ARIMA / BNO055

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Dependents:   arim_AutoMachine

BNO055.cpp@1:1c4507621cfb, 2021-02-23 (annotated)

Committer:
munmun
Date:
Tue Feb 23 11:18:12 2021 +0000
Revision:
1:1c4507621cfb
Parent:
0:fe0b400ec8f5 
test_Arima

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TakushimaYukimasa 0:fe0b400ec8f5 1 #include "BNO055.h"
TakushimaYukimasa 0:fe0b400ec8f5 2 #include "mbed.h"
TakushimaYukimasa 0:fe0b400ec8f5 3
TakushimaYukimasa 0:fe0b400ec8f5 4 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
TakushimaYukimasa 0:fe0b400ec8f5 5 //Set I2C fast and bring reset line high
TakushimaYukimasa 0:fe0b400ec8f5 6 _i2c.frequency(400000);
TakushimaYukimasa 0:fe0b400ec8f5 7 address = BNOAddress;
TakushimaYukimasa 0:fe0b400ec8f5 8 accel_scale = 0.001f;
TakushimaYukimasa 0:fe0b400ec8f5 9 rate_scale = 1.0f/16.0f;
TakushimaYukimasa 0:fe0b400ec8f5 10 angle_scale = 1.0f/16.0f;
TakushimaYukimasa 0:fe0b400ec8f5 11 temp_scale = 1;
TakushimaYukimasa 0:fe0b400ec8f5 12 }
TakushimaYukimasa 0:fe0b400ec8f5 13
munmun 1:1c4507621cfb 14
munmun 1:1c4507621cfb 15 BNO055::BNO055(PinName SDA, PinName SCL, double *p_yaw) : _i2c(SDA, SCL), yaw(p_yaw)
munmun 1:1c4507621cfb 16 {
munmun 1:1c4507621cfb 17 // Set I2C fast and bring reset line high
munmun 1:1c4507621cfb 18 _i2c.frequency(400000);
munmun 1:1c4507621cfb 19 address = BNOAddress;
munmun 1:1c4507621cfb 20 accel_scale = 0.001f;
munmun 1:1c4507621cfb 21 rate_scale = 1.0f / 16.0f;
munmun 1:1c4507621cfb 22 angle_scale = 1.0f / 16.0f;
munmun 1:1c4507621cfb 23 temp_scale = 1;
munmun 1:1c4507621cfb 24 }
munmun 1:1c4507621cfb 25
munmun 1:1c4507621cfb 26 void BNO055::get_yaw()
munmun 1:1c4507621cfb 27 {
munmun 1:1c4507621cfb 28
munmun 1:1c4507621cfb 29 static double rawyaw[2]= {0};
munmun 1:1c4507621cfb 30
munmun 1:1c4507621cfb 31 setmode(OPERATION_MODE_IMUPLUS);
munmun 1:1c4507621cfb 32 get_angles();
munmun 1:1c4507621cfb 33
munmun 1:1c4507621cfb 34 rawyaw[1] = rawyaw[0];
munmun 1:1c4507621cfb 35 rawyaw[0] = euler.yaw;
munmun 1:1c4507621cfb 36
munmun 1:1c4507621cfb 37 if (rawyaw[0] != 0) { //不慮の再起動対策
munmun 1:1c4507621cfb 38 if (rawyaw[1] < 90 && rawyaw[0] > 270)
munmun 1:1c4507621cfb 39 rawyaw[1] += 360;
munmun 1:1c4507621cfb 40 else if (rawyaw[1] > 270 && rawyaw[0] < 90)
munmun 1:1c4507621cfb 41 rawyaw[1] -= 360;
munmun 1:1c4507621cfb 42 *yaw -= rawyaw[0] - rawyaw[1];
munmun 1:1c4507621cfb 43 }
munmun 1:1c4507621cfb 44 }
munmun 1:1c4507621cfb 45
TakushimaYukimasa 0:fe0b400ec8f5 46 void BNO055::reset(){
TakushimaYukimasa 0:fe0b400ec8f5 47 //Perform a power-on-reset
TakushimaYukimasa 0:fe0b400ec8f5 48 readchar(BNO055_SYS_TRIGGER_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 49 rx = rx | 0x20;
TakushimaYukimasa 0:fe0b400ec8f5 50 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 51 //Wait for the system to come back up again (datasheet says 650ms)
TakushimaYukimasa 0:fe0b400ec8f5 52 wait_ms(675);
TakushimaYukimasa 0:fe0b400ec8f5 53 }
TakushimaYukimasa 0:fe0b400ec8f5 54
TakushimaYukimasa 0:fe0b400ec8f5 55 bool BNO055::check(){
TakushimaYukimasa 0:fe0b400ec8f5 56 //Check we have communication link with the chip
