BRIX5

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

  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!

  ------> http://www.adafruit.com/products

  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

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

#if ARDUINO >= 100

 #include "Arduino.h"

#else

 #include "WProgram.h"

#endif

#include <math.h>

#include <limits.h>

#include "Adafruit_BNO055.h"

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

 CONSTRUCTOR

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

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

/*!

    @brief  Instantiates a new Adafruit_BNO055 class

*/

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

Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)

{

  _sensorID = sensorID;

  _address = address;

}

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

 PUBLIC FUNCTIONS

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

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

/*!

    @brief  Sets up the HW

*/

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

bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)

{

  /* Enable I2C */

  Wire.begin();

  // BNO055 clock stretches for 500us or more!

#ifdef ESP8266

  Wire.setClockStretchLimit(1000); // Allow for 1000us of clock stretching

#endif

  /* Make sure we have the right device */

  uint8_t id = read8(BNO055_CHIP_ID_ADDR);

  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

    }

  }

  /* Switch to config mode (just in case since this is the default) */

  setMode(OPERATION_MODE_CONFIG);

  /* Reset */

  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);

  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)

  {

    delay(10);

  }

  delay(50);

  /* Set to normal power mode */

  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);

  delay(10);

  write8(BNO055_PAGE_ID_ADDR, 0);

  /* Set the output units */

  /*

  uint8_t unitsel = (0 << 7) | // Orientation = Android

                    (0 << 4) | // Temperature = Celsius

                    (0 << 2) | // Euler = Degrees

                    (1 << 1) | // Gyro = Rads

                    (0 << 0);  // Accelerometer = m/s^2

  write8(BNO055_UNIT_SEL_ADDR, unitsel);

  */

  /* Configure axis mapping (see section 3.4) */

  /*

  write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1

  delay(10);

  write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1

  delay(10);

  */

  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);

  delay(10);

  /* Set the requested operating mode (see section 3.3) */

  setMode(mode);

  delay(20);

  return true;

}

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

/*!

    @brief  Puts the chip in the specified operating mode

*/

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

void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)

{

  _mode = mode;

  write8(BNO055_OPR_MODE_ADDR, _mode);

  delay(30);

}

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

/*!

    @brief  Use the external 32.768KHz crystal

*/

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

void Adafruit_BNO055::setExtCrystalUse(boolean usextal)

{

  adafruit_bno055_opmode_t modeback = _mode;

  /* Switch to config mode (just in case since this is the default) */

  setMode(OPERATION_MODE_CONFIG);

  delay(25);

  write8(BNO055_PAGE_ID_ADDR, 0);

  if (usextal) {

    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);

  } else {

    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);

  }

  delay(10);

  /* Set the requested operating mode (see section 3.3) */

  setMode(modeback);

  delay(20);

}

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

/*!

    @brief  Gets the latest system status info

*/

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

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)

     ---------------------------------

     0 = Idle

     1 = System Error

     2 = Initializing Peripherals

     3 = System Iniitalization

     4 = Executing Self-Test

     5 = Sensor fusio algorithm running

     6 = System running without fusion algorithms */

  if (system_status != 0)

    *system_status    = read8(BNO055_SYS_STAT_ADDR);

  /* Self Test Results (see section )

     --------------------------------

     1 = test passed, 0 = test failed

     Bit 0 = Accelerometer self test

     Bit 1 = Magnetometer self test

     Bit 2 = Gyroscope self test

     Bit 3 = MCU self test

     0x0F = all good! */

  if (self_test_result != 0)

    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);

  /* System Error (see section 4.3.59)

     ---------------------------------

     0 = No error

     1 = Peripheral initialization error

     2 = System initialization error

     3 = Self test result failed

     4 = Register map value out of range

     5 = Register map address out of range

     6 = Register map write error

     7 = BNO low power mode not available for selected operat ion mode

     8 = Accelerometer power mode not available

     9 = Fusion algorithm configuration error

     A = Sensor configuration error */

  if (system_error != 0)

    *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)

{

  uint8_t a, b;

  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));

  /* Check the accelerometer revision */

  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);

  /* Check the magnetometer revision */

  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);

  /* Check the gyroscope revision */

  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);