ARIMA / BNO055

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Dependents:   arim_AutoMachine

BNO055.cpp@0:fe0b400ec8f5, 2019-10-30 (annotated)

Committer:
TakushimaYukimasa
Date:
Wed Oct 30 08:11:25 2019 +0000
Revision:
0:fe0b400ec8f5
Child:
1:1c4507621cfb
gyroLib;

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