USNA WSE ES456 / BNO055_fusion

BNO library commit with fork

Dependents:   ES456_Labs MadPulseCntrl MadPulseIMU MadPulse_Controller_ros

Fork of BNO055_fusion by Kenji Arai

BNO055.h@6:ae4be69ac7bb, 2016-09-19 (annotated)

Committer:
jdawkins
Date:
Mon Sep 19 12:59:35 2016 +0000
Revision:
6:ae4be69ac7bb
Parent:
5:a44318a8bad4 
Changed BNO005 Library to rotate mag axes from z-up to z-down. This was already done for the accels and gyros.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:86a17116e8be 1 #ifndef BNO055_H
kenjiArai 0:86a17116e8be 2 #define BNO055_H
kenjiArai 0:86a17116e8be 3
kenjiArai 0:86a17116e8be 4 #include "mbed.h"
jdawkins 5:a44318a8bad4 5 //
jdawkins 5:a44318a8bad4 6 #define BNOAddress (0x28 << 1)
jdawkins 5:a44318a8bad4 7 //Register definitions
jdawkins 5:a44318a8bad4 8 /* Page id register definition */
jdawkins 5:a44318a8bad4 9 #define BNO055_PAGE_ID_ADDR 0x07
jdawkins 5:a44318a8bad4 10 /* PAGE0 REGISTER DEFINITION START*/
jdawkins 5:a44318a8bad4 11 #define BNO055_CHIP_ID_ADDR 0x00
jdawkins 5:a44318a8bad4 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
jdawkins 5:a44318a8bad4 13 #define BNO055_MAG_REV_ID_ADDR 0x02
jdawkins 5:a44318a8bad4 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
jdawkins 5:a44318a8bad4 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
jdawkins 5:a44318a8bad4 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
jdawkins 5:a44318a8bad4 17 #define BNO055_BL_REV_ID_ADDR 0x06
jdawkins 5:a44318a8bad4 18 /* Accel data register */
jdawkins 5:a44318a8bad4 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
jdawkins 5:a44318a8bad4 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
jdawkins 5:a44318a8bad4 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
jdawkins 5:a44318a8bad4 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
jdawkins 5:a44318a8bad4 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
jdawkins 5:a44318a8bad4 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
jdawkins 5:a44318a8bad4 25 /* Mag data register */
jdawkins 5:a44318a8bad4 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
jdawkins 5:a44318a8bad4 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
jdawkins 5:a44318a8bad4 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
jdawkins 5:a44318a8bad4 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
jdawkins 5:a44318a8bad4 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
jdawkins 5:a44318a8bad4 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
jdawkins 5:a44318a8bad4 32 /* Gyro data registers */
jdawkins 5:a44318a8bad4 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
jdawkins 5:a44318a8bad4 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
jdawkins 5:a44318a8bad4 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
jdawkins 5:a44318a8bad4 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
jdawkins 5:a44318a8bad4 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
jdawkins 5:a44318a8bad4 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
jdawkins 5:a44318a8bad4 39 /* Euler data registers */
jdawkins 5:a44318a8bad4 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
jdawkins 5:a44318a8bad4 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
jdawkins 5:a44318a8bad4 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
jdawkins 5:a44318a8bad4 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
jdawkins 5:a44318a8bad4 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
jdawkins 5:a44318a8bad4 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
jdawkins 5:a44318a8bad4 46 /* Quaternion data registers */
