www.gusucode.com > Arduino_Engineering_Kit_Hardware_Support 工具箱matlab源码程序 > Arduino_Engineering_Kit_Hardware_Support/simulink/+codertarget/+arduinobase/+internal/arduinoBNO055.m
classdef arduinoBNO055 < matlab.System & ...
matlab.system.mixin.Propagates & ...
coder.ExternalDependency & ...
matlabshared.svd.BlockSampleTime & ...
matlab.system.mixin.internal.CustomIcon
%BNO055 IMU sensor.
%
% <a href="https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf ">Device Datasheet</a>
% Copyright 2018 The MathWorks, Inc.
%#codegen
properties(Nontunable)
%SlaveAddress - I2C address
SlaveAddress = '0x28';
%OperationMode - Operation mode
OperationMode = 'Fusion';
%SlaveAddress_ (Not used. Only for compatibilty with I2C blocks)
SlaveAddress_ = hex2dec('28');
end
properties(Nontunable, Logical)
%Acceleration (m/s^2)
Accel
%Angular rate (dps)
AngularRate
%Magnetic field (uT)
MagField
%Euler angles (degrees)
EulerAngles
%Quaternion (quaternion)
Quat
%Linear Acceleration (m/s^2)
LinearAccel
%Gravity Vector (m/s^2)
GravityVector
end
properties(Nontunable)
% Accelerometer range
AccelRange = '4G';
% Accelerometer bandwidth
AccelBW = '62.5 Hz';
% Gyroscope range
GyroRange = '2000 dps';
% Gyroscope bandwidth
GyroBW = '32 Hz';
% Magnetic output data range
MagODR = '10 Hz';
end
properties (Access = private,Logical)
%isBNOcorrect
isBNOcorrect = false;
end
properties (Dependent,Hidden)
% Get corresponding number for selected range, bandwidth, ODR
AccelRangeNum
AccelBWNum
GyroRangeNum
GyroBWNum
MagODRNum
end
properties(Constant, Hidden)
SlaveAddressSet = matlab.system.StringSet({'0x28', '0x29'});
OperationModeSet = matlab.system.StringSet({'Fusion', 'Non-Fusion'});
AccelRangeSet = matlab.system.StringSet({'2G', '4G', '8G', '16G'});
AccelBWSet = matlab.system.StringSet({'7.81 Hz', '15.63 Hz', '31.25 Hz', '62.5 Hz', '125 Hz', '250 Hz', '500 Hz', '1000 Hz'});
GyroRangeSet = matlab.system.StringSet({'125 dps', '250 dps', '500 dps', '1000 dps', '2000 dps'});
GyroBWSet = matlab.system.StringSet({'12 Hz', '23 Hz', '32 Hz', '47 Hz', '64 Hz', '116 Hz', '230 Hz', '523 Hz'});
MagODRSet = matlab.system.StringSet({'2 Hz', '6 Hz', '8 Hz', '10 Hz', '15 Hz', '20 Hz', '25 Hz' '30 Hz'});
%------ Register Access flag ------------------------
RegisterAddress_flag = 1;
%--------------BNO055 Registers----------------------
% Register Value Default value Type
BNO055_REGISTER_CHIP_ID = hex2dec('00'); %00000000 r
BNO055_PAGE_ID_ADDR = hex2dec('07'); %00000000 rw
BNO055_REGISTER_ACC_DATA_X_LSB = hex2dec('08'); %00000000 r
BNO055_REGISTER_MAG_DATA_X_LSB = hex2dec('0E'); %00000000 r
BNO055_REGISTER_GYR_DATA_X_LSB = hex2dec('14'); %00000000 r
