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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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}
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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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} 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);
|
227 |
226 |
}
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228 |
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|
229 |
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/**************************************************************************/
|
230 |
229 |
/*!
|
231 |
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@brief Gets current calibration state. Each value should be a uint8_t
|
232 |
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pointer and it will be set to 0 if not calibrated and 3 if
|
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fully calibrated.
|
234 |
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*/
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230 |
@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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233 |
*/
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/**************************************************************************/
|
236 |
235 |
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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}
|
247 |
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if (mag != NULL) {
|
248 |
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*mag = calData & 0x03;
|
249 |
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}
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|
236 |
uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
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237 |
if (sys != NULL) {
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|
238 |
*sys = (calData >> 6) & 0x03;
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|
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}
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240 |
if (gyro != NULL) {
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*gyro = (calData >> 4) & 0x03;
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|
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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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}
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if (mag != NULL) {
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*mag = calData & 0x03;
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|
248 |
}
|
250 |
249 |
}
|
251 |
250 |
|
252 |
251 |
/**************************************************************************/
|
253 |
252 |
/*!
|
254 |
|
@brief Gets the temperature in degrees celsius
|
255 |
|
*/
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253 |
@brief Gets the temperature in degrees celsius
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|
254 |
*/
|
256 |
255 |
/**************************************************************************/
|
257 |
256 |
int8_t Adafruit_BNO055::getTemp(void)
|
258 |
257 |
{
|
259 |
|
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
|
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|
return temp;
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|
258 |
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
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|
259 |
return temp;
|
261 |
260 |
}
|
262 |
261 |
|
263 |
262 |
/**************************************************************************/
|
264 |
263 |
/*!
|
265 |
|
@brief Gets a vector reading from the specified source
|
266 |
|
*/
|
|
264 |
@brief Gets a vector reading from the specified source
|
|
265 |
*/
|
267 |
266 |
/**************************************************************************/
|
268 |
267 |
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
|
269 |
268 |
{
|
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;
|
|
269 |
imu::Vector<3> xyz;
|
|
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;
|
317 |
316 |
}
|
318 |
317 |
|
319 |
318 |
/**************************************************************************/
|
320 |
319 |
/*!
|
321 |
|
@brief Gets a quaternion reading from the specified source
|
322 |
|
*/
|
|
320 |
@brief Gets a quaternion reading from the specified source
|
|
321 |
*/
|
323 |
322 |
/**************************************************************************/
|
324 |
323 |
imu::Quaternion Adafruit_BNO055::getQuat(void)
|
325 |
324 |
{
|
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;
|
|
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;
|
345 |
344 |
}
|
346 |
345 |
|
347 |
346 |
/**************************************************************************/
|
348 |
347 |
/*!
|
349 |
|
@brief Provides the sensor_t data for this sensor
|
350 |
|
*/
|
|
348 |
@brief Provides the sensor_t data for this sensor
|
|
349 |
*/
|
351 |
350 |
/**************************************************************************/
|
352 |
351 |
void Adafruit_BNO055::getSensor(sensor_t *sensor)
|
353 |
352 |
{
|
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;
|
|
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;
|
367 |
366 |
}
|
368 |
367 |
|
369 |
368 |
/**************************************************************************/
|
370 |
369 |
/*!
