Revision 2:899128d20215, committed 2016-08-17

Comitter:

jdawkins

Date:

Wed Aug 17 20:31:42 2016 +0000

Parent:

1:d56e1d85e6d8

Commit message:

Commit Lab Firmware

Changed in this revision

diff -r d56e1d85e6d8 -r 899128d20215 BNO055/BNO055.cpp
--- a/BNO055/BNO055.cpp	Tue Jul 12 19:16:19 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,314 +0,0 @@
-#include "BNO055.h"
-#include "mbed.h"
-
-BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
-    //Set I2C fast and bring reset line high
-    _i2c.frequency(400000);
-    address = BNOAddress;
-    accel_scale = 0.001f;
-    rate_scale = 1.0f/16.0f;
-    angle_scale = 1.0f/16.0f;
-    temp_scale = 1;
-    }
-    
-void BNO055::reset(){
-//Perform a power-on-reset
-    readchar(BNO055_SYS_TRIGGER_ADDR);
-    rx = rx | 0x20;
-    writechar(BNO055_SYS_TRIGGER_ADDR,rx);
-//Wait for the system to come back up again (datasheet says 650ms)
-    wait_ms(675);
-}
-    
-bool BNO055::check(){
-//Check we have communication link with the chip
-    readchar(BNO055_CHIP_ID_ADDR);
-    if (rx != 0xA0) return false;
-//Grab the chip ID and software versions
-    tx[0] = BNO055_CHIP_ID_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,7,false); 
-    ID.id = rawdata[0];
-    ID.accel = rawdata[1];
-    ID.mag = rawdata[2];
-    ID.gyro = rawdata[3];
-    ID.sw[0] = rawdata[4];
-    ID.sw[1] = rawdata[5];
-    ID.bootload = rawdata[6];
-    setpage(1);
-    tx[0] = BNO055_UNIQUE_ID_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,ID.serial,16,false); 
-    setpage(0);
-    return true;
-    }
-    
-void BNO055::SetExternalCrystal(bool yn){
-// Read the current status from the device
-    readchar(BNO055_SYS_TRIGGER_ADDR); 
-    if (yn) rx = rx | 0x80;
-    else rx = rx & 0x7F;
-    writechar(BNO055_SYS_TRIGGER_ADDR,rx); 
-}
-
-void BNO055::set_accel_units(char units){
-    readchar(BNO055_UNIT_SEL_ADDR);
-    if(units == MPERSPERS){
-        rx = rx & 0xFE;
-        accel_scale = 0.01f;
-        }
-    else {
-        rx = rx | units;
-        accel_scale = 0.001f;
-        }
-    writechar(BNO055_UNIT_SEL_ADDR,rx);
-}
-
-void BNO055::set_anglerate_units(char units){
-    readchar(BNO055_UNIT_SEL_ADDR);
-    if (units == DEG_PER_SEC){
-        rx = rx & 0xFD;
-        rate_scale = 1.0f/16.0f;
-        }
-    else {
-        rx = rx | units;
-        rate_scale = 1.0f/900.0f;
-        }
-    writechar(BNO055_UNIT_SEL_ADDR,rx);
-}    
-
-void BNO055::set_angle_units(char units){
-    readchar(BNO055_UNIT_SEL_ADDR);
-    if (units == DEGREES){
-        rx = rx & 0xFB;
-        angle_scale = 1.0f/16.0f;
-        }
-    else {
-        rx = rx | units;
-        angle_scale = 1.0f/900.0f;
-        }
-    writechar(BNO055_UNIT_SEL_ADDR,rx);
-}    
-
-void BNO055::set_temp_units(char units){
-    readchar(BNO055_UNIT_SEL_ADDR);
-    if (units == CENTIGRADE){
-        rx = rx & 0xEF;
-        temp_scale = 1;
-        }
-    else {
-        rx = rx | units;
-        temp_scale = 2;
-        }
-    writechar(BNO055_UNIT_SEL_ADDR,rx);
-}    
-
-void BNO055::set_orientation(int position){
-    switch(position){
-        case 0:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
-            break;
-        case 1: //(Default)
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
-            break;
-        case 2:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x06);
-            break;  
-        case 3:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);            
-            break;
-        case 4:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);            
-            break;
-        case 5:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);            
-            break;
-        case 6:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);            
-            break;
-        case 7:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);            
-            break;
-        default:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
-            break;                 
-    }
-}        
-
-void BNO055::setmode(char omode){
-    writechar(BNO055_OPR_MODE_ADDR,omode);
-    op_mode = omode;
-}
-
-void BNO055::setpowermode(char pmode){
-    writechar(BNO055_PWR_MODE_ADDR,pmode);
-    pwr_mode = pmode;
-}
-
-void BNO055::get_accel(void){
-    tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,6,0); 
-    accel.rawx = (rawdata[1] << 8 | rawdata[0]);
