Revision 312a5b9e Adafruit_BNO055.cpp
| Adafruit_BNO055.cpp | ||
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Written by KTOWN for Adafruit Industries. |
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MIT license, all text above must be included in any redistribution |
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***************************************************************************/ |
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***************************************************************************/
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#if ARDUINO >= 100 |
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#include "Arduino.h"
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#include "Arduino.h" |
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#else |
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#include "WProgram.h"
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#include "WProgram.h" |
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#endif |
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#include <math.h> |
| ... | ... | |
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/**************************************************************************/ |
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/*! |
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@brief Instantiates a new Adafruit_BNO055 class
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*/ |
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@brief Instantiates a new Adafruit_BNO055 class
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*/
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/**************************************************************************/ |
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) |
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{
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_sensorID = sensorID;
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_address = address;
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_sensorID = sensorID;
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_address = address;
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} |
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/*************************************************************************** |
| ... | ... | |
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/**************************************************************************/ |
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/*! |
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@brief Sets up the HW
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*/ |
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@brief Sets up the HW
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*/
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/**************************************************************************/ |
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) |
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{
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/* Enable I2C */
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Wire.begin();
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/* Make sure we have the right device */
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uint8_t id = read8(BNO055_CHIP_ID_ADDR);
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if(id != BNO055_ID)
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{
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delay(1000); // hold on for boot
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id = read8(BNO055_CHIP_ID_ADDR);
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if(id != BNO055_ID) {
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return false; // still not? ok bail
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}
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}
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG);
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/* Reset */
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write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
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{
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delay(10);
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}
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delay(50);
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/* Set to normal power mode */
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write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
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delay(10);
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* Set the output units */
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/*
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uint8_t unitsel = (0 << 7) | // Orientation = Android
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(0 << 4) | // Temperature = Celsius
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(0 << 2) | // Euler = Degrees
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(1 << 1) | // Gyro = Rads
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(0 << 0); // Accelerometer = m/s^2
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write8(BNO055_UNIT_SEL_ADDR, unitsel);
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*/
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write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(mode);
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delay(20);
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return true;
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/* Enable I2C */
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Wire.begin();
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/* Make sure we have the right device */
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uint8_t id = read8(BNO055_CHIP_ID_ADDR);
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if (id != BNO055_ID)
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{
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delay(1000); // hold on for boot
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id = read8(BNO055_CHIP_ID_ADDR);
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if (id != BNO055_ID) {
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return false; // still not? ok bail
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}
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}
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG);
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/* Reset */
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write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
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{
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delay(10);
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}
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delay(50);
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/* Set to normal power mode */
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write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
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delay(10);
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* Set the output units */
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/*
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uint8_t unitsel = (0 << 7) | // Orientation = Android
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(0 << 4) | // Temperature = Celsius
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(0 << 2) | // Euler = Degrees
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(1 << 1) | // Gyro = Rads
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(0 << 0); // Accelerometer = m/s^2
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write8(BNO055_UNIT_SEL_ADDR, unitsel);
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*/
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write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(mode);
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delay(20);
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return true;
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} |
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/**************************************************************************/ |
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/*! |
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@brief Puts the chip in the specified operating mode
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*/ |
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@brief Puts the chip in the specified operating mode
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*/
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/**************************************************************************/ |
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) |
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{
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_mode = mode;
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write8(BNO055_OPR_MODE_ADDR, _mode);
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delay(30);
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_mode = mode;
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write8(BNO055_OPR_MODE_ADDR, _mode);
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delay(30);
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} |
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/**************************************************************************/ |
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/*! |
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@brief Use the external 32.768KHz crystal
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*/ |
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@brief Use the external 32.768KHz crystal
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*/
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/**************************************************************************/ |
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void Adafruit_BNO055::setExtCrystalUse(boolean usextal) |
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{
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adafruit_bno055_opmode_t modeback = _mode; |
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/* Switch to config mode (just in case since this is the default) */ |
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setMode(OPERATION_MODE_CONFIG); |
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delay(25); |
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write8(BNO055_PAGE_ID_ADDR, 0); |
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if (usextal) {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x80); |
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} else {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x00); |
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} |
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delay(10); |
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/* Set the requested operating mode (see section 3.3) */ |
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setMode(modeback); |
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delay(20); |
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adafruit_bno055_opmode_t modeback = _mode; |
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/* Switch to config mode (just in case since this is the default) */ |
