amiro-lld / source / BNO055 / v1 / alld_BNO055_v1.c @ 5d67f4db
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1 | 5d67f4db | Timm Hörmann | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU Lesser General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU Lesser General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU Lesser General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file alld_BNO055_v1.c
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21 | * @brief Accelerometer function implementations.
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22 | *
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23 | * @addtogroup lld_accel
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24 | * @{
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25 | */
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26 | |||
27 | #include <alld_BNO055.h> |
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28 | #include <bno055_reg.h> |
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29 | |||
30 | #if (defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1)) || defined(__DOXYGEN__) |
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31 | |||
32 | #include <string.h> |
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33 | |||
34 | /******************************************************************************/
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35 | /* LOCAL DEFINITIONS */
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36 | /******************************************************************************/
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37 | |||
38 | /******************************************************************************/
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39 | /* EXPORTED VARIABLES */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* LOCAL TYPES */
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44 | /******************************************************************************/
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45 | |||
46 | /******************************************************************************/
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47 | /* LOCAL VARIABLES */
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48 | /******************************************************************************/
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49 | |||
50 | static BNO055_Driver local_drv_cpy;
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51 | |||
52 | /******************************************************************************/
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53 | /* LOCAL FUNCTIONS */
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54 | /******************************************************************************/
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55 | |||
56 | /* BNO055 callbacks */
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57 | |||
58 | void BNO055_delay_msek(u32 msek) {
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59 | //TODO aos or chibios fct?
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60 | chThdSleepMicroseconds(msek); |
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61 | } |
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62 | |||
63 | /* \Brief: The API is used as I2C bus write
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64 | * \Return : Status of the I2C write
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65 | * \param dev_addr : The device address of the sensor
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66 | * \param reg_addr : Address of the first register,
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67 | * will data is going to be written
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68 | * \param reg_data : It is a value hold in the array,
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69 | * will be used for write the value into the register
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70 | * \param cnt : The no of byte of data to be write
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71 | */
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72 | s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { |
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73 | s8 BNO055_iERROR = BNO055_INIT_VALUE; |
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74 | |||
75 | uint8_t buffer[cnt+1];
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76 | uint8_t i = BNO055_INIT_VALUE; |
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77 | |||
78 | buffer[0] = reg_addr;
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79 | memcpy(buffer+1, reg_data, cnt);
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80 | |||
81 | apalExitStatus_t status = apalSPITransmit(local_drv_cpy.spid, |
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82 | buffer, cnt+1);
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83 | |||
84 | |||
85 | switch (status) {
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86 | case APAL_STATUS_OK:
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87 | BNO055_iERROR = BNO055_SUCCESS; |
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88 | break;
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89 | case APAL_STATUS_ERROR:
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90 | case APAL_STATUS_TIMEOUT:
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91 | case APAL_STATUS_INVALIDARGUMENTS:
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92 | case APAL_STATUS_UNAVAILABLE:
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93 | BNO055_iERROR = BNO055_ERROR; |
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94 | break;
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95 | default:
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96 | BNO055_iERROR = BNO055_ERROR; |
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97 | break;
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98 | } |
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99 | |||
100 | return (s8) BNO055_iERROR;
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101 | } |
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102 | |||
103 | /* \Brief: The API is used as I2C bus read
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104 | * \Return : Status of the I2C read
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105 | * \param dev_addr : The device address of the sensor
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106 | * \param reg_addr : Address of the first register,
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107 | * will data is going to be read
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108 | * \param reg_data : This data read from the sensor,
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109 | * which is hold in an array
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110 | * \param cnt : The no of byte of data to be read
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111 | */
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112 | s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) { |
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113 | s8 BNO055_iERROR = BNO055_INIT_VALUE; |
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114 | uint8_t buffer[cnt+1];
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115 | uint8_t i = 0;
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116 | |||
117 | buffer[0] = reg_addr;
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118 | apalExitStatus_t status = apalSPIExchange(local_drv_cpy.spid, |
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119 | buffer, buffer, cnt+1);
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120 | |||
121 | switch (status) {
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122 | case APAL_STATUS_OK:
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123 | BNO055_iERROR = BNO055_SUCCESS; |
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124 | memcpy(reg_data, buffer+1, cnt);
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125 | break;
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126 | case APAL_STATUS_ERROR:
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127 | case APAL_STATUS_TIMEOUT:
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128 | case APAL_STATUS_INVALIDARGUMENTS:
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129 | case APAL_STATUS_UNAVAILABLE:
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130 | BNO055_iERROR = BNO055_ERROR; |
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131 | break;
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132 | default:
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133 | BNO055_iERROR = BNO055_ERROR; |
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134 | break;
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135 | } |
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136 | |||
137 | return (s8) BNO055_iERROR;
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138 | } |
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139 | |||
140 | /******************************************************************************/
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141 | /* EXPORTED FUNCTIONS */
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142 | /******************************************************************************/
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143 | |||
144 | |||
145 | apalExitStatus_t BNO055_lld_init(const BNO055_Driver* const bno){ |
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146 | //TODO refactor local drv copy -> make stateless
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147 | local_drv_cpy = *bno; |
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148 | |||
149 | static struct bno055_t bno055; |
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150 | |||
151 | bno055.bus_write = BNO055_I2C_bus_write; |
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152 | bno055.bus_read = BNO055_I2C_bus_read; |
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153 | bno055.delay_msec = BNO055_delay_msek; |
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154 | //TODO check I2C address
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155 | bno055.dev_addr = BNO055_I2C_ADDR2; |
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156 | |||
157 | BNO055_RETURN_FUNCTION_TYPE ret = bno055_init(&bno055); |
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158 | |||
159 | if (ret == BNO055_SUCCESS){
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160 | return BNO055_lld_set_mode(local_drv_cpy.mode, local_drv_cpy.sr);
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161 | } |
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162 | |||
163 | return APAL_STATUS_ERROR;
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164 | |||
165 | } |
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166 | |||
167 | apalExitStatus_t BNO055_lld_set_mode(const BNO055_Mode mode, const BNO055_SampleRate sr){ |
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168 | |||
169 | local_drv_cpy.mode = mode; |
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170 | local_drv_cpy.sr = sr; |
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171 | |||
172 | // switch BNO on/off
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173 | switch (local_drv_cpy.mode) {
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174 | case MOTN_MODE_NONE:
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175 | bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND); |
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176 | return APAL_STATUS_OK;
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177 | case MOTN_MODE_GYR:
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178 | case MOTN_MODE_MAG:
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179 | case MOTN_MODE_ACC_GYR:
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180 | case MOTN_MODE_ACC_MAG:
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181 | case MOTN_MODE_GYRO_MAG:
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182 | case MOTN_MODE_ACC_GYR_MAG:
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183 | case MOTN_MODE_IMU:
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184 | case MOTN_MODE_COMPASS:
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185 | case MOTN_MODE_M4G:
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186 | case MOTN_MODE_NDOF:
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187 | bno055_set_power_mode(BNO055_POWER_MODE_NORMAL); |
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188 | break;
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189 | default:
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190 | bno055_set_power_mode(BNO055_POWER_MODE_SUSPEND); |
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191 | break;
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192 | } |
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193 | |||
194 | // and configure BNO as requested
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195 | |||
196 | switch (local_drv_cpy.mode) {
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197 | case MOTN_MODE_ACC:
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198 | bno055_set_power_mode(BNO055_POWER_MODE_NORMAL); |
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199 | switch (local_drv_cpy.sr) {
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200 | case MOTN_SR_LOW:
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201 | bno055_set_accel_bw(BNO055_ACCEL_BW_15_63HZ); |
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202 | break;
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203 | case MOTN_SR_NORMAL:
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204 | bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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205 | break;
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206 | case MOTN_SR_HIGHSPEED:
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207 | bno055_set_accel_bw(BNO055_ACCEL_BW_1000HZ); |
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208 | break;
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209 | default:
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210 | break;
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211 | } |
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212 | bno055_set_gyro_range(BNO055_ACCEL_RANGE_8G); |
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213 | bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCONLY); |
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214 | bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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215 | break;
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216 | |||
217 | case MOTN_MODE_GYR:
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218 | switch (local_drv_cpy.sr) {
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219 | case MOTN_SR_LOW:
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220 | bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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221 | break;
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222 | case MOTN_SR_NORMAL:
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223 | bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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224 | break;
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225 | case MOTN_SR_HIGHSPEED:
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226 | bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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227 | break;
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228 | default:
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229 | break;
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230 | } |
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231 | bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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232 | bno055_set_operation_mode(BNO055_OPERATION_MODE_GYRONLY); |
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233 | bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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234 | |||
235 | break;
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236 | case MOTN_MODE_MAG:
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237 | switch (local_drv_cpy.sr) {
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238 | case MOTN_SR_LOW:
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239 | bno055_set_mag_data_output_rate( |
