BRIX5

  ***************************************************************************/

#include "Arduino.h"

#include "WProgram.h"

	@brief  Instantiates a new Adafruit_BNO055 class

	*/

	_sensorID = sensorID;

	_address = address;

	@brief  Sets up the HW

	*/

	/* Enable I2C */

	Wire.begin();

	/* Make sure we have the right device */

	uint8_t id = read8(BNO055_CHIP_ID_ADDR);

	if (id != BNO055_ID)

	{

		delay(1000); // hold on for boot

		id = read8(BNO055_CHIP_ID_ADDR);

		if (id != BNO055_ID) {

			return false;  // still not? ok bail

		}

	}

	/* Switch to config mode (just in case since this is the default) */

	setMode(OPERATION_MODE_CONFIG);

	/* Reset */

	write8(BNO055_SYS_TRIGGER_ADDR, 0x20);

	while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)

	{

		delay(10);

	}

	delay(50);

	/* Set to normal power mode */

	write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);

	delay(10);

	write8(BNO055_PAGE_ID_ADDR, 0);

	/* Set the output units */

	/*

	uint8_t unitsel = (0 << 7) | // Orientation = Android

	(0 << 4) | // Temperature = Celsius

	(0 << 2) | // Euler = Degrees

	(1 << 1) | // Gyro = Rads

	(0 << 0);  // Accelerometer = m/s^2

	write8(BNO055_UNIT_SEL_ADDR, unitsel);

	*/

	write8(BNO055_SYS_TRIGGER_ADDR, 0x0);

	delay(10);

	/* Set the requested operating mode (see section 3.3) */

	setMode(mode);

	delay(20);

	return true;

	@brief  Puts the chip in the specified operating mode

	*/

	_mode = mode;

	write8(BNO055_OPR_MODE_ADDR, _mode);

	delay(30);

	@brief  Use the external 32.768KHz crystal

	*/

	adafruit_bno055_opmode_t modeback = _mode;

	/* Switch to config mode (just in case since this is the default) */

	setMode(OPERATION_MODE_CONFIG);

	delay(25);

	write8(BNO055_PAGE_ID_ADDR, 0);

	if (usextal) {

		write8(BNO055_SYS_TRIGGER_ADDR, 0x80);

	}

	else {

		write8(BNO055_SYS_TRIGGER_ADDR, 0x00);

	}

	delay(10);

	/* Set the requested operating mode (see section 3.3) */

	setMode(modeback);

	delay(20);

	@brief  Gets the latest system status info

	*/

	write8(BNO055_PAGE_ID_ADDR, 0);

	/* System Status (see section 4.3.58)

	   ---------------------------------

	   0 = Idle

	   1 = System Error

	   2 = Initializing Peripherals

	   3 = System Iniitalization

	   4 = Executing Self-Test

	   5 = Sensor fusio algorithm running

	   6 = System running without fusion algorithms */

	if (system_status != 0)

		*system_status = read8(BNO055_SYS_STAT_ADDR);

	/* Self Test Results (see section )

	   --------------------------------

	   1 = test passed, 0 = test failed

	   Bit 0 = Accelerometer self test

	   Bit 1 = Magnetometer self test

	   Bit 2 = Gyroscope self test

	   Bit 3 = MCU self test

	   0x0F = all good! */

	if (self_test_result != 0)

		*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);

	/* System Error (see section 4.3.59)

	   ---------------------------------

	   0 = No error

	   1 = Peripheral initialization error

	   2 = System initialization error

	   3 = Self test result failed

	   4 = Register map value out of range

	   5 = Register map address out of range

	   6 = Register map write error

	   7 = BNO low power mode not available for selected operat ion mode

	   8 = Accelerometer power mode not available

	   9 = Fusion algorithm configuration error

	   A = Sensor configuration error */

	if (system_error != 0)

		*system_error = read8(BNO055_SYS_ERR_ADDR);

	delay(200);

	@brief  Gets the chip revision numbers

	*/

	uint8_t a, b;

	memset(info, 0, sizeof(adafruit_bno055_rev_info_t));

	/* Check the accelerometer revision */

	info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);

	/* Check the magnetometer revision */

	info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);

	/* Check the gyroscope revision */

	info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);

	/* Check the SW revision */

	info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);

	a = read8(BNO055_SW_REV_ID_LSB_ADDR);

	b = read8(BNO055_SW_REV_ID_MSB_ADDR);

	info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);

	@brief  Gets current calibration state.  Each value should be a uint8_t

	pointer and it will be set to 0 if not calibrated and 3 if

	fully calibrated.

