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:
7:f0eb18503c27
Parent:
6:07d01bf36ad0
Child:
8:46134e7474e7
--- a/BNO055.cpp	Wed Aug 23 09:44:43 2017 +0000
+++ b/BNO055.cpp	Sun Jan 28 19:35:11 2018 +0000
@@ -55,7 +55,7 @@
 }
 
 /////////////// Read data & normalize /////////////////////
-void BNO055::get_Euler_Angles(BNO055_EULER_TypeDef *el)
+void BNO055::get_euler_angles(BNO055_EULER_TypeDef *result)
 {
     uint8_t deg_or_rad;
     int16_t h,p,r;
@@ -76,29 +76,29 @@
     p = dt[3] << 8 | dt[2];
     r = dt[5] << 8 | dt[4];
     if (deg_or_rad) {
-        el->h = (double)h / 900;
-        el->p = (double)p / 900;
-        el->r = (double)r / 900;
+        result->h = (double)h / 900;
+        result->p = (double)p / 900;
+        result->r = (double)r / 900;
     } else {
-        el->h = (double)h / 16;
-        el->p = (double)p / 16;
-        el->r = (double)r / 16;
+        result->h = (double)h / 16;
+        result->p = (double)p / 16;
+        result->r = (double)r / 16;
     }
 }
 
-void BNO055::get_quaternion(BNO055_QUATERNION_TypeDef *qua)
+void BNO055::get_quaternion(BNO055_QUATERNION_TypeDef *result)
 {
     select_page(0);
     dt[0] = BNO055_QUATERNION_W_LSB;
     _i2c.write(chip_addr, dt, 1, true);
     _i2c.read(chip_addr, dt, 8, false);
-    qua->w = dt[1] << 8 | dt[0];
-    qua->x = dt[3] << 8 | dt[2];
-    qua->y = dt[5] << 8 | dt[4];
-    qua->z = dt[7] << 8 | dt[6];
+    result->w = dt[1] << 8 | dt[0];
+    result->x = dt[3] << 8 | dt[2];
+    result->y = dt[5] << 8 | dt[4];
+    result->z = dt[7] << 8 | dt[6];
 }
 
-void BNO055::get_linear_accel(BNO055_LIN_ACC_TypeDef *la)
+void BNO055::get_linear_accel(BNO055_VECTOR_TypeDef *result)
 {
     uint8_t ms2_or_mg;
     int16_t x,y,z;
@@ -119,17 +119,17 @@
     y = dt[3] << 8 | dt[2];
     z = dt[5] << 8 | dt[4];
     if (ms2_or_mg) {
-        la->x = (double)x;
-        la->y = (double)y;
-        la->z = (double)z;
+        result->x = (double)x;
+        result->y = (double)y;
+        result->z = (double)z;
     } else {
-        la->x = (double)x / 100;
-        la->y = (double)y / 100;
-        la->z = (double)z / 100;
+        result->x = (double)x / 100;
+        result->y = (double)y / 100;
+        result->z = (double)z / 100;
     }
 }
 
-void BNO055::get_gravity(BNO055_GRAVITY_TypeDef *gr)
+void BNO055::get_gravity(BNO055_VECTOR_TypeDef *result)
 {
     uint8_t ms2_or_mg;
     int16_t x,y,z;
@@ -150,17 +150,17 @@
     y = dt[3] << 8 | dt[2];
     z = dt[5] << 8 | dt[4];
     if (ms2_or_mg) {
-        gr->x = (double)x;
-        gr->y = (double)y;
-        gr->z = (double)z;
+        result->x = (double)x;
+        result->y = (double)y;
+        result->z = (double)z;
     } else {
-        gr->x = (double)x / 100;
-        gr->y = (double)y / 100;
-        gr->z = (double)z / 100;
+        result->x = (double)x / 100;
+        result->y = (double)y / 100;
+        result->z = (double)z / 100;
     }
 }
 
-void BNO055::get_chip_temperature(BNO055_TEMPERATURE_TypeDef *tmp)
+void BNO055::get_chip_temperature(BNO055_TEMPERATURE_TypeDef *result)
 {
     uint8_t c_or_f;
 
@@ -181,9 +181,9 @@
     _i2c.write(chip_addr, dt, 1, true);
     _i2c.read(chip_addr, dt, 1, false);
     if (c_or_f) {
-        tmp->acc_chip = (int8_t)dt[0] * 2;
+        result->acc_chip = (int8_t)dt[0] * 2;
     } else {
-        tmp->acc_chip = (int8_t)dt[0];
+        result->acc_chip = (int8_t)dt[0];
     }
     dt[0] = BNO055_TEMP_SOURCE;
     dt[1] = 1;
@@ -193,9 +193,9 @@
     _i2c.write(chip_addr, dt, 1, true);
     _i2c.read(chip_addr, dt, 1, false);
     if (c_or_f) {
-        tmp->gyr_chip = (int8_t)dt[0] * 2;
+        result->gyr_chip = (int8_t)dt[0] * 2;
     } else {
-        tmp->gyr_chip = (int8_t)dt[0];
+        result->gyr_chip = (int8_t)dt[0];
     }
 }
 
@@ -484,5 +484,3 @@
     change_fusion_mode(current_mode);
     return d;
 }
-
-