BRIX5

 #include "Arduino.h"

 #include "WProgram.h"

#include <math.h>

Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)

{

bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)

{

  if(id != BNO055_ID)

  {

    if(id != BNO055_ID) {

      return false;  // still not? ok bail

  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)

  {

void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)

{

void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )

{

void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )

{

void Adafruit_BNO055::setExtCrystalUse(boolean usextal)

{

void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)

{

    *system_status    = read8(BNO055_SYS_STAT_ADDR);

    *system_error     = read8(BNO055_SYS_ERR_ADDR);

void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)

{

  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);

  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);

  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);

void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {

int8_t Adafruit_BNO055::getTemp(void)

{

    @brief  Gets a vector reading from the specified source

imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)

{

  memset (buffer, 0, 6);

  switch(vector_type)

  {

    case VECTOR_MAGNETOMETER:

      /* 1uT = 16 LSB */

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

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

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

      break;

    case VECTOR_GYROSCOPE:

      /* 1dps = 16 LSB */

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

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

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

      break;

    case VECTOR_EULER:

      /* 1 degree = 16 LSB */

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

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

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

      break;

    case VECTOR_ACCELEROMETER:

    case VECTOR_LINEARACCEL:

    case VECTOR_GRAVITY:

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

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

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

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

      break;

imu::Quaternion Adafruit_BNO055::getQuat(void)

{

  memset (buffer, 0, 8);

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

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

void Adafruit_BNO055::getSensor(sensor_t *sensor)

{

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

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

  sensor->version     = 1;

  sensor->sensor_id   = _sensorID;

  sensor->type        = SENSOR_TYPE_ORIENTATION;

  sensor->min_delay   = 0;

  sensor->max_value   = 0.0F;

  sensor->min_value   = 0.0F;

  sensor->resolution  = 0.01F;

bool Adafruit_BNO055::getEvent(sensors_event_t *event)

{

  event->version   = sizeof(sensors_event_t);

  event->type      = SENSOR_TYPE_ORIENTATION;

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

bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)

{

    if (isFullyCalibrated())

    {

        adafruit_bno055_opmode_t lastMode = _mode;

        setMode(OPERATION_MODE_CONFIG);

        readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);

        setMode(lastMode);

        return true;

    }

    return false;

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

bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)

{

    if (isFullyCalibrated())

    {

        adafruit_bno055_opmode_t lastMode = _mode;

        setMode(OPERATION_MODE_CONFIG);

        delay(25);

        /* Accel offset range depends on the G-range:

           +/-2g  = +/- 2000 mg

           +/-4g  = +/- 4000 mg

           +/-8g  = +/- 8000 mg

           +/-1§g = +/- 16000 mg */

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

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

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

        /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */

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

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

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

        /* Gyro offset range depends on the DPS range:

          2000 dps = +/- 32000 LSB

          1000 dps = +/- 16000 LSB

           500 dps = +/- 8000 LSB

           250 dps = +/- 4000 LSB

           125 dps = +/- 2000 LSB

           ... where 1 DPS = 16 LSB */

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

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

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

        /* Accelerometer radius = +/- 1000 LSB */

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

        /* Magnetometer radius = +/- 960 LSB */

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

        setMode(lastMode);

        return true;

    }

    return false;

}

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

void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)

{

    adafruit_bno055_opmode_t lastMode = _mode;

    setMode(OPERATION_MODE_CONFIG);

    delay(25);

    /* Note: Configuration will take place only when user writes to the last

       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).

       Therefore the last byte must be written whenever the user wants to

       changes the configuration. */

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

    write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);

    write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);

    write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);

    write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);

    write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);

    write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);

    write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);

    write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);

    write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);

    write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);

    write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);

    write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);

    write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);

    write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);

    write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);

    write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);

    write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);

    write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);

    write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);

    write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);

    write8(MAG_RADIUS_LSB_ADDR, calibData[20]);

    write8(MAG_RADIUS_MSB_ADDR, calibData[21]);

    setMode(lastMode);

void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)

{

    adafruit_bno055_opmode_t lastMode = _mode;

    setMode(OPERATION_MODE_CONFIG);

    delay(25);

    /* Note: Configuration will take place only when user writes to the last

       byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).