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setMode(OPERATION_MODE_CONFIG); |
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delay(25); |
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write8(BNO055_PAGE_ID_ADDR, 0); |
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if (usextal) {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x80); |
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} |
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else {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x00); |
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} |
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delay(10); |
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/* Set the requested operating mode (see section 3.3) */ |
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setMode(modeback); |
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delay(20); |
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} |
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/**************************************************************************/ |
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/*! |
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@brief Gets the latest system status info
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*/ |
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@brief Gets the latest system status info
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*/
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/**************************************************************************/ |
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void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error) |
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{
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* System Status (see section 4.3.58)
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---------------------------------
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0 = Idle
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1 = System Error
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2 = Initializing Peripherals
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3 = System Iniitalization
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4 = Executing Self-Test
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5 = Sensor fusio algorithm running
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6 = System running without fusion algorithms */
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if (system_status != 0)
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*system_status = read8(BNO055_SYS_STAT_ADDR);
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/* Self Test Results (see section )
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--------------------------------
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1 = test passed, 0 = test failed
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Bit 0 = Accelerometer self test
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Bit 1 = Magnetometer self test
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Bit 2 = Gyroscope self test
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Bit 3 = MCU self test
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0x0F = all good! */
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if (self_test_result != 0)
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*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
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/* System Error (see section 4.3.59)
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---------------------------------
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0 = No error
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1 = Peripheral initialization error
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2 = System initialization error
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3 = Self test result failed
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4 = Register map value out of range
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5 = Register map address out of range
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6 = Register map write error
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7 = BNO low power mode not available for selected operat ion mode
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8 = Accelerometer power mode not available
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9 = Fusion algorithm configuration error
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A = Sensor configuration error */
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if (system_error != 0)
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*system_error = read8(BNO055_SYS_ERR_ADDR);
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delay(200);
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* System Status (see section 4.3.58)
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---------------------------------
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0 = Idle
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1 = System Error
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2 = Initializing Peripherals
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3 = System Iniitalization
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4 = Executing Self-Test
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5 = Sensor fusio algorithm running
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6 = System running without fusion algorithms */
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if (system_status != 0)
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*system_status = read8(BNO055_SYS_STAT_ADDR);
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/* Self Test Results (see section )
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--------------------------------
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1 = test passed, 0 = test failed
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Bit 0 = Accelerometer self test
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Bit 1 = Magnetometer self test
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Bit 2 = Gyroscope self test
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Bit 3 = MCU self test
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0x0F = all good! */
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if (self_test_result != 0)
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*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
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/* System Error (see section 4.3.59)
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---------------------------------
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0 = No error
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1 = Peripheral initialization error
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2 = System initialization error
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3 = Self test result failed
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4 = Register map value out of range
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5 = Register map address out of range
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6 = Register map write error
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7 = BNO low power mode not available for selected operat ion mode
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8 = Accelerometer power mode not available
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9 = Fusion algorithm configuration error
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A = Sensor configuration error */
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if (system_error != 0)
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*system_error = read8(BNO055_SYS_ERR_ADDR);
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delay(200);
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} |
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/**************************************************************************/ |
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/*! |
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@brief Gets the chip revision numbers
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*/ |
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@brief Gets the chip revision numbers
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*/
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/**************************************************************************/ |
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void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info) |
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{
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uint8_t a, b;
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uint8_t a, b;
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memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
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memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
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/* Check the accelerometer revision */
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info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
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/* Check the accelerometer revision */
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info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
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/* Check the magnetometer revision */
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info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
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/* Check the magnetometer revision */
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info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
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/* Check the gyroscope revision */
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
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/* Check the gyroscope revision */
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
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/* Check the SW revision */
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);
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/* Check the SW revision */
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);
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a = read8(BNO055_SW_REV_ID_LSB_ADDR);
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b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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a = read8(BNO055_SW_REV_ID_LSB_ADDR);
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b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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| 226 | 227 |
} |
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/**************************************************************************/ |
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/*! |
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@brief Gets current calibration state. Each value should be a uint8_t
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pointer and it will be set to 0 if not calibrated and 3 if
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fully calibrated.
