I2CBNO55IMU.h

/**
 *
 * \file I2CBNO55IMU.h
 * \author Vincent Crocher
 * \version 0.1
 * \date 2026-02-27
 * \copyright Copyright (c) 2026
 *
 * \brief Class allowing communication with a BNO055 IMU (Adafruit breakout board) via I2C on a BeagleBone (and maybe other)
 * Use registers definition from Adafruit Arduino code (https://github.com/adafruit/Adafruit_BNO055/blob/master/Adafruit_BNO055.h).
 * Use i2cdetect -y -r 1 command to list adresses of devices connected on the bus 1 (/dev/i2c-1) of the BB.
 *
 */

#ifndef I2CBNO55IMU_H
#define I2CBNO55IMU_H
#include <Eigen/Dense>

#include "InputDevice.h"
#include "I2CDevice.h"

struct IMUData {
    Eigen::VectorXd rawAcc = Eigen::VectorXd::Zero(3);  // 3D vector for x,y,z acceleration
    Eigen::VectorXd linAcc = Eigen::VectorXd::Zero(3);  // 3D vector for x,y,z linear acceleration
    Eigen::VectorXd quat = Eigen::VectorXd::Zero(4);    // 4D vector for w,x,y,z quaternion
    Eigen::VectorXd grav = Eigen::VectorXd::Zero(3);    // 3D vector for gravity vector
};


/** Operation mode settings **/
typedef enum {
    OPERATION_MODE_CONFIG = 0X00,
    OPERATION_MODE_ACCONLY = 0X01,
    OPERATION_MODE_MAGONLY = 0X02,
    OPERATION_MODE_GYRONLY = 0X03,
    OPERATION_MODE_ACCMAG = 0X04,
    OPERATION_MODE_ACCGYRO = 0X05,
    OPERATION_MODE_MAGGYRO = 0X06,
    OPERATION_MODE_AMG = 0X07,
    OPERATION_MODE_IMUPLUS = 0X08,
    OPERATION_MODE_COMPASS = 0X09,
    OPERATION_MODE_M4G = 0X0A,
    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
    OPERATION_MODE_NDOF = 0X0C
} bno055_opmode_t;

/** BNO055 Registers **/
typedef enum {
    /* Page id register definition */
    BNO055_PAGE_ID_ADDR = 0X07,

    /* PAGE0 REGISTER DEFINITION START*/
    BNO055_CHIP_ID_ADDR = 0x00,
    BNO055_ACCEL_REV_ID_ADDR = 0x01,
    BNO055_MAG_REV_ID_ADDR = 0x02,
    BNO055_GYRO_REV_ID_ADDR = 0x03,
    BNO055_SW_REV_ID_LSB_ADDR = 0x04,
    BNO055_SW_REV_ID_MSB_ADDR = 0x05,
    BNO055_BL_REV_ID_ADDR = 0X06,

    /* Accel data register */
    BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
    BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
    BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
    BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
    BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
    BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,

    /* Mag data register */
    BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
    BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
    BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
    BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
    BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
    BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,

    /* Gyro data registers */
    BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
    BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
    BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
    BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
    BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
    BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,

    /* Euler data registers */
    BNO055_EULER_H_LSB_ADDR = 0X1A,
    BNO055_EULER_H_MSB_ADDR = 0X1B,
    BNO055_EULER_R_LSB_ADDR = 0X1C,
    BNO055_EULER_R_MSB_ADDR = 0X1D,
    BNO055_EULER_P_LSB_ADDR = 0X1E,
    BNO055_EULER_P_MSB_ADDR = 0X1F,

    /* Quaternion data registers */
    BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
    BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
    BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
    BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
    BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
    BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
    BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
    BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,

    /* Linear acceleration data registers */
    BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
    BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
    BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
    BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
    BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
    BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,

    /* Gravity data registers */
    BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
    BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
    BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
    BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
    BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
    BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,

    /* Temperature data register */
    BNO055_TEMP_ADDR = 0X34,

    /* Status registers */
    BNO055_CALIB_STAT_ADDR = 0X35,
    BNO055_SELFTEST_RESULT_ADDR = 0X36,
    BNO055_INTR_STAT_ADDR = 0X37,

    BNO055_SYS_CLK_STAT_ADDR = 0X38,
    BNO055_SYS_STAT_ADDR = 0X39,
    BNO055_SYS_ERR_ADDR = 0X3A,

    /* Unit selection register */
    BNO055_UNIT_SEL_ADDR = 0X3B,

    /* Mode registers */
    BNO055_OPR_MODE_ADDR = 0X3D,
    BNO055_PWR_MODE_ADDR = 0X3E,

