Diff: BNO055.cpp

Revision:

9:f43b1aa99e08

Parent:

8:303717d8776c

--- a/BNO055.cpp	Thu Jun 23 22:28:41 2016 +0000
+++ b/BNO055.cpp	Mon Jul 11 18:01:41 2016 +0000
@@ -312,4 +312,28 @@
     setpage(0);
     readchar(BNO055_INTR_STAT_ADDR);
     intr = rx;
+}
+
+void BNO055::setpowermode3() {
+    setmode(OPERATION_MODE_CONFIG);
+    wait_ms(20);
+    setpage(1);
+    // 1.  Accelerometer High
+    // 1a. Set Range
+    writechar(0x08, ((0 & ~(0x03)) | ((0x03 << 0) & 0x03)));
+    // 1b. Set Power
+    writechar(0x08, ((0 & ~(0xE0)) | ((0x00 << 5) & 0xE0)));
+    
+    // 2.  Gyro Off
+    // 2a. Set Range
+    writechar(0x0B, ((0 & ~(0x07)) | ((0x00 << 0) & 0x07)));
+    // 2b. Set Power
+    writechar(0x0B, ((0 & ~(0x07)) | ((0x02 << 0) & 0x07)));
+    
+    // 3.  Magnetometer Low
+    // 3a. Set Power
+    writechar(0x09, ((0 & ~(0x60)) | ((0x00 << 5) & 0x60)));
+
+    // turn page back to 0 for reading op mode
+    setpage(0);
 }
\ No newline at end of file