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*/ |
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@brief Gets current calibration state. Each value should be a uint8_t
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pointer and it will be set to 0 if not calibrated and 3 if
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fully calibrated.
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*/
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/**************************************************************************/ |
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void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
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uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
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if (sys != NULL) {
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*sys = (calData >> 6) & 0x03;
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}
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if (gyro != NULL) {
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*gyro = (calData >> 4) & 0x03;
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}
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if (accel != NULL) {
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*accel = (calData >> 2) & 0x03;
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}
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if (mag != NULL) {
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*mag = calData & 0x03;
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}
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uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
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if (sys != NULL) {
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*sys = (calData >> 6) & 0x03;
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}
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if (gyro != NULL) {
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*gyro = (calData >> 4) & 0x03;
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}
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if (accel != NULL) {
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*accel = (calData >> 2) & 0x03;
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}
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if (mag != NULL) {
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*mag = calData & 0x03;
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}
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| 249 | 250 |
} |
| 250 | 251 |
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| 251 | 252 |
/**************************************************************************/ |
| 252 | 253 |
/*! |
| 253 |
@brief Gets the temperature in degrees celsius
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*/ |
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@brief Gets the temperature in degrees celsius
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| 255 |
*/
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| 255 | 256 |
/**************************************************************************/ |
| 256 | 257 |
int8_t Adafruit_BNO055::getTemp(void) |
| 257 | 258 |
{
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| 258 |
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
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| 259 |
return temp;
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| 259 |
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
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return temp;
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| 260 | 261 |
} |
| 261 | 262 |
|
| 262 | 263 |
/**************************************************************************/ |
| 263 | 264 |
/*! |
| 264 |
@brief Gets a vector reading from the specified source
|
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| 265 |
*/ |
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| 265 |
@brief Gets a vector reading from the specified source
