Many hyperlinks are disabled.
Use anonymous login
to enable hyperlinks.
Overview
| Comment: | changes for dIMU initial implementation of gryoscope. |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | trunk |
| Files: | files | file ages | folders |
| SHA3-256: | bfc9ec1028c3494239d6c76d7460ab7cfd9eb2d0ab4694fbcdb92b2416bc5360 |
| User & Date: | gwlester 2018-01-29 06:15:40 |
Context
|
2018-01-30
| ||
| 02:55 | Corrections. check-in: c34bc36854 user: gwlester tags: trunk | |
|
2018-01-29
| ||
| 06:15 | changes for dIMU initial implementation of gryoscope. check-in: bfc9ec1028 user: gwlester tags: trunk | |
|
2018-01-25
| ||
| 00:26 | Working bno055 module and Gryo Exmaple program using it. check-in: ba6362892d user: gwlester tags: trunk | |
Changes
Changes to bno055-1.0.0.tm.
34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 .. 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 ... 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 ... 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 ... 355 356 357 358 359 360 361 362 363 364 365 366 367 368 ... 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 |
main,chipId {0 0x00 b}
acc,chipId {0 0x01 b}
mag,chipId {0 0x02 b}
gyro,chipId {0 0x03 b}
sw,rev {0 0x04 w}
bl,rev {0 0x06 b}
page {0 0x07 b}
acc,data,x {0 0x08 w}
acc,data,y {0 0x0a w}
acc,data,z {0 0x0c w}
mag,data,x {0 0x0e w}
mag,data,y {0 0x10 w}
mag,data,z {0 0x12 w}
gyr,data,x {0 0x04 w}
gyr,data,y {0 0x16 w}
gyr,data,z {0 0x18 w}
heading {0 0x1a w}
roll {0 0x1c w}
pitch {0 0x1e w}
qua,data,w {0 0x20 w}
qua,data,x {0 0x22 w}
qua,data,y {0 0x24 w}
qua,data,z {0 0x26 w}
lia,data,x {0 0x28 w}
lia,data,y {0 0x2a w}
lia,data,z {0 0x2c w}
grv,data,x {0 0x2e w}
grv,data,y {0 0x30 w}
grv,data,z {0 0x32 w}
temp,data {0 0x34 b}
mag,cab,status {0 0x35 b 1:0}
acc,cab,status {0 0x35 b 3:2}
gyr,cab,status {0 0x35 b 5:4}
sys,cab,status {0 0x35 b 7:6}
acc,selftest {0 0x36 b 0:0}
mag,selftest {0 0x36 b 1:1}
gyr,selftest {0 0x36 b 2:2}
................................................................................
tempSource {0 0x40 b 1:0}
remap,x,value {0 0x41 b 1:0}
remap,y,value {0 0x41 b 3:2}
remap,z,value {0 0x41 b 5:4}
remap,x,sign {0 0x42 b 0:0}
remap,y,sign {0 0x43 b 1:1}
remap,z,sign {0 0x43 b 2:2}
acc,x,offset {0 0x55 w}
acc,y,offset {0 0x57 w}
acc,z,offset {0 0x59 w}
mag,x,offset {0 0x5b w}
mag,y,offset {0 0x5d w}
mag,z,offset {0 0x5f w}
gyr,x,offset {0 0x61 w}
gyr,y,offset {0 0x63 w}
gyr,z,offset {0 0x65 w}
acc,radius {0 0x67 w}
mag,radius {0 0x69 w}
acc,range {1 0x08 b 1:0}
acc,bandwidth {1 0x08 b 4:2}
acc,pwrMode {1 0x08 b 7:5}
mag,rate {1 0x09 b 2:0}
mag,operMode {1 0x09 b 4:3}
mag,pwrMode {1 0x09 b 6:5}
gyr,range {1 0x0a b 2:0}
gyr,bandwidth {1 0x0a b 5:3}
gyr,pwrMode {1 0x0b b 2:0}
acc,sleepMode {1 0x0c b 0:0}
acc,sleepDur {1 0x0c b 4:1}
gyr,am,intMask {1 0x0f b 2:2}
gyr,hiR,intMask {1 0x0f b 3:3}
acc,hiG,intMask {1 0x0f b 5:5}
acc,am,intMask {1 0x0f b 6:6}
acc,nm,intMask {1 0x0f b 7:7}
gyr,am,intEnab {1 0x10 b 2:2}
gyr,hiR,intEnab {1 0x10 b 3:3}
................................................................................
