BME SmartLab / BNO055_fusion

Some improvements on mrcrsch's BNO055_fusion library

Dependents:   BabaTalp-NRF

Fork of BNO055_fusion by Marcell Rausch

Files at this revision

API Documentation at this revision

Revision 7:7df0c13f0ef9, committed 2017-04-22

Comitter:
gume
Date:
Sat Apr 22 19:24:31 2017 +0000
Parent:
6:eae1a743876b
Commit message:
Add power mode change; Extend mode change with non fusion modes

Changed in this revision

BNO055.cpp Show annotated file Show diff for this revision Revisions of this file
BNO055.h Show annotated file Show diff for this revision Revisions of this file 
--- a/BNO055.cpp	Sat Apr 22 10:22:28 2017 +0000
+++ b/BNO055.cpp	Sat Apr 22 19:24:31 2017 +0000
@@ -331,6 +331,12 @@
     return dt[0];
 }
 
+/////////////// Change Power mode  ///////////////////////
+void BNO055::change_power_mode(uint8_t mode)
+{
+    write_reg0(BNO055_PWR_MODE, mode);
+}
+
 /////////////// Change Fusion mode  ///////////////////////
 void BNO055::change_fusion_mode(uint8_t mode)
 {

--- a/BNO055.h	Sat Apr 22 10:22:28 2017 +0000
+++ b/BNO055.h	Sat Apr 22 19:24:31 2017 +0000
@@ -36,14 +36,23 @@
 #define BNO055_G_CHIP_ADDR      (0x28 << 1) // COM3 = GND
 #define BNO055_V_CHIP_ADDR      (0x29 << 1) // COM3 = Vdd
 
+// Operating modes
+#define CONFIGMODE              0x00
+// Non Fusion mode
+#define MODE_ACCONLY            0x01
 // Fusion mode
-#define CONFIGMODE              0x00
 #define MODE_IMU                0x08
 #define MODE_COMPASS            0x09
 #define MODE_M4G                0x0a
 #define MODE_NDOF_FMC_OFF       0x0b
 #define MODE_NDOF               0x0c
 
+// Power modes
+#define MODE_PWR_NORMAL         0x00
+#define MODE_PWR_LOWPOWER       0x01
+#define MODE_PWR_SUSPEND        0x02
+
+
 //  UNIT
 #define UNIT_ACC_MSS            0x00    // acc m/s2
 #define UNIT_ACC_MG             0x01    // acc mg
@@ -207,6 +216,12 @@
      */
     void get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp);
 
+    /** Change power mode
+      * @param power mode
+      * @return none
+      */
+    void change_power_mode(uint8_t mode);
+
     /** Change fusion mode
       * @param fusion mode
       * @return none