TakushimaYukimasa 0:fe0b400ec8f5 57 readchar(BNO055_CHIP_ID_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 58 if (rx != 0xA0) return false;
TakushimaYukimasa 0:fe0b400ec8f5 59 //Grab the chip ID and software versions
TakushimaYukimasa 0:fe0b400ec8f5 60 tx[0] = BNO055_CHIP_ID_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 61 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 62 _i2c.read(address+1,rawdata,7,false);
TakushimaYukimasa 0:fe0b400ec8f5 63 ID.id = rawdata[0];
TakushimaYukimasa 0:fe0b400ec8f5 64 ID.accel = rawdata[1];
TakushimaYukimasa 0:fe0b400ec8f5 65 ID.mag = rawdata[2];
TakushimaYukimasa 0:fe0b400ec8f5 66 ID.gyro = rawdata[3];
TakushimaYukimasa 0:fe0b400ec8f5 67 ID.sw[0] = rawdata[4];
TakushimaYukimasa 0:fe0b400ec8f5 68 ID.sw[1] = rawdata[5];
TakushimaYukimasa 0:fe0b400ec8f5 69 ID.bootload = rawdata[6];
TakushimaYukimasa 0:fe0b400ec8f5 70 setpage(1);
TakushimaYukimasa 0:fe0b400ec8f5 71 tx[0] = BNO055_UNIQUE_ID_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 72 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 73 _i2c.read(address+1,ID.serial,16,false);
TakushimaYukimasa 0:fe0b400ec8f5 74 setpage(0);
TakushimaYukimasa 0:fe0b400ec8f5 75 return true;
TakushimaYukimasa 0:fe0b400ec8f5 76 }
TakushimaYukimasa 0:fe0b400ec8f5 77
TakushimaYukimasa 0:fe0b400ec8f5 78 void BNO055::SetExternalCrystal(bool yn){
TakushimaYukimasa 0:fe0b400ec8f5 79 // Read the current status from the device
TakushimaYukimasa 0:fe0b400ec8f5 80 readchar(BNO055_SYS_TRIGGER_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 81 if (yn) rx = rx | 0x80;
TakushimaYukimasa 0:fe0b400ec8f5 82 else rx = rx & 0x7F;
TakushimaYukimasa 0:fe0b400ec8f5 83 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 84 }
TakushimaYukimasa 0:fe0b400ec8f5 85
TakushimaYukimasa 0:fe0b400ec8f5 86 void BNO055::set_accel_units(char units){
TakushimaYukimasa 0:fe0b400ec8f5 87 readchar(BNO055_UNIT_SEL_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 88 if(units == MPERSPERS){
TakushimaYukimasa 0:fe0b400ec8f5 89 rx = rx & 0xFE;
TakushimaYukimasa 0:fe0b400ec8f5 90 accel_scale = 0.01f;
TakushimaYukimasa 0:fe0b400ec8f5 91 }
TakushimaYukimasa 0:fe0b400ec8f5 92 else {
TakushimaYukimasa 0:fe0b400ec8f5 93 rx = rx | units;
TakushimaYukimasa 0:fe0b400ec8f5 94 accel_scale = 0.001f;
TakushimaYukimasa 0:fe0b400ec8f5 95 }
TakushimaYukimasa 0:fe0b400ec8f5 96 writechar(BNO055_UNIT_SEL_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 97 }
TakushimaYukimasa 0:fe0b400ec8f5 98
TakushimaYukimasa 0:fe0b400ec8f5 99 void BNO055::set_anglerate_units(char units){
TakushimaYukimasa 0:fe0b400ec8f5 100 readchar(BNO055_UNIT_SEL_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 101 if (units == DEG_PER_SEC){
TakushimaYukimasa 0:fe0b400ec8f5 102 rx = rx & 0xFD;
TakushimaYukimasa 0:fe0b400ec8f5 103 rate_scale = 1.0f/16.0f;
TakushimaYukimasa 0:fe0b400ec8f5 104 }
TakushimaYukimasa 0:fe0b400ec8f5 105 else {
TakushimaYukimasa 0:fe0b400ec8f5 106 rx = rx | units;
TakushimaYukimasa 0:fe0b400ec8f5 107 rate_scale = 1.0f/900.0f;
TakushimaYukimasa 0:fe0b400ec8f5 108 }
TakushimaYukimasa 0:fe0b400ec8f5 109 writechar(BNO055_UNIT_SEL_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 110 }