	*/

	uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);

	if (sys != NULL) {

		*sys = (calData >> 6) & 0x03;

	}

	if (gyro != NULL) {

		*gyro = (calData >> 4) & 0x03;

	}

	if (accel != NULL) {

		*accel = (calData >> 2) & 0x03;

	}

	if (mag != NULL) {

		*mag = calData & 0x03;

	}

	@brief  Gets the temperature in degrees celsius

	*/

	int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));

	return temp;

	@brief  Gets a vector reading from the specified source

	*/

	imu::Vector<3> xyz;

	uint8_t buffer[6];

	memset(buffer, 0, 6);

	int16_t x, y, z;

	x = y = z = 0;

	/* Read vector data (6 bytes) */

	readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);

	x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);

	y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);

	z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);

	/* Convert the value to an appropriate range (section 3.6.4) */

	/* and assign the value to the Vector type */

	switch (vector_type)

	{

	case VECTOR_MAGNETOMETER:

		/* 1uT = 16 LSB */

		xyz[0] = ((double)x) / 16.0;

		xyz[1] = ((double)y) / 16.0;

		xyz[2] = ((double)z) / 16.0;

		break;

	case VECTOR_GYROSCOPE:

		/* 1rps = 900 LSB */

		xyz[0] = ((double)x) / 900.0;

		xyz[1] = ((double)y) / 900.0;

		xyz[2] = ((double)z) / 900.0;

		break;

	case VECTOR_EULER:

		/* 1 degree = 16 LSB */

		xyz[0] = ((double)x) / 16.0;

		xyz[1] = ((double)y) / 16.0;

		xyz[2] = ((double)z) / 16.0;

		break;

	case VECTOR_ACCELEROMETER:

	case VECTOR_LINEARACCEL:

	case VECTOR_GRAVITY:

		/* 1m/s^2 = 100 LSB */

		xyz[0] = ((double)x) / 100.0;

		xyz[1] = ((double)y) / 100.0;

		xyz[2] = ((double)z) / 100.0;

		break;

	}

	return xyz;

	@brief  Gets a quaternion reading from the specified source

	*/

	uint8_t buffer[8];

	memset(buffer, 0, 8);

	int16_t x, y, z, w;

	x = y = z = w = 0;

	/* Read quat data (8 bytes) */

	readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);

	w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);

	x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);

	y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);

	z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);

	/* Assign to Quaternion */

	/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf

	   3.6.5.5 Orientation (Quaternion)  */

	const double scale = (1.0 / (1 << 14));

	imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);

	return quat;

	@brief  Provides the sensor_t data for this sensor

	*/

	/* Clear the sensor_t object */

	memset(sensor, 0, sizeof(sensor_t));

	/* Insert the sensor name in the fixed length char array */

	strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1);

	sensor->name[sizeof(sensor->name) - 1] = 0;

	sensor->version = 1;

	sensor->sensor_id = _sensorID;

	sensor->type = SENSOR_TYPE_ORIENTATION;

	sensor->min_delay = 0;

	sensor->max_value = 0.0F;

	sensor->min_value = 0.0F;

	sensor->resolution = 0.01F;

	@brief  Reads the sensor and returns the data as a sensors_event_t

	*/

	/* Clear the event */

	memset(event, 0, sizeof(sensors_event_t));

	event->version = sizeof(sensors_event_t);

	event->sensor_id = _sensorID;

	event->type = SENSOR_TYPE_ORIENTATION;

	event->timestamp = millis();

	/* Get a Euler angle sample for orientation */

	imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);

	event->orientation.x = euler.x();

	event->orientation.y = euler.y();

	event->orientation.z = euler.z();

	return true;

}

/**************************************************************************/

/*!

