adafruit_bno055 / Adafruit_BNO055.cpp @ fd9de024
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/***************************************************************************
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This is a library for the BNO055 orientation sensor
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Designed specifically to work with the Adafruit BNO055 Breakout.
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Pick one up today in the adafruit shop!
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------> http://www.adafruit.com/products
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These sensors use I2C to communicate, 2 pins are required to interface.
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Adafruit invests time and resources providing this open source code,
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please support Adafruit andopen-source hardware by purchasing products
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from Adafruit!
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Written by KTOWN for Adafruit Industries.
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MIT license, all text above must be included in any redistribution
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***************************************************************************/
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#if ARDUINO >= 100 |
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#include "Arduino.h" |
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#else
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#include "WProgram.h" |
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#endif
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#include <math.h> |
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#include <limits.h> |
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#include "Adafruit_BNO055.h" |
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/***************************************************************************
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CONSTRUCTOR
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***************************************************************************/
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/**************************************************************************/
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/*!
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@brief Instantiates a new Adafruit_BNO055 class
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*/
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/**************************************************************************/
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) |
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{
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_sensorID = sensorID; |
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_address = address; |
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} |
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/***************************************************************************
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PUBLIC FUNCTIONS
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***************************************************************************/
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/**************************************************************************/
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/*!
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@brief Sets up the HW
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
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{
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/* Enable I2C */
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Wire.begin(); |
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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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{
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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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return false; // still not? ok bail |
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} |
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} |
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG); |
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/* Reset */
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write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
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{
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delay(10);
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} |
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delay(50);
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/* Set to normal power mode */
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write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL); |
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delay(10);
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write8(BNO055_PAGE_ID_ADDR, 0);
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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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setMode(mode); |
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delay(20);
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return true; |
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} |
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/**************************************************************************/
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/*!
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@brief Puts the chip in the specified operating mode
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
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{
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_mode = mode; |
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write8(BNO055_OPR_MODE_ADDR, _mode); |
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delay(30);
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} |
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/**************************************************************************/
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/*!
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@brief Use the external 32.768KHz crystal
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
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{
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adafruit_bno055_opmode_t modeback = _mode; |
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/* Switch to config mode (just in case since this is the default) */
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setMode(OPERATION_MODE_CONFIG); |
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delay(25);
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write8(BNO055_PAGE_ID_ADDR, 0);
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if (usextal) {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
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} else {
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write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
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} |
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delay(10);
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/* Set the requested operating mode (see section 3.3) */
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setMode(modeback); |
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delay(20);
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} |
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/**************************************************************************/
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/*!
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@brief Gets the latest system status info
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
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{
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write8(BNO055_PAGE_ID_ADDR, 0);
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/* System Status (see section 4.3.58)
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---------------------------------
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0 = Idle
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1 = System Error
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2 = Initializing Peripherals
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3 = System Iniitalization
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4 = Executing Self-Test
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5 = Sensor fusio algorithm running
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6 = System running without fusion algorithms */
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if (system_status != 0) |
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*system_status = read8(BNO055_SYS_STAT_ADDR); |
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/* Self Test Results (see section )
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--------------------------------
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1 = test passed, 0 = test failed
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Bit 0 = Accelerometer self test
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Bit 1 = Magnetometer self test
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Bit 2 = Gyroscope self test
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Bit 3 = MCU self test
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0x0F = all good! */
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if (self_test_result != 0) |
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*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR); |
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/* System Error (see section 4.3.59)
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---------------------------------
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0 = No error
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1 = Peripheral initialization error
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2 = System initialization error
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3 = Self test result failed
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4 = Register map value out of range
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5 = Register map address out of range
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6 = Register map write error
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7 = BNO low power mode not available for selected operat ion mode
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8 = Accelerometer power mode not available
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9 = Fusion algorithm configuration error
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A = Sensor configuration error */
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if (system_error != 0) |
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*system_error = read8(BNO055_SYS_ERR_ADDR); |
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delay(200);
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} |
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/**************************************************************************/
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/*!
