/ - Diff - BRIX5 - Research for Cognitive Interaction

Revision 55e2f6d1

     # osx
     .DS_Store
     # doxygen
     Doxyfile*
     doxygen_sqlite3.db
     html
     *.tmp

     language: c
     sudo: false
     cache:
       directories:
         - ~/arduino_ide
         - ~/.arduino15/packages/
     git:
       depth: false
       quiet: true
     env:
       global:
         - ARDUINO_IDE_VERSION="1.8.7"
         - PRETTYNAME="Adafruit BNO055 Library"
     before_install:
       - rm -rf ./examples_processing # we're not testing processing sketches
       - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/install.sh)
     install:
       - arduino --install-library "Adafruit Unified Sensor"
     script:
       - build_main_platforms
     after_success:
       - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/library_check.sh)
       - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/doxy_gen_and_deploy.sh)

      ***************************************************************************/
     #if ARDUINO >= 100
      #include "Arduino.h"
     #include "Arduino.h"
     #else
      #include "WProgram.h"
     #include "WProgram.h"
     #endif
     #include <math.h>
     #include <limits.h>
     #include <math.h>
     #include "Adafruit_BNO055.h"
-...
     /**************************************************************************/
     /*!
         @brief  Instantiates a new Adafruit_BNO055 class
         @param  sensorID
         @param  address
     */
     /**************************************************************************/
     Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
+    {
     Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) {
       _sensorID = sensorID;
       _address = address;
+    }
-...
     /**************************************************************************/
     /*!
         @brief  Sets up the HW
         @param  mode
         @return true if process is sucessfull
     */
     /**************************************************************************/
     bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
+    {
     bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
       /* Enable I2C */
       Wire.begin();
-...
       /* Make sure we have the right device */
       uint8_t id = read8(BNO055_CHIP_ID_ADDR);
       if(id != BNO055_ID)
+      {
       if (id != BNO055_ID) {
         delay(1000); // hold on for boot
         id = read8(BNO055_CHIP_ID_ADDR);
         if(id != BNO055_ID) {
           return false;  // still not? ok bail
         if (id != BNO055_ID) {
           return false; // still not? ok bail
+        }
+      }
-...
       /* Reset */
       write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
       while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
+      {
       while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
         delay(10);
+      }
       delay(50);
-...
     /**************************************************************************/
     /*!
         @brief  Puts the chip in the specified operating mode
         @param  mode
     */
     /**************************************************************************/
     void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
+    {
     void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
       _mode = mode;
       write8(BNO055_OPR_MODE_ADDR, _mode);
       delay(30);
-...
     /**************************************************************************/
     /*!
         @brief  Changes the chip's axis remap
         @param  remapcode
     */
     /**************************************************************************/
     void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )
+    {
     void Adafruit_BNO055::setAxisRemap(
         adafruit_bno055_axis_remap_config_t remapcode) {
       adafruit_bno055_opmode_t modeback = _mode;
       setMode(OPERATION_MODE_CONFIG);
-...
     /**************************************************************************/
     /*!
         @brief  Changes the chip's axis signs
         @param  remapsign
     */
     /**************************************************************************/
     void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )
+    {
     void Adafruit_BNO055::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
       adafruit_bno055_opmode_t modeback = _mode;
       setMode(OPERATION_MODE_CONFIG);
-...
       delay(20);
+    }
     /**************************************************************************/
     /*!
         @brief  Use the external 32.768KHz crystal
         @param  usextal boolean
     */
     /**************************************************************************/
     void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
+    {
     void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
       adafruit_bno055_opmode_t modeback = _mode;
       /* Switch to config mode (just in case since this is the default) */
-...
       delay(20);
+    }
     /**************************************************************************/
     /*!
         @brief  Gets the latest system status info
         @param  system_status
         @param  self_test_result
         @param  system_error
     */
     /**************************************************************************/
     void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
+    {
     void Adafruit_BNO055::getSystemStatus(uint8_t *system_status,
                                           uint8_t *self_test_result,
                                           uint8_t *system_error) {
       write8(BNO055_PAGE_ID_ADDR, 0);
       /* System Status (see section 4.3.58)
-...
 = System running without fusion algorithms */
       if (system_status != 0)
         *system_status    = read8(BNO055_SYS_STAT_ADDR);
         *system_status = read8(BNO055_SYS_STAT_ADDR);
       /* Self Test Results (see section )
          --------------------------------
-...
          A = Sensor configuration error */
       if (system_error != 0)
         *system_error     = read8(BNO055_SYS_ERR_ADDR);
         *system_error = read8(BNO055_SYS_ERR_ADDR);
       delay(200);
+    }
-...
         @brief  Gets the chip revision numbers
     */
     /**************************************************************************/
     void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
+    {
     void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t *info) {
       uint8_t a, b;
       memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
-...
       info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
       /* Check the magnetometer revision */
       info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
       info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
       /* Check the gyroscope revision */