BNO055_REGISTER_EUL_DATA_X_LSB = hex2dec('1A'); %00000000 r
BNO055_REGISTER_QUA_DATA_W_LSB = hex2dec('20'); %00000000 r
BNO055_REGISTER_LIA_DATA_X_LSB = hex2dec('28'); %00000000 r
BNO055_REGISTER_GRV_DATA_X_LSB = hex2dec('2E'); %00000000 r
BNO055_REGISTER_CALIB_STAT = hex2dec('35'); %00000000 r
BNO055_REGISTER_UNIT_SEL = hex2dec('3B'); %0xx0x000 rw
BNO055_REGISTER_OPR_MODE = hex2dec('3D'); %x??????? rw
BNO055_REGISTER_PWR_MODE = hex2dec('3E'); %xxxxxx?? rw
BNO055_REGISTER_SYS_TRIGGER = hex2dec('3F'); %000xxxx0 w
% Page 1 registers
BNO055_REGISTER_ACC_CONFIG = hex2dec('08'); %00001101 rw
BNO055_REGISTER_MAG_CONFIG = hex2dec('09'); %00001011 rw
BNO055_REGISTER_GYR_CONFIG_0 = hex2dec('0A'); %00111000 rw
%---------BNO055 defines-----------------------------
BNO055_ID = hex2dec('A0');
INIT_DELAY = 600; %ms
NORMAL_POWER_MODE = hex2dec('00');
%--------BNO055 operation modes----------------------
CONFIGMODE = hex2dec('00');
AMG = hex2dec('07'); % Non-fusion mode
NDOF = hex2dec('0C'); % Fusion mode
end
methods %constructor
function obj = arduinoBNO055(varargin)
%This would allow the code generation to proceed with the
%p-files in the installed location of the support package.
coder.allowpcode('plain');
end
%-------Set the BNO055 address string---------------
function set.SlaveAddress(obj,value)
obj.SlaveAddress = value;
end
%--------Accelerometer settings--------------------
function val = get.AccelRangeNum(obj)
switch obj.AccelRange
case '2G'
val = 0;
case '4G'
val = 1;
case '8G'
val = 2;
case '16G'
val = 3;
end
end
function val = get.AccelBWNum(obj)
switch obj.AccelBW
case '7.81 Hz'
val = 0;
case '15.63 Hz'
val = 1;
case '31.25 Hz'
val = 2;
case '62.5 Hz'
val = 3;
case '125 Hz'
val = 4;
case '250 Hz'
val = 5;
case '500 Hz'
val = 6;
case '1000 Hz'
val = 7;
end
end
%--------Gyroscope settings--------------------
function val = get.GyroRangeNum(obj)
switch obj.GyroRange
case '125 dps'
val = 4;
case '250 dps'
val = 3;
case '500 dps'
val = 2;
case '1000 dps'
val = 1;
case '2000 dps'
val = 0;
end
end
function val = get.GyroBWNum(obj)
switch obj.GyroBW
case '12 Hz'
val = 5;
case '23 Hz'
val = 4;
case '32 Hz'
val = 7;
case '47 Hz'
val = 3;
case '64 Hz'
val = 6;
case '116 Hz'
val = 2;
case '230 Hz'
val = 1;
case '523 Hz'
val = 0;
end
end
%--------Magnetometer settings--------------------
function val = get.MagODRNum(obj)
switch obj.MagODR
case '2 Hz'
val = 0;
case '6 Hz'
val = 1;
case '8 Hz'
val = 2;
case '10 Hz'
val = 3;
case '15 Hz'
val = 4;
case '20 Hz'
val = 5;
case '25 Hz'
val = 6;
case '30 Hz'
val = 7;
end
end
end
methods (Access = protected)
% Check the chip ID of BNO055. This ensures BNO055 address is
% correct and connections are fine.