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| 266 |
*/
|
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| 266 | 267 |
/**************************************************************************/ |
| 267 | 268 |
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) |
| 268 | 269 |
{
|
| 269 |
imu::Vector<3> xyz;
|
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| 270 |
uint8_t buffer[6];
|
|
| 271 |
memset (buffer, 0, 6);
|
|
| 272 |
|
|
| 273 |
int16_t x, y, z;
|
|
| 274 |
x = y = z = 0;
|
|
| 275 |
|
|
| 276 |
/* Read vector data (6 bytes) */
|
|
| 277 |
readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
|
|
| 278 |
|
|
| 279 |
x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
|
|
| 280 |
y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
|
|
| 281 |
z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
|
|
| 282 |
|
|
| 283 |
/* Convert the value to an appropriate range (section 3.6.4) */
|
|
| 284 |
/* and assign the value to the Vector type */
|
|
| 285 |
switch(vector_type)
|
|
| 286 |
{
|
|
| 287 |
case VECTOR_MAGNETOMETER:
|
|
| 288 |
/* 1uT = 16 LSB */
|
|
| 289 |
xyz[0] = ((double)x)/16.0;
|
|
| 290 |
xyz[1] = ((double)y)/16.0;
|
|
| 291 |
xyz[2] = ((double)z)/16.0;
|
|
| 292 |
break;
|
|
| 293 |
case VECTOR_GYROSCOPE:
|
|
| 294 |
/* 1rps = 900 LSB */
|
|
| 295 |
xyz[0] = ((double)x)/900.0;
|
|
| 296 |
xyz[1] = ((double)y)/900.0;
|
|
| 297 |
xyz[2] = ((double)z)/900.0;
|
|
| 298 |
break;
|
|
| 299 |
case VECTOR_EULER:
|
|
| 300 |
/* 1 degree = 16 LSB */
|
|
| 301 |
xyz[0] = ((double)x)/16.0;
|
|
| 302 |
xyz[1] = ((double)y)/16.0;
|
|
| 303 |
xyz[2] = ((double)z)/16.0;
|
|
| 304 |
break;
|
|
| 305 |
case VECTOR_ACCELEROMETER:
|
|
| 306 |
case VECTOR_LINEARACCEL:
|
|
| 307 |
case VECTOR_GRAVITY:
|
|
| 308 |
/* 1m/s^2 = 100 LSB */
|
|
| 309 |
xyz[0] = ((double)x)/100.0;
|
|
| 310 |
xyz[1] = ((double)y)/100.0;
|
|
| 311 |
xyz[2] = ((double)z)/100.0;
|
|
| 312 |
break;
|
|
| 313 |
}
|
|
| 314 |
|
|
| 315 |
return xyz;
|
|
| 270 |
imu::Vector<3> xyz;
|
|
| 271 |
uint8_t buffer[6];
|
|
| 272 |
memset(buffer, 0, 6);
|
|
| 273 |
|
|
| 274 |
int16_t x, y, z;
|
|
| 275 |
x = y = z = 0;
|
|
| 276 |
|
|
| 277 |
/* Read vector data (6 bytes) */
|
|
| 278 |
readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
|
|
| 279 |
|
|
| 280 |
x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
|
|
| 281 |
y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
|
|
| 282 |
z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
|
|
| 283 |
|
|
| 284 |
/* Convert the value to an appropriate range (section 3.6.4) */
|
|
| 285 |
/* and assign the value to the Vector type */
|
|
| 286 |
switch (vector_type)
|
|
| 287 |
{
|
|
| 288 |
case VECTOR_MAGNETOMETER:
|
|
| 289 |
/* 1uT = 16 LSB */
|
|
| 290 |
xyz[0] = ((double)x) / 16.0;
|
|
| 291 |
xyz[1] = ((double)y) / 16.0;
|
|
| 292 |
xyz[2] = ((double)z) / 16.0;
|
|
| 293 |
break;
|
|
| 294 |
case VECTOR_GYROSCOPE:
|
|
| 295 |
/* 1rps = 900 LSB */
|
|
| 296 |
xyz[0] = ((double)x) / 900.0;
|
|
| 297 |
xyz[1] = ((double)y) / 900.0;
|
|
| 298 |
xyz[2] = ((double)z) / 900.0;
|
|
| 299 |
break;
|
|
| 300 |
case VECTOR_EULER:
|
|
| 301 |
/* 1 degree = 16 LSB */
|
|
| 302 |
xyz[0] = ((double)x) / 16.0;
|
|
| 303 |
xyz[1] = ((double)y) / 16.0;
|
|
| 304 |
xyz[2] = ((double)z) / 16.0;
|
|
| 305 |
break;
|
|
| 306 |
case VECTOR_ACCELEROMETER:
|
|
| 307 |
case VECTOR_LINEARACCEL:
|
|
| 308 |
case VECTOR_GRAVITY:
|
|
| 309 |
/* 1m/s^2 = 100 LSB */
|
|
| 310 |
xyz[0] = ((double)x) / 100.0;
|
|
| 311 |
xyz[1] = ((double)y) / 100.0;
|
|
| 312 |
xyz[2] = ((double)z) / 100.0;
|
|
| 313 |
break;
|
|
| 314 |
}
|
|
| 315 |
|
|
| 316 |
return xyz;
|
|
| 316 | 317 |
} |
| 317 | 318 |
|
| 318 | 319 |
/**************************************************************************/ |
| 319 | 320 |
/*! |
| 320 |
@brief Gets a quaternion reading from the specified source
|
|
| 321 |
*/ |
|
| 321 |
@brief Gets a quaternion reading from the specified source
|
|
| 322 |
*/
|
|
| 322 | 323 |
/**************************************************************************/ |
| 323 | 324 |
imu::Quaternion Adafruit_BNO055::getQuat(void) |
| 324 | 325 |