jdawkins 5:a44318a8bad4 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
jdawkins 5:a44318a8bad4 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
jdawkins 5:a44318a8bad4 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
jdawkins 5:a44318a8bad4 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
jdawkins 5:a44318a8bad4 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
jdawkins 5:a44318a8bad4 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
jdawkins 5:a44318a8bad4 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
jdawkins 5:a44318a8bad4 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
jdawkins 5:a44318a8bad4 55 /* Linear acceleration data registers */
jdawkins 5:a44318a8bad4 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
jdawkins 5:a44318a8bad4 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
jdawkins 5:a44318a8bad4 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
jdawkins 5:a44318a8bad4 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
jdawkins 5:a44318a8bad4 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
jdawkins 5:a44318a8bad4 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
jdawkins 5:a44318a8bad4 62 /* Gravity data registers */
jdawkins 5:a44318a8bad4 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
jdawkins 5:a44318a8bad4 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
jdawkins 5:a44318a8bad4 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
jdawkins 5:a44318a8bad4 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
jdawkins 5:a44318a8bad4 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
jdawkins 5:a44318a8bad4 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
jdawkins 5:a44318a8bad4 69 /* Temperature data register */
jdawkins 5:a44318a8bad4 70 #define BNO055_TEMP_ADDR 0x34
jdawkins 5:a44318a8bad4 71 /* Status registers */
jdawkins 5:a44318a8bad4 72 #define BNO055_CALIB_STAT_ADDR 0x35
jdawkins 5:a44318a8bad4 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
jdawkins 5:a44318a8bad4 74 #define BNO055_INTR_STAT_ADDR 0x37
jdawkins 5:a44318a8bad4 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
jdawkins 5:a44318a8bad4 76 #define BNO055_SYS_STAT_ADDR 0x39
jdawkins 5:a44318a8bad4 77 #define BNO055_SYS_ERR_ADDR 0x3A
jdawkins 5:a44318a8bad4 78 /* Unit selection register */
jdawkins 5:a44318a8bad4 79 #define BNO055_UNIT_SEL_ADDR 0x3B
jdawkins 5:a44318a8bad4 80 #define BNO055_DATA_SELECT_ADDR 0x3C
jdawkins 5:a44318a8bad4 81 /* Mode registers */
jdawkins 5:a44318a8bad4 82 #define BNO055_OPR_MODE_ADDR 0x3D
jdawkins 5:a44318a8bad4 83 #define BNO055_PWR_MODE_ADDR 0x3E
jdawkins 5:a44318a8bad4 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
jdawkins 5:a44318a8bad4 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
jdawkins 5:a44318a8bad4 86 /* Axis remap registers */
jdawkins 5:a44318a8bad4 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
jdawkins 5:a44318a8bad4 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
jdawkins 5:a44318a8bad4 89 /* Accelerometer Offset registers */
jdawkins 5:a44318a8bad4 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
jdawkins 5:a44318a8bad4 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
jdawkins 5:a44318a8bad4 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
jdawkins 5:a44318a8bad4 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
jdawkins 5:a44318a8bad4 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
jdawkins 5:a44318a8bad4 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
jdawkins 5:a44318a8bad4 96 /* Magnetometer Offset registers */