function ret = check_BNO055_ChipID(obj)
chip_id = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_CHIP_ID, 1, 'uint8');
ret = (chip_id == obj.BNO055_ID);
end
% BNO055 register write
function BNO055_WriteRegister(obj,RegisterAddress,RegisterValue,DataType)
validateattributes(RegisterAddress,{'numeric'},{'scalar','integer','>=',0,'<=',255},'','RegisterAddress');
% Get the BNO055 address in numeric
if strcmp(obj.SlaveAddress, '0x28')
BNO055_address = hex2dec('28');
else
BNO055_address = hex2dec('29');
end
% Cast the RegisterValue into specified DataType
casted_data = cast(RegisterValue, DataType);
% Typecast to uint8 if DataType is different
if strcmpi('uint8', DataType)
data_to_write = casted_data;
else
data_to_write = typecast(casted_data, 'uint8');
end
datalength_in_bytes = numel(casted_data) * get_datatype_size(DataType);
if coder.target('Rtw')% done only for code gen
coder.cinclude('MW_arduinoI2C.h');
coder.ceval('MW_i2cWriteLoop', uint8(BNO055_address), ...
obj.RegisterAddress_flag, RegisterAddress, ...
coder.rref(data_to_write), datalength_in_bytes);
elseif ( coder.target('RtwForRapid') || coder.target('RtwForSfun') )
end
end
% BNO055 register read
function RegisterValue = BNO055_ReadRegister(obj,RegisterAddress,DataLength,DataType)
validateattributes(RegisterAddress,{'numeric'},{'scalar','integer','>=',0,'<=',255},'','RegisterAddress');
% Get the BNO055 address in numeric
if strcmp(obj.SlaveAddress, '0x28')
BNO055_address = hex2dec('28');
else
BNO055_address = hex2dec('29');
end
% Allocate raw output
out_raw = coder.nullcopy(zeros(DataLength, 1, DataType));
datalength_in_bytes = DataLength * get_datatype_size(DataType);
if coder.target('Rtw')% done only for code gen
coder.cinclude('MW_arduinoI2C.h');
coder.ceval('MW_i2cReadLoop', uint8(BNO055_address),...
obj.RegisterAddress_flag, RegisterAddress, uint8(datalength_in_bytes),...
coder.wref(out_raw));
elseif ( coder.target('RtwForRapid') || coder.target('RtwForSfun') )
end
% Concatenate received bytes to get value in specified DataType
RegisterValue = typecast(out_raw, DataType);
end
% BNO055 init
function initSensor(obj)
% Init delay
delay_in_milliseconds(uint32(obj.INIT_DELAY));
% Check if the BNO055 connection
obj.isBNOcorrect = check_BNO055_ChipID(obj);
% If BNO is correct then proceed
if obj.isBNOcorrect
% Set the operation mode to Config mode
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_OPR_MODE, obj.CONFIGMODE, 'uint8');
delay_in_milliseconds(uint32(25));
% Reset the sensor
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_SYS_TRIGGER, hex2dec('20'), 'uint8');
% Wait for boot
obj.isBNOcorrect = check_BNO055_ChipID(obj);
while (~obj.isBNOcorrect)
delay_in_milliseconds(uint32(10));
obj.isBNOcorrect = check_BNO055_ChipID(obj);
end
delay_in_milliseconds(uint32(50));
% Set power mode to normal
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_PWR_MODE, obj.NORMAL_POWER_MODE, 'uint8');
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_SYS_TRIGGER, hex2dec('00'), 'uint8');
BNO055_WriteRegister(obj, obj.BNO055_PAGE_ID_ADDR, hex2dec('00'), 'uint8');
delay_in_milliseconds(uint32(10));
% Set the unit select register to 0x80 for
% Orientation - Android format,
% Temperature unit - degree celsius,
% Euler angles unit - Degrees
% Gyro unit - dps
