Revision dd57d4fa Adafruit_BNO055.cpp

View differences:

Adafruit_BNO055.cpp
71 71 
  setMode(OPERATION_MODE_CONFIG);
72 72 

  		




  73
  73
  
    
  /* Reset */


  		




  74
  
  
    
  write8(BNO055_SYS_TRIGGER_ADDR, 0x20); //reset the sensor


  		




  75
  
  
    
  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) //wait for boot


  		




  
  74
  
    
  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);


  		




  
  75
  
    
  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)


  		




  
  76
  
    
  {


  		




  76
  77
  
    
    delay(10);


  		




  77
  
  
    
  


  		




  
  78
  
    
  }


  		




  78
  79
  
    
  delay(50);


  		




  79
  80
  
    
 


  		




  80
  81
  
    
  /* Set to normal power mode */


  		




  ......




  84
  85
  
    
  write8(BNO055_PAGE_ID_ADDR, 0);


  		




  85
  86
  
    
  


  		




  86
  87
  
    
  /* Set the output units */


  		




  87
  
  
    
  uint8_t unitsel = (0 << 7) | /* Orientation = Android */


  		




  88
  
  
    
                    (0 << 4) | /* Temperature = Celsius */


  		




  89
  
  
    
                    (0 << 2) | /* Euler = Degrees */


  		




  90
  
  
    
                    (1 << 1) | /* Gyro = Rads */


  		




  91
  
  
    
                    (0 << 0);  /* Accelerometer = m/s^2 */


  		




  
  88
  
    
  /*


  		




  
  89
  
    
  uint8_t unitsel = (0 << 7) | // Orientation = Android


  		




  
  90
  
    
                    (0 << 4) | // Temperature = Celsius


  		




  
  91
  
    
                    (0 << 2) | // Euler = Degrees


  		




  
  92
  
    
                    (1 << 1) | // Gyro = Rads


  		




  
  93
  
    
                    (0 << 0);  // Accelerometer = m/s^2


  		




  92
  94
  
    
  write8(BNO055_UNIT_SEL_ADDR, unitsel);


  		




  
  95
  
    
  */


  		




  93
  96
  
    

  		




  94
  97
  
    
  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);


  		




  95
  98
  
    
  delay(10);


  		




  ......




  256
  259
  
    
  


  		




  257
  260
  
    
  /* Read vector data (6 bytes) */


  		




  258
  261
  
    
  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);


  		




  259
  
  
    
  x = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);


  		




  260
  
  
    
  y = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);


  		




  261
  
  
    
  z = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);


  		




  
  262
  
    
  


  		




  
  263
  
    
  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);


  		




  
  264
  
    
  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);


  		




  
  265
  
    
  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);


  		




  262
  266
  
    

  		




  263
  267
  
    
  /* Convert the value to an appropriate range (section 3.6.4) */


  		




  264
  268
  
    
  /* and assign the value to the Vector type */


  		












Also available in:  Unified diff