-    accel.rawy = (rawdata[3] << 8 | rawdata[2]);
-    accel.rawz = (rawdata[5] << 8 | rawdata[4]);
-    accel.x = float(accel.rawx)*accel_scale;
-    accel.y = float(accel.rawy)*accel_scale;
-    accel.z = float(accel.rawz)*accel_scale;
-}
-    
-void BNO055::get_gyro(void){
-    tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,6,0); 
-    gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
-    gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
-    gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
-    gyro.x = float(gyro.rawx)*rate_scale;
-    gyro.y = float(gyro.rawy)*rate_scale;
-    gyro.z = float(gyro.rawz)*rate_scale;
-}
-
-void BNO055::get_mag(void){
-    tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,6,0); 
-    mag.rawx = (rawdata[1] << 8 | rawdata[0]);
-    mag.rawy = (rawdata[3] << 8 | rawdata[2]);
-    mag.rawz = (rawdata[5] << 8 | rawdata[4]);
-    mag.x = float(mag.rawx);
-    mag.y = float(mag.rawy);
-    mag.z = float(mag.rawz);
-}
-
-void BNO055::get_lia(void){
-    tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,6,0); 
-    lia.rawx = (rawdata[1] << 8 | rawdata[0]);
-    lia.rawy = (rawdata[3] << 8 | rawdata[2]);
-    lia.rawz = (rawdata[5] << 8 | rawdata[4]);
-    lia.x = float(lia.rawx)*accel_scale;
-    lia.y = float(lia.rawy)*accel_scale;
-    lia.z = float(lia.rawz)*accel_scale;
-}
-
-void BNO055::get_grv(void){
-    tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,6,0); 
-    gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
-    gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
-    gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
-    gravity.x = float(gravity.rawx)*accel_scale;
-    gravity.y = float(gravity.rawy)*accel_scale;
-    gravity.z = float(gravity.rawz)*accel_scale;
-}
-
-void BNO055::get_quat(void){
-    tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address+1,rawdata,8,0); 
-    quat.raww = (rawdata[1] << 8 | rawdata[0]);
-    quat.rawx = (rawdata[3] << 8 | rawdata[2]);
-    quat.rawy = (rawdata[5] << 8 | rawdata[4]);
-    quat.rawz = (rawdata[7] << 8 | rawdata[6]);
-    quat.w = float(quat.raww)/16384.0f;
-    quat.x = float(quat.rawx)/16384.0f;
-    quat.y = float(quat.rawy)/16384.0f;
-    quat.z = float(quat.rawz)/16384.0f;
-}
-
-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); 
-    euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
-    euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
-    euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
-    euler.yaw = float(euler.rawyaw)*angle_scale;
-    euler.roll = float(euler.rawroll)*angle_scale;
-    euler.pitch = float(euler.rawpitch)*angle_scale;
-}
-
-
-void BNO055::get_temp(void){
-    readchar(BNO055_TEMP_ADDR);
-    temperature = rx / temp_scale;
-}
-
-void BNO055::get_calib(void){
-     readchar(BNO055_CALIB_STAT_ADDR);
-     calib = rx;
-}
-
-void BNO055::read_calibration_data(void){
-    char tempmode = op_mode;
-    setmode(OPERATION_MODE_CONFIG);
-    wait_ms(20);
-    tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.read(address,calibration,22,false); 
-    setmode(tempmode);
-    wait_ms(10);
-}
-
-void BNO055::write_calibration_data(void){
-    char tempmode = op_mode;
-    setmode(OPERATION_MODE_CONFIG);
-    wait_ms(20);
-    tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
-    _i2c.write(address,tx,1,true);  
-    _i2c.write(address,calibration,22,false); 
-    setmode(tempmode);
-    wait_ms(10);
-}
-
-void BNO055::set_mapping(char orient){
-    switch (orient){
-        case 0: 
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
-            break;
-        case 1:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
-            break;
-        case 2:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
-            break;
-        case 3:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
-            break;
-        case 4:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
-            break;
-        case 5:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
-            break;
-        case 6:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
-            break;
-        case 7:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
-            break;
-        default:
-            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
-            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
-        }
-}
\ No newline at end of file