gyr,hr,x,durr {1 0x19 b}
gyr,hr,y,thres {1 0x1a b 4:0}
gyr,hr,y,hyst {1 0x1a b 6:5}
gyr,hr,y,durr {1 0x1b b}
gyr,hr,z,thres {1 0x1c b 4:0}
gyr,hr,z,hyst {1 0x1c b 6:5}
gyr,hr,z,durr {1 0x1d b}
gyr,am,slope {1 0x1e b 1:0}
gyr,am,durr {1 0x1e b 3:2}
uniqueId {1 0x50 m 16}
}
array set Constants {
CALIB_STAT,0 false
CALIB_STAT,1 unknown
................................................................................
}
proc writeRegister {handle register value} {
variable Registers
lassign $Registers($register) page addr type mask
::twowire writeregbyte $handle [lindex $Registers(page) 0] $page
if {$mask eq {}} {
set writeValue $value
} else {
##
## Masked values are always byte oriented
##
................................................................................
m {
##
## Not supported in write mode
##
throw {UNSUP WRTMODE} "Multibyte writes are not supported at this time"
}
}
return;
}
proc writeRegisterBlock {handle args} {
variable Registers
................................................................................
}
set size [expr {1 + ($highBit - $lowBit)}]
set tmp [format "%${size}.${size}b" $value]
set writeValue [string replace $writeValue end-$highBit end-$lowBit $tmp]
}
scan $writeValue {%b} writeValue
::twowire writeregbyte $handle [lindex $Registers(page) 0] $page
switch -exact -- $size {
1 {
::twowire writeregbyte $handle $addr $writeValue
}
2 {
::twowire writeregword $handle $addr $writeValue
}
}
return;
}
proc readRegister {handle register} {
variable Registers
lassign $Registers($register) page addr type mask
set result {}
::twowire writeregbyte $handle [lindex $Registers(page) 0] $page
switch -exact -- $type {
b {
set result [::twowire readregbyte $handle $addr]
}
w {
set result [::twowire readregword $handle $addr]
}
m {
for {set cnt 1} {$cnt <= $mask} {incr cnt; incr addr} {
append result [format {%2.2x} [::twowire readregbyte $handle $addr]]
}
}
}
if {$mask ne {} && $type ne {m}} {
lassign [split $mask {:}] highBit lowBit
set result [string range [format {%16.16b} $result] end-$lowBit end-$highBit]
scan $result {%b} result
}
return $result
}
namespace ensemble create -subcommands {
getValue
getValue2
getSymbol
readRegister
writeRegister
writeRegisterBlock
}
}
|
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | > > > | | | > > | > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | > > > > > > > > > > > > > > > > > > > > > > |
34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 .. 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 ... 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 ... 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 ... 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 ... 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 |
main,chipId {0 0x00 b}
acc,chipId {0 0x01 b}
mag,chipId {0 0x02 b}
gyro,chipId {0 0x03 b}
sw,rev {0 0x04 w}
bl,rev {0 0x06 b}
page {0 0x07 b}
acc,data,x {0 0x08 W}
acc,data,y {0 0x0a W}
acc,data,z {0 0x0c W}
mag,data,x {0 0x0e W}
mag,data,y {0 0x10 W}
mag,data,z {0 0x12 W}
gyr,data,x {0 0x04 W}
gyr,data,y {0 0x16 W}
gyr,data,z {0 0x18 W}
heading {0 0x1a W}
roll {0 0x1c W}
pitch {0 0x1e W}
qua,data,w {0 0x20 W}
qua,data,x {0 0x22 W}
qua,data,y {0 0x24 W}
qua,data,z {0 0x26 W}
lia,data,x {0 0x28 W}
lia,data,y {0 0x2a W}
lia,data,z {0 0x2c W}
grv,data,x {0 0x2e W}
grv,data,y {0 0x30 W}
grv,data,z {0 0x32 W}
temp,data {0 0x34 B}
mag,cab,status {0 0x35 b 1:0}
acc,cab,status {0 0x35 b 3:2}
gyr,cab,status {0 0x35 b 5:4}
sys,cab,status {0 0x35 b 7:6}
acc,selftest {0 0x36 b 0:0}
mag,selftest {0 0x36 b 1:1}
gyr,selftest {0 0x36 b 2:2}
................................................................................
