Ben, Simon, Inez IDD
/
BNO055
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Fork of
BNO055
by 
Dave Turner
Revision 4:c88a12857528, committed 2015-09-15
- Comitter:
- simonscott
- Date:
- Tue Sep 15 23:37:47 2015 +0000
- Parent:
- 3:1db1628eb8b2
- Commit message:
- First commit
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 |
diff -r 1db1628eb8b2 -r c88a12857528 BNO055.cpp
--- a/BNO055.cpp Sun May 31 07:22:40 2015 +0000
+++ b/BNO055.cpp Tue Sep 15 23:37:47 2015 +0000
@@ -196,8 +196,13 @@
void BNO055::get_angles(void){
tx[0] = BNO055_EULER_H_LSB_ADDR;
- _i2c.write(address,tx,1,true);
- _i2c.read(address+1,rawdata,6,0);
+ _i2c.write(address,tx,1,true);
+
+ char raw[22];
+ _i2c.read(address+1,raw,6,0);
+ wait(0.01);
+ for(int i = 0; i < 22; i++)
+ rawdata[i] = raw[i];
euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
diff -r 1db1628eb8b2 -r c88a12857528 BNO055.h
--- a/BNO055.h Sun May 31 07:22:40 2015 +0000
+++ b/BNO055.h Tue Sep 15 23:37:47 2015 +0000
@@ -254,7 +254,8 @@
private:
I2C _i2c;
- char rx,tx[2],address; //I2C variables
+ char tx[2],address; //I2C variables
+ char rx;
char rawdata[22]; //Temporary array for input data values
char op_mode;
char pwr_mode;
@@ -263,8 +264,12 @@
void readchar(char location){
tx[0] = location;
+ char b;
_i2c.write(address,tx,1,true);
- _i2c.read(address,&rx,1,false);
+ _i2c.read(address,&b,1,false);
+ wait(0.01);
+ rx = b;
+
}
void writechar(char location, char value){