% Accel unit - m/s^2
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_UNIT_SEL, hex2dec('80'), 'uint8');
% Set desired operation mode
if strcmp(obj.OperationMode, 'Fusion')
operation_mode = obj.NDOF;
else
operation_mode = obj.AMG;
end
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_OPR_MODE, operation_mode, 'uint8');
delay_in_milliseconds(uint32(25));
else
return
end
end %initSensor
% Set the sensor config registers
function BNO055_WriteSensorConfigRegister(obj)
% Get the current operation mode
current_opr_mode = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_OPR_MODE, 1, 'uint8');
% Set the operation mode to Config mode
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_OPR_MODE, obj.CONFIGMODE, 'uint8');
delay_in_milliseconds(uint32(25));
% Save the selected PAGE_ID then change to PAGE 1
selected_page = BNO055_ReadRegister(obj, obj.BNO055_PAGE_ID_ADDR, 1, 'uint8');
BNO055_WriteRegister(obj, obj.BNO055_PAGE_ID_ADDR, hex2dec('01'), 'uint8');
% Value to set for accel config register
%BNO055_REGISTER_ACC_CONFIG has
%bits 7:5 - PWR mode (Normal - 000), 4:2 - BW, 1:0 - range
required_accel_config = bitshift(obj.AccelBWNum, 2, 'uint8') + uint8(obj.AccelRangeNum);
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_ACC_CONFIG, required_accel_config, 'uint8');
% Value to set for mag config register
%BNO055_REGISTER_MAG_CONFIG has
%bits 7 - reserved, 6:5 - PWR mode (Normal - 00) 4:3 - OPR mode ( Regular - 01), 2:0 - ODR
required_mag_config = uint8(bin2dec('00001000')) + uint8(obj.MagODRNum);
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_MAG_CONFIG, required_mag_config, 'uint8');
% Value to set for gyro_config0 register
%BNO055_REGISTER_GYR_CONFIG_0 has
%bits 7:6 - reserved, 5:3 - BW, 2:0 - range
required_gyro_config = bitshift(obj.GyroBWNum, 3, 'uint8') + uint8(obj.GyroRangeNum);
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_GYR_CONFIG_0, required_gyro_config, 'uint8');
delay_in_milliseconds(uint32(10));
% Restore PAGE_ID and operation mode
BNO055_WriteRegister(obj, obj.BNO055_PAGE_ID_ADDR, selected_page, 'uint8');
BNO055_WriteRegister(obj, obj.BNO055_REGISTER_OPR_MODE, current_opr_mode, 'uint8');
delay_in_milliseconds(uint32(20));
end %BNO055_WriteSensorConfigRegister
% Read the sensor settings (Can be used to read values from
% accel, mag, gyro config registers during debugging).
function sensor_config_data = BNO055_ReadSensorConfigRegister(obj)
% Save the selected PAGE_ID then change to PAGE 1
selected_page = BNO055_ReadRegister(obj, obj.BNO055_PAGE_ID_ADDR, 1, 'uint8');
BNO055_WriteRegister(obj, obj.BNO055_PAGE_ID_ADDR, hex2dec('01'), 'uint8');
% Read the config registers values
sensor_config_data = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_ACC_CONFIG, 3, 'uint8');
% Restore PAGE_ID and operation mode
BNO055_WriteRegister(obj, obj.BNO055_PAGE_ID_ADDR, selected_page, 'uint8');
end
% Read Accelerometer
function accel_data = BNO055_ReadAccel(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_ACC_DATA_X_LSB, 3, 'int16');
accel_data = double(RegisterValue) /100.0;
end %BNO055_ReadAccel
% Read Magnetometer
function mag_data = BNO055_ReadMag(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_MAG_DATA_X_LSB, 3, 'int16');
mag_data = double(RegisterValue) /16.0;
end %BNO055_ReadMag