jdawkins 5:a44318a8bad4 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
jdawkins 5:a44318a8bad4 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
jdawkins 5:a44318a8bad4 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
jdawkins 5:a44318a8bad4 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
jdawkins 5:a44318a8bad4 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
jdawkins 5:a44318a8bad4 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
jdawkins 5:a44318a8bad4 103 /* Gyroscope Offset registers*/
jdawkins 5:a44318a8bad4 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
jdawkins 5:a44318a8bad4 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
jdawkins 5:a44318a8bad4 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
jdawkins 5:a44318a8bad4 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
jdawkins 5:a44318a8bad4 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
jdawkins 5:a44318a8bad4 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
jdawkins 5:a44318a8bad4 110 /* Radius registers */
jdawkins 5:a44318a8bad4 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
jdawkins 5:a44318a8bad4 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
jdawkins 5:a44318a8bad4 113 #define MAG_RADIUS_LSB_ADDR 0x69
jdawkins 5:a44318a8bad4 114 #define MAG_RADIUS_MSB_ADDR 0x6A
kenjiArai 0:86a17116e8be 115
jdawkins 5:a44318a8bad4 116 /* Page 1 registers */
jdawkins 5:a44318a8bad4 117 #define BNO055_UNIQUE_ID_ADDR 0x50
kenjiArai 0:86a17116e8be 118
jdawkins 5:a44318a8bad4 119 //Definitions for unit selection
jdawkins 5:a44318a8bad4 120 #define MPERSPERS 0x00
jdawkins 5:a44318a8bad4 121 #define MILLIG 0x01
jdawkins 5:a44318a8bad4 122 #define DEG_PER_SEC 0x00
jdawkins 5:a44318a8bad4 123 #define RAD_PER_SEC 0x02
jdawkins 5:a44318a8bad4 124 #define DEGREES 0x00
jdawkins 5:a44318a8bad4 125 #define RADIANS 0x04
jdawkins 5:a44318a8bad4 126 #define CENTIGRADE 0x00
jdawkins 5:a44318a8bad4 127 #define FAHRENHEIT 0x10
jdawkins 5:a44318a8bad4 128 #define WINDOWS 0x00
jdawkins 5:a44318a8bad4 129 #define ANDROID 0x80
kenjiArai 0:86a17116e8be 130
jdawkins 5:a44318a8bad4 131 //Definitions for power mode
jdawkins 5:a44318a8bad4 132 #define POWER_MODE_NORMAL 0x00
jdawkins 5:a44318a8bad4 133 #define POWER_MODE_LOWPOWER 0x01
jdawkins 5:a44318a8bad4 134 #define POWER_MODE_SUSPEND 0x02
kenjiArai 0:86a17116e8be 135
jdawkins 5:a44318a8bad4 136 //Definitions for operating mode
jdawkins 5:a44318a8bad4 137 #define OPERATION_MODE_CONFIG 0x00
jdawkins 5:a44318a8bad4 138 #define OPERATION_MODE_ACCONLY 0x01
jdawkins 5:a44318a8bad4 139 #define OPERATION_MODE_MAGONLY 0x02
jdawkins 5:a44318a8bad4 140 #define OPERATION_MODE_GYRONLY 0x03
jdawkins 5:a44318a8bad4 141 #define OPERATION_MODE_ACCMAG 0x04
jdawkins 5:a44318a8bad4 142 #define OPERATION_MODE_ACCGYRO 0x05
jdawkins 5:a44318a8bad4 143 #define OPERATION_MODE_MAGGYRO 0x06
jdawkins 5:a44318a8bad4 144 #define OPERATION_MODE_AMG 0x07
jdawkins 5:a44318a8bad4 145 #define OPERATION_MODE_IMUPLUS 0x08
jdawkins 5:a44318a8bad4 146 #define OPERATION_MODE_COMPASS 0x09
jdawkins 5:a44318a8bad4 147 #define OPERATION_MODE_M4G 0x0A
jdawkins 5:a44318a8bad4 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
jdawkins 5:a44318a8bad4 149 #define OPERATION_MODE_NDOF 0x0C
kenjiArai 0:86a17116e8be 150
jdawkins 5:a44318a8bad4 151 typedef struct values{
jdawkins 5:a44318a8bad4 152 int16_t rawx,rawy,rawz;
jdawkins 5:a44318a8bad4 153 float x,y,z;
jdawkins 5:a44318a8bad4 154 }values;
jdawkins 5:a44318a8bad4 155
jdawkins 5:a44318a8bad4 156 typedef struct angles{
