Add minimal BNO055 driver

README.md

@@ -168,53 +168,54 @@ can easily configure them for you specific needs.
 </tr><tr>
 <td align="center">BME280</td>
 <td align="center">BMP085</td>
+<td align="center">BNO055</td>
 <td align="center">DRV832X</td>
 <td align="center">DS1302</td>
 <td align="center">DS1631</td>
-<td align="center">DS18B20</td>
 </tr><tr>
+<td align="center">DS18B20</td>
 <td align="center">EA-DOG</td>
 <td align="center">FT245</td>
 <td align="center">FT6X06</td>
 <td align="center">HCLAx</td>
 <td align="center">HD44780</td>
-<td align="center">HMC58x</td>
 </tr><tr>
+<td align="center">HMC58x</td>
 <td align="center">HMC6343</td>
 <td align="center">I2C-EEPROM</td>
 <td align="center">ITG3200</td>
 <td align="center">L3GD20</td>
 <td align="center">LAWICEL</td>
-<td align="center">LIS302DL</td>
 </tr><tr>
+<td align="center">LIS302DL</td>
 <td align="center">LIS3DSH</td>
 <td align="center">LM75</td>
 <td align="center">LSM303A</td>
 <td align="center">LTC2984</td>
 <td align="center">MAX6966</td>
-<td align="center">MAX7219</td>
 </tr><tr>
+<td align="center">MAX7219</td>
 <td align="center">MCP23X17</td>
 <td align="center">MCP2515</td>
 <td align="center">NOKIA5110</td>
 <td align="center">NRF24</td>
 <td align="center">TFT-DISPLAY</td>
-<td align="center">PAT9125EL</td>
 </tr><tr>
+<td align="center">PAT9125EL</td>
 <td align="center">PCA8574</td>
 <td align="center">PCA9535</td>
 <td align="center">PCA9548A</td>
 <td align="center">PCA9685</td>
 <td align="center">SIEMENS-S65</td>
-<td align="center">SIEMENS-S75</td>
 </tr><tr>
+<td align="center">SIEMENS-S75</td>
 <td align="center">SSD1306</td>
 <td align="center">TCS3414</td>
 <td align="center">TCS3472</td>
 <td align="center">TMP102</td>
 <td align="center">TMP175</td>
-<td align="center">VL53L0</td>
 </tr><tr>
+<td align="center">VL53L0</td>
 <td align="center">VL6180</td>
 <td align="center">WS2812</td>
 </tr>

examples/README.md

@@ -94,7 +94,7 @@ make gdb
 
 ## Interesting Examples
 
-We have a lot of examples, <!--examplecount-->189<!--/examplecount--> to be
+We have a lot of examples, <!--examplecount-->190<!--/examplecount--> to be
 exact, but here are some of our favorite examples for our supported development
 boards:
 

examples/nucleo_f411re/imu_bno055/main.cpp

@@ -0,0 +1,120 @@
+// coding: utf-8
+/*
+ * Copyright (c) 2019, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+#include <modm/processing.hpp>
+#include <modm/driver/inertial/bno055.hpp>
+#include <modm/debug.hpp>
+using namespace modm::literals;
+
+// Set the log level
+#undef	MODM_LOG_LEVEL
+#define	MODM_LOG_LEVEL modm::log::DEBUG
+
+/**
+ * Example to demonstrate a MODM driver for imu sensor VL53L0X
+ *
+ * This example uses I2cMaster1 of STM32F401
+ *
+ * SDA		PB9
+ * SCL		PB8
+ *
+ * GND and +3V are connected to the sensor.
+ */
+
+using namespace Board;
+
+using MyI2cMaster = I2cMaster1;
+// using MyI2cMaster = BitBangI2cMaster<Board::D15, Board::D14>;
+
+modm::bno055::Data data;
+modm::Bno055<MyI2cMaster> imu(data);
+
+class ThreadOne : public modm::pt::Protothread
+{
+public:
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		MODM_LOG_DEBUG << "Ping the device from ThreadOne" << modm::endl;
+
+		// ping the device until it responds
+		while (true)
+		{
+			// we wait until the device started
+			if (PT_CALL(imu.ping())) {
+				break;
+			}
+			PT_WAIT_UNTIL(timer.execute());
+		}
+
+		MODM_LOG_DEBUG << "Device responded" << modm::endl;
+
+		while (true)
+		{
+			if (PT_CALL(imu.configure())) {
+				break;
+			}
+
+			PT_WAIT_UNTIL(timer.execute());
+		}
+
+		MODM_LOG_DEBUG << "Device configured" << modm::endl;
+
+		while (true)
+		{
+			PT_WAIT_UNTIL(timer.execute());
+			PT_CALL(imu.readData());
+			MODM_LOG_INFO << (int)imu.getData().heading() << modm::endl;
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortPeriodicTimer timer{100};
+};
+
+ThreadOne one;
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	LedD13::setOutput();
+
+	// Board::D13::setOutput(modm::Gpio::Low);
+	MyI2cMaster::connect<Board::D15::Scl, Board::D14::Sda>();
+	MyI2cMaster::initialize<Board::SystemClock, 400_kHz>();
+
+	MODM_LOG_INFO << "\n\nWelcome to BNO055 demo!\n\n" << modm::endl;
+
+	modm::ShortPeriodicTimer tmr(500);
+
+	// Board::D15::setOutput();
+
+	while (1)
+	{
+		one.update();
+		if(tmr.execute()) {
+			LedD13::toggle();
+			// Board::D15::toggle();
+		}
+
+	}
+
+	return 0;
+}

examples/nucleo_f411re/imu_bno055/project.xml

@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:nucleo-f411re</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f411re/bno055</option>
+  </options>
+  <modules>
+    <module>modm:debug</module>
+    <module>modm:driver:bno055</module>
+    <module>modm:platform:gpio</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:platform:i2c.bitbang</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/architecture/interface/register.hpp

@@ -750,6 +750,25 @@ constexpr ::modm::Flags<Enum> operator^(Enum const &a, Enum const &b) { return :
 #define MODM_TYPE_FLAGS(Parent) \
 	MODM_INTERNAL_FLAGS(Parent,)
 
+/**
+ * @details
+ * This macro creates a `Config_t` type out of the `Parent` and `Config` enum.
+ * The mask is taken from a `Parent::Config_Mask` field containing the ORed bits
+ * of the configuration.
+ *
+ * @note This macro does not allow using the configuration position.
+ *       Please use the `modm::Configuration` class manually in that case.
+ *
+ * @param	Parent	a Flags Enum
+ * @param	Config	a Config Enum
+ *
+ * @ingroup modm_architecture_register
+ * @hideinitializer
+ */
+#define MODM_FLAGS_CONFIG(Parent, Config) \
+	using MODM_CONCAT(Config, _t) = \
+		::modm::Configuration< MODM_CONCAT(Parent, _t), Config, \
+		MODM_CONCAT(Parent, _t)::UnderlyingType(MODM_CONCAT(Parent::Config, _Mask)) >
 
 /// @cond
 #define MODM_INT_TYPE_FLAGS(Parent) \