% Read Gyroscope
function gyro_data = BNO055_ReadGyro(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_GYR_DATA_X_LSB, 3, 'int16');
gyro_data = double(RegisterValue) /16.0; % for degrees per second
end %BNO055_ReadGyro
% Read Euler angles
function euler_angles = BNO055_ReadEulerAngles(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_EUL_DATA_X_LSB, 3, 'int16');
euler_angles = double(RegisterValue) /16.0;
end %BNO055_ReadEulerAngles
% Read Quaternion
function quaternion = BNO055_ReadQuaternion(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_QUA_DATA_W_LSB, 4, 'int16');
quaternion = double(RegisterValue) * (1.0/bitshift(1,14));
end %BNO055_ReadQuaternion
% Read Linear Acceleration
function linear_accel = BNO055_ReadLinearAccel(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_LIA_DATA_X_LSB, 3, 'int16');
linear_accel = double(RegisterValue)/ 100.0;
end %BNO055_ReadLinearAccel
% Read Gravity Vector
function gravity_vector = BNO055_ReadGravityVector(obj)
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_GRV_DATA_X_LSB, 3, 'int16');
gravity_vector = double(RegisterValue)/ 100.0;
end %BNO055_ReadGravityVector
% Read Calibration status
function calibration_status = BNO055_CalibrationStatus(obj)
if obj.isBNOcorrect
RegisterValue = BNO055_ReadRegister(obj, obj.BNO055_REGISTER_CALIB_STAT, 1, 'uint8');
mag_calib = int8(bitand(RegisterValue,3,'uint8')); %Mag calibration status
accel_calib = int8(bitshift(bitand(RegisterValue,12,'uint8'),-2,'uint8')); %Accel calibration status
gyro_calib = int8(bitshift(bitand(RegisterValue,48,'uint8'),-4,'uint8')); %Gyro calibration status
sys_calib = int8(bitshift(bitand(RegisterValue,192,'uint8'),-6,'uint8')); %System calibration status
calibration_status = [sys_calib; gyro_calib; accel_calib; mag_calib;];
else
% Output calibration status as -1 when BNO055 connections
% are wrong or chip ID does not match
calibration_status = ones(4,1,'int8') * -1;
end
end %BNO055_CalibrationStatus
end
methods (Access = protected)
%% Common functions
function setupImpl(obj)
initSensor(obj);
%Apply the accel, gyro, and mag settings in Non-fusion mode
if strcmp('Non-Fusion', obj.OperationMode)
BNO055_WriteSensorConfigRegister(obj);
end
end
function [varargout] = stepImpl(obj)
if obj.Accel
Accel_data = zeros(3,1,'double');
end
if obj.AngularRate
AngularRate_data = zeros(3,1,'double');
end
if obj.MagField
MagField_data = zeros(3,1,'double');
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
EulerAngles_data = zeros(3,1,'double');
end
if obj.Quat
Quat_data = zeros(4,1,'double');
end
if obj.LinearAccel
LinearAccel_data = zeros(3,1,'double');
end
if obj.GravityVector
GravityVector_data = zeros(3,1,'double');
end
CalibStatus_data = zeros(4,1,'int8');
end
if obj.Accel
% Acceleration 3x1 output:
% 1 - X
% 2 - Y
% 3 - Z
Accel_data = BNO055_ReadAccel(obj);
end
if obj.AngularRate
% Angular rate 3x1 output:
% 1 - X
% 2 - Y
% 3 - Z
AngularRate_data = BNO055_ReadGyro(obj);
end
if obj.MagField
% Magnetic Field 3x1 output:
% 1 - X
% 2 - Y
% 3 - Z
MagField_data = BNO055_ReadMag(obj);
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
% Euler angles 3x1 output:
% 1 - Heading
% 2 - Roll
% 3 - Pitch
EulerAngles_data = BNO055_ReadEulerAngles(obj);
end
if obj.Quat
% Quaternion 4x1 output:
% 1 - w