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240 | BNO055_MAG_DATA_OUTRATE_8HZ); |
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241 | break;
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242 | case MOTN_SR_NORMAL:
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243 | bno055_set_mag_data_output_rate( |
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244 | BNO055_MAG_DATA_OUTRATE_15HZ); |
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245 | break;
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246 | case MOTN_SR_HIGHSPEED:
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247 | bno055_set_mag_data_output_rate( |
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248 | BNO055_MAG_DATA_OUTRATE_30HZ); |
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249 | break;
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250 | default:
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251 | break;
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252 | } |
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253 | bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGONLY); |
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254 | bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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255 | |||
256 | break;
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257 | case MOTN_MODE_ACC_GYR:
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258 | switch (local_drv_cpy.sr) {
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259 | case MOTN_SR_LOW:
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260 | bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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261 | bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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262 | break;
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263 | case MOTN_SR_NORMAL:
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264 | bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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265 | bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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266 | break;
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267 | case MOTN_SR_HIGHSPEED:
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268 | bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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269 | bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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270 | break;
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271 | default:
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272 | break;
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273 | } |
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274 | bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCGYRO); |
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275 | bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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276 | bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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277 | bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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278 | bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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279 | break;
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280 | case MOTN_MODE_ACC_MAG:
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281 | switch (local_drv_cpy.sr) {
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282 | case MOTN_SR_LOW:
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283 | bno055_set_mag_data_output_rate( |
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284 | BNO055_MAG_DATA_OUTRATE_8HZ); |
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285 | bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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286 | break;
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287 | case MOTN_SR_NORMAL:
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288 | bno055_set_mag_data_output_rate( |
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289 | BNO055_MAG_DATA_OUTRATE_15HZ); |
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290 | bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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291 | break;
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292 | case MOTN_SR_HIGHSPEED:
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293 | bno055_set_mag_data_output_rate( |
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294 | BNO055_MAG_DATA_OUTRATE_30HZ); |
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295 | bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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296 | break;
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297 | default:
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298 | break;
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299 | } |
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300 | bno055_set_operation_mode(BNO055_OPERATION_MODE_ACCMAG); |
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301 | bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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302 | bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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303 | bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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304 | break;
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305 | case MOTN_MODE_GYRO_MAG:
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306 | switch (local_drv_cpy.sr) {
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307 | case MOTN_SR_LOW:
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308 | bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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309 | bno055_set_mag_data_output_rate( |
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310 | BNO055_MAG_DATA_OUTRATE_8HZ); |
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311 | break;
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312 | case MOTN_SR_NORMAL:
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313 | bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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314 | bno055_set_mag_data_output_rate( |
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315 | BNO055_MAG_DATA_OUTRATE_15HZ); |
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316 | break;
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317 | case MOTN_SR_HIGHSPEED:
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318 | bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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319 | bno055_set_mag_data_output_rate( |
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320 | BNO055_MAG_DATA_OUTRATE_30HZ); |
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321 | break;
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322 | default:
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323 | break;
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324 | } |
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325 | bno055_set_operation_mode(BNO055_OPERATION_MODE_MAGGYRO); |
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326 | bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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327 | bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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328 | bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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329 | break;
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330 | case MOTN_MODE_ACC_GYR_MAG:
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331 | switch (local_drv_cpy.sr) {
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332 | case MOTN_SR_LOW:
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333 | bno055_set_gyro_bw(BNO055_GYRO_BW_47HZ); |
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334 | bno055_set_mag_data_output_rate( |
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335 | BNO055_MAG_DATA_OUTRATE_8HZ); |