diff -r d56e1d85e6d8 -r 899128d20215 BNO055/BNO055.h
--- a/BNO055/BNO055.h	Tue Jul 12 19:16:19 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,280 +0,0 @@
-#ifndef BNO055_H
-#define BNO055_H
-
-#include "mbed.h"
-//
-#define BNOAddress (0x28 << 1)
-//Register definitions
-/* Page id register definition */ 
-#define BNO055_PAGE_ID_ADDR          0x07
-/* PAGE0 REGISTER DEFINITION START*/ 
-#define BNO055_CHIP_ID_ADDR          0x00 
-#define BNO055_ACCEL_REV_ID_ADDR     0x01
-#define BNO055_MAG_REV_ID_ADDR       0x02
-#define BNO055_GYRO_REV_ID_ADDR      0x03
-#define BNO055_SW_REV_ID_LSB_ADDR    0x04
-#define BNO055_SW_REV_ID_MSB_ADDR    0x05
-#define BNO055_BL_REV_ID_ADDR        0x06
-/* Accel data register */ 
-#define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
-#define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
-#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
-#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
-#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
-#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
-/* Mag data register */ 
-#define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
-#define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
-#define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
-#define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
-#define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
-#define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
-/* Gyro data registers */ 
-#define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
-#define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
-#define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
-#define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
-#define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
-#define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
-/* Euler data registers */ 
-#define BNO055_EULER_H_LSB_ADDR      0x1A
-#define BNO055_EULER_H_MSB_ADDR      0x1B
-#define BNO055_EULER_R_LSB_ADDR      0x1C
-#define BNO055_EULER_R_MSB_ADDR      0x1D
-#define BNO055_EULER_P_LSB_ADDR      0x1E
-#define BNO055_EULER_P_MSB_ADDR      0x1F
-/* Quaternion data registers */ 
-#define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
-#define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
-#define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
-#define BNO055_QUATERNION_DATA_X_MSB_ADDR  0x23
-#define BNO055_QUATERNION_DATA_Y_LSB_ADDR  0x24
-#define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
-#define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
-#define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
-/* Linear acceleration data registers */ 
-#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
-#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
-#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
-#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
-#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
-#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
-/* Gravity data registers */ 
-#define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
-#define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
-#define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
-#define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
-#define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
-#define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
-/* Temperature data register */ 
-#define BNO055_TEMP_ADDR                    0x34 
-/* Status registers */ 
-#define BNO055_CALIB_STAT_ADDR              0x35 
-#define BNO055_SELFTEST_RESULT_ADDR         0x36 
-#define BNO055_INTR_STAT_ADDR               0x37 
-#define BNO055_SYS_CLK_STAT_ADDR            0x38 
-#define BNO055_SYS_STAT_ADDR                0x39 
-#define BNO055_SYS_ERR_ADDR                 0x3A 
-/* Unit selection register */ 
-#define BNO055_UNIT_SEL_ADDR                0x3B 
-#define BNO055_DATA_SELECT_ADDR             0x3C 
-/* Mode registers */ 
-#define BNO055_OPR_MODE_ADDR                0x3D 
-#define BNO055_PWR_MODE_ADDR                0x3E 
-#define BNO055_SYS_TRIGGER_ADDR             0x3F 
-#define BNO055_TEMP_SOURCE_ADDR             0x40 
-/* Axis remap registers */ 
-#define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
-#define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
-/* Accelerometer Offset registers */ 
-#define ACCEL_OFFSET_X_LSB_ADDR             0x55 
-#define ACCEL_OFFSET_X_MSB_ADDR             0x56 
-#define ACCEL_OFFSET_Y_LSB_ADDR             0x57
-#define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
-#define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
-#define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
-/* Magnetometer Offset registers */ 
-#define MAG_OFFSET_X_LSB_ADDR               0x5B
-#define MAG_OFFSET_X_MSB_ADDR               0x5C
-#define MAG_OFFSET_Y_LSB_ADDR               0x5D
-#define MAG_OFFSET_Y_MSB_ADDR               0x5E
-#define MAG_OFFSET_Z_LSB_ADDR               0x5F
-#define MAG_OFFSET_Z_MSB_ADDR               0x60
-/* Gyroscope Offset registers*/ 
-#define GYRO_OFFSET_X_LSB_ADDR              0x61
-#define GYRO_OFFSET_X_MSB_ADDR              0x62
-#define GYRO_OFFSET_Y_LSB_ADDR              0x63
-#define GYRO_OFFSET_Y_MSB_ADDR              0x64
-#define GYRO_OFFSET_Z_LSB_ADDR              0x65
-#define GYRO_OFFSET_Z_MSB_ADDR              0x66
-/* Radius registers */ 
