/Adafruit_BNO055.cpp - Diff - BRIX5 - Research for Cognitive Interaction

Revision 40f91f6f Adafruit_BNO055.cpp

     /***************************************************************************
      CONSTRUCTOR
      ***************************************************************************/
     /**************************************************************************/
     /*!
         @brief  Instantiates a new Adafruit_BNO055 class
-...
         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
-...
       write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);
       delay(1000);
       /* System Status (see section 4.3.58)
          ---------------------------------
 = Idle
-...
 = Executing Self-Test
 = Sensor fusio algorithm running
 = System running without fusion algorithms */
       if (system_status != 0)
         *system_status    = read8(BNO055_SYS_STAT_ADDR);
       /* Self Test Results (see section )
          --------------------------------
 = 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
 x0F = all good! */
       if (self_test_result != 0)
         *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
-...
 = Accelerometer power mode not available
 = Fusion algorithm configuration error
          A = Sensor configuration error */
       if (system_error != 0)
         *system_error     = read8(BNO055_SYS_ERR_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 teh temperature in degrees celsius
         @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.
     */
     /**************************************************************************/
     void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
       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 Adafruit_BNO055::getTemp(void)
-...
       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);
-...
           xyz[2] = ((double)z)/100.0;
           break;
+      }
       return xyz;
+    }
-...
+    {
       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]);
-...
     byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
+    {
       byte value = 0;
       Wire.beginTransmission(_address);
       #if ARDUINO >= 100
         Wire.write((uint8_t)reg);
-...
       #else
         value = Wire.receive();
       #endif
       return value;
+    }
-...
       /* Wait until data is available */
       while (Wire.available() < len);
       for (uint8_t i = 0; i < len; i++)
+      {
         #if ARDUINO >= 100
-...
           buffer[i] = Wire.receive();
         #endif
+      }
       /* ToDo: Check for errors! */
       return true;
+    }

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