@brief  Reads the sensor's offset registers into a byte array

*/

/**************************************************************************/

bool Adafruit_BNO055::getSensorOffsets(int8_t* calibData)

{

	if (isFullyCalibrated())

	{

		adafruit_bno055_opmode_t lastMode = _mode;

		setMode(OPERATION_MODE_CONFIG);

		readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);

		setMode(lastMode);

		return true;

	}

	return false;

}

/**************************************************************************/

/*!

@brief  Reads the sensor's offset registers into an offset struct

*/

/**************************************************************************/

bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)

{

	if (isFullyCalibrated())

	{

		adafruit_bno055_opmode_t lastMode = _mode;

		setMode(OPERATION_MODE_CONFIG);

		delay(25);

		offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));

		offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));

		offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));

		offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));

		offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));

		offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));

		offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));

		offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));

		offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));

		offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));

		offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));

		setMode(lastMode);

		return true;

	}

	return false;

}

/**************************************************************************/

/*!

@brief  Writes an array of calibration values to the sensor's offset registers

*/

/**************************************************************************/

void Adafruit_BNO055::setSensorOffsets(const int8_t* calibData)

{

	adafruit_bno055_opmode_t lastMode = _mode;

	setMode(OPERATION_MODE_CONFIG);

	delay(25);

	/* A writeLen() would make this much cleaner */

	write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);

	write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);

	write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);

	write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);

	write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);

	write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);

	write8(GYRO_OFFSET_X_LSB_ADDR, calibData[6]);

	write8(GYRO_OFFSET_X_MSB_ADDR, calibData[7]);

	write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[8]);

	write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[9]);

	write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[10]);

	write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[11]);

	write8(MAG_OFFSET_X_LSB_ADDR, calibData[12]);

	write8(MAG_OFFSET_X_MSB_ADDR, calibData[13]);

	write8(MAG_OFFSET_Y_LSB_ADDR, calibData[14]);

	write8(MAG_OFFSET_Y_MSB_ADDR, calibData[15]);

	write8(MAG_OFFSET_Z_LSB_ADDR, calibData[16]);

	write8(MAG_OFFSET_Z_MSB_ADDR, calibData[17]);

	write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);

	write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);

	write8(MAG_RADIUS_LSB_ADDR, calibData[20]);

	write8(MAG_RADIUS_MSB_ADDR, calibData[21]);

	setMode(lastMode);

/**************************************************************************/

/*!

@brief  Writes to the sensor's offset registers from an offset struct

*/

/**************************************************************************/

void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)

{

	adafruit_bno055_opmode_t lastMode = _mode;

	setMode(OPERATION_MODE_CONFIG);

	delay(25);

	write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);

	write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);

	write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);

	write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);

	write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);

	write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);

	write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);

	write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);

	write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);

	write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);

	write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);

	write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);

	write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);

	write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);

	write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);

	write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);

	write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);

	write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);

	write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);

	write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);

	write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);

	write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);

	setMode(lastMode);

}

bool Adafruit_BNO055::isFullyCalibrated(void)

{

	uint8_t system, gyro, accel, mag;

	getCalibration(&system, &gyro, &accel, &mag);

	if (system < 3 || gyro < 3 || accel < 3 || mag < 3)

		return false;

	return true;

}

	@brief  Writes an 8 bit value over I2C

	*/

	Wire.beginTransmission(_address);

#if ARDUINO >= 100

	Wire.write((uint8_t)reg);

	Wire.write((uint8_t)value);

#else

	Wire.send(reg);

	Wire.send(value);

#endif

	Wire.endTransmission();

	/* ToDo: Check for error! */

	return true;

	@brief  Reads an 8 bit value over I2C

	*/

byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg)

	byte value = 0;

	Wire.beginTransmission(_address);

#if ARDUINO >= 100

	Wire.write((uint8_t)reg);

#else

	Wire.send(reg);

#endif

	Wire.endTransmission();

	Wire.requestFrom(_address, (byte)1);

#if ARDUINO >= 100

	value = Wire.read();

#else

	value = Wire.receive();

#endif

	return value;

	@brief  Reads the specified number of bytes over I2C

	*/

	Wire.beginTransmission(_address);

#if ARDUINO >= 100

	Wire.write((uint8_t)reg);

#else

	Wire.send(reg);

#endif

	Wire.endTransmission();

	Wire.requestFrom(_address, (byte)len);

	for (uint8_t i = 0; i < len; i++)