% 2 - x
% 3 - y
% 4 - z
Quat_data = BNO055_ReadQuaternion(obj);
end
if obj.LinearAccel
% Linear Acceleration 3x1 output:
% 1 - X
% 2 - Y
% 3 - Z
LinearAccel_data = BNO055_ReadLinearAccel(obj);
end
if obj.GravityVector
% Gravity Vector 3x1 output:
% 1 - X
% 2 - Y
% 3 - Z
GravityVector_data = BNO055_ReadGravityVector(obj);
end
% Calibration_data 4x1 output order as below:
% 1 - System calibration
% 2 - Gyroscope calibration
% 3 - Accelerometer calibration
% 4 - Magnetometer calibration
CalibStatus_data = BNO055_CalibrationStatus(obj);
end
idx = 1;
if obj.Accel
varargout{idx} = Accel_data;
idx = idx + 1;
end
if obj.AngularRate
varargout{idx} = AngularRate_data;
idx = idx + 1;
end
if obj.MagField
varargout{idx} = MagField_data;
idx = idx + 1;
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
varargout{idx} = EulerAngles_data;
idx = idx + 1;
end
if obj.Quat
varargout{idx} = Quat_data;
idx = idx + 1;
end
if obj.LinearAccel
varargout{idx} = LinearAccel_data;
idx = idx + 1;
end
if obj.GravityVector
varargout{idx} = GravityVector_data;
idx = idx + 1;
end
varargout{idx} = CalibStatus_data;
end
end
function releaseImpl(~)
end
function N = getNumInputsImpl(~)
% Specify number of System inputs
N = 0;
end
function N = getNumOutputsImpl(obj)
% Specify number of System outputs
N = 0;
if obj.Accel
N = N + 1;
end
if obj.AngularRate
N = N + 1;
end
if obj.MagField
N = N + 1;
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
N = N + 1;
end
if obj.Quat
N = N + 1;
end
if obj.LinearAccel
N = N + 1;
end
if obj.GravityVector
N = N + 1;
end
N = N + 1; % for Calibration status output
end
end
function varargout = getOutputNamesImpl(obj)
% Return output port names for System block
N = 1;
if obj.Accel
varargout{N} = 'Accel';
N = N + 1;
end
if obj.AngularRate
varargout{N} = 'Ang rate';
N = N + 1;
end
if obj.MagField
varargout{N} = 'Mag field';
N = N + 1;
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
varargout{N} = 'Euler';
N = N + 1;
end
if obj.Quat
varargout{N} = 'Quat';
N = N + 1;
end
if obj.LinearAccel
varargout{N} = 'Lin accel';
N = N + 1;
end
if obj.GravityVector
varargout{N} = 'Gravity';
N = N + 1;
end
varargout{N} = 'Status';
end
end %getOutputNamesImpl
function varargout= getOutputSizeImpl(obj)
% Return size for each output port
N = 1;
if obj.Accel
varargout{N} = [3 1];
N = N + 1;
end
if obj.AngularRate
varargout{N} = [3 1];
N = N + 1;
end
if obj.MagField
varargout{N} = [3 1];
N = N + 1;
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
varargout{N} = [3 1];
N = N + 1;
end
if obj.Quat
varargout{N} = [4 1];
N = N + 1;
end
if obj.LinearAccel
varargout{N} = [3 1];
N = N + 1;
end
if obj.GravityVector
varargout{N} = [3 1];
N = N + 1;
end
varargout{N} = [4 1];
end
end
function varargout = getOutputDataTypeImpl(obj)
N = 1;
if obj.Accel
varargout{N} = 'double';
N = N + 1;
end
if obj.AngularRate
varargout{N} = 'double';
N = N + 1;
end
if obj.MagField
varargout{N} = 'double';
N = N + 1;
end
if strcmp(obj.OperationMode, 'Fusion')
if obj.EulerAngles
varargout{N} = 'double';
N = N + 1;
end
if obj.Quat
varargout{N} = 'double';
N = N + 1;
end
if obj.LinearAccel
varargout{N} = 'double';
N = N + 1;
end
if obj.GravityVector
varargout{N} = 'double';
N = N + 1;
end
varargout{N} = 'int8'; % for Calibration Status
end
end