tempSource {0 0x40 b 1:0}
remap,x,value {0 0x41 b 1:0}
remap,y,value {0 0x41 b 3:2}
remap,z,value {0 0x41 b 5:4}
remap,x,sign {0 0x42 b 0:0}
remap,y,sign {0 0x43 b 1:1}
remap,z,sign {0 0x43 b 2:2}
acc,x,offset {0 0x55 W}
acc,y,offset {0 0x57 W}
acc,z,offset {0 0x59 W}
mag,x,offset {0 0x5b W}
mag,y,offset {0 0x5d W}
mag,z,offset {0 0x5f W}
gyr,x,offset {0 0x61 W}
gyr,y,offset {0 0x63 W}
gyr,z,offset {0 0x65 W}
acc,radius {0 0x67 W}
mag,radius {0 0x69 W}
acc,range {1 0x08 b 1:0}
acc,bandwidth {1 0x08 b 4:2}
acc,pwrMode {1 0x08 b 7:5}
mag,rate {1 0x09 b 2:0}
mag,operMode {1 0x09 b 4:3}
mag,pwrMode {1 0x09 b 6:5}
gyr,range {1 0x0a b 2:0}
gyr,bandwidth {1 0x0a b 5:3}
gyr,pwrMode {1 0x0b b 2:0}
acc,sleepMode {1 0x0c b 0:0}
acc,sleepDur {1 0x0c b 4:1}
gyr,sleepDur {1 0x0d b 2:1}
gyr,autoSlpDur {1 0x0d b 5:3}
gyr,am,intMask {1 0x0f b 2:2}
gyr,hiR,intMask {1 0x0f b 3:3}
acc,hiG,intMask {1 0x0f b 5:5}
acc,am,intMask {1 0x0f b 6:6}
acc,nm,intMask {1 0x0f b 7:7}
gyr,am,intEnab {1 0x10 b 2:2}
gyr,hiR,intEnab {1 0x10 b 3:3}
................................................................................
gyr,hr,x,durr {1 0x19 b}
gyr,hr,y,thres {1 0x1a b 4:0}
gyr,hr,y,hyst {1 0x1a b 6:5}
gyr,hr,y,durr {1 0x1b b}
gyr,hr,z,thres {1 0x1c b 4:0}
gyr,hr,z,hyst {1 0x1c b 6:5}
gyr,hr,z,durr {1 0x1d b}
gyr,am,thresh {1 0x1f b 6:0}
gyr,am,slope {1 0x1f b 1:0}
gyr,am,durr {1 0x1f b 3:2}
uniqueId {1 0x50 m 16}
}
array set Constants {
CALIB_STAT,0 false
CALIB_STAT,1 unknown
................................................................................
}
proc writeRegister {handle register value} {
variable Registers
lassign $Registers($register) page addr type mask
::twowire writeregbyte $handle [lindex $Registers(page) 1] $page
after 20
if {$mask eq {}} {
set writeValue $value
} else {
##
## Masked values are always byte oriented
##
................................................................................
m {
##
## Not supported in write mode
##
throw {UNSUP WRTMODE} "Multibyte writes are not supported at this time"
}
}
after 20
return;
}
proc writeRegisterBlock {handle args} {
variable Registers
................................................................................