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336 | bno055_set_accel_bw(BNO055_ACCEL_BW_62_5HZ); |
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337 | break;
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338 | case MOTN_SR_NORMAL:
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339 | bno055_set_gyro_bw(BNO055_GYRO_BW_116HZ); |
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340 | bno055_set_mag_data_output_rate( |
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341 | BNO055_MAG_DATA_OUTRATE_15HZ); |
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342 | bno055_set_accel_bw(BNO055_ACCEL_BW_125HZ); |
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343 | break;
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344 | case MOTN_SR_HIGHSPEED:
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345 | bno055_set_gyro_bw(BNO055_GYRO_BW_523HZ); |
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346 | bno055_set_mag_data_output_rate( |
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347 | BNO055_MAG_DATA_OUTRATE_30HZ); |
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348 | bno055_set_accel_bw(BNO055_ACCEL_BW_500HZ); |
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349 | break;
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350 | default:
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351 | break;
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352 | } |
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353 | bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG); |
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354 | bno055_set_gyro_range(BNO055_GYRO_RANGE_2000DPS); |
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355 | bno055_set_gyro_power_mode(BNO055_GYRO_POWER_MODE_NORMAL); |
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356 | bno055_set_mag_power_mode(BNO055_MAG_POWER_MODE_NORMAL); |
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357 | bno055_set_accel_range(BNO055_ACCEL_RANGE_8G); |
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358 | bno055_set_accel_power_mode(BNO055_ACCEL_NORMAL); |
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359 | break;
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360 | case MOTN_MODE_IMU:
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361 | bno055_set_operation_mode(BNO055_OPERATION_MODE_IMUPLUS); |
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362 | //sensor parameters are auto controlled in fusion mode
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363 | break;
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364 | case MOTN_MODE_COMPASS:
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365 | bno055_set_operation_mode(BNO055_OPERATION_MODE_COMPASS); |
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366 | //sensor parameters are auto controlled in fusion mode
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367 | break;
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368 | case MOTN_MODE_M4G:
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369 | bno055_set_operation_mode(BNO055_OPERATION_MODE_M4G); |
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370 | //sensor parameters are auto controlled in fusion mode
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371 | break;
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372 | case MOTN_MODE_NDOF:
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373 | bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF); |
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374 | //sensor parameters are auto controlled in fusion mode
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375 | break;
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376 | default:
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377 | return APAL_STATUS_INVALIDARGUMENTS;
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378 | } |
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379 | |||
380 | return APAL_STATUS_OK;
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381 | } |
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382 | |||
383 | apalExitStatus_t BNO055_lld_get_data(const BNO055_DataUnion* const dto){ |
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384 | |||
385 | switch (local_drv_cpy.mode) {
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386 | |||
387 | case MOTN_MODE_ACC:
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388 | bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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389 | break;
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390 | case MOTN_MODE_GYR:
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391 | bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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392 | break;
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393 | case MOTN_MODE_MAG:
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394 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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395 | break;
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396 | case MOTN_MODE_ACC_GYR:
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397 | bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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398 | bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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399 | break;
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400 | case MOTN_MODE_ACC_MAG:
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401 | bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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402 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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403 | break;
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404 | case MOTN_MODE_GYRO_MAG:
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405 | bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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406 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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407 | break;
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408 | case MOTN_MODE_ACC_GYR_MAG:
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409 | bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
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410 | bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
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411 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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412 | break;
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413 | case MOTN_MODE_COMPASS:
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414 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
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415 | break;
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416 | case MOTN_MODE_IMU:
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417 | case MOTN_MODE_M4G:
|
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418 | case MOTN_MODE_NDOF:
|
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419 | bno055_read_accel_xyz((struct bno055_accel_t*) &(dto->raw.acc));
|
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420 | bno055_read_gyro_xyz((struct bno055_gyro_t*) &(dto->raw.gyr));
|
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421 | bno055_read_mag_xyz((struct bno055_mag_t*) &(dto->raw.mag));
|
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422 | bno055_read_quaternion_wxyz( |
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423 | (struct bno055_quaternion_t*) &(dto->fsn.quaternion));
|
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424 | //bno055_read_euler_wxyz((struct bno055_euler_t*) &(dto->fusion.euler));
|
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425 | break;
|
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426 | default:
|
||
427 | return APAL_STATUS_INVALIDARGUMENTS;
|
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428 | } |
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429 | |||
430 | } |
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431 | |||
432 | |||
433 | |||
434 | |||
435 | #endif /* defined(AMIROLLD_CFG_BNO055) && (AMIROLLD_CFG_BNO055 == 1) */ |
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436 | |||
437 | /** @} */ |