-#define ACCEL_RADIUS_LSB_ADDR               0x67 
-#define ACCEL_RADIUS_MSB_ADDR               0x68 
-#define MAG_RADIUS_LSB_ADDR                 0x69 
-#define MAG_RADIUS_MSB_ADDR                 0x6A 
-
-/* Page 1 registers */
-#define BNO055_UNIQUE_ID_ADDR               0x50
-
-//Definitions for unit selection
-#define MPERSPERS   0x00
-#define MILLIG      0x01
-#define DEG_PER_SEC 0x00
-#define RAD_PER_SEC 0x02
-#define DEGREES     0x00
-#define RADIANS     0x04
-#define CENTIGRADE  0x00
-#define FAHRENHEIT  0x10
-#define WINDOWS     0x00
-#define ANDROID     0x80
-
-//Definitions for power mode
-#define POWER_MODE_NORMAL   0x00 
-#define POWER_MODE_LOWPOWER 0x01 
-#define POWER_MODE_SUSPEND  0x02 
-
-//Definitions for operating mode
-#define OPERATION_MODE_CONFIG        0x00 
-#define OPERATION_MODE_ACCONLY       0x01 
-#define OPERATION_MODE_MAGONLY       0x02 
-#define OPERATION_MODE_GYRONLY       0x03 
-#define OPERATION_MODE_ACCMAG        0x04 
-#define OPERATION_MODE_ACCGYRO       0x05 
-#define OPERATION_MODE_MAGGYRO       0x06 
-#define OPERATION_MODE_AMG           0x07 
-#define OPERATION_MODE_IMUPLUS       0x08 
-#define OPERATION_MODE_COMPASS       0x09 
-#define OPERATION_MODE_M4G           0x0A 
-#define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
-#define OPERATION_MODE_NDOF          0x0C 
-
-typedef struct values{
-    int16_t rawx,rawy,rawz;
-    float x,y,z;
-    }values;
-    
-typedef struct angles{
-    int16_t rawroll,rawpitch,rawyaw;
-    float roll, pitch, yaw;
-    } angles;
-    
-typedef struct quaternion{
-    int16_t raww,rawx,rawy,rawz;
-    float w,x,y,z;
-    }quaternion;
-
-typedef struct chip{
-    char id;
-    char accel;
-    char gyro;
-    char mag;
-    char sw[2];
-    char bootload;
-    char serial[16];
-    }chip;
-
-/** Class for operating Bosch BNO055 sensor over I2C **/
-class BNO055 
-{ 
-public: 
-
-/** Create BNO055 instance **/
-    BNO055(PinName SDA, PinName SCL); 
-    
-/** Perform a power-on reset of the BNO055 **/
-    void reset();
-/** Check that the BNO055 is connected and download the software details 
-and serial number of chip and store in ID structure **/
-    bool check();
-/** Turn the external timing crystal on/off **/
-    void SetExternalCrystal(bool yn);
-/** Set the operation mode of the sensor **/    
-    void setmode(char mode);
-/** Set the power mode of the sensor **/
-    void setpowermode(char mode);
-    
-/** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
-    void set_accel_units(char units);
-/** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
-    void set_anglerate_units(char units);
-/** Set the output units from the IMU, either DEGREES or RADIANS **/
-    void set_angle_units(char units);
-/** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
-    void set_temp_units(char units);
-/** Set the data output format to either WINDOWS or ANDROID **/    
-    void set_orientation(int position);
-/** Set the mapping of the exes/directions as per page 25 of datasheet
-    range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
-    void set_mapping(char orient);
-    
-/** Get the current values from the accelerometer **/
-    void get_accel(void);
-/** Get the current values from the gyroscope **/
-    void get_gyro(void);
-/** Get the current values from the magnetometer **/
-    void get_mag(void);
-/** Get the corrected linear acceleration **/
-    void get_lia(void);
-/** Get the current gravity vector **/
-    void get_grv(void);
-/** Get the output quaternion **/
-    void get_quat(void);
-/** Get the current Euler angles **/
-    void get_angles(void);
-/** Get the current temperature **/
-    void get_temp(void);
-
-/** Read the calibration status register and store the result in the calib variable **/
-    void get_calib(void);
-/** Read the offset and radius values into the calibration array**/
-    void read_calibration_data(void);
-/** Write the contents of the calibration array into the registers **/    
-    void write_calibration_data(void);
-    
-/** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
-    x,y,z are the scale floating point values and
-    rawx, rawy, rawz are the int16_t values read from the sensors **/
-    values accel,gyro,mag,lia,gravity;
-/** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
-    and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
-    angles euler;
-/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
-    registers **/    
-    quaternion quat;
-
-/** Current contents of calibration status register **/
-    char calib;
-/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
-    char calibration[22];
-/** Structure containing sensor numbers, software version and chip UID **/
-    chip ID;
-/** Current temperature **/
-    int temperature;
-    
-    private:
-    
-        I2C _i2c;
-        char rx,tx[2],address;  //I2C variables
-        char rawdata[22]; //Temporary array for input data values
-        char op_mode;
-        char pwr_mode;
-        float accel_scale,rate_scale,angle_scale;
-        int temp_scale;
-        
-void readchar(char location){
-    tx[0] = location;
-    _i2c.write(address,tx,1,true);
-    _i2c.read(address,&rx,1,false);
-}
-
-void writechar(char location, char value){
-    tx[0] = location;
-    tx[1] = value;
-    _i2c.write(address,tx,2);
-}
-
-void setpage(char value){
-    writechar(BNO055_PAGE_ID_ADDR,value);
-}
-    };
-#endif
\ No newline at end of file

