began Bno055Interface structure

Bno055Interface.cpp

@@ -0,0 +1,9 @@
+//
+// Created by volundr on 7/6/16.
+//
+
+#include "Bno055Interface.h"
+
+namespace bno055 {
+
+}

Bno055Interface.h

@@ -0,0 +1,18 @@
+//
+// Created by volundr on 7/6/16.
+//
+
+#ifndef BNO055_BNO055INTERFACE_H
+#define BNO055_BNO055INTERFACE_H
+
+#include "bno055Enum.h"
+
+namespace bno055 {
+
+    class Bno055Interface {
+
+    };
+
+}
+
+#endif //BNO055_BNO055INTERFACE_H

CMakeLists.txt

@@ -18,7 +18,10 @@ endif()
 
 set( LIBS         ${LIBS}         )
 set( INCLUDE_DIRS ${INCLUDE_DIRS} )
-set( SOURCE_FILES ${SOURCE_FILES} )
+set( SOURCE_FILES ${SOURCE_FILES}
+        Bno055Interface.cpp
+        Bno055Interface.h
+        bno055Enum.h)
 
 # Build
 include_directories( ${INCLUDE_DIRS} )

README.txt

@@ -1 +1,3 @@
-An attempt to communicate with the bosch BNO055 using only standard linux headers as per the general guide at http://www.raspberry-projects.com/pi/programming-in-c/uart-serial-port/using-the-uart
+An attempt to communicate with the bosch BNO055 over UART in C++ using 
+only standard linux headers as per the general guide at http://www.raspberry-projects.com/pi/programming-in-c/uart-serial-port/using-the-uart 
+(designed for the Pi)