|
371 |
|
@brief Reads the sensor and returns the data as a sensors_event_t
|
372 |
|
*/
|
|
370 |
@brief Reads the sensor and returns the data as a sensors_event_t
|
|
371 |
*/
|
373 |
372 |
/**************************************************************************/
|
374 |
373 |
bool Adafruit_BNO055::getEvent(sensors_event_t *event)
|
375 |
374 |
{
|
376 |
|
/* Clear the event */
|
377 |
|
memset(event, 0, sizeof(sensors_event_t));
|
|
375 |
/* Clear the event */
|
|
376 |
memset(event, 0, sizeof(sensors_event_t));
|
378 |
377 |
|
379 |
|
event->version = sizeof(sensors_event_t);
|
380 |
|
event->sensor_id = _sensorID;
|
381 |
|
event->type = SENSOR_TYPE_ORIENTATION;
|
382 |
|
event->timestamp = millis();
|
|
378 |
event->version = sizeof(sensors_event_t);
|
|
379 |
event->sensor_id = _sensorID;
|
|
380 |
event->type = SENSOR_TYPE_ORIENTATION;
|
|
381 |
event->timestamp = millis();
|
383 |
382 |
|
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();
|
|
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();
|
389 |
388 |
|
390 |
|
return true;
|
|
389 |
return true;
|
391 |
390 |
}
|
392 |
391 |
|
393 |
392 |
/**************************************************************************/
|
... | ... | |
397 |
396 |
/**************************************************************************/
|
398 |
397 |
bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
|
399 |
398 |
{
|
400 |
|
if (isFullyCalibrated())
|
401 |
|
{
|
402 |
|
adafruit_bno055_opmode_t lastMode = _mode;
|
403 |
|
setMode(OPERATION_MODE_CONFIG);
|
|
399 |
if (isFullyCalibrated())
|
|
400 |
{
|
|
401 |
adafruit_bno055_opmode_t lastMode = _mode;
|
|
402 |
setMode(OPERATION_MODE_CONFIG);
|
404 |
403 |
|
405 |
|
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
|
|
404 |
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
|
406 |
405 |
|
407 |
|
setMode(lastMode);
|
408 |
|
return true;
|
409 |
|
}
|
410 |
|
return false;
|
|
406 |
setMode(lastMode);
|
|
407 |
return true;
|
|
408 |
}
|
|
409 |
return false;
|
411 |
410 |
}
|
412 |
411 |
|
413 |
412 |
/**************************************************************************/
|
... | ... | |
417 |
416 |
/**************************************************************************/
|
418 |
417 |
bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
|
419 |
418 |
{
|
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;
|
|
419 |
if (isFullyCalibrated())
|
|
420 |
{
|
|
421 |
adafruit_bno055_opmode_t lastMode = _mode;
|
|
422 |
setMode(OPERATION_MODE_CONFIG);
|
|
423 |
delay(25);
|
|
424 |
|
|
425 |
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
|
|
426 |
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
|
|
427 |
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
|
|
428 |
|
|
429 |
offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
|
|
430 |
offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
|
|
431 |
offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
|
|
432 |
|
|
433 |
offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
|
|
434 |
offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
|
|
435 |
offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
|
|
436 |
|
|
437 |
offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
|
|
438 |
offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
|
|
439 |
|
|
440 |
setMode(lastMode);
|
|
441 |
return true;
|
|
442 |
}
|
|
443 |
return false;
|
445 |
444 |
}
|
446 |
445 |
|
447 |
446 |
|
... | ... | |
452 |
451 |
/**************************************************************************/
|
453 |
452 |
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)
|
454 |
453 |
{
|
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);
|
|
454 |
adafruit_bno055_opmode_t lastMode = _mode;
|
|
455 |
setMode(OPERATION_MODE_CONFIG);
|
|
456 |
delay(25);
|
|
457 |
|
|
458 |
/* A writeLen() would make this much cleaner */
|
|
459 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
|
|
460 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
|
|
461 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
|
|
462 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
|
|
463 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
|
|
464 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
|
|
465 |
|
|
466 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[6]);
|
|
467 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[7]);
|
|
468 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[8]);
|
|
469 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[9]);
|
|
470 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[10]);
|
|
471 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[11]);
|
|
472 |
|
|
473 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[12]);
|
|
474 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[13]);
|
|
475 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[14]);
|
|
476 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[15]);
|
|
477 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[16]);
|
|
478 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[17]);
|
|
479 |
|
|
480 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
|
|
481 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
|
|
482 |
|
|
483 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
|
|
484 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
|
|
485 |
|
|
486 |
setMode(lastMode);
|
488 |
487 |
}
|
489 |
488 |
|
490 |
489 |
/**************************************************************************/
|
... | ... | |
494 |
493 |
/**************************************************************************/
|
495 |
494 |
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)
|
496 |
495 |
{
|
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);
|
|
496 |
adafruit_bno055_opmode_t lastMode = _mode;
|
|
497 |
setMode(OPERATION_MODE_CONFIG);
|
|
498 |
delay(25);
|
|
499 |
|
|
500 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
|
|
501 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
|
|
502 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
|
|
503 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
|
|
504 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
|
|
505 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
|
|
506 |
|
|
507 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
|
|
508 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
|
|
509 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
|
|
510 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
|
|
511 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
|
|
512 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
|
|
513 |
|
|
514 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
|
|
515 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
|
|
516 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
|
|
517 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
|
|
518 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
|
|
519 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
|
|
520 |
|
|
521 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
|
|
522 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
|
|
523 |
|
|
524 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
|
|
525 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
|
|
526 |
|
|
527 |
setMode(lastMode);
|
529 |
528 |
}
|
530 |
529 |
|
531 |
530 |
bool Adafruit_BNO055::isFullyCalibrated(void)
|
532 |
531 |
{
|
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;
|
|
532 |
uint8_t system, gyro, accel, mag;
|
|
533 |
getCalibration(&system, &gyro, &accel, &mag);
|
|
534 |
if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
|
|
535 |
return false;
|
|
536 |
return true;
|
538 |
537 |
}
|
539 |
538 |
|
540 |
539 |
|
541 |
|
|
542 |
540 |
/***************************************************************************
|
543 |
541 |
PRIVATE FUNCTIONS
|
544 |
542 |
***************************************************************************/
|
545 |
543 |
|
546 |
544 |
/**************************************************************************/
|
547 |
545 |
/*!