       info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
       info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
       /* Check the SW revision */
       info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
       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);
-...
         @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.
         @param  sys
         @param  gyro
         @param  accel
         @param  mag
     */
     /**************************************************************************/
     void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
     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;
-...
     /**************************************************************************/
     /*!
         @brief  Gets the temperature in degrees celsius
         @return temperature in degrees celsius
     */
     /**************************************************************************/
     int8_t Adafruit_BNO055::getTemp(void)
+    {
     int8_t Adafruit_BNO055::getTemp() {
       int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
       return temp;
+    }
     /**************************************************************************/
     /*!
         @brief  Gets a vector reading from the specified source
         @brief   Gets a vector reading from the specified source
         @param   vector_type
         @return  vector from specified source
     */
     /**************************************************************************/
     imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
+    {
     imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
       imu::Vector<3> xyz;
       uint8_t buffer[6];
       memset (buffer, 0, 6);
       memset(buffer, 0, 6);
       int16_t x, y, z;
       x = y = z = 0;
-...
       /* Convert the value to an appropriate range (section 3.6.4) */
       /* and assign the value to the Vector type */
       switch(vector_type)
+      {
         case VECTOR_MAGNETOMETER:
           /* 1uT = 16 LSB */
           xyz[0] = ((double)x)/16.0;
           xyz[1] = ((double)y)/16.0;
           xyz[2] = ((double)z)/16.0;
           break;
         case VECTOR_GYROSCOPE:
           /* 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;
       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;
+      }
       return xyz;
-...
     /**************************************************************************/
     /*!
         @brief  Gets a quaternion reading from the specified source
         @return quaternion reading
     */
     /**************************************************************************/
     imu::Quaternion Adafruit_BNO055::getQuat(void)
+    {
     imu::Quaternion Adafruit_BNO055::getQuat() {
       uint8_t buffer[8];
       memset (buffer, 0, 8);
       memset(buffer, 0, 8);
       int16_t x, y, z, w;
       x = y = z = w = 0;
-...
       z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
       /* Assign to Quaternion */
       /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
       /* See
          http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
 .6.5.5 Orientation (Quaternion)  */
       const double scale = (1.0 / (1<<14));
       const double scale = (1.0 / (1 << 14));
       imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
       return quat;
+    }
-...
     /**************************************************************************/
     /*!
         @brief  Provides the sensor_t data for this sensor
         @param  sensor
     */
     /**************************************************************************/
     void Adafruit_BNO055::getSensor(sensor_t *sensor)
+    {
     void Adafruit_BNO055::getSensor(sensor_t *sensor) {
       /* Clear the sensor_t object */
       memset(sensor, 0, sizeof(sensor_t));
       /* Insert the sensor name in the fixed length char array */
       strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
       sensor->name[sizeof(sensor->name)- 1] = 0;
       sensor->version     = 1;
       sensor->sensor_id   = _sensorID;
       sensor->type        = SENSOR_TYPE_ORIENTATION;
       sensor->min_delay   = 0;
       sensor->max_value   = 0.0F;
       sensor->min_value   = 0.0F;
       sensor->resolution  = 0.01F;
       strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1);
       sensor->name[sizeof(sensor->name) - 1] = 0;
       sensor->version = 1;
       sensor->sensor_id = _sensorID;
       sensor->type = SENSOR_TYPE_ORIENTATION;
       sensor->min_delay = 0;
       sensor->max_value = 0.0F;
       sensor->min_value = 0.0F;
       sensor->resolution = 0.01F;
+    }
     /**************************************************************************/
     /*!
         @brief  Reads the sensor and returns the data as a sensors_event_t
         @param  event
         @return always returns true
     */
     /**************************************************************************/
     bool Adafruit_BNO055::getEvent(sensors_event_t *event)
+    {
     bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
       /* Clear the event */
       memset(event, 0, sizeof(sensors_event_t));
       event->version   = sizeof(sensors_event_t);
       event->version = sizeof(sensors_event_t);
       event->sensor_id = _sensorID;
       event->type      = SENSOR_TYPE_ORIENTATION;
       event->type = SENSOR_TYPE_ORIENTATION;
       event->timestamp = millis();
       /* Get a Euler angle sample for orientation */
-...
     /**************************************************************************/
     /*!
     @brief  Reads the sensor's offset registers into a byte array
         @brief  Reads the sensor's offset registers into a byte array
         @param  calibData
         @return true if read is successful
     */
     /**************************************************************************/
     bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
+    {
         if (isFullyCalibrated())
+        {
             adafruit_bno055_opmode_t lastMode = _mode;
             setMode(OPERATION_MODE_CONFIG);
     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);
         readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
             setMode(lastMode);
             return true;
+        }
         return false;
         setMode(lastMode);
         return true;
+      }
       return false;
+    }
     /**************************************************************************/
     /*!
     @brief  Reads the sensor's offset registers into an offset struct
         @brief  Reads the sensor's offset registers into an offset struct
         @param  offsets_type
         @return true if read is successful
     */
     /**************************************************************************/
     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));