bno055Enum.h

@@ -0,0 +1,215 @@
+//
+// Created by volundr on 7/6/16.
+//
+
+#ifndef BNO055_BNO055ENUM_H
+#define BNO055_BNO055ENUM_H
+
+#include <stdint.h>
+
+namespace bno055 {
+
+    enum Registers {
+
+        PAGE_ID=0x07,
+
+        PAGE0_CHIP_ID=0,
+        PAGE0_ACC_ID,
+        PAGE0_MAG_ID,
+        PAGE0_GYR_ID,
+        PAGE0_SW_REV_ID_LSB,
+        PAGE0_SW_REV_ID_MSB,
+        PAGE0_BL_Rev_ID,
+        PAGE0_Page_ID,
+        PAGE0_ACC_DATA_X_LSB,
+        PAGE0_ACC_DATA_X_MSB,
+        PAGE0_ACC_DATA_Y_LSB,
+        PAGE0_ACC_DATA_Y_MSB,
+        PAGE0_ACC_DATA_Z_LSB,
+        PAGE0_ACC_DATA_Z_MSB,
+        PAGE0_MAG_DATA_X_LSB,
+        PAGE0_MAG_DATA_X_MSB,
+        PAGE0_MAG_DATA_Y_LSB,
+        PAGE0_MAG_DATA_Y_MSB,
+        PAGE0_MAG_DATA_Z_LSB,
+        PAGE0_MAG_DATA_Z_MSB,
+        PAGE0_GYR_DATA_X_LSB,
+        PAGE0_GYR_DATA_X_MSB,
+        PAGE0_GYR_DATA_Y_LSB,
+        PAGE0_GYR_DATA_Y_MSB,
+        PAGE0_GYR_DATA_Z_LSB,
+        PAGE0_GYR_DATA_Z_MSB,
+        PAGE0_EUL_Heading_LSB,
+        PAGE0_EUL_Heading_MSB,
+        PAGE0_EUL_Roll_LSB,
+        PAGE0_EUL_Roll_MSB,
+        PAGE0_EUL_Pitch_LSB,
+        PAGE0_EUL_Pitch_MSB,
+        PAGE0_QUA_Data_w_LSB,
+        PAGE0_QUA_Data_w_MSB,
+        PAGE0_QUA_Data_x_LSB,
+        PAGE0_QUA_Data_x_MSB,
+        PAGE0_QUA_Data_y_LSB,
+        PAGE0_QUA_Data_y_MSB,
+        PAGE0_QUA_Data_z_LSB,
+        PAGE0_QUA_Data_z_MSB,
+        PAGE0_LIA_Data_X_LSB,
+        PAGE0_LIA_Data_X_MSB,
+        PAGE0_LIA_Data_Y_LSB,
+        PAGE0_LIA_Data_Y_MSB,
+        PAGE0_LIA_Data_Z_LSB,
+        PAGE0_LIA_Data_Z_MBS,
+        PAGE0_GRV_Data_X_LSB,
+        PAGE0_GRV_Data_X_MSB,
+        PAGE0_GRV_Data_Y_LSB,
+        PAGE0_GRV_Data_Y_MSB,
+        PAGE0_GRV_Data_Z_LSB,
+        PAGE0_GRV_Data_Z_MSB,
+        PAGE0_TEMP,
+        PAGE0_CALIB_STAT,
+        PAGE0_ST_RESULT,
+        PAGE0_INT_STA,
+        PAGE0_SYS_CLK_STATUS,
+        PAGE0_SYS_STATUS,
+        PAGE0_SYS_ERR,
+        PAGE0_UNIT_SEL,
+        PAGE0_Reserved,
+        PAGE0_OPR_MODE,
+        PAGE0_PWR_MODE,
+        PAGE0_SYS_TRIGGER,
+        PAGE0_TEMP_SOURCE,
+        PAGE0_AXIS_MAP_CONFIG,
+        PAGE0_AXIS_MAP_SIGN,
+
+        //RESERVED
+
+        PAGE0_ACC_OFFSET_X_LSB=0x55,
+        PAGE0_ACC_OFFSET_X_MSB,
+        PAGE0_ACC_OFFSET_Y_LSB,
+        PAGE0_ACC_OFFSET_Y_MSB,
+        PAGE0_ACC_OFFSET_Z_LSB,
+        PAGE0_ACC_OFFSET_Z_MSB,
+        PAGE0_MAG_OFFSET_X_LSB,
+        PAGE0_MAG_OFFSET_X_MSB,
+        PAGE0_MAG_OFFSET_Y_LSB,
+        PAGE0_MAG_OFFSET_Y_MSB,
+        PAGE0_MAG_OFFSET_Z_LSB,
+        PAGE0_MAG_OFFSET_Z_MSB,
+        PAGE0_GYR_OFFSET_X_LSB,
+        PAGE0_GYR_OFFSET_X_MSB,
+        PAGE0_GYR_OFFSET_Y_LSB,
+        PAGE0_GYR_OFFSET_Y_MSB,
+        PAGE0_GYR_OFFSET_Z_LSB,
+        PAGE0_GYR_OFFSET_Z_MSB,
+        PAGE0_ACC_RADIUS_LSB,
+        PAGE0_ACC_RADIUS_MSB,
+        PAGE0_MAG_RADIUS_LSB,
+        PAGE0_MAG_RADIUS_MSB,
+
+        PAGE1_Page_ID=0x07,
+        PAGE1_ACC_Config,
+        PAGE1_MAG_Config,
+        PAGE1_GYR_Config_0,
+        PAGE1_GYR_Config_1,
+        PAGE1_ACC_Sleep_Config,
+        PAGE1_GYR_Sleep_Config,
+        PAGE1_Reserved,
+        PAGE1_INT_MSK,
+        PAGE1_INT_EN,
+        PAGE1_ACC_AM_THRES,
+        PAGE1_ACC_INT_SET,
+        PAGE1_ACC_HG_DURATION,
+        PAGE1_ACC_HG_THRES,
+        PAGE1_ACC_NM_THRES,
+        PAGE1_ACC_NM_SET,
+        PAGE1_GYR_INT_SET,
+        PAGE1_GYR_HR_X_SET,
+        PAGE1_GYR_DUR_X,
+        PAGE1_GYR_HR_Y_SET,
+        PAGE1_GYR_DUR_Y,
+        PAGE1_GYR_HR_Z_SET,
+        PAGE1_GYR_DUR_Z,
+        PAGE1_GYR_AM_THRES,
+        PAGE1_GYR_AM_SET,
+
+        //RESERVED
+
+        PAGE1_UNIQE_ID_B0=0x50,
+        PAGE1_UNIQE_ID_B1=0x51,
+        PAGE1_UNIQE_ID_B2=0x52,
+        PAGE1_UNIQE_ID_B3=0x53,
+        PAGE1_UNIQE_ID_B4=0x54,
+        PAGE1_UNIQE_ID_B5=0x55,
+        PAGE1_UNIQE_ID_B6=0x56,
+        PAGE1_UNIQE_ID_B7=0x57,
+        PAGE1_UNIQE_ID_B8=0x58,
+        PAGE1_UNIQE_ID_B9=0x59,
+        PAGE1_UNIQE_ID_BA=0x5A,
+        PAGE1_UNIQE_ID_BB=0x5B,
+        PAGE1_UNIQE_ID_BC=0x5C,
+        PAGE1_UNIQE_ID_BD=0x5D,
+        PAGE1_UNIQE_ID_BE=0x5E,
+        PAGE1_UNIQE_ID_BF=0x5F,
+
+        //RESERVED
+
+    };
+
+    enum OpMode {
+        OP_MODE_CONFIG,
+        OP_MODE_ACCONLY,
+        OP_MODE_MAGONLY,
+        OP_MODE_GYROONLY,
+        OP_MODE_ACCMAG,
+        OP_MODE_ACCGYRO,
+        OP_MODE_MAGGYRO,
+        OP_MODE_AMG,
+        OP_MODE_IMU,
+        OP_MODE_COMPASS,
+        OP_MODE_M4G,
+        OP_MODE_NDOF_FMC_OFF,
+        OP_MODE_NDOF,
+    };
+
+
+    enum PowerMode {
+        PWR_MODE_NORMAL,
+        PWR_MODE_LOW,
+        PWR_MODE_SUSPEND
+    };
+
+    struct ImuData {
+        union {
+            struct {
+                int16_t AccelX;//0 1
+                int16_t AccelY;//2 3
+                int16_t AccelZ;//4 5
+                int16_t MagnetX;//6 7
+                int16_t MagnetY;//8 9
+                int16_t MagnetZ;//10 11
+                int16_t GyroX;//12 13
+                int16_t GyroY;//14 15
+                int16_t GyroZ;//16 17
+                int16_t Heading;//18 19
+                int16_t Roll;//20 21
+                int16_t Pitch;//22 23
+                int16_t QuatW;// 24 25
+                int16_t QuatX;// 26 27
+                int16_t QuatY;// 28 29
+                int16_t QuatZ;// 30 31
+                int16_t LinAccelX;//32 33
+                int16_t LinAccelY;//34 35
+                int16_t LinAccelZ;//36 37
+                int16_t GravX;//38 39
+                int16_t GravY;//40 41
+                int16_t GravZ;//42 43
+            } imu;
+            uint16_t imuArray[22];
+        };
+        int8_t temp;
+        uint8_t calibration;
+    };
+
+}
+
+#endif //BNO055_BNO055ENUM_H