|
548 |
|
@brief Writes an 8 bit value over I2C
|
549 |
|
*/
|
|
546 |
@brief Writes an 8 bit value over I2C
|
|
547 |
*/
|
550 |
548 |
/**************************************************************************/
|
551 |
549 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
|
552 |
550 |
{
|
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;
|
|
551 |
Wire.beginTransmission(_address);
|
|
552 |
#if ARDUINO >= 100
|
|
553 |
Wire.write((uint8_t)reg);
|
|
554 |
Wire.write((uint8_t)value);
|
|
555 |
#else
|
|
556 |
Wire.send(reg);
|
|
557 |
Wire.send(value);
|
|
558 |
#endif
|
|
559 |
Wire.endTransmission();
|
|
560 |
|
|
561 |
/* ToDo: Check for error! */
|
|
562 |
return true;
|
565 |
563 |
}
|
566 |
564 |
|
567 |
565 |
/**************************************************************************/
|
568 |
566 |
/*!
|
569 |
|
@brief Reads an 8 bit value over I2C
|
570 |
|
*/
|
|
567 |
@brief Reads an 8 bit value over I2C
|
|
568 |
*/
|
571 |
569 |
/**************************************************************************/
|
572 |
|
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg)
|
|
570 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
|
573 |
571 |
{
|
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;
|
|
572 |
byte value = 0;
|
|
573 |
|
|
574 |
Wire.beginTransmission(_address);
|
|
575 |
#if ARDUINO >= 100
|
|
576 |
Wire.write((uint8_t)reg);
|
|
577 |
#else
|
|
578 |
Wire.send(reg);
|
|
579 |
#endif
|
|
580 |
Wire.endTransmission();
|
|
581 |
Wire.requestFrom(_address, (byte)1);
|
|
582 |
#if ARDUINO >= 100
|
|
583 |
value = Wire.read();
|
|
584 |
#else
|
|
585 |
value = Wire.receive();
|
|
586 |
#endif
|
|
587 |
|
|
588 |
return value;
|
591 |
589 |
}
|
592 |
590 |
|
593 |
591 |
/**************************************************************************/
|
594 |
592 |
/*!
|
595 |
|
@brief Reads the specified number of bytes over I2C
|
596 |
|
*/
|
|
593 |
@brief Reads the specified number of bytes over I2C
|
|
594 |
*/
|
597 |
595 |
/**************************************************************************/
|
598 |
596 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
|
599 |
597 |
{
|
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 |
|
}
|
|
598 |
Wire.beginTransmission(_address);
|
|
599 |
#if ARDUINO >= 100
|
|
600 |
Wire.write((uint8_t)reg);
|
|
601 |
#else
|
|
602 |
Wire.send(reg);
|
|
603 |
#endif
|
|
604 |
Wire.endTransmission();
|
|
605 |
Wire.requestFrom(_address, (byte)len);
|
|
606 |
|
|
607 |
for (uint8_t i = 0; i < len; i++)
|
|
608 |
{
|
|
609 |
#if ARDUINO >= 100
|
|
610 |
buffer[i] = Wire.read();
|
|
611 |
#else
|
|
612 |
buffer[i] = Wire.receive();
|
|
613 |
#endif
|
|
614 |
}
|
|
615 |
|
|
616 |
/* ToDo: Check for errors! */
|
|
617 |
return true;
|
|
618 |
}
|