Revision 9a8e8b26 Adafruit_BNO055.cpp
Adafruit_BNO055.cpp | ||
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/*! |
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* @brief Instantiates a new Adafruit_BNO055 class |
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* @param sensorID |
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* sensor ID |
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* @param address |
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* i2c address |
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*/ |
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Adafruit_BNO055::Adafruit_BNO055() {} |
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address, |
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TwoWire *theWire) { |
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_sensorID = sensorID; |
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_address = address; |
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} |
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/*! |
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* @brief Sets up the HW |
... | ... | |
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* OPERATION_MODE_M4G, |
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* OPERATION_MODE_NDOF_FMC_OFF, |
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* OPERATION_MODE_NDOF] |
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* @param *theWire |
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* Wire object |
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* @return true if process is successful |
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*/ |
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bool Adafruit_BNO055::begin() { |
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_wire = &Wire; |
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#if defined(ARDUINO_SAMD_ZERO) && !(ARDUINO_SAMD_FEATHER_M0) |
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) { |
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#if defined(ARDUINO_SAMD_ZERO) && (_address == BNO055_ADDRESS_A) |
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#error \ |
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"On an arduino Zero, BNO055's ADR pin must be high. Fix that, then delete this line." |
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_address = BNO055_ADDRESS_B; |
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#else |
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_address = BNO055_ADDRESS_A; |
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#endif |
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return init(OPERATION_MODE_NDOF); |
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} |
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/*! |
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* @brief Sets up the HW |
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* @param mode |
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* mode values |
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* [OPERATION_MODE_CONFIG, |
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* OPERATION_MODE_ACCONLY, |
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* OPERATION_MODE_MAGONLY, |
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* OPERATION_MODE_GYRONLY, |
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* OPERATION_MODE_ACCMAG, |
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* OPERATION_MODE_ACCGYRO, |
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* OPERATION_MODE_MAGGYRO, |
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* OPERATION_MODE_AMG, |
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* OPERATION_MODE_IMUPLUS, |
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* OPERATION_MODE_COMPASS, |
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* OPERATION_MODE_M4G, |
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* OPERATION_MODE_NDOF_FMC_OFF, |
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* OPERATION_MODE_NDOF] |
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* @param *theWire |
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* Wire object |
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* @return true if process is successful |
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*/ |
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode, uint8_t address, |
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TwoWire *theWire) { |
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_wire = theWire; |
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_address = address; |
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return init(mode); |
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} |
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bool Adafruit_BNO055::init(adafruit_bno055_opmode_t mode) { |
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/* Enable I2C */ |
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_wire->begin(); |
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/* BNO055 clock stretches for 500us or more! */
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// BNO055 clock stretches for 500us or more!
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#ifdef ESP8266 |
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/* Allow for 1000us of clock stretching */ |
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<<<<<<< HEAD |
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_wire->setClockStretchLimit(1000); |
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======= |
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Wire.setClockStretchLimit(1000); |
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>>>>>>> 75f03d2e1fd440e7febc0de8c47a52bab09c51b0 |
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_wire->setClockStretchLimit(1000); // Allow for 1000us of clock stretching |
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#endif |
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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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/* hold on for boot */ |
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delay(1000); |
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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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/* still not? ok bail */ |
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return false; |
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return false; // still not? ok bail |
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} |
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} |
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write8(BNO055_PAGE_ID_ADDR, 0); |
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/* Set the output units |
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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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/* 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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/* Configure axis mapping (see section 3.4) */ |
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/* |
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1 |
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delay(10); |
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write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1 |
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delay(10); |
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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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