TakushimaYukimasa 0:fe0b400ec8f5 111
TakushimaYukimasa 0:fe0b400ec8f5 112 void BNO055::set_angle_units(char units){
TakushimaYukimasa 0:fe0b400ec8f5 113 readchar(BNO055_UNIT_SEL_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 114 if (units == DEGREES){
TakushimaYukimasa 0:fe0b400ec8f5 115 rx = rx & 0xFB;
TakushimaYukimasa 0:fe0b400ec8f5 116 angle_scale = 1.0f/16.0f;
TakushimaYukimasa 0:fe0b400ec8f5 117 }
TakushimaYukimasa 0:fe0b400ec8f5 118 else {
TakushimaYukimasa 0:fe0b400ec8f5 119 rx = rx | units;
TakushimaYukimasa 0:fe0b400ec8f5 120 rate_scale = 1.0f/900.0f;
TakushimaYukimasa 0:fe0b400ec8f5 121 }
TakushimaYukimasa 0:fe0b400ec8f5 122 writechar(BNO055_UNIT_SEL_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 123 }
TakushimaYukimasa 0:fe0b400ec8f5 124
TakushimaYukimasa 0:fe0b400ec8f5 125 void BNO055::set_temp_units(char units){
TakushimaYukimasa 0:fe0b400ec8f5 126 readchar(BNO055_UNIT_SEL_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 127 if (units == CENTIGRADE){
TakushimaYukimasa 0:fe0b400ec8f5 128 rx = rx & 0xEF;
TakushimaYukimasa 0:fe0b400ec8f5 129 temp_scale = 1;
TakushimaYukimasa 0:fe0b400ec8f5 130 }
TakushimaYukimasa 0:fe0b400ec8f5 131 else {
TakushimaYukimasa 0:fe0b400ec8f5 132 rx = rx | units;
TakushimaYukimasa 0:fe0b400ec8f5 133 temp_scale = 2;
TakushimaYukimasa 0:fe0b400ec8f5 134 }
TakushimaYukimasa 0:fe0b400ec8f5 135 writechar(BNO055_UNIT_SEL_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 136 }
TakushimaYukimasa 0:fe0b400ec8f5 137
TakushimaYukimasa 0:fe0b400ec8f5 138 void BNO055::set_orientation(char units){
TakushimaYukimasa 0:fe0b400ec8f5 139 readchar(BNO055_UNIT_SEL_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 140 if (units == WINDOWS) rx = rx &0x7F;
TakushimaYukimasa 0:fe0b400ec8f5 141 else rx = rx | units;
TakushimaYukimasa 0:fe0b400ec8f5 142 writechar(BNO055_UNIT_SEL_ADDR,rx);
TakushimaYukimasa 0:fe0b400ec8f5 143 }
TakushimaYukimasa 0:fe0b400ec8f5 144
TakushimaYukimasa 0:fe0b400ec8f5 145 void BNO055::setmode(char omode){
TakushimaYukimasa 0:fe0b400ec8f5 146 writechar(BNO055_OPR_MODE_ADDR,omode);
TakushimaYukimasa 0:fe0b400ec8f5 147 op_mode = omode;
TakushimaYukimasa 0:fe0b400ec8f5 148 }
TakushimaYukimasa 0:fe0b400ec8f5 149
TakushimaYukimasa 0:fe0b400ec8f5 150 void BNO055::setpowermode(char pmode){
TakushimaYukimasa 0:fe0b400ec8f5 151 writechar(BNO055_PWR_MODE_ADDR,pmode);
TakushimaYukimasa 0:fe0b400ec8f5 152 pwr_mode = pmode;
TakushimaYukimasa 0:fe0b400ec8f5 153 }
TakushimaYukimasa 0:fe0b400ec8f5 154
TakushimaYukimasa 0:fe0b400ec8f5 155 void BNO055::get_accel(void){
TakushimaYukimasa 0:fe0b400ec8f5 156 tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 157 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 158 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 159 accel.rawx = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 160 accel.rawy = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 161 accel.rawz = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 162 accel.x = float(accel.rawx)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 163 accel.y = float(accel.rawy)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 164 accel.z = float(accel.rawz)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 165 }