{
|
| 325 |
uint8_t buffer[8];
|
|
| 326 |
memset (buffer, 0, 8);
|
|
| 327 |
|
|
| 328 |
int16_t x, y, z, w;
|
|
| 329 |
x = y = z = w = 0;
|
|
| 330 |
|
|
| 331 |
/* Read quat data (8 bytes) */
|
|
| 332 |
readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
|
|
| 333 |
w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
|
|
| 334 |
x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
|
|
| 335 |
y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
|
|
| 336 |
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
|
|
| 337 |
|
|
| 338 |
/* Assign to Quaternion */
|
|
| 339 |
/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
|
|
| 340 |
3.6.5.5 Orientation (Quaternion) */
|
|
| 341 |
const double scale = (1.0 / (1<<14));
|
|
| 342 |
imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
|
|
| 343 |
return quat;
|
|
| 326 |
uint8_t buffer[8];
|
|
| 327 |
memset(buffer, 0, 8);
|
|
| 328 |
|
|
| 329 |
int16_t x, y, z, w;
|
|
| 330 |
x = y = z = w = 0;
|
|
| 331 |
|
|
| 332 |
/* Read quat data (8 bytes) */
|
|
| 333 |
readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
|
|
| 334 |
w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
|
|
| 335 |
x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
|
|
| 336 |
y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
|
|
| 337 |
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
|
|
| 338 |
|
|
| 339 |
/* Assign to Quaternion */
|
|
| 340 |
/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
|
|
| 341 |
3.6.5.5 Orientation (Quaternion) */
|
|
| 342 |
const double scale = (1.0 / (1 << 14));
|
|
| 343 |
imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
|
|
| 344 |
return quat;
|
|
| 344 | 345 |
} |
| 345 | 346 |
|
| 346 | 347 |
/**************************************************************************/ |
| 347 | 348 |
/*! |
| 348 |
@brief Provides the sensor_t data for this sensor
|
|
| 349 |
*/ |
|
| 349 |
@brief Provides the sensor_t data for this sensor
|
|
| 350 |
*/
|
|
| 350 | 351 |
/**************************************************************************/ |
| 351 | 352 |
void Adafruit_BNO055::getSensor(sensor_t *sensor) |
| 352 | 353 |
{
|
| 353 |
/* Clear the sensor_t object */
|
|
| 354 |
memset(sensor, 0, sizeof(sensor_t));
|
|
| 355 |
|
|
| 356 |
/* Insert the sensor name in the fixed length char array */
|
|
| 357 |
strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
|
|
| 358 |
sensor->name[sizeof(sensor->name)- 1] = 0;
|
|
| 359 |
sensor->version = 1;
|
|
| 360 |
sensor->sensor_id = _sensorID;
|
|
| 361 |
sensor->type = SENSOR_TYPE_ORIENTATION;
|
|
| 362 |
sensor->min_delay = 0;
|
|
| 363 |
sensor->max_value = 0.0F;
|
|
| 364 |
sensor->min_value = 0.0F;
|
|
| 365 |
sensor->resolution = 0.01F;
|
|
| 354 |
/* Clear the sensor_t object */
|
|
| 355 |
memset(sensor, 0, sizeof(sensor_t));
|
|
| 356 |
|
|
| 357 |
/* Insert the sensor name in the fixed length char array */
|
|
| 358 |
strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1);
|
|
| 359 |
sensor->name[sizeof(sensor->name) - 1] = 0;
|
|
| 360 |
sensor->version = 1;
|
|
| 361 |
sensor->sensor_id = _sensorID;
|
|
| 362 |
sensor->type = SENSOR_TYPE_ORIENTATION;
|
|
| 363 |
sensor->min_delay = 0;
|
|
| 364 |
sensor->max_value = 0.0F;
|
|
| 365 |
sensor->min_value = 0.0F;
|
|
| 366 |
sensor->resolution = 0.01F;
|
|
| 366 | 367 |
} |
| 367 | 368 |
|
| 368 | 369 |
/**************************************************************************/ |
| 369 | 370 |
/*! |
| 370 |
@brief Reads the sensor and returns the data as a sensors_event_t
|
|
| 371 |
*/ |
|
| 371 |
@brief Reads the sensor and returns the data as a sensors_event_t
|
|
| 372 |
*/
|
|
| 372 | 373 |
/**************************************************************************/ |
| 373 | 374 |
bool Adafruit_BNO055::getEvent(sensors_event_t *event) |
| 374 | 375 |
{
|
| 375 |
/* Clear the event */
|
|
| 376 |
memset(event, 0, sizeof(sensors_event_t));
|
|
| 376 |
/* Clear the event */
|
|
| 377 |
memset(event, 0, sizeof(sensors_event_t));
|
|
| 377 | 378 |
|
| 378 |
event->version = sizeof(sensors_event_t);
|
|
| 379 |
event->sensor_id = _sensorID;
|
