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bno055: Clean up and fix #27

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bno055: Clean up and fix #27

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f64a6d2
bno055: Clean up and fix
auscompgeek Mar 9, 2018
6c76dc3
bno055_sim: Use more meaningful variable names
auscompgeek Sep 15, 2018
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178 changes: 101 additions & 77 deletions utilities/bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,12 +58,12 @@ class Register(enum.IntEnum):
GYRO_DATA_Z_LSB = 0x18
GYRO_DATA_Z_MSB = 0x19

EULER_H_LSB = 0x1A # euler heading, least significant bit
EULER_H_MSB = 0x1B # euler heading, most significant bit
EULER_P_LSB = 0x1C # euler pitch, least significant bit
EULER_P_MSB = 0x1D # euler pitch, most significant bit
EULER_R_LSB = 0x1E # euler roll, least significant bit
EULER_R_MSB = 0x1F # euler roll, most significant bit
EULER_HEADING_LSB = 0x1A # yaw
EULER_HEADING_MSB = 0x1B
EULER_ROLL_LSB = 0x1C
EULER_ROLL_MSB = 0x1D
EULER_PITCH_LSB = 0x1E
EULER_PITCH_MSB = 0x1F

QUATERNION_DATA_W_LSB = 0x20
QUATERNION_DATA_W_MSB = 0x21
Expand Down Expand Up @@ -94,16 +94,13 @@ class Register(enum.IntEnum):
SELFTEST_RESULT = 0x36
INTR_STAT = 0x37

SYS_CLK_STAT = 0x38
SYS_STAT = 0x39
SYS_CLK_STATUS = 0x38
SYS_STATUS = 0x39
SYS_ERR = 0x3A

UNIT_SEL = 0x3B # address used to select the unit outputs

DATA_SELECT = 0x3C

#DATA_SELECT = 0x3C
OPR_MODE = 0x3D # the address used to select what sensors to use for the gyro outputs

PWR_MODE = 0x3E

SYS_TRIGGER = 0x3F
Expand Down Expand Up @@ -157,6 +154,37 @@ class Register(enum.IntEnum):
MAG_RADIUS_LSB = 0x69
MAG_RADIUS_MSB = 0x6A

class Page1Register(enum.IntEnum):
"""Page 1 register addresses. Set Register.PAGE_ID to access these."""

# Configuration registers
ACCEL_CONFIG = 0x08
MAG_CONFIG = 0x09
GYRO_CONFIG = 0x0A
GYRO_MODE_CONFIG = 0x0B
ACCEL_SLEEP_CONFIG = 0x0C
GYRO_SLEEP_CONFIG = 0x0D
MAG_SLEEP_CONFIG = 0x0E

# Interrupt registers
INT_MASK = 0x0F
INT = 0x10
ACCEL_ANY_MOTION_THRES = 0x11
ACCEL_INTR_SETTINGS = 0x12
ACCEL_HIGH_G_DURN = 0x13
ACCEL_HIGH_G_THRES = 0x14
ACCEL_NO_MOTION_THRES = 0x15
ACCEL_NO_MOTION_SET = 0x16
GYRO_INTR_SETING = 0x17
GYRO_HIGHRATE_X_SET = 0x18
GYRO_DURN_X_SET = 0x19
GYRO_HIGHRATE_Y_SET = 0x1A
GYRO_DURN_Y_SET = 0x1B
GYRO_HIGHRATE_Z_SET = 0x1C
GYRO_DURN_Z_SET = 0x1D
GYRO_ANY_MOTION_THRES = 0x1E
GYRO_ANY_MOTION_SET = 0x1F

class OperationMode(enum.IntEnum):
"""Operation modes. Changes what sensors it uses and how it fuses them."""

Expand All @@ -168,9 +196,9 @@ class OperationMode(enum.IntEnum):
ACCGYRO = 0x05
MAGGYRO = 0x06
AMG = 0x07
IMUPLUS = 0x08
IMU = 0x08 # Inertial Measurement Unit
COMPASS = 0x09
M4G = 0x0A
M4G = 0x0A # Magnet for Gyroscope
NDOF_FMC_OFF = 0x0B
NDOF = 0x0C

Expand All @@ -179,46 +207,47 @@ class PowerMode(enum.IntEnum):
LOWPOWER = 0x01
SUSPEND = 0x02

class AxisMapConfigMode(enum.IntEnum):
"""Axis map configuration modes."""