TakushimaYukimasa 0:fe0b400ec8f5 166
TakushimaYukimasa 0:fe0b400ec8f5 167 void BNO055::get_gyro(void){
TakushimaYukimasa 0:fe0b400ec8f5 168 tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 169 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 170 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 171 gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 172 gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 173 gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 174 gyro.x = float(gyro.rawx)*rate_scale;
TakushimaYukimasa 0:fe0b400ec8f5 175 gyro.y = float(gyro.rawy)*rate_scale;
TakushimaYukimasa 0:fe0b400ec8f5 176 gyro.z = float(gyro.rawz)*rate_scale;
TakushimaYukimasa 0:fe0b400ec8f5 177 }
TakushimaYukimasa 0:fe0b400ec8f5 178
TakushimaYukimasa 0:fe0b400ec8f5 179 void BNO055::get_mag(void){
TakushimaYukimasa 0:fe0b400ec8f5 180 tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 181 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 182 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 183 mag.rawx = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 184 mag.rawy = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 185 mag.rawz = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 186 mag.x = float(mag.rawx);
TakushimaYukimasa 0:fe0b400ec8f5 187 mag.y = float(mag.rawy);
TakushimaYukimasa 0:fe0b400ec8f5 188 mag.z = float(mag.rawz);
TakushimaYukimasa 0:fe0b400ec8f5 189 }
TakushimaYukimasa 0:fe0b400ec8f5 190
TakushimaYukimasa 0:fe0b400ec8f5 191 void BNO055::get_lia(void){
TakushimaYukimasa 0:fe0b400ec8f5 192 tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 193 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 194 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 195 lia.rawx = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 196 lia.rawy = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 197 lia.rawz = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 198 lia.x = float(lia.rawx)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 199 lia.y = float(lia.rawy)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 200 lia.z = float(lia.rawz)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 201 }
TakushimaYukimasa 0:fe0b400ec8f5 202
TakushimaYukimasa 0:fe0b400ec8f5 203 void BNO055::get_grv(void){
TakushimaYukimasa 0:fe0b400ec8f5 204 tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 205 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 206 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 207 gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 208 gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 209 gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 210 gravity.x = float(gravity.rawx)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 211 gravity.y = float(gravity.rawy)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 212 gravity.z = float(gravity.rawz)*accel_scale;
TakushimaYukimasa 0:fe0b400ec8f5 213 }
TakushimaYukimasa 0:fe0b400ec8f5 214