function varargout = isOutputComplexImpl(obj)
for N = 1 : obj.getNumOutputsImpl
varargout{N} = false;
end
end
function varargout = isOutputFixedSizeImpl(obj)
for N = 1 : obj.getNumOutputsImpl
varargout{N} = true;
end
end
function st = getSampleTimeImpl(obj)
st = obj.SampleTime;
end
function flag = isInactivePropertyImpl(obj,prop)
% Return false if property is visible based on object
% configuration, for the command line and System block dialog
flag = false;
if strcmp(prop, 'EulerAngles')
flag = strcmp(obj.OperationMode, 'Non-Fusion');
end
if strcmp(prop, 'Quat')
flag = strcmp(obj.OperationMode, 'Non-Fusion');
end
if strcmp(prop, 'LinearAccel')
flag = strcmp(obj.OperationMode, 'Non-Fusion');
end
if strcmp(prop, 'GravityVector')
flag = strcmp(obj.OperationMode, 'Non-Fusion');
end
if strcmp(prop, 'AccelRange')
flag = strcmp(obj.OperationMode, 'Fusion') ;
end
if strcmp(prop, 'AccelBW')
flag = strcmp(obj.OperationMode, 'Fusion');
end
if strcmp(prop, 'GyroRange')
flag = strcmp(obj.OperationMode, 'Fusion');
end
if strcmp(prop, 'GyroBW')
flag = strcmp(obj.OperationMode, 'Fusion');
end
if strcmp(prop, 'MagODR')
flag = strcmp(obj.OperationMode, 'Fusion');
end
end
function maskDisplayCmds = getMaskDisplayImpl(obj)
outport_label = [];
num = getNumOutputsImpl(obj);
if num > 0
outputs = cell(1,num);
[outputs{1:num}] = getOutputNamesImpl(obj);
for i = 1:num
outport_label = [outport_label 'port_label(''output'',' num2str(i) ',''' outputs{i} ''');' ]; %#ok<AGROW>
end
end
maskDisplayCmds = { ...
'color(''white'');',...
'plot([100,100,100,100]*1,[100,100,100,100]*1);',...
'plot([100,100,100,100]*0,[100,100,100,100]*0);',...
'color(''blue'');', ...
'text(99, 92, '' ARDUINO '', ''horizontalAlignment'', ''right'');', ...
'color(''black'');', ...
'sppkgroot = strrep(motorcarrier.internal.getSpPkgRootDir(),''\'',''/'');',...
'image(fullfile(sppkgroot,''resources'',''imu.png''),''center'')', ...
outport_label
};
end
end
methods (Static)
function name = getDescriptiveName(~)
name = 'BNO055 IMU sensor';
end
function b = isSupportedContext(context)
b = context.isCodeGenTarget('rtw');
end
function updateBuildInfo(buildInfo, context)
codertarget.arduinobase.internal.arduinoI2CWrite.updateBuildInfo(buildInfo, context);
sppkgRoot = motorcarrier.internal.getSpPkgRootDir;
% Include Paths
addIncludePaths(buildInfo, fullfile(sppkgRoot, 'include'));
addIncludeFiles(buildInfo,'MW_delay_millis.h');
% Source Files
systemTargetFile = get_param(buildInfo.ModelName,'SystemTargetFile');
if isequal(systemTargetFile,'ert.tlc')
% Add the following when not in rapid-accel simulation
addSourceFiles(buildInfo,'MW_delay_millis.cpp', fullfile(sppkgRoot,'src'),'BlockModules');
end
end
end
methods(Access = protected, Static)
function simMode = getSimulateUsingImpl
% Return only allowed simulation mode in System block dialog
simMode = 'Interpreted execution';
end
function flag = showSimulateUsingImpl
% Return false if simulation mode hidden in System block dialog
flag = false;
end
function groups = getPropertyGroupsImpl
SlaveAddressProp = matlab.system.display.internal.Property(...
'SlaveAddress', 'Description', 'I2C address');
SlaveAddress_Prop = matlab.system.display.internal.Property(...
'SlaveAddress_', 'IsGraphical', false);
OperationModeProp = matlab.system.display.internal.Property(...
