API¶

This documentation outlines the library for IMU.

DEV¶

Devices, representation of hardware that can be interfaced with. In general, devices are communicated with via some sort of IO interface, but that is not strictly a rule. An LED is a simplistic example of a device.

IMU¶

class IMU::IMU : public CANDevice¶

Main class for the IMU that manages its built-in BNO055 and manages CAN communication.

Public Functions

explicit IMU(BNO055 bno055)¶

Basic constructor for an IMU instance.

It calls the initialization routine of the BNO055.

Parameters: bno055 – [in] BNO instance to read data from

CO_OBJ_T *getObjectDictionary() override¶

Gets the object dictionary.

Returns: an object dictionary

uint8_t getNumElements() override¶

Gets the size of the Object Dictionary.

Returns: size of the Object Dictionary

uint8_t getNodeID() override¶

Get the device’s node ID.

Returns: The node ID of the can device.

void process()¶

Handle running the core logic of the IMU.

This involves calling upon BNO055 to retrieve and log data.

Public Static Attributes

static constexpr uint8_t NODE_ID = 9¶: The node ID is used to identify the device on the CAN network.

BNO055¶

class IMU::BNO055¶

A driver class for the BNO055 orientation sensor used in the IMU.

Notice: This class uses a non standard (possibly) version of i2c that does not work with the EVT-Core provided readReg and writeReg. For this reason, all i2c calls in this driver use the raw write and read functions.

Datasheet for BNO055 - https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf

Public Types

enum BNO055Status¶

Represents potential errors that may take place when using the I2C interface.

Each method that interfaces over I2C could potentially return one of these errors, or OK if no error.

Values:

enumerator OK¶

enumerator FAIL_INIT¶

enumerator FAIL_SELF_TEST¶

Public Functions

BNO055(IO::I2C &i2C, uint8_t i2cSlaveAddress)¶

Initializer for a BNO055 sensor.

Takes in i2c to setup a connection with the board

Parameters

i2C – [in] an initialized i2c session.
i2cSlaveAddress – [in] the slave address that the BNO055 should use to communicate.

BNO055Status setup()¶

Sends all of the required i2c commands to initialize the chip.

Returns: whether the setup succeeded.

IO::I2C::I2CStatus getEuler(uint16_t &xBuffer, uint16_t &yBuffer, uint16_t &zBuffer)¶

Fetch the euler angle data.

Parameters

xBuffer – [out] a buffer to store the x data in.
yBuffer – [out] a buffer to store the y data in.
zBuffer – [out] a buffer to store the z data in.

Returns