TakushimaYukimasa 0:fe0b400ec8f5 215 void BNO055::get_quat(void){
TakushimaYukimasa 0:fe0b400ec8f5 216 tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 217 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 218 _i2c.read(address+1,rawdata,8,0);
TakushimaYukimasa 0:fe0b400ec8f5 219 quat.raww = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 220 quat.rawx = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 221 quat.rawy = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 222 quat.rawz = (rawdata[7] << 8 | rawdata[6]);
TakushimaYukimasa 0:fe0b400ec8f5 223 quat.w = float(quat.raww)/16384.0f;
TakushimaYukimasa 0:fe0b400ec8f5 224 quat.x = float(quat.rawx)/16384.0f;
TakushimaYukimasa 0:fe0b400ec8f5 225 quat.y = float(quat.rawy)/16384.0f;
TakushimaYukimasa 0:fe0b400ec8f5 226 quat.z = float(quat.rawz)/16384.0f;
TakushimaYukimasa 0:fe0b400ec8f5 227 }
TakushimaYukimasa 0:fe0b400ec8f5 228
TakushimaYukimasa 0:fe0b400ec8f5 229 void BNO055::get_angles(void){
TakushimaYukimasa 0:fe0b400ec8f5 230 tx[0] = BNO055_EULER_H_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 231 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 232 _i2c.read(address+1,rawdata,6,0);
TakushimaYukimasa 0:fe0b400ec8f5 233 euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
TakushimaYukimasa 0:fe0b400ec8f5 234 euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
TakushimaYukimasa 0:fe0b400ec8f5 235 euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
TakushimaYukimasa 0:fe0b400ec8f5 236 euler.yaw = float(euler.rawyaw)*angle_scale;
TakushimaYukimasa 0:fe0b400ec8f5 237 euler.roll = float(euler.rawroll)*angle_scale;
TakushimaYukimasa 0:fe0b400ec8f5 238 euler.pitch = float(euler.rawpitch)*angle_scale;
TakushimaYukimasa 0:fe0b400ec8f5 239 }
TakushimaYukimasa 0:fe0b400ec8f5 240
TakushimaYukimasa 0:fe0b400ec8f5 241
TakushimaYukimasa 0:fe0b400ec8f5 242 void BNO055::get_temp(void){
TakushimaYukimasa 0:fe0b400ec8f5 243 readchar(BNO055_TEMP_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 244 temperature = rx / temp_scale;
TakushimaYukimasa 0:fe0b400ec8f5 245 }
TakushimaYukimasa 0:fe0b400ec8f5 246
TakushimaYukimasa 0:fe0b400ec8f5 247 void BNO055::get_calib(void){
TakushimaYukimasa 0:fe0b400ec8f5 248 readchar(BNO055_CALIB_STAT_ADDR);
TakushimaYukimasa 0:fe0b400ec8f5 249 calib = rx;
TakushimaYukimasa 0:fe0b400ec8f5 250 }
TakushimaYukimasa 0:fe0b400ec8f5 251
TakushimaYukimasa 0:fe0b400ec8f5 252 void BNO055::read_calibration_data(void){
TakushimaYukimasa 0:fe0b400ec8f5 253 char tempmode = op_mode;
TakushimaYukimasa 0:fe0b400ec8f5 254 setmode(OPERATION_MODE_CONFIG);
TakushimaYukimasa 0:fe0b400ec8f5 255 wait_ms(20);
TakushimaYukimasa 0:fe0b400ec8f5 256 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 257 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 258 _i2c.read(address,calibration,22,false);
TakushimaYukimasa 0:fe0b400ec8f5 259 setmode(tempmode);
TakushimaYukimasa 0:fe0b400ec8f5 260 wait_ms(10);
TakushimaYukimasa 0:fe0b400ec8f5 261 }
TakushimaYukimasa 0:fe0b400ec8f5 262
TakushimaYukimasa 0:fe0b400ec8f5 263 void BNO055::write_calibration_data(void){
TakushimaYukimasa 0:fe0b400ec8f5 264 char tempmode = op_mode;