'OperationMode', 'Description', 'Operation mode');
AccelProp = matlab.system.display.internal.Property(...
'Accel', 'Description', 'Acceleration (m/s^2)');
AngularRateProp = matlab.system.display.internal.Property(...
'AngularRate', 'Description', 'Angular rate (dps)');
MagFieldProp = matlab.system.display.internal.Property(...
'MagField', 'Description', 'Magnetic field (uT)');
EulerAnglesProp = matlab.system.display.internal.Property(...
'EulerAngles', 'Description', 'Euler angles (degrees)');
QuatProp = matlab.system.display.internal.Property(...
'Quat', 'Description', 'Quaternion (quaternion)');
LinearAccelProp = matlab.system.display.internal.Property(...
'LinearAccel', 'Description', 'Linear Acceleration (m/s^2)');
GravityVectorProp = matlab.system.display.internal.Property(...
'GravityVector', 'Description', 'Gravity Vector (m/s^2)');
AccelRangeProp = matlab.system.display.internal.Property(...
'AccelRange', 'Description', 'Accelerometer range');
AccelBWProp = matlab.system.display.internal.Property(...
'AccelBW', 'Description', 'Accelerometer bandwidth');
GyroRangeProp = matlab.system.display.internal.Property(...
'GyroRange', 'Description', 'Gyroscope range');
GyroBWProp = matlab.system.display.internal.Property(...
'GyroBW', 'Description', 'Gyroscope bandwidth');
MagODRProp = matlab.system.display.internal.Property(...
'MagODR', 'Description', 'Magnetic output data range');
SampleTimeProp = matlab.system.display.internal.Property(...
'SampleTime', 'Description', 'Sample time');
topSettingsGroup = matlab.system.display.Section(...
'PropertyList',{SlaveAddressProp, OperationModeProp, SlaveAddress_Prop});
outputGroup = matlab.system.display.Section(...
'Title','Select outputs',...
'PropertyList',{AccelProp, AngularRateProp, MagFieldProp, ...
EulerAnglesProp, QuatProp, LinearAccelProp, GravityVectorProp});
sensorSettingsGroup = matlab.system.display.Section(...
'Title','Advanced sensor settings (optional)',...
'PropertyList',{AccelRangeProp, AccelBWProp, GyroRangeProp, ...
GyroBWProp, MagODRProp});
bottomSettingsGroup = matlab.system.display.Section(...
'PropertyList',{SampleTimeProp});
groups = matlab.system.display.SectionGroup(...
'Title','Parameters',...
'Sections',[topSettingsGroup, outputGroup, sensorSettingsGroup,bottomSettingsGroup]);
end %getPropertyGroupsImpl
function header = getHeaderImpl
%getHeaderImpl Create mask header
% This only has an effect on the base mask.
header = matlab.system.display.Header(mfilename('class'), ...
'Title', 'BNO055', ...
'Text', ['Measure acceleration, angular rate, and magnetic field along X, Y, and Z axis and ',...
'calculate fusion values such as Euler angles, Quaternion, Linear Acceleration, and Gravity Vector.',...
newline, 'The block outputs all values except for Quaternion and Status output as 3x1 array of ',...
'double-precision datatype. The Quaternion values are 4x1 array of double-precision while the Status ',...
'output is 4x1 array of int8 datatype.'], ...
'ShowSourceLink', false);
end
end % methods(Access = protected, Static)
end %arduinoBNO055
%--------Local functions-----------
% Delay method
function delay_in_milliseconds(time)
if coder.target('Rtw')% done only for code gen
coder.cinclude('MW_delay_millis.h');
coder.ceval('MW_delay_in_milliseconds', uint32(time));
elseif ( coder.target('RtwForRapid') || coder.target('RtwForSfun') )
% nothing
end
end
% Get datatype size
function out = get_datatype_size(datatype)
switch datatype
case {'uint8', 'int8'}
out = 1;
case {'uint16', 'int16'}
out = 2;
end
end
%--------End of Local functions----