Alexander Lill / BNO055_fusion

Extended and refactored library for BNO055, an intelligent 9-axis absolute orientation sensor by Bosch Sensortec. It includes ACC, MAG and GYRO sensors and Cortex-M0 processor.

Fork of BNO055_fusion by Kenji Arai

Please note: pitch and roll in get_euler_angles are switched, the code should be like this:

h = dt[1] << 8 | dt[0]; r = dt[3] << 8 | dt[2]; p = dt[5] << 8 | dt[4];

See https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf

Diff: BNO055.cpp

Revision:
13:92854c8deb3c
Parent:
11:17bc36c5ccbb
Child:
14:9f9a12bcd8ed
--- a/BNO055.cpp	Mon Jan 29 14:28:06 2018 +0000
+++ b/BNO055.cpp	Thu Feb 01 00:16:59 2018 +0100
@@ -27,6 +27,7 @@
 {
     chip_addr = addr;
     chip_mode = mode;
+    initialize_reset_pin();
     initialize ();
 }
 
@@ -35,6 +36,7 @@
 {
     chip_addr = BNO055_G_CHIP_ADDR;
     chip_mode = MODE_NDOF;
+    initialize_reset_pin();
     initialize ();
 }
 
@@ -43,6 +45,7 @@
 {
     chip_addr = addr;
     chip_mode = mode;
+    initialize_reset_pin();
     initialize ();
 }
 
@@ -51,6 +54,7 @@
 {
     chip_addr = BNO055_G_CHIP_ADDR;
     chip_mode = MODE_NDOF;
+    initialize_reset_pin();
     initialize ();
 }
 
@@ -260,6 +264,12 @@
     change_fusion_mode(chip_mode);
 }
 
+void BNO055::initialize_reset_pin(void)
+{
+    _res = 1;
+    WAIT_MS(700); // Need to wait at least 650mS
+}
+
 void BNO055::unit_selection(void)
 {
     select_page(0);