	{

#if ARDUINO >= 100

		buffer[i] = Wire.read();

#else

		buffer[i] = Wire.receive();

#endif

	}

	/* ToDo: Check for errors! */

	return true;

}

  ***************************************************************************/

#include "Arduino.h"

#include "WProgram.h"

#include <TinyWireM.h>

#define Wire TinyWireM

#include <Wire.h>

#define NUM_BNO055_OFFSET_REGISTERS (22)

typedef struct

{

	int16_t accel_offset_x;

	int16_t accel_offset_y;

	int16_t accel_offset_z;

	int16_t gyro_offset_x;

	int16_t gyro_offset_y;

	int16_t gyro_offset_z;

	int16_t mag_offset_x;

	int16_t mag_offset_y;

	int16_t mag_offset_z;

	int16_t accel_radius;

	int16_t mag_radius;

} adafruit_bno055_offsets_t;

public:

	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,

		BNO055_DATA_SELECT_ADDR = 0X3C,

		/* 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

	} adafruit_bno055_reg_t;

	typedef enum

	{

		POWER_MODE_NORMAL = 0X00,

		POWER_MODE_LOWPOWER = 0X01,

		POWER_MODE_SUSPEND = 0X02

	} adafruit_bno055_powermode_t;

	typedef enum

	{

		/* Operation mode settings*/

		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

	} adafruit_bno055_opmode_t;

	typedef struct

	{

		uint8_t  accel_rev;

		uint8_t  mag_rev;

		uint8_t  gyro_rev;

		uint16_t sw_rev;

		uint8_t  bl_rev;

	} adafruit_bno055_rev_info_t;

	typedef enum

	{

		VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,

		VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,

		VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,

		VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,

		VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,

		VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR

	} adafruit_vector_type_t;

	Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A);

	bool  begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);

	void  setMode(adafruit_bno055_opmode_t mode);

	void  getRevInfo(adafruit_bno055_rev_info_t*);

	void  displayRevInfo(void);

	void  setExtCrystalUse(boolean usextal);

	void  getSystemStatus(uint8_t *system_status,

		uint8_t *self_test_result,

		uint8_t *system_error);

	void  displaySystemStatus(void);

	void  getCalibration(uint8_t* system, uint8_t* gyro, uint8_t* accel, uint8_t* mag);

	imu::Vector<3>  getVector(adafruit_vector_type_t vector_type);

	imu::Quaternion getQuat(void);

	int8_t          getTemp(void);

	/* Adafruit_Sensor implementation */

	bool  getEvent(sensors_event_t*);

	void  getSensor(sensor_t*);

	/* Functions to deal with raw calibration data */

	bool  getSensorOffsets(int8_t* calibData);

	bool  getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);

	void  setSensorOffsets(const int8_t* calibData);

	void  setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);

	bool  isFullyCalibrated(void);

private:

	byte  read8(adafruit_bno055_reg_t);

	bool  readLen(adafruit_bno055_reg_t, byte* buffer, uint8_t len);

	bool  write8(adafruit_bno055_reg_t, byte value);

	uint8_t _address;

	int32_t _sensorID;

	adafruit_bno055_opmode_t _mode;

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <EEPROM.h>

/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),

   which provides a common 'type' for sensor data and some helper functions.

   To use this driver you will also need to download the Adafruit_Sensor

   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with

   the Adafruit Sensor API so that you can identify this particular

   sensor in any data logs, etc.  To assign a unique ID, simply

   provide an appropriate value in the constructor below (12345

   is used by default in this example).

   Connections

   ===========

   Connect SCL to analog 5

   Connect SDA to analog 4

   Connect VDD to 3-5V DC

   Connect GROUND to common ground

   History

   =======

   2015/MAR/03  - First release (KTOWN)

   2015/AUG/27  - Added calibration and system status helpers

   2015/NOV/13  - Added calibration save and restore

   */

/* Set the delay between fresh samples */

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno = Adafruit_BNO055(55);

/**************************************************************************/

/*

	Displays some basic information on this sensor from the unified

	sensor API sensor_t type (see Adafruit_Sensor for more information)

	*/

/**************************************************************************/

void displaySensorDetails(void)

{