNO055.h.

◆ READ_CMD

#define READ_CMD 0x01

Definition at line 69 of file imuBosch_BNO055.h.

◆ READ_FAIL

#define READ_FAIL 0x02

Definition at line 75 of file imuBosch_BNO055.h.

◆ REG_ACC_DATA

#define REG_ACC_DATA 0x08

Definition at line 88 of file imuBosch_BNO055.h.

◆ REG_BOOTLOADER

#define REG_BOOTLOADER 0x06

Definition at line 85 of file imuBosch_BNO055.h.

◆ REG_CALIB_STATUS

#define REG_CALIB_STATUS 0x35

Definition at line 94 of file imuBosch_BNO055.h.

◆ REG_CHIP_ID

#define REG_CHIP_ID 0x00

Definition at line 83 of file imuBosch_BNO055.h.

◆ REG_GRAVITY

#define REG_GRAVITY 0x2E

Definition at line 93 of file imuBosch_BNO055.h.

◆ REG_GYRO_DATA

#define REG_GYRO_DATA 0x14

Definition at line 90 of file imuBosch_BNO055.h.

◆ REG_MAGN_DATA

#define REG_MAGN_DATA 0x0E

Definition at line 89 of file imuBosch_BNO055.h.

◆ REG_OP_MODE

#define REG_OP_MODE 0x3D

Definition at line 99 of file imuBosch_BNO055.h.

◆ REG_PAGE_ID

#define REG_PAGE_ID 0x07

Definition at line 86 of file imuBosch_BNO055.h.

◆ REG_POWER_MODE

#define REG_POWER_MODE 0x3E

Definition at line 100 of file imuBosch_BNO055.h.

◆ REG_QUATERN_DATA

#define REG_QUATERN_DATA 0x20

Definition at line 92 of file imuBosch_BNO055.h.

◆ REG_RPY_DATA

#define REG_RPY_DATA 0x1A

Definition at line 91 of file imuBosch_BNO055.h.

◆ REG_SW_VERSION

#define REG_SW_VERSION 0x04

Definition at line 84 of file imuBosch_BNO055.h.

◆ REG_SYS_CLK_STATUS

#define REG_SYS_CLK_STATUS 0x38

Definition at line 95 of file imuBosch_BNO055.h.

◆ REG_SYS_ERR

#define REG_SYS_ERR 0x3A

Definition at line 97 of file imuBosch_BNO055.h.

◆ REG_SYS_STATUS

#define REG_SYS_STATUS 0x39

Definition at line 96 of file imuBosch_BNO055.h.

◆ REG_SYS_TRIGGER

#define REG_SYS_TRIGGER 0x3F

Definition at line 101 of file imuBosch_BNO055.h.

◆ REG_UNIT_SEL

#define REG_UNIT_SEL 0x3B

Definition at line 98 of file imuBosch_BNO055.h.

◆ REGISTER_NOT_READY

#define REGISTER_NOT_READY 0x07

Definition at line 79 of file imuBosch_BNO055.h.

◆ REPLY_HEAD

#define REPLY_HEAD 0xBB

Definition at line 72 of file imuBosch_BNO055.h.

◆ RESP_HEADER_SIZE

#define RESP_HEADER_SIZE 2

Definition at line 118 of file imuBosch_BNO055.h.

◆ START_BYTE

#define START_BYTE 0xAA

Definition at line 67 of file imuBosch_BNO055.h.

◆ SWITCHING_TIME

#define SWITCHING_TIME 0.020

Definition at line 120 of file imuBosch_BNO055.h.

◆ TIME_REPORT_INTERVAL

#define TIME_REPORT_INTERVAL 30

Definition at line 121 of file imuBosch_BNO055.h.

◆ TRIG_EXT_CLK_SEL

#define TRIG_EXT_CLK_SEL 0x80

Definition at line 111 of file imuBosch_BNO055.h.

◆ TRIG_RESET_INT

#define TRIG_RESET_INT 0x40

Definition at line 112 of file imuBosch_BNO055.h.

◆ TRIG_RESET_SYSTEM

#define TRIG_RESET_SYSTEM 0x20

Definition at line 113 of file imuBosch_BNO055.h.

◆ TRIG_SELF_TEST

#define TRIG_SELF_TEST 0x01

Definition at line 114 of file imuBosch_BNO055.h.

◆ WRITE_CMD

#define WRITE_CMD 0x00

Definition at line 68 of file imuBosch_BNO055.h.

◆ WRITE_FAIL

#define WRITE_FAIL 0x03

Definition at line 76 of file imuBosch_BNO055.h.

◆ WRITE_SUCC

#define WRITE_SUCC 0x01

Definition at line 74 of file imuBosch_BNO055.h.

Variable Documentation

◆ MAX_MSG_LENGTH

constexpr int MAX_MSG_LENGTH = 128

constexpr

Definition at line 64 of file imuBosch_BNO055.h.

Classes

Macros

Variables