diff -r d56e1d85e6d8 -r 899128d20215 BNO055_fusion.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055_fusion.lib	Wed Aug 17 20:31:42 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/USNA-WSE-ES456/code/BNO055_fusion/#a44318a8bad4

diff -r d56e1d85e6d8 -r 899128d20215 main.cpp
--- a/main.cpp	Tue Jul 12 19:16:19 2016 +0000
+++ b/main.cpp	Wed Aug 17 20:31:42 2016 +0000
@@ -19,7 +19,7 @@
 DigitalOut status_LED(LED1);
 DigitalOut armed_LED(LED2);
 DigitalOut auto_LED(LED3);
-DigitalOut hall_LED(LED4);
+DigitalOut imu_LED(LED4);
 
 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
 Serial xbee(p28, p27); // tx, rx for Xbee
@@ -67,48 +67,41 @@
         pc.printf("BNO055 connected\r\n");
         imu.setmode(OPERATION_MODE_CONFIG);
         imu.SetExternalCrystal(1);
-        //bno.set_orientation(1);
         imu.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
-        //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF);   //no magnetometer
-        imu.set_angle_units(DEGREES);
-        imu.set_mapping(1);
+        imu.set_angle_units(RADIANS);
+        imu.set_mapping(2);
+        
+            
     } else {
         pc.printf("IMU BNO055 NOT connected\r\n Program Trap.");
         status_LED = 1;
         armed_LED = 1;
-        hall_LED = 1;
+        imu_LED = 1;
         auto_LED = 1;
         while(1) {
             status_LED = !status_LED;
             armed_LED = !armed_LED;
-            hall_LED = !hall_LED;
+            imu_LED = !imu_LED;
             auto_LED = !auto_LED;
             wait(0.5);
         }
     }
 
-    pc.printf("ES456 Vehcile Program\r\n");
+    pc.printf("ES456 Vehicle Sensor Logger\r\n");
     while(1){
                  
-
         imu.get_angles();
         imu.get_accel();
         imu.get_gyro();
         imu.get_mag();
          if(t.read()-t_imu > (1/LOG_RATE)) {
 
-
-           //  pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);
              pc.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);             
              pc.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z);
-             pc.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
              
              xbee.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);             
              xbee.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z);
-             xbee.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw);             
              
-             xbee.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);
-
              t_imu = t.read();
          } // if t.read
         wait(1/LOOP_RATE);