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@brief Gets the chip revision numbers
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
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{
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uint8_t a, b; |
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memset(info, 0, sizeof(adafruit_bno055_rev_info_t)); |
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/* Check the accelerometer revision */
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info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR); |
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/* Check the magnetometer revision */
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info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR); |
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/* Check the gyroscope revision */
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR); |
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/* Check the SW revision */
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR); |
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a = read8(BNO055_SW_REV_ID_LSB_ADDR); |
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b = read8(BNO055_SW_REV_ID_MSB_ADDR); |
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info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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} |
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/**************************************************************************/
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/*!
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@brief Gets current calibration state. Each value should be a uint8_t
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pointer and it will be set to 0 if not calibrated and 3 if
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fully calibrated.
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
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uint8_t calData = read8(BNO055_CALIB_STAT_ADDR); |
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if (sys != NULL) { |
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*sys = (calData >> 6) & 0x03; |
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} |
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if (gyro != NULL) { |
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*gyro = (calData >> 4) & 0x03; |
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} |
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if (accel != NULL) { |
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*accel = (calData >> 2) & 0x03; |
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} |
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if (mag != NULL) { |
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*mag = calData & 0x03;
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} |
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} |
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/**************************************************************************/
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/*!
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@brief Gets the temperature in degrees celsius
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*/
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/**************************************************************************/
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int8_t Adafruit_BNO055::getTemp(void)
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{
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int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR)); |
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return temp;
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} |
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/**************************************************************************/
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/*!
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@brief Gets a vector reading from the specified source
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*/
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/**************************************************************************/
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imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
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{
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imu::Vector<3> xyz;
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uint8_t buffer[6];
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memset (buffer, 0, 6); |
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int16_t x, y, z; |
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x = y = z = 0;
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/* Read vector data (6 bytes) */
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readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
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x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8); |
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y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8); |
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z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8); |
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/* Convert the value to an appropriate range (section 3.6.4) */
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/* and assign the value to the Vector type */
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switch(vector_type)
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{
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case VECTOR_MAGNETOMETER:
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/* 1uT = 16 LSB */
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xyz[0] = ((double)x)/16.0; |
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xyz[1] = ((double)y)/16.0; |
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xyz[2] = ((double)z)/16.0; |
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break;
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case VECTOR_GYROSCOPE:
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/* 1rps = 900 LSB */
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xyz[0] = ((double)x)/900.0; |
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xyz[1] = ((double)y)/900.0; |
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xyz[2] = ((double)z)/900.0; |
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break;
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case VECTOR_EULER:
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/* 1 degree = 16 LSB */
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xyz[0] = ((double)x)/16.0; |
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xyz[1] = ((double)y)/16.0; |
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xyz[2] = ((double)z)/16.0; |
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break;
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case VECTOR_ACCELEROMETER:
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case VECTOR_LINEARACCEL:
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case VECTOR_GRAVITY:
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/* 1m/s^2 = 100 LSB */
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xyz[0] = ((double)x)/100.0; |
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xyz[1] = ((double)y)/100.0; |
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xyz[2] = ((double)z)/100.0; |
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break;
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} |
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return xyz;
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} |
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/**************************************************************************/
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/*!
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@brief Gets a quaternion reading from the specified source
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*/
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/**************************************************************************/
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imu::Quaternion Adafruit_BNO055::getQuat(void)
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{
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uint8_t buffer[8];
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memset (buffer, 0, 8); |
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int16_t x, y, z, w; |
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x = y = z = w = 0;
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/* Read quat data (8 bytes) */
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readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
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w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]); |
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x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]); |
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y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]); |
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z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]); |
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/* Assign to Quaternion */
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/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
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3.6.5.5 Orientation (Quaternion) */
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const double scale = (1.0 / (1<<14)); |
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imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z); |
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return quat;
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} |
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/**************************************************************************/
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/*!