TakushimaYukimasa 0:fe0b400ec8f5 265 setmode(OPERATION_MODE_CONFIG);
TakushimaYukimasa 0:fe0b400ec8f5 266 wait_ms(20);
TakushimaYukimasa 0:fe0b400ec8f5 267 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
TakushimaYukimasa 0:fe0b400ec8f5 268 _i2c.write(address,tx,1,true);
TakushimaYukimasa 0:fe0b400ec8f5 269 _i2c.write(address,calibration,22,false);
TakushimaYukimasa 0:fe0b400ec8f5 270 setmode(tempmode);
TakushimaYukimasa 0:fe0b400ec8f5 271 wait_ms(10);
TakushimaYukimasa 0:fe0b400ec8f5 272 }
TakushimaYukimasa 0:fe0b400ec8f5 273
TakushimaYukimasa 0:fe0b400ec8f5 274 void BNO055::set_mapping(char orient){
TakushimaYukimasa 0:fe0b400ec8f5 275 switch (orient){
TakushimaYukimasa 0:fe0b400ec8f5 276 case 0:
TakushimaYukimasa 0:fe0b400ec8f5 277 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
TakushimaYukimasa 0:fe0b400ec8f5 278 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
TakushimaYukimasa 0:fe0b400ec8f5 279 break;
TakushimaYukimasa 0:fe0b400ec8f5 280 case 1:
TakushimaYukimasa 0:fe0b400ec8f5 281 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
TakushimaYukimasa 0:fe0b400ec8f5 282 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
TakushimaYukimasa 0:fe0b400ec8f5 283 break;
TakushimaYukimasa 0:fe0b400ec8f5 284 case 2:
TakushimaYukimasa 0:fe0b400ec8f5 285 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
TakushimaYukimasa 0:fe0b400ec8f5 286 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
TakushimaYukimasa 0:fe0b400ec8f5 287 break;
TakushimaYukimasa 0:fe0b400ec8f5 288 case 3:
TakushimaYukimasa 0:fe0b400ec8f5 289 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
TakushimaYukimasa 0:fe0b400ec8f5 290 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
TakushimaYukimasa 0:fe0b400ec8f5 291 break;
TakushimaYukimasa 0:fe0b400ec8f5 292 case 4:
TakushimaYukimasa 0:fe0b400ec8f5 293 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
TakushimaYukimasa 0:fe0b400ec8f5 294 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
TakushimaYukimasa 0:fe0b400ec8f5 295 break;
TakushimaYukimasa 0:fe0b400ec8f5 296 case 5:
TakushimaYukimasa 0:fe0b400ec8f5 297 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
TakushimaYukimasa 0:fe0b400ec8f5 298 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
TakushimaYukimasa 0:fe0b400ec8f5 299 break;
TakushimaYukimasa 0:fe0b400ec8f5 300 case 6:
TakushimaYukimasa 0:fe0b400ec8f5 301 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
TakushimaYukimasa 0:fe0b400ec8f5 302 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
TakushimaYukimasa 0:fe0b400ec8f5 303 break;
TakushimaYukimasa 0:fe0b400ec8f5 304 case 7:
TakushimaYukimasa 0:fe0b400ec8f5 305 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
TakushimaYukimasa 0:fe0b400ec8f5 306 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
TakushimaYukimasa 0:fe0b400ec8f5 307 break;
TakushimaYukimasa 0:fe0b400ec8f5 308 default:
TakushimaYukimasa 0:fe0b400ec8f5 309 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
TakushimaYukimasa 0:fe0b400ec8f5 310 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
TakushimaYukimasa 0:fe0b400ec8f5 311 }
TakushimaYukimasa 0:fe0b400ec8f5 312 }