|
| 380 |
event->type = SENSOR_TYPE_ORIENTATION;
|
|
| 381 |
event->timestamp = millis();
|
|
| 379 |
event->version = sizeof(sensors_event_t);
|
|
| 380 |
event->sensor_id = _sensorID;
|
|
| 381 |
event->type = SENSOR_TYPE_ORIENTATION;
|
|
| 382 |
event->timestamp = millis();
|
|
| 382 | 383 |
|
| 383 |
/* Get a Euler angle sample for orientation */ |
|
| 384 |
imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER); |
|
| 385 |
event->orientation.x = euler.x(); |
|
| 386 |
event->orientation.y = euler.y(); |
|
| 387 |
event->orientation.z = euler.z(); |
|
| 384 |
/* Get a Euler angle sample for orientation */ |
|
| 385 |
imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER); |
|
| 386 |
event->orientation.x = euler.x(); |
|
| 387 |
event->orientation.y = euler.y(); |
|
| 388 |
event->orientation.z = euler.z(); |
|
| 389 |
|
|
| 390 |
return true; |
|
| 391 |
} |
|
| 388 | 392 |
|
| 389 |
return true; |
|
| 393 |
/**************************************************************************/ |
|
| 394 |
/*! |
|
| 395 |
@brief Reads the sensor's offset registers into a byte array |
|
| 396 |
*/ |
|
| 397 |
/**************************************************************************/ |
|
| 398 |
bool Adafruit_BNO055::getSensorOffsets(int8_t* calibData) |
|
| 399 |
{
|
|
| 400 |
if (isFullyCalibrated()) |
|
| 401 |
{
|
|
| 402 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 403 |
setMode(OPERATION_MODE_CONFIG); |
|
| 404 |
|
|
| 405 |
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS); |
|
| 406 |
|
|
| 407 |
setMode(lastMode); |
|
| 408 |
return true; |
|
| 409 |
} |
|
| 410 |
return false; |
|
| 411 |
} |
|
| 412 |
|
|
| 413 |
/**************************************************************************/ |
|
| 414 |
/*! |
|
| 415 |
@brief Reads the sensor's offset registers into an offset struct |
|
| 416 |
*/ |
|
| 417 |
/**************************************************************************/ |
|
| 418 |
bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type) |
|
| 419 |
{
|
|
| 420 |
if (isFullyCalibrated()) |
|
| 421 |
{
|
|
| 422 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 423 |
setMode(OPERATION_MODE_CONFIG); |
|
| 424 |
delay(25); |
|
| 425 |
|
|
| 426 |
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR)); |
|
| 427 |
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR)); |
|
| 428 |
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR)); |
|
| 429 |
|
|
| 430 |
offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR)); |
|
| 431 |
offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR)); |
|
| 432 |
offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR)); |
|
| 433 |
|
|
| 434 |
offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR)); |
|
| 435 |
offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR)); |
|
| 436 |
offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR)); |
|
| 437 |
|
|
| 438 |
offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR)); |
|
| 439 |
offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR)); |
|
| 440 |
|
|
| 441 |
setMode(lastMode); |
|
| 442 |
return true; |
|
| 443 |
} |
|
| 444 |
return false; |
|
| 445 |
} |
|
| 446 |
|
|
| 447 |
|
|
| 448 |
/**************************************************************************/ |
|
| 449 |
/*! |
|
| 450 |
@brief Writes an array of calibration values to the sensor's offset registers |
|
| 451 |
*/ |
|
| 452 |
/**************************************************************************/ |
|
| 453 |
void Adafruit_BNO055::setSensorOffsets(const int8_t* calibData) |
|
| 454 |
{
|
|
| 455 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 456 |
setMode(OPERATION_MODE_CONFIG); |
|
| 457 |
delay(25); |
|
| 458 |
|
|
| 459 |
/* A writeLen() would make this much cleaner */ |
|
| 460 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]); |
|
| 461 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]); |
|
| 462 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]); |
|
| 463 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]); |
|
| 464 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]); |
|