P0 = 0x21
P1 = 0x22
P2 = 0x23
P3 = 0x24
P4 = 0x25
P5 = 0x26
P6 = 0x27
P7 = 0x28

class AxisMapSign(enum.IntEnum):
P0 = 0x04
P1 = 0x00
P2 = 0x06
P3 = 0x02
P4 = 0x03
P5 = 0x01
P6 = 0x07
P7 = 0x05

# the units that we want and the index in the unit select register that corresponds to it
UNIT_SEL_ACC_UNIT = 0 # m/s
UNIT_SEL_ACC_UNIT_INDEX = 0
UNIT_SEL_GYR_UNIT = 1 # rad/s
UNIT_SEL_GYR_UNIT_INDEX = 1
UNIT_SEL_EUL_UNIT = 1 # rad
UNIT_SEL_EUL_UNIT_INDEX = 2
UNIT_SEL_TEMP_UNIT = 0 # celcius
UNIT_SEL_TEMP_UNIT_INDEX = 4
UNIT_SEL_ORI_UNIT = 1 # android orientation mode, pitch turning clockwise decreases values
UNIT_SEL_ORI_UNIT_INDEX = 7
UNIT_SEL_LIST = [
(UNIT_SEL_ACC_UNIT, UNIT_SEL_ACC_UNIT_INDEX),
(UNIT_SEL_GYR_UNIT, UNIT_SEL_GYR_UNIT_INDEX),
(UNIT_SEL_EUL_UNIT, UNIT_SEL_EUL_UNIT_INDEX),
(UNIT_SEL_TEMP_UNIT, UNIT_SEL_TEMP_UNIT_INDEX),
(UNIT_SEL_ORI_UNIT, UNIT_SEL_ORI_UNIT_INDEX),
]
class AxisMapConfig(enum.IntFlag):
"""Axis remapping configuration flags."""

X_AXIS_IS_X = 0 << 0
X_AXIS_IS_Y = 1 << 0
X_AXIS_IS_Z = 2 << 0

Y_AXIS_IS_X = 0 << 2
Y_AXIS_IS_Y = 1 << 2
Y_AXIS_IS_Z = 2 << 2

Z_AXIS_IS_X = 0 << 4
Z_AXIS_IS_Y = 1 << 4
Z_AXIS_IS_Z = 2 << 4

class AxisMapSign(enum.IntFlag):
"""Axis sign remapping configuration flags."""

ALL_POSITIVE = 0
Z_NEGATIVE = 1 << 0
Y_NEGATIVE = 1 << 1
X_NEGATIVE = 1 << 2

class UnitSel(enum.IntFlag):
"""Flags for Register.UNIT_SEL to select units/data format for data outputs."""

# Acceleration
ACC_M_S = 0 << 0 # m/s^2
ACC_MG = 1 << 0 # mg
# Gyro angular rate
GYR_DPS = 0 << 1 # deg/s
GYR_RPS = 1 << 1 # rad/s
# Euler angles
EUL_DEGREES = 0 << 2
EUL_RADIANS = 1 << 2
# Temperature
TEMP_CELSIUS = 0 << 4
TEMP_FAHRENHEIT = 1 << 4
# Orientation output format
ORI_WINDOWS = 0 << 7 # pitch turning clockwise increases values
ORI_ANDROID = 1 << 7 # pitch turning clockwise decreases values

def __init__(self, port: wpilib.I2C.Port = None, address: int = None) -> None:
super().__init__()
Expand All @@ -234,17 +263,15 @@ def __init__(self, port: wpilib.I2C.Port = None, address: int = None) -> None:

self.i2c = wpilib.I2C(port, address, sim_port)