    BNO055_SYS_TRIGGER_ADDR = 0X3F,
    BNO055_TEMP_SOURCE_ADDR = 0X40,

    /* Axis remap registers */
    BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
    BNO055_AXIS_MAP_SIGN_ADDR = 0X42,

    /* SIC registers */
    BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
    BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
    BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
    BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
    BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
    BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
    BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
    BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
    BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
    BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
    BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
    BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
    BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
    BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
    BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
    BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
    BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
    BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,

    /* Accelerometer Offset registers */
    ACCEL_OFFSET_X_LSB_ADDR = 0X55,
    ACCEL_OFFSET_X_MSB_ADDR = 0X56,
    ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
    ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
    ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
    ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,

    /* Magnetometer Offset registers */
    MAG_OFFSET_X_LSB_ADDR = 0X5B,
    MAG_OFFSET_X_MSB_ADDR = 0X5C,
    MAG_OFFSET_Y_LSB_ADDR = 0X5D,
    MAG_OFFSET_Y_MSB_ADDR = 0X5E,
    MAG_OFFSET_Z_LSB_ADDR = 0X5F,
    MAG_OFFSET_Z_MSB_ADDR = 0X60,

    /* Gyroscope Offset register s*/
    GYRO_OFFSET_X_LSB_ADDR = 0X61,
    GYRO_OFFSET_X_MSB_ADDR = 0X62,
    GYRO_OFFSET_Y_LSB_ADDR = 0X63,
    GYRO_OFFSET_Y_MSB_ADDR = 0X64,
    GYRO_OFFSET_Z_LSB_ADDR = 0X65,
    GYRO_OFFSET_Z_MSB_ADDR = 0X66,

    /* Radius registers */
    ACCEL_RADIUS_LSB_ADDR = 0X67,
    ACCEL_RADIUS_MSB_ADDR = 0X68,
    MAG_RADIUS_LSB_ADDR = 0X69,
    MAG_RADIUS_MSB_ADDR = 0X6A
} bno055_reg_t;

/** BNO055 power settings */
typedef enum {
    POWER_MODE_NORMAL = 0X00,
    POWER_MODE_LOWPOWER = 0X01,
    POWER_MODE_SUSPEND = 0X02
} bno055_powermode_t;



/**
 * \ingroup IO
 * \brief Class inherit InputDevice to handle an I2C based BNO 055 IMU.
 */
class I2CBNO55IMU: public InputDevice, public I2CDevice {
    private:
        IMUData data;

        /**
        * \brief Update quat values from IMU.
        */
        void readQuat();
        /**
        * \brief Update linear accel. from IMU.
        */
        void readLinAcc();
        /**
        * \brief Update gravity vector from IMU.
        */
        void readGrav();

    public:
        I2CBNO55IMU(unsigned char _DeviceAddress, int _BusId=1);

        void setDeviceAddress( unsigned char _DeviceAddress ){ DeviceAddress = _DeviceAddress; };
        void setBusId( int _BusId ) { BusId = _BusId; };

        /**
         * \brief Update all relevant IMU values: linear acceleration, gravity vector and quaternion.
         */
        void updateInput();

        /**
        * \brief Select (set) IMU working mode.
        * \param Default is NDOF: full 9DoF fusion.
        */
        void setMode(bno055_opmode_t mode = OPERATION_MODE_NDOF) { writeReg(BNO055_OPR_MODE_ADDR, mode); };
        /**
        * \brief Set IMU in SI units ( radians, rps, m/s2, celsius).
        */
        void setSIUnits() { writeReg(BNO055_UNIT_SEL_ADDR, 0x06); };

        void setFastAccOnly() { setMode(OPERATION_MODE_ACCONLY); writeReg(0x08, 0x1D); }

        /**
         * \brief Read and return temperature of IMU.
         */
        int getTemp() { return readRegisterRdwr(BNO055_TEMP_ADDR); };

        /**
         * \brief Get the linear acceleration readings from IMU
         *
         * \return Eigen::VectorXd x,y,z axis of linear acceleration
         */
        Eigen::VectorXd& getLinAcc() { return data.linAcc; };

        /**
         * \brief Get the quaternion readings from the IMU
         *
         * \return Eigen::VectorXd w,x,y,z quaternion
         */
        Eigen::VectorXd& getQuat() { return data.quat; };

        /**
         * \brief Get the gravity vector from the IMU
         *
         * \return Eigen::VectorXd 3D gravity direction vector
         */
        Eigen::VectorXd& getGravityVec() { return data.grav; };

};
#endif