       Therefore the last byte must be written whenever the user wants to

       changes the configuration. */

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    setMode(lastMode);

bool Adafruit_BNO055::isFullyCalibrated(void)

{

    uint8_t system, gyro, accel, mag;

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

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

        return false;

    return true;

bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)

{

  #if ARDUINO >= 100

    Wire.write((uint8_t)reg);

    Wire.write((uint8_t)value);

  #else

    Wire.send(reg);

    Wire.send(value);

  #endif

byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )

{

  #if ARDUINO >= 100

    Wire.write((uint8_t)reg);

  #else

    Wire.send(reg);

  #endif

  #if ARDUINO >= 100

    value = Wire.read();

  #else

    value = Wire.receive();

  #endif

bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)

{

  #if ARDUINO >= 100

    Wire.write((uint8_t)reg);

  #else

    Wire.send(reg);

  #endif

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

  {

    #if ARDUINO >= 100

      buffer[i] = Wire.read();

    #else

      buffer[i] = Wire.receive();

    #endif

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

  This is a library for the BNO055 orientation sensor

  Designed specifically to work with the Adafruit BNO055 Breakout.

  Pick one up today in the adafruit shop!

  ------> https://www.adafruit.com/product/2472

  These sensors use I2C to communicate, 2 pins are required to interface.

  Adafruit invests time and resources providing this open source code,

  please support Adafruit andopen-source hardware by purchasing products

  from Adafruit!

  Written by KTOWN for Adafruit Industries.

  MIT license, all text above must be included in any redistribution

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

 #include "Arduino.h"

 #include "WProgram.h"

 #include <TinyWireM.h>

 #define Wire TinyWireM

 #include <Wire.h>

#define BNO055_ID        (0xA0)

typedef struct

{

    int16_t accel_offset_x;

    int16_t accel_offset_y;

    int16_t accel_offset_z;

    int16_t mag_offset_x;

    int16_t mag_offset_y;

    int16_t mag_offset_z;

    int16_t gyro_offset_x;

    int16_t gyro_offset_y;

    int16_t gyro_offset_z;

    int16_t accel_radius;

    int16_t mag_radius;

class Adafruit_BNO055 : public Adafruit_Sensor

{

  public:

    typedef enum

    {

      /* Page id register definition */

      BNO055_PAGE_ID_ADDR                                     = 0X07,

      /* PAGE0 REGISTER DEFINITION START*/

      BNO055_CHIP_ID_ADDR                                     = 0x00,

      BNO055_ACCEL_REV_ID_ADDR                                = 0x01,

      BNO055_MAG_REV_ID_ADDR                                  = 0x02,

      BNO055_GYRO_REV_ID_ADDR                                 = 0x03,

      BNO055_SW_REV_ID_LSB_ADDR                               = 0x04,

      BNO055_SW_REV_ID_MSB_ADDR                               = 0x05,

      BNO055_BL_REV_ID_ADDR                                   = 0X06,

      /* Accel data register */

      BNO055_ACCEL_DATA_X_LSB_ADDR                            = 0X08,

      BNO055_ACCEL_DATA_X_MSB_ADDR                            = 0X09,

      BNO055_ACCEL_DATA_Y_LSB_ADDR                            = 0X0A,

      BNO055_ACCEL_DATA_Y_MSB_ADDR                            = 0X0B,

      BNO055_ACCEL_DATA_Z_LSB_ADDR                            = 0X0C,

      BNO055_ACCEL_DATA_Z_MSB_ADDR                            = 0X0D,

      /* Mag data register */

      BNO055_MAG_DATA_X_LSB_ADDR                              = 0X0E,

      BNO055_MAG_DATA_X_MSB_ADDR                              = 0X0F,

      BNO055_MAG_DATA_Y_LSB_ADDR                              = 0X10,

      BNO055_MAG_DATA_Y_MSB_ADDR                              = 0X11,

      BNO055_MAG_DATA_Z_LSB_ADDR                              = 0X12,

      BNO055_MAG_DATA_Z_MSB_ADDR                              = 0X13,

      /* Gyro data registers */

      BNO055_GYRO_DATA_X_LSB_ADDR                             = 0X14,

      BNO055_GYRO_DATA_X_MSB_ADDR                             = 0X15,

      BNO055_GYRO_DATA_Y_LSB_ADDR                             = 0X16,

      BNO055_GYRO_DATA_Y_MSB_ADDR                             = 0X17,

      BNO055_GYRO_DATA_Z_LSB_ADDR                             = 0X18,

      BNO055_GYRO_DATA_Z_MSB_ADDR                             = 0X19,

      /* Euler data registers */

      BNO055_EULER_H_LSB_ADDR                                 = 0X1A,

      BNO055_EULER_H_MSB_ADDR                                 = 0X1B,

      BNO055_EULER_R_LSB_ADDR                                 = 0X1C,

      BNO055_EULER_R_MSB_ADDR                                 = 0X1D,

      BNO055_EULER_P_LSB_ADDR                                 = 0X1E,

      BNO055_EULER_P_MSB_ADDR                                 = 0X1F,

      /* Quaternion data registers */

      BNO055_QUATERNION_DATA_W_LSB_ADDR                       = 0X20,

      BNO055_QUATERNION_DATA_W_MSB_ADDR                       = 0X21,

      BNO055_QUATERNION_DATA_X_LSB_ADDR                       = 0X22,

      BNO055_QUATERNION_DATA_X_MSB_ADDR                       = 0X23,

      BNO055_QUATERNION_DATA_Y_LSB_ADDR                       = 0X24,

      BNO055_QUATERNION_DATA_Y_MSB_ADDR                       = 0X25,

      BNO055_QUATERNION_DATA_Z_LSB_ADDR                       = 0X26,

      BNO055_QUATERNION_DATA_Z_MSB_ADDR                       = 0X27,

      /* Linear acceleration data registers */

      BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR                     = 0X28,

      BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR                     = 0X29,

      BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR                     = 0X2A,

      BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR                     = 0X2B,

      BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR                     = 0X2C,

      BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR                     = 0X2D,