| 465 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]); |
|
| 466 |
|
|
| 467 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[6]); |
|
| 468 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[7]); |
|
| 469 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[8]); |
|
| 470 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[9]); |
|
| 471 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[10]); |
|
| 472 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[11]); |
|
| 473 |
|
|
| 474 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[12]); |
|
| 475 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[13]); |
|
| 476 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[14]); |
|
| 477 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[15]); |
|
| 478 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[16]); |
|
| 479 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[17]); |
|
| 480 |
|
|
| 481 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]); |
|
| 482 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]); |
|
| 483 |
|
|
| 484 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]); |
|
| 485 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]); |
|
| 486 |
|
|
| 487 |
setMode(lastMode); |
|
| 390 | 488 |
} |
| 391 | 489 |
|
| 490 |
/**************************************************************************/ |
|
| 491 |
/*! |
|
| 492 |
@brief Writes to the sensor's offset registers from an offset struct |
|
| 493 |
*/ |
|
| 494 |
/**************************************************************************/ |
|
| 495 |
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) |
|
| 496 |
{
|
|
| 497 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 498 |
setMode(OPERATION_MODE_CONFIG); |
|
| 499 |
delay(25); |
|
| 500 |
|
|
| 501 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF); |
|
| 502 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); |
|
| 503 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF); |
|
| 504 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); |
|
| 505 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF); |
|
| 506 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); |
|
| 507 |
|
|
| 508 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF); |
|
| 509 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); |
|
| 510 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF); |
|
| 511 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); |
|
| 512 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF); |
|
| 513 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); |
|
| 514 |
|
|
| 515 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF); |
|
| 516 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); |
|
| 517 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF); |
|
| 518 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); |
|
| 519 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF); |
|
| 520 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); |
|
| 521 |
|
|
| 522 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF); |
|
| 523 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); |
|
| 524 |
|
|
| 525 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF); |
|
| 526 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); |
|
| 527 |
|
|
| 528 |
setMode(lastMode); |
|
| 529 |
} |
|
| 530 |
|
|
| 531 |
bool Adafruit_BNO055::isFullyCalibrated(void) |
|
| 532 |
{
|
|
| 533 |
uint8_t system, gyro, accel, mag; |
|
| 534 |
getCalibration(&system, &gyro, &accel, &mag); |
|
| 535 |
if (system < 3 || gyro < 3 || accel < 3 || mag < 3) |
|
| 536 |
return false; |
|
| 537 |
return true; |
|
| 538 |
} |
|
| 539 |
|
|
| 540 |
|
|
| 541 |
|
|
| 392 | 542 |
/*************************************************************************** |
| 393 | 543 |
PRIVATE FUNCTIONS |
| 394 | 544 |
***************************************************************************/ |
| 395 | 545 |
|
| 396 | 546 |
/**************************************************************************/ |
| 397 | 547 |
/*! |
| 398 |
@brief Writes an 8 bit value over I2C
|
|
| 399 |
*/ |
|
| 548 |