}
set size [expr {1 + ($highBit - $lowBit)}]
set tmp [format "%${size}.${size}b" $value]
set writeValue [string replace $writeValue end-$highBit end-$lowBit $tmp]
}
scan $writeValue {%b} writeValue
::twowire writeregbyte $handle [lindex $Registers(page) 1] $page
after 10
switch -exact -- $size {
1 {
::twowire writeregbyte $handle $addr $writeValue
}
2 {
::twowire writeregword $handle $addr $writeValue
}
}
after 20
return;
}
proc readMultipleRegisters {handle registerList} {
variable Registers
set registerValues {}
set returnValues {}
foreach register $registerList {
lassign $Registers($register) page addr type mask
if {![dict exists $registerValues page $page addr $addr]} {
::twowire writeregbyte $handle [lindex $Registers(page) 1] $page
after 10
switch -exact -- $type {
B -
b {
set result [::twowire readregbyte $handle $addr]
set size 8
}
W -
w {
set size 16
set result [::twowire readregword $handle $addr]
}
m {
dict set returnValues $register [readRegister $handle $register]
continue
}
}
dict set registerValues page $page addr $addr [format {%16.16b} $result]
}
if {$mask ne {} && $type ne {m}} {
lassign [split $mask {:}] highBit lowBit
set result [dict get $registerValues page $page addr $addr]
set result [string range $result end-$lowBit end-$highBit]
set size [expr {1 + $highBit - $lowBit}]
scan $result {%b} result
} else {
set result [dict get $registerValues page $page addr $addr]
}
if {$type in {B W}} {
if {[string index [format "%${size}.${size}b" $result] 0]} {
scan 1[string repeat 0 $size] %b max
incr result -$max
}
}
dict set returnValues $register $result
}
return $returnValues
}
proc readRegister {handle register} {
variable Registers
lassign $Registers($register) page addr type mask
set result {}
::twowire writeregbyte $handle [lindex $Registers(page) 1] $page
after 20
switch -exact -- $type {
B -
b {
set result [::twowire readregbyte $handle $addr]
set size 8
}
W -
w {
set result [::twowire readregword $handle $addr]
set size 16
}
m {
for {set cnt 1} {$cnt <= $mask} {incr cnt; incr addr} {
append result [format {%2.2x} [::twowire readregbyte $handle $addr]]
}
}
}
if {$mask ne {} && $type ne {m}} {
lassign [split $mask {:}] highBit lowBit
set size [expr {1 + $highBit - $lowBit}]
set result [string range [format {%16.16b} $result] end-$lowBit end-$highBit]
scan $result {%b} result
}
if {$type in {B W}} {
if {[string index [format "%${size}.${size}b" $result] 0]} {
scan 1[string repeat 0 $size] %b max
incr result -$max
}
}
return $result
}
proc validateHandle {handle} {
foreach register {main,chipId acc,chipId mag,chipId gyro,chipId} expectedValue {0xa0 0xfb 0x32 0x0f} {
if {[readRegister $handle $register] != $expectedValue} {
throw [list NOTBNO055 $handle] "The handle, '$handle', does not refrence a bno055"
}
}
}
namespace ensemble create -subcommands {
getValue
getValue2
getSymbol
readMultipleRegisters
readRegister
validateHandle
writeRegister
writeRegisterBlock
}
}
|
Changes to dimu-1.0.0.tm.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 .. 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 .. 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 |
## ## Provide a singlton class for the Dexter Industries Inertial Motion Unit (IMU) sensor. ## package require piio package require bno055 package require oo::util oo::class create dimu { self mixin singleton self method init {} { variable HardwiredSettings variable OptionDef set OptionDef { -bus {-default 1} -mode {-default {}} } set HardwiredSettings { address 0x28 } ::oo::objdefine [self] deletemethod init } method ProcessArgs {inputArgs classArgsDict} { variable instanceInfo set unprocessedArgs {} array set missingRequiredArr {} ................................................................................ set instanceInfo {} } ## ## Set the class defaults ## foreach {arg argDefList} $classArgsDict { if {[dict exists $instanceInfo options $arg]} { ## ## Has already been processed by a subclass ## continue } if {"-boolean" in $argDefList} { dict set instanceInfo options $arg false } if {"-default" in $argDefList} { set i [lsearch -exact $argDefList "-default"] dict set instanceInfo options $arg [lindex $argDefList [incr i]] dict set instanceInfo defaults $arg [lindex $argDefList $i] } else { dict set instanceInfo defaults $arg {} } if {"-required" in $argDefList} { set missingRequiredArr($arg) 1 } } ## ## Process each argument ## set argCount [llength $inputArgs] for {set i 0} {$i < $argCount} {incr i} { ## ## If argument is a class argument, overide the default ## set arg [lindex $inputArgs $i] if {[dict exists $classArgsDict $arg]} { set argDef [dict get $classArgsDict $arg] if {"-boolean" in $argDef} { dict set instanceInfo options $arg true } else { dict set instanceInfo options $arg [lindex $inputArgs [incr i]] } unset -nocomplain missingRequiredArr($arg) } else { ## ## If argument is not a class argument, append it to the unprocessed argument ## lappend unprocessedArgs $arg } ................................................................................ set missingRequired [array names missingRequiredArr] if {[llength $missingRequired]} { throw [list PTK MISSING OPTION $missingRequired] "missing required options: \"$missingRequired\"" } return $unprocessedArgs } constructor {args} { variable instanceInfo variable OptionDef variable HardwiredSettings set remainingArgs [ProcessArgs $args $OptionDef] if {[llength $remainingArgs]} { set arg1 [lindex $remainingArgs 0] throw [list LOOKUP OPTION $arg1] "unknown option \"$arg1\"" } set bus [my cget -bus] dict set instanceInfo handle [twowire twowire $bus $HardwiredSettings(address)] return } destructor { variable instanceInfo ## ## Close the handle to the device ## close [dict get $instanceInfo handle] } method cget {option} { variable instanceInfo if {[dict exists $instanceInfo options $option]} { return [dict get $instanceInfo options $option] } else { set legalOptions [dict keys [dict get $instanceInfo options]] throw [list TK LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]" } } method configure {args} { variable instanceInfo set argLen [llength $args] if {$argLen == 0} { set returnList {} if {[dict exists $instanceInfo options]} { foreach option [lsort -dictionary [dict keys [dict get $instanceInfo options]]] { ## ## Order is optionName defaultValue currentValue ## set itemList [list $option [dict get $instanceInfo defaults $option] [dict get $instanceInfo options $option]] lappend returnList $itemList } } return $returnList } elseif {$argLen == 1} { set option [lindex $args 0] if {[dict exists $instanceInfo options $option]} { return [dict get $instanceInfo options $option] } else { set legalOptions [dict keys [dict get $instanceInfo options]] throw [list LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]" } } elseif {($argLen % 2) == 0} { foreach {option value} $args { if {[dict exists $instanceInfo options $option]} { dict set instanceInfo options $option $value ## put in code to change the configureation } else { set legalOptions [dict keys [dict get $instanceInfo options]] throw [list LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]" } } } return; } } dimu init |
| | > | | > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > < < < < < < < < > > < < < < < < > > > > > > > > | | > | > | > > > | | > > > > > > > > > > > | > > | < | | | | > | < > > > > > > > | > | > > > < < < < < < > > > | < > > > > > > > > > > > > > > > > | > | > > > > > > > | > > > | > > > | > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 ... 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 ... 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 |
## ## Provide a singlton class for the Dexter Industries Inertial Motion Unit (IMU) sensor. ## package require piio package require bno055 package require oo::util ::ooutil::singleton create dimu { #self mixin singleton self method init {} { variable HardwiredSettings variable ConfigurationRegisters variable OptionDef set OptionDef { -bus {-default 1} -power {-register pwrMode -allowed {normal low suspend} -type PWR_MODE} -operation {-register operMode -immediate yes -allowed {configmode acconly magonly gyroonly accmag accgyro maggyro amg imu compass m4g ndof_fmc_off ndof} -type OPER_MODE} -gryorange {-register gyr,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type GRY_RANGE} -gryobandwidth {-register gyr,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type