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@brief Provides the sensor_t data for this sensor
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getSensor(sensor_t *sensor)
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{
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/* Clear the sensor_t object */
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memset(sensor, 0, sizeof(sensor_t)); |
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/* Insert the sensor name in the fixed length char array */
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strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1); |
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sensor->name[sizeof(sensor->name)- 1] = 0; |
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sensor->version = 1;
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sensor->sensor_id = _sensorID; |
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sensor->type = SENSOR_TYPE_ORIENTATION; |
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sensor->min_delay = 0;
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sensor->max_value = 0.0F; |
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sensor->min_value = 0.0F; |
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sensor->resolution = 0.01F; |
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} |
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/**************************************************************************/
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/*!
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@brief Reads the sensor and returns the data as a sensors_event_t
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getEvent(sensors_event_t *event)
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{
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/* Clear the event */
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memset(event, 0, sizeof(sensors_event_t)); |
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event->version = sizeof(sensors_event_t);
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event->sensor_id = _sensorID; |
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event->type = SENSOR_TYPE_ORIENTATION; |
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event->timestamp = millis(); |
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/* Get a Euler angle sample for orientation */
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imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
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event->orientation.x = euler.x(); |
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event->orientation.y = euler.y(); |
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event->orientation.z = euler.z(); |
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return true; |
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} |
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/**************************************************************************/
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/*!
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@brief Reads the sensor's offset registers into a byte array
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
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{
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if (isFullyCalibrated())
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{
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adafruit_bno055_opmode_t lastMode = _mode; |
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setMode(OPERATION_MODE_CONFIG); |
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readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS); |
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setMode(lastMode); |
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return true; |
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} |
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return false; |
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} |
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/**************************************************************************/
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/*!
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@brief Reads the sensor's offset registers into an offset struct
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
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{
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if (isFullyCalibrated())
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{
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adafruit_bno055_opmode_t lastMode = _mode; |
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setMode(OPERATION_MODE_CONFIG); |
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delay(25);
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offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
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offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
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offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
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offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
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offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
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offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
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offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
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offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
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offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
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offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
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offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
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setMode(lastMode); |
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return true; |
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} |
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return false; |
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} |
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/**************************************************************************/
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/*!
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@brief Writes an array of calibration values to the sensor's offset registers
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*/
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/**************************************************************************/
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| 460 |
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData) |
| 461 |
{
|
| 462 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 463 |
setMode(OPERATION_MODE_CONFIG); |
| 464 |
delay(25);
|
| 465 |
|
| 466 |
/* A writeLen() would make this much cleaner */
|
| 467 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
|
| 468 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
|
| 469 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
|
| 470 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
|
| 471 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
|
| 472 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
|
| 473 |
|
| 474 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[6]);
|
| 475 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[7]);
|
| 476 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[8]);
|
| 477 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[9]);
|
| 478 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[10]);
|
| 479 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[11]);
|
| 480 |
|
| 481 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[12]);
|
| 482 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[13]);
|
| 483 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[14]);
|
| 484 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[15]);
|
| 485 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[16]);
|
| 486 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[17]);
|
| 487 |
|
| 488 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
|
| 489 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
|
| 490 |
|
| 491 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
|
| 492 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
|
| 493 |
|
| 494 |
setMode(lastMode); |
| 495 |
} |
| 496 |
|
| 497 |
/**************************************************************************/
|
| 498 |
/*!