@brief Writes an 8 bit value over I2C
|
|
| 549 |
*/
|
|
| 400 | 550 |
/**************************************************************************/ |
| 401 | 551 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) |
| 402 | 552 |
{
|
| 403 |
Wire.beginTransmission(_address);
|
|
| 404 |
#if ARDUINO >= 100
|
|
| 405 |
Wire.write((uint8_t)reg);
|
|
| 406 |
Wire.write((uint8_t)value);
|
|
| 407 |
#else
|
|
| 408 |
Wire.send(reg);
|
|
| 409 |
Wire.send(value);
|
|
| 410 |
#endif
|
|
| 411 |
Wire.endTransmission();
|
|
| 412 |
|
|
| 413 |
/* ToDo: Check for error! */
|
|
| 414 |
return true;
|
|
| 553 |
Wire.beginTransmission(_address);
|
|
| 554 |
#if ARDUINO >= 100 |
|
| 555 |
Wire.write((uint8_t)reg);
|
|
| 556 |
Wire.write((uint8_t)value);
|
|
| 557 |
#else |
|
| 558 |
Wire.send(reg);
|
|
| 559 |
Wire.send(value);
|
|
| 560 |
#endif |
|
| 561 |
Wire.endTransmission();
|
|
| 562 |
|
|
| 563 |
/* ToDo: Check for error! */
|
|
| 564 |
return true;
|
|
| 415 | 565 |
} |
| 416 | 566 |
|
| 417 | 567 |
/**************************************************************************/ |
| 418 | 568 |
/*! |
| 419 |
@brief Reads an 8 bit value over I2C
|
|
| 420 |
*/ |
|
| 569 |
@brief Reads an 8 bit value over I2C
|
|
| 570 |
*/
|
|
| 421 | 571 |
/**************************************************************************/ |
| 422 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
|
|
| 572 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg) |
|
| 423 | 573 |
{
|
| 424 |
byte value = 0;
|
|
| 425 |
|
|
| 426 |
Wire.beginTransmission(_address);
|
|
| 427 |
#if ARDUINO >= 100
|
|
| 428 |
Wire.write((uint8_t)reg);
|
|
| 429 |
#else
|
|
| 430 |
Wire.send(reg);
|
|
| 431 |
#endif
|
|
| 432 |
Wire.endTransmission();
|
|
| 433 |
Wire.requestFrom(_address, (byte)1);
|
|
| 434 |
#if ARDUINO >= 100
|
|
| 435 |
value = Wire.read();
|
|
| 436 |
#else
|
|
| 437 |
value = Wire.receive();
|
|
| 438 |
#endif
|
|
| 439 |
|
|
| 440 |
return value;
|
|
| 574 |
byte value = 0;
|
|
| 575 |
|
|
| 576 |
Wire.beginTransmission(_address);
|
|
| 577 |
#if ARDUINO >= 100 |
|
| 578 |
Wire.write((uint8_t)reg);
|
|
| 579 |
#else |
|
| 580 |
Wire.send(reg);
|
|
| 581 |
#endif |
|
| 582 |
Wire.endTransmission();
|
|
| 583 |
Wire.requestFrom(_address, (byte)1);
|
|
| 584 |
#if ARDUINO >= 100 |
|
| 585 |
value = Wire.read();
|
|
| 586 |
#else |
|
| 587 |
value = Wire.receive();
|
|
| 588 |
#endif |
|
| 589 |
|
|
| 590 |
return value;
|
|
| 441 | 591 |
} |
| 442 | 592 |
|
| 443 | 593 |
/**************************************************************************/ |
| 444 | 594 |
/*! |
| 445 |
@brief Reads the specified number of bytes over I2C
|
|
| 446 |
*/ |
|
| 595 |
@brief Reads the specified number of bytes over I2C
|
|
| 596 |
*/
|
|
| 447 | 597 |
/**************************************************************************/ |
| 448 | 598 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len) |
| 449 | 599 |
{
|
| 450 |
Wire.beginTransmission(_address);
|
|
| 451 |
#if ARDUINO >= 100
|
|
| 452 |
Wire.write((uint8_t)reg);
|
|
| 453 |
#else
|
|
| 454 |
Wire.send(reg);
|
|
| 455 |
#endif
|
|
| 456 |
Wire.endTransmission();
|
|
| 457 |
Wire.requestFrom(_address, (byte)len);
|
|
| 458 |
|
|
| 459 |
for (uint8_t i = 0; i < len; i++)
|
|
| 460 |
{
|
|
| 461 |
#if ARDUINO >= 100
|
|
| 462 |
buffer[i] = Wire.read();
|
|
| 463 |
#else
|
|
| 464 |
buffer[i] = Wire.receive();
|
|
| 465 |
#endif
|
|
| 466 |
}
|
|
| 467 |
|
|
| 468 |
/* ToDo: Check for errors! */
|
|
| 469 |
return true;
|
|
| 470 |
} |
|
| 600 |
Wire.beginTransmission(_address);
|
|
| 601 |
#if ARDUINO >= 100 |
|
| 602 |
Wire.write((uint8_t)reg);
|
|
| 603 |
#else |
|
| 604 |
Wire.send(reg);
|
|
| 605 |
#endif |
|
| 606 |
Wire.endTransmission();
|
|
| 607 |
Wire.requestFrom(_address, (byte)len);
|
|
| 608 |
|
|
| 609 |
for (uint8_t i = 0; i < len; i++)
|
|
| 610 |
{
|
|
| 611 |
#if ARDUINO >= 100 |
|
| 612 |
buffer[i] = Wire.read();
|
|
| 613 |
#else |
|
| 614 |
buffer[i] = Wire.receive();
|
|
| 615 |
#endif |
|
| 616 |
}
|
|
| 617 |
|
|
| 618 |
/* ToDo: Check for errors! */
|
|
| 619 |
return true;
|
|
| 620 |
} |
|
Also available in: Unified diff