GRY_BANDWIDTH} -gyropowermode {-register gyr,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type GRY_POWER_MODE} -gyrounits {-register gry,units -allowed {dps rps} -type GRY_UNIT} -gryoautosleep {-register gyr,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type GRY_AUTOSLP_DURR} -gryosleep {-register gyr,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type GRY_SLEEP_DURR} -gryoawake {-register gyr,am,durr -allowed {8samples 16samples 32samples 64samples} -type GYR_AWAKE_DURR} -gryoslope {-register gyr,am,slope} -gryoxoffset {-register gyr,x,offset} -gryoyoffset {-register gyr,y,offset} -gryozoffset {-register gyr,z,offset} } set HardwiredSettings { address 0x28 } set ConfigurationRegisters { main,chipId acc,chipId mag,chipId gyro,chipId sw,rev bl,rev mag,cab,status acc,cab,status gyr,cab,status sys,cab,status acc,selftest mag,selftest gyr,selftest mcu,selftest sys,clk,status sys,status sys,error acc,units gyr,units eul,units temp,units format,opt operMode powerMode clockSource tempSource remap,x,value remap,y,value remap,z,value remap,x,sign remap,y,sign remap,z,sign acc,x,offset acc,y,offset acc,z,offset mag,x,offset mag,y,offset mag,z,offset gyr,x,offset gyr,y,offset gyr,z,offset acc,radius mag,radius acc,range acc,bandwidth acc,pwrMode mag,rate mag,operMode mag,pwrMode gyr,range gyr,bandwidth gyr,pwrMode acc,sleepMode acc,sleepDur gyr,am,intMask gyr,hiR,intMask acc,hiG,intMask acc,am,intMask acc,nm,intMask gyr,am,intEnab gyr,hiR,intEnab acc,hiG,intEnab acc,am,intEnab acc,nm,intEnab acc,am,thresh acc,am,dur acc,an,x acc,an,y acc,an,z acc,hi,x acc,hi,y acc,hi,z acc,hi,thresh acc,hi,durr acc,nm,thresh acc,smnm,enab acc,smnm,durr gyr,am,x,enab gyr,am,y,enab gyr,am,z,enab gyr,hr,x,enab gyr,hr,y,enab gyr,hr,z,enab gyr,am,filter gyr,hr,filter gyr,hr,x,thres gyr,hr,x,hyst gyr,hr,x,durr gyr,hr,y,thres gyr,hr,y,hyst gyr,hr,y,durr gyr,hr,z,thres gyr,hr,z,hyst gyr,hr,z,durr gyr,am,slope gyr,am,durr uniqueId } ::oo::objdefine [self] deletemethod init } method ProcessArgs {inputArgs classArgsDict} { variable instanceInfo set unprocessedArgs {} array set missingRequiredArr {} ................................................................................ set instanceInfo {} } ## ## Set the class defaults ## foreach {arg argDefList} $classArgsDict { if {"-boolean" in $argDefList} { dict set instanceInfo options $arg false } if {"-default" in $argDefList} { set i [lsearch -exact $argDefList "-default"] dict set instanceInfo options $arg [lindex $argDefList [incr i]] dict set instanceInfo defaults $arg [lindex $argDefList $i] } if {"-required" in $argDefList} { set missingRequiredArr($arg) 1 } dict set instanceInfo legalOption $arg yes } ## ## Process each argument ## set argCount [llength $inputArgs] set blockWrite {} for {set i 0} {$i < $argCount} {incr i} { ## ## If argument is a class argument, overide the default ## set arg [lindex $inputArgs $i] if {[dict exists $classArgsDict $arg]} { unset -nocomplain missingRequiredArr($arg) } else { ## ## If argument is not a class argument, append it to the unprocessed argument ## lappend unprocessedArgs $arg } ................................................................................ set missingRequired [array names missingRequiredArr] if {[llength $missingRequired]} { throw [list PTK MISSING OPTION $missingRequired] "missing required options: \"$missingRequired\"" } return $unprocessedArgs } method ReadCurrentConfiguration {} { variable instanceInfo variable currentConfiguration classvariable ConfigurationRegisters set currentConfiguration [bno055 readMultipleRegisters [dict get $instanceInfo handle] $ConfigurationRegisters] } constructor {args} { variable instanceInfo classvariable OptionDef classvariable HardwiredSettings variable currentConfiguration set remainingArgs [my ProcessArgs $args $OptionDef] if {[llength $remainingArgs]} { set arg1 [lindex $remainingArgs 0] throw [list LOOKUP OPTION $arg1] "unknown option \"$arg1\"" } set bus [my cget -bus] set handle [twowire twowire $bus [dict get $HardwiredSettings address]] dict set instanceInfo handle $handle bno055 validateHandle $handle my ReadCurrentConfiguration my configure {*}$args return } destructor { variable instanceInfo ## ## Close the handle to the device ## close [dict get $instanceInfo handle] } method cget {option} { variable instanceInfo classvariable OptionDef variable currentConfiguration if {[dict exists $instanceInfo options $option]} { return [dict get $instanceInfo options $option] } elseif {[dict exists $instanceInfo legalOption $option]} { set optionDict [dict get $OptionDef $option] set register [dict get $optionDict -register] set value [dict get $currentConfiguration $register] if {[dict exists $OptionDef -type]} { set type [dict get $OptionDef -type] set value [bno055 getSymbol $type $value] } return $value } else { set legalOptions [dict keys [dict get $instanceInfo legalOption]] throw [list TK LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]" } } method configure {args} { variable instanceInfo classvariable OptionDef variable currentConfiguration set argLen [llength $args] if {$argLen == 0} { set returnList {} foreach option [lsort -dictionary [dict keys [dict get $instanceInfo legalOption]]] { ## ## Order is optionName defaultValue currentValue ## if {[dict exists $instanceInfo options]} { set itemList [list $option [dict get $instanceInfo defaults $option] [dict get $instanceInfo options $option]] } else { set optionDict [dict get $OptionDef $option] set register [dict get $optionDict -register] set value [dict get $currentConfiguration $register] if {[dict exists $OptionDef -type]} { set type [dict get $OptionDef -type] set value [bno055 getSymbol $type $value] } set itemList [list $option {} $value] } lappend returnList $itemList } return $returnList } elseif {$argLen == 1} { set option [lindex $args 0] return [my cget $option] } elseif {($argLen % 2) == 0} { set configureList {} set immediateList {} foreach {option value} $args { if {[dict exists $instanceInfo options $option]} { dict set instanceInfo options $option $value } elseif {[dict exists $OptionDef $option -register]} { if {![string is entier $value]} { set value [bno055 getValue2 [dict get $OptionDef $option -type] $value] } set register [dict get $OptionDef $option -register] dict set currentConfiguration $register $value if {[dict exists $OptionDef $option -immediate] && [dict get $OptionDef $option -immediate]} { lappend immediateList [list $register $value] } else { lappend configureList $register $value } } else { set legalOptions [dict keys [dict get $instanceInfo options]] throw [list LOOKUP OPTION $option] "unknown option \"$option\" -- legal options are: [join $legalOptions {,}]" } } set handle [dict get $instanceInfo handle] if {[llength $configureList]} { bno055 writeRegister $handle operMode [bno055 getValue2 OPER_MODE CONFIGMODE] foreach item $configureList { bno055 writeRegister $handle {*}$item } bno055 writeRegister $handle operMode [dict get $currentConfiguration operMode] } if {[llength $immediateList]} { foreach item $immediateList { bno055 writeRegister $handle {*}$item } } } return; } method readGyro {} { variable instanceInfo variable currentConfiguration set operMode [string range [bno055 getSymbol OPER_MODE [dict get $currentConfiguration operMode]] 9 end] if {$operMode in {CONFIGMODE ACCONLY MAGONLY COMPASS M4G}} { throw [list DIMU SENDIS $operMode] "Gryoscope reading are not availble when dIMU is in '$operMode' mode." } set results {} set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {gyr,data,x gyr,data,y gyr,data,z}] set range [bno055 getSymbol GRY_RANGE [dict get $currentConfiguration gyr,range]] switch -exact -- $range { GRY_RANGE_125DPS { set divisor 256.0 } GRY_RANGE_250DPS { set divisor 128.0 } GRY_RANGE_500DPS { set divisor 64.0 } GRY_RANGE_1000DPS { set divisor 32.0 } GRY_RANGE_2000DPS { set divisor 16.0 } } set units bno055 getSymbol GRY_UNIT [dict get $currentConfiguration gyr,units]] if {units eq "GRY_UNIT_DPS" } { dict set results units dps } else { dict set results units rps set divisor [expr {$divsor * 900 / 16}] } dict set results x [expr {[dict get $readings gyr,data,x] / $divisor}] dict set results y [expr {[dict get $readings gyr,data,y] / $divisor}] dict set results z [expr {[dict get $readings gyr,data,z] / $divisor}] } } dimu init |