|
| 499 |
@brief Writes to the sensor's offset registers from an offset struct
|
| 500 |
*/
|
| 501 |
/**************************************************************************/
|
| 502 |
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) |
| 503 |
{
|
| 504 |
adafruit_bno055_opmode_t lastMode = _mode; |
| 505 |
setMode(OPERATION_MODE_CONFIG); |
| 506 |
delay(25);
|
| 507 |
|
| 508 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
|
| 509 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); |
| 510 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
|
| 511 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); |
| 512 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
|
| 513 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); |
| 514 |
|
| 515 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
|
| 516 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); |
| 517 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
|
| 518 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); |
| 519 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
|
| 520 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); |
| 521 |
|
| 522 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
|
| 523 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); |
| 524 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
|
| 525 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); |
| 526 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
|
| 527 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); |
| 528 |
|
| 529 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
|
| 530 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); |
| 531 |
|
| 532 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
|
| 533 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); |
| 534 |
|
| 535 |
setMode(lastMode); |
| 536 |
} |
| 537 |
|
| 538 |
bool Adafruit_BNO055::isFullyCalibrated(void) |
| 539 |
{
|
| 540 |
uint8_t system, gyro, accel, mag; |
| 541 |
getCalibration(&system, &gyro, &accel, &mag); |
| 542 |
if (system < 3 || gyro < 3 || accel < 3 || mag < 3) |
| 543 |
return false; |
| 544 |
return true; |
| 545 |
} |
| 546 |
|
| 547 |
|
| 548 |
/***************************************************************************
|
| 549 |
PRIVATE FUNCTIONS
|
| 550 |
***************************************************************************/
|
| 551 |
|
| 552 |
/**************************************************************************/
|
| 553 |
/*!
|
| 554 |
@brief Writes an 8 bit value over I2C
|
| 555 |
*/
|
| 556 |
/**************************************************************************/
|
| 557 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
|
| 558 |
{
|
| 559 |
Wire.beginTransmission(_address); |
| 560 |
#if ARDUINO >= 100 |
| 561 |
Wire.write((uint8_t)reg); |
| 562 |
Wire.write((uint8_t)value); |
| 563 |
#else
|
| 564 |
Wire.send(reg); |
| 565 |
Wire.send(value); |
| 566 |
#endif
|
| 567 |
Wire.endTransmission(); |
| 568 |
|
| 569 |
/* ToDo: Check for error! */
|
| 570 |
return true; |
| 571 |
} |
| 572 |
|
| 573 |
/**************************************************************************/
|
| 574 |
/*!
|
| 575 |
@brief Reads an 8 bit value over I2C
|
| 576 |
*/
|
| 577 |
/**************************************************************************/
|
| 578 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg ) |
| 579 |
{
|
| 580 |
byte value = 0;
|
| 581 |
|
| 582 |
Wire.beginTransmission(_address); |
| 583 |
#if ARDUINO >= 100 |
| 584 |
Wire.write((uint8_t)reg); |
| 585 |
#else
|
| 586 |
Wire.send(reg); |
| 587 |
#endif
|
| 588 |
Wire.endTransmission(); |
| 589 |
Wire.requestFrom(_address, (byte)1);
|
| 590 |
#if ARDUINO >= 100 |
| 591 |
value = Wire.read(); |
| 592 |
#else
|
| 593 |
value = Wire.receive(); |
| 594 |
#endif
|
| 595 |
|
| 596 |
return value;
|
| 597 |
} |
| 598 |
|
| 599 |
/**************************************************************************/
|
| 600 |
/*!
|
| 601 |
@brief Reads the specified number of bytes over I2C
|
| 602 |
*/
|
| 603 |
/**************************************************************************/
|
| 604 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
|
| 605 |
{
|
| 606 |
Wire.beginTransmission(_address); |
| 607 |
#if ARDUINO >= 100 |
| 608 |
Wire.write((uint8_t)reg); |
| 609 |
#else
|
| 610 |
Wire.send(reg); |
| 611 |
#endif
|
| 612 |
Wire.endTransmission(); |
| 613 |
Wire.requestFrom(_address, (byte)len); |
| 614 |
|
| 615 |
for (uint8_t i = 0; i < len; i++) |
| 616 |
{
|
| 617 |
#if ARDUINO >= 100 |
| 618 |
buffer[i] = Wire.read(); |
| 619 |
#else
|
| 620 |
buffer[i] = Wire.receive(); |
| 621 |
#endif
|
| 622 |
} |
| 623 |
|
| 624 |
/* ToDo: Check for errors! */
|
| 625 |
return true; |
| 626 |
} |