      /* Gravity data registers */

      BNO055_GRAVITY_DATA_X_LSB_ADDR                          = 0X2E,

      BNO055_GRAVITY_DATA_X_MSB_ADDR                          = 0X2F,

      BNO055_GRAVITY_DATA_Y_LSB_ADDR                          = 0X30,

      BNO055_GRAVITY_DATA_Y_MSB_ADDR                          = 0X31,

      BNO055_GRAVITY_DATA_Z_LSB_ADDR                          = 0X32,

      BNO055_GRAVITY_DATA_Z_MSB_ADDR                          = 0X33,

      /* Temperature data register */

      BNO055_TEMP_ADDR                                        = 0X34,

      /* Status registers */

      BNO055_CALIB_STAT_ADDR                                  = 0X35,

      BNO055_SELFTEST_RESULT_ADDR                             = 0X36,

      BNO055_INTR_STAT_ADDR                                   = 0X37,

      BNO055_SYS_CLK_STAT_ADDR                                = 0X38,

      BNO055_SYS_STAT_ADDR                                    = 0X39,

      BNO055_SYS_ERR_ADDR                                     = 0X3A,

      /* Unit selection register */

      BNO055_UNIT_SEL_ADDR                                    = 0X3B,

      BNO055_DATA_SELECT_ADDR                                 = 0X3C,

      /* Mode registers */

      BNO055_OPR_MODE_ADDR                                    = 0X3D,

      BNO055_PWR_MODE_ADDR                                    = 0X3E,

      BNO055_SYS_TRIGGER_ADDR                                 = 0X3F,

      BNO055_TEMP_SOURCE_ADDR                                 = 0X40,

      /* Axis remap registers */

      BNO055_AXIS_MAP_CONFIG_ADDR                             = 0X41,

      BNO055_AXIS_MAP_SIGN_ADDR                               = 0X42,

      /* SIC registers */

      BNO055_SIC_MATRIX_0_LSB_ADDR                            = 0X43,

      BNO055_SIC_MATRIX_0_MSB_ADDR                            = 0X44,

      BNO055_SIC_MATRIX_1_LSB_ADDR                            = 0X45,

      BNO055_SIC_MATRIX_1_MSB_ADDR                            = 0X46,

      BNO055_SIC_MATRIX_2_LSB_ADDR                            = 0X47,

      BNO055_SIC_MATRIX_2_MSB_ADDR                            = 0X48,

      BNO055_SIC_MATRIX_3_LSB_ADDR                            = 0X49,

      BNO055_SIC_MATRIX_3_MSB_ADDR                            = 0X4A,

      BNO055_SIC_MATRIX_4_LSB_ADDR                            = 0X4B,

      BNO055_SIC_MATRIX_4_MSB_ADDR                            = 0X4C,

      BNO055_SIC_MATRIX_5_LSB_ADDR                            = 0X4D,

      BNO055_SIC_MATRIX_5_MSB_ADDR                            = 0X4E,

      BNO055_SIC_MATRIX_6_LSB_ADDR                            = 0X4F,

      BNO055_SIC_MATRIX_6_MSB_ADDR                            = 0X50,

      BNO055_SIC_MATRIX_7_LSB_ADDR                            = 0X51,

      BNO055_SIC_MATRIX_7_MSB_ADDR                            = 0X52,

      BNO055_SIC_MATRIX_8_LSB_ADDR                            = 0X53,

      BNO055_SIC_MATRIX_8_MSB_ADDR                            = 0X54,

      /* Accelerometer Offset registers */

      ACCEL_OFFSET_X_LSB_ADDR                                 = 0X55,

      ACCEL_OFFSET_X_MSB_ADDR                                 = 0X56,

      ACCEL_OFFSET_Y_LSB_ADDR                                 = 0X57,

      ACCEL_OFFSET_Y_MSB_ADDR                                 = 0X58,

      ACCEL_OFFSET_Z_LSB_ADDR                                 = 0X59,

      ACCEL_OFFSET_Z_MSB_ADDR                                 = 0X5A,

      /* Magnetometer Offset registers */

      MAG_OFFSET_X_LSB_ADDR                                   = 0X5B,

      MAG_OFFSET_X_MSB_ADDR                                   = 0X5C,

      MAG_OFFSET_Y_LSB_ADDR                                   = 0X5D,

      MAG_OFFSET_Y_MSB_ADDR                                   = 0X5E,

      MAG_OFFSET_Z_LSB_ADDR                                   = 0X5F,

      MAG_OFFSET_Z_MSB_ADDR                                   = 0X60,

      /* Gyroscope Offset register s*/

      GYRO_OFFSET_X_LSB_ADDR                                  = 0X61,

      GYRO_OFFSET_X_MSB_ADDR                                  = 0X62,

      GYRO_OFFSET_Y_LSB_ADDR                                  = 0X63,

      GYRO_OFFSET_Y_MSB_ADDR                                  = 0X64,

      GYRO_OFFSET_Z_LSB_ADDR                                  = 0X65,

      GYRO_OFFSET_Z_MSB_ADDR                                  = 0X66,

      /* Radius registers */

      ACCEL_RADIUS_LSB_ADDR                                   = 0X67,

      ACCEL_RADIUS_MSB_ADDR                                   = 0X68,

      MAG_RADIUS_LSB_ADDR                                     = 0X69,

      MAG_RADIUS_MSB_ADDR                                     = 0X6A

    } adafruit_bno055_reg_t;

    typedef enum

    {

      POWER_MODE_NORMAL                                       = 0X00,

      POWER_MODE_LOWPOWER                                     = 0X01,

      POWER_MODE_SUSPEND                                      = 0X02

    } adafruit_bno055_powermode_t;

