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:
5:cf33bcfe976c
Parent:
4:9e6fead1e93e
Child:
6:07d01bf36ad0
diff -r 9e6fead1e93e -r cf33bcfe976c BNO055.cpp
--- a/BNO055.cpp	Thu Apr 16 10:47:40 2015 +0000
+++ b/BNO055.cpp	Tue Aug 22 10:13:30 2017 +0000
@@ -3,24 +3,27 @@
  *  BNO055 Intelligent 9-axis absolute orientation sensor
  *  by Bosch Sensortec
  *
- * Copyright (c) 2015 Kenji Arai / JH1PJL
+ * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: March     30th, 2015
- *      Revised: April     16th, 2015
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
- * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
- * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *      Revised: September 21st, 2017
  */
 
 #include "mbed.h"
 #include "BNO055.h"
 
+
+#if MBED_MAJOR_VERSION == 2
+#define WAIT_MS(x)       wait_ms(x)
+#elif  MBED_MAJOR_VERSION == 5
+#define WAIT_MS(x)       Thread::wait(x)
+#else
+#error "Running on Unknown OS"
+#endif
+
 BNO055::BNO055 (PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode):
-    _i2c(p_sda, p_scl), _res(p_reset)
+    _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p), _res(p_reset)
 {
     chip_addr = addr;
     chip_mode = mode;
@@ -28,7 +31,7 @@
 }
 
 BNO055::BNO055 (PinName p_sda, PinName p_scl, PinName p_reset) :
-    _i2c(p_sda, p_scl), _res(p_reset)
+    _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p), _res(p_reset)
 {
     chip_addr = BNO055_G_CHIP_ADDR;
     chip_mode = MODE_NDOF;
@@ -173,7 +176,7 @@
     dt[0] = BNO055_TEMP_SOURCE;
     dt[1] = 0;
     _i2c.write(chip_addr, dt, 2, false);
-    wait_ms(1); // Do I need to wait?
+    WAIT_MS(1); // Do I need to wait?
     dt[0] = BNO055_TEMP;
     _i2c.write(chip_addr, dt, 1, true);
     _i2c.read(chip_addr, dt