jdawkins 5:a44318a8bad4 157 int16_t rawroll,rawpitch,rawyaw;
jdawkins 5:a44318a8bad4 158 float roll, pitch, yaw;
jdawkins 5:a44318a8bad4 159 } angles;
jdawkins 5:a44318a8bad4 160
jdawkins 5:a44318a8bad4 161 typedef struct quaternion{
jdawkins 5:a44318a8bad4 162 int16_t raww,rawx,rawy,rawz;
jdawkins 5:a44318a8bad4 163 float w,x,y,z;
jdawkins 5:a44318a8bad4 164 }quaternion;
kenjiArai 0:86a17116e8be 165
jdawkins 5:a44318a8bad4 166 typedef struct chip{
jdawkins 5:a44318a8bad4 167 char id;
jdawkins 5:a44318a8bad4 168 char accel;
jdawkins 5:a44318a8bad4 169 char gyro;
jdawkins 5:a44318a8bad4 170 char mag;
jdawkins 5:a44318a8bad4 171 char sw[2];
jdawkins 5:a44318a8bad4 172 char bootload;
jdawkins 5:a44318a8bad4 173 char serial[16];
jdawkins 5:a44318a8bad4 174 }chip;
kenjiArai 0:86a17116e8be 175
jdawkins 5:a44318a8bad4 176 /** Class for operating Bosch BNO055 sensor over I2C **/
jdawkins 5:a44318a8bad4 177 class BNO055
jdawkins 5:a44318a8bad4 178 {
jdawkins 5:a44318a8bad4 179 public:
kenjiArai 0:86a17116e8be 180
jdawkins 5:a44318a8bad4 181 /** Create BNO055 instance **/
jdawkins 5:a44318a8bad4 182 BNO055(PinName SDA, PinName SCL);
jdawkins 5:a44318a8bad4 183
jdawkins 5:a44318a8bad4 184 /** Perform a power-on reset of the BNO055 **/
jdawkins 5:a44318a8bad4 185 void reset();
jdawkins 5:a44318a8bad4 186 /** Check that the BNO055 is connected and download the software details
jdawkins 5:a44318a8bad4 187 and serial number of chip and store in ID structure **/
jdawkins 5:a44318a8bad4 188 bool check();
jdawkins 5:a44318a8bad4 189 /** Turn the external timing crystal on/off **/
jdawkins 5:a44318a8bad4 190 void SetExternalCrystal(bool yn);
jdawkins 5:a44318a8bad4 191 /** Set the operation mode of the sensor **/
jdawkins 5:a44318a8bad4 192 void setmode(char mode);
jdawkins 5:a44318a8bad4 193 /** Set the power mode of the sensor **/
jdawkins 5:a44318a8bad4 194 void setpowermode(char mode);
jdawkins 5:a44318a8bad4 195
jdawkins 5:a44318a8bad4 196 /** Set the Format Output of the sensor windows or android style**/
jdawkins 5:a44318a8bad4 197 void setoutputformat(char format);
jdawkins 5:a44318a8bad4 198
jdawkins 5:a44318a8bad4 199 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
jdawkins 5:a44318a8bad4 200 void set_accel_units(char units);
jdawkins 5:a44318a8bad4 201 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
jdawkins 5:a44318a8bad4 202 void set_anglerate_units(char units);
jdawkins 5:a44318a8bad4 203 /** Set the output units from the IMU, either DEGREES or RADIANS **/
jdawkins 5:a44318a8bad4 204 void set_angle_units(char units);
jdawkins 5:a44318a8bad4 205 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
jdawkins 5:a44318a8bad4 206 void set_temp_units(char units);
jdawkins 5:a44318a8bad4 207 /** Set the data output format to either WINDOWS or ANDROID **/
jdawkins 5:a44318a8bad4 208 void set_orientation(int position);
jdawkins 5:a44318a8bad4 209 /** Set the mapping of the exes/directions as per page 25 of datasheet
jdawkins 5:a44318a8bad4 210 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
jdawkins 5:a44318a8bad4 211 void set_mapping(char orient);
jdawkins 5:a44318a8bad4 212
jdawkins 5:a44318a8bad4 213 /** Get the current values from the accelerometer **/
jdawkins 5:a44318a8bad4 214 void get_accel(void);
jdawkins 5:a44318a8bad4 215 /** Get the current values from the gyroscope **/
jdawkins 5:a44318a8bad4 216 void get_gyro(void);
jdawkins 5:a44318a8bad4 217 /** Get the current values from the magnetometer **/
jdawkins 5:a44318a8bad4 218 void get_mag(void);
jdawkins 5:a44318a8bad4 219 /** Get the corrected linear acceleration **/