# set the units that we want
self.offset = 0.0
current_units = self.i2c.read(self.Register.UNIT_SEL, 1)[0]
for wanted, index in self.UNIT_SEL_LIST:
if wanted == 1:
current_units = current_units | (1 << index)
elif wanted == 0:
current_units = current_units & ~(1 << index)
self.i2c.write(self.Register.UNIT_SEL, current_units)
self.setOperationMode(self.OperationMode.IMUPLUS) # accelerometer and gyro
self.select_units(
self.UnitSel.ACC_M_S
| self.UnitSel.GYR_RPS | self.UnitSel.EUL_RADIANS
| self.UnitSel.TEMP_CELSIUS
| self.UnitSel.ORI_ANDROID
)
self.reverse_axis(False, False, False)
self.setOperationMode(self.OperationMode.IMU) # accelerometer and gyro
self.cache_heading()

def cache_heading(self):
Expand All @@ -254,25 +281,22 @@ def cache_heading(self):

def reverse_axis(self, x: bool, y: bool, z: bool) -> None:
"""Reverse the specified axis directions."""
current_directions = self.i2c.read(self.Register.AXIS_MAP_SIGN, 1)[0]
current_directions = self.AxisMapSign.ALL_POSITIVE
if x:
current_directions |= (1 << 2)
else:
current_directions &= ~(1 << 2)
current_directions |= self.AxisMapSign.X_NEGATIVE
if y:
current_directions |= (1 << 1)
else:
current_directions &= ~(1 << 1)
current_directions |= self.AxisMapSign.Y_NEGATIVE
if z:
current_directions |= (1 << 0)
else:
current_directions &= ~(1 << 0)
current_directions |= self.AxisMapSign.Z_NEGATIVE
self.i2c.write(self.Register.AXIS_MAP_SIGN, current_directions)

def setOperationMode(self, mode: OperationMode) -> None:
mode = self.OperationMode(mode)
self.i2c.write(self.Register.OPR_MODE, mode.value)

def select_units(self, units: UnitSel) -> None:
self.i2c.write(self.Register.UNIT_SEL, units)

def getAngle(self) -> float:
"""Function called by the GyroBase's PID Source to get the current measurement."""
return self.getHeading()
Expand All @@ -292,21 +316,21 @@ def getHeadingTime(self) -> float:
return self.timestep_cached_heading_tm

def getRawHeading(self) -> float:
return -self.getEuler(self.Register.EULER_H_LSB)
return -self.getEuler(self.Register.EULER_HEADING_LSB)

def getPitch(self) -> float:
return self.getEuler(self.Register.EULER_P_LSB)
return self.getEuler(self.Register.EULER_PITCH_LSB)

def getRoll(self) -> float:
return self.getEuler(self.Register.EULER_R_LSB)
return self.getEuler(self.Register.EULER_ROLL_LSB)

def getEuler(self, start_register: int) -> float:
euler_bytes = self.i2c.read(start_register, 2)
euler_int = int.from_bytes(euler_bytes, 'little', signed=True)
return euler_int / 900.0

def getHeadingRate(self) -> float:
return -self.getEuler(self.Register.GYRO_DATA_Z_LSB)
return self.getEuler(self.Register.GYRO_DATA_Z_LSB)

def resetHeading(self, heading: float = 0) -> None:
self.offset = self.getRawHeading() - heading
7 changes: 4 additions & 3 deletions utilities/bno055_sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,12 @@ def transactionI2C(self, port, device_address, data_to_send, send_size, data_rec
if 'bno055' in hal_data['robot']:
self.heading = math.radians(-hal_data['robot']['bno055'])

if data_to_send[0] == BNO055.Register.EULER_H_LSB:
register = data_to_send[0]
if register == BNO055.Register.EULER_HEADING_LSB:
struct.pack_into('<h', data_received, 0, int(self.heading * 900.0))
if data_to_send[0] == BNO055.Register.EULER_P_LSB:
if register == BNO055.Register.EULER_PITCH_LSB:
struct.pack_into('<h', data_received, 0, int(self.pitch * 900.0))
if data_to_send[0] == BNO055.Register.EULER_R_LSB:
if register == BNO055.Register.EULER_ROLL_LSB:
struct.pack_into('<h', data_received, 0, int(self.roll * 900.0))

return receive_size