    typedef enum

    {

      /* Operation mode settings*/

      OPERATION_MODE_CONFIG                                   = 0X00,

      OPERATION_MODE_ACCONLY                                  = 0X01,

      OPERATION_MODE_MAGONLY                                  = 0X02,

      OPERATION_MODE_GYRONLY                                  = 0X03,

      OPERATION_MODE_ACCMAG                                   = 0X04,

      OPERATION_MODE_ACCGYRO                                  = 0X05,

      OPERATION_MODE_MAGGYRO                                  = 0X06,

      OPERATION_MODE_AMG                                      = 0X07,

      OPERATION_MODE_IMUPLUS                                  = 0X08,

      OPERATION_MODE_COMPASS                                  = 0X09,

      OPERATION_MODE_M4G                                      = 0X0A,

      OPERATION_MODE_NDOF_FMC_OFF                             = 0X0B,

      OPERATION_MODE_NDOF                                     = 0X0C

    } adafruit_bno055_opmode_t;

    typedef enum

    {

      REMAP_CONFIG_P0                                         = 0x21,

      REMAP_CONFIG_P1                                         = 0x24, // default

      REMAP_CONFIG_P2                                         = 0x24,

      REMAP_CONFIG_P3                                         = 0x21,

      REMAP_CONFIG_P4                                         = 0x24,

      REMAP_CONFIG_P5                                         = 0x21,

      REMAP_CONFIG_P6                                         = 0x21,

      REMAP_CONFIG_P7                                         = 0x24

    } adafruit_bno055_axis_remap_config_t;

    typedef enum

    {

      REMAP_SIGN_P0                                           = 0x04,

      REMAP_SIGN_P1                                           = 0x00, // default

      REMAP_SIGN_P2                                           = 0x06,

      REMAP_SIGN_P3                                           = 0x02,

      REMAP_SIGN_P4                                           = 0x03,

      REMAP_SIGN_P5                                           = 0x01,

      REMAP_SIGN_P6                                           = 0x07,

      REMAP_SIGN_P7                                           = 0x05

    } adafruit_bno055_axis_remap_sign_t;

    typedef struct

    {

      uint8_t  accel_rev;

      uint8_t  mag_rev;

      uint8_t  gyro_rev;

      uint16_t sw_rev;

      uint8_t  bl_rev;

    } adafruit_bno055_rev_info_t;

    typedef enum

    {

      VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,

      VECTOR_MAGNETOMETER  = BNO055_MAG_DATA_X_LSB_ADDR,

      VECTOR_GYROSCOPE     = BNO055_GYRO_DATA_X_LSB_ADDR,

      VECTOR_EULER         = BNO055_EULER_H_LSB_ADDR,

      VECTOR_LINEARACCEL   = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,

      VECTOR_GRAVITY       = BNO055_GRAVITY_DATA_X_LSB_ADDR

    } adafruit_vector_type_t;

#if defined (ARDUINO_SAMD_ZERO) && ! (ARDUINO_SAMD_FEATHER_M0)

#error "On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line."

    Adafruit_BNO055 ( int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_B );

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

    bool  begin               ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF );

    void  setMode             ( adafruit_bno055_opmode_t mode );

    void  setAxisRemap        ( adafruit_bno055_axis_remap_config_t remapcode );

    void  setAxisSign         ( adafruit_bno055_axis_remap_sign_t remapsign );

    void  getRevInfo          ( adafruit_bno055_rev_info_t* );

    void  displayRevInfo      ( void );

    void  setExtCrystalUse    ( boolean usextal );

    void  getSystemStatus     ( uint8_t *system_status,

                                uint8_t *self_test_result,

                                uint8_t *system_error);

    void  displaySystemStatus ( void );

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

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

    imu::Quaternion getQuat   ( void );

    int8_t          getTemp   ( void );

    /* Adafruit_Sensor implementation */

    bool  getEvent  ( sensors_event_t* );

    void  getSensor ( sensor_t* );

    /* Functions to deal with raw calibration data */

    bool  getSensorOffsets(uint8_t* calibData);

    bool  getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);

    void  setSensorOffsets(const uint8_t* calibData);

    void  setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);

    bool  isFullyCalibrated(void);

  private:

    byte  read8   ( adafruit_bno055_reg_t );

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

    bool  write8  ( adafruit_bno055_reg_t, byte value );

    uint8_t _address;

    int32_t _sensorID;

    adafruit_bno055_opmode_t _mode;