jdawkins 5:a44318a8bad4 220 void get_lia(void);
jdawkins 5:a44318a8bad4 221 /** Get the current gravity vector **/
jdawkins 5:a44318a8bad4 222 void get_grv(void);
jdawkins 5:a44318a8bad4 223 /** Get the output quaternion **/
jdawkins 5:a44318a8bad4 224 void get_quat(void);
jdawkins 5:a44318a8bad4 225 /** Get the current Euler angles **/
jdawkins 5:a44318a8bad4 226 void get_angles(void);
jdawkins 5:a44318a8bad4 227 /** Get the current temperature **/
jdawkins 5:a44318a8bad4 228 void get_temp(void);
kenjiArai 0:86a17116e8be 229
jdawkins 5:a44318a8bad4 230 /** Read the calibration status register and store the result in the calib variable **/
jdawkins 5:a44318a8bad4 231 void get_calib(void);
jdawkins 5:a44318a8bad4 232 /** Read the offset and radius values into the calibration array**/
jdawkins 5:a44318a8bad4 233 void read_calibration_data(void);
jdawkins 5:a44318a8bad4 234 /** Write the contents of the calibration array into the registers **/
jdawkins 5:a44318a8bad4 235 void write_calibration_data(void);
jdawkins 5:a44318a8bad4 236
jdawkins 5:a44318a8bad4 237 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
jdawkins 5:a44318a8bad4 238 x,y,z are the scale floating point values and
jdawkins 5:a44318a8bad4 239 rawx, rawy, rawz are the int16_t values read from the sensors **/
jdawkins 5:a44318a8bad4 240 values accel,gyro,mag,lia,gravity;
jdawkins 5:a44318a8bad4 241 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
jdawkins 5:a44318a8bad4 242 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
jdawkins 5:a44318a8bad4 243 angles euler;
jdawkins 5:a44318a8bad4 244 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
jdawkins 5:a44318a8bad4 245 registers **/
jdawkins 5:a44318a8bad4 246 quaternion quat;
kenjiArai 3:0ad6f85b178f 247
jdawkins 5:a44318a8bad4 248 /** Current contents of calibration status register **/
jdawkins 5:a44318a8bad4 249 char calib;
jdawkins 5:a44318a8bad4 250 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
jdawkins 5:a44318a8bad4 251 char calibration[22];
jdawkins 5:a44318a8bad4 252 /** Structure containing sensor numbers, software version and chip UID **/
jdawkins 5:a44318a8bad4 253 chip ID;
jdawkins 5:a44318a8bad4 254 /** Current temperature **/
jdawkins 5:a44318a8bad4 255 int temperature;
jdawkins 5:a44318a8bad4 256
jdawkins 5:a44318a8bad4 257 private:
jdawkins 5:a44318a8bad4 258
jdawkins 5:a44318a8bad4 259 I2C _i2c;
jdawkins 5:a44318a8bad4 260 char rx,tx[2],address; //I2C variables
jdawkins 5:a44318a8bad4 261 char rawdata[22]; //Temporary array for input data values
jdawkins 5:a44318a8bad4 262 char op_mode;
jdawkins 5:a44318a8bad4 263 char pwr_mode;
jdawkins 5:a44318a8bad4 264 char _format;
jdawkins 5:a44318a8bad4 265 float accel_scale,rate_scale,angle_scale;
jdawkins 5:a44318a8bad4 266 int temp_scale;
jdawkins 5:a44318a8bad4 267
jdawkins 5:a44318a8bad4 268 void readchar(char location){
jdawkins 5:a44318a8bad4 269 tx[0] = location;
jdawkins 5:a44318a8bad4 270 _i2c.write(address,tx,1,true);
jdawkins 5:a44318a8bad4 271 _i2c.read(address,&rx,1,false);
kenjiArai 3:0ad6f85b178f 272 }
kenjiArai 3:0ad6f85b178f 273
jdawkins 5:a44318a8bad4 274 void writechar(char location, char value){
jdawkins 5:a44318a8bad4 275 tx[0] = location;
jdawkins 5:a44318a8bad4 276 tx[1] = value;
jdawkins 5:a44318a8bad4 277 _i2c.write(address,tx,2);
jdawkins 5:a44318a8bad4 278 }
jdawkins 5:a44318a8bad4 279
jdawkins 5:a44318a8bad4 280 void setpage(char value){
jdawkins 5:a44318a8bad4 281 writechar(BNO055_PAGE_ID_ADDR,value);
jdawkins 5:a44318a8bad4 282 }
jdawkins 5:a44318a8bad4 283 };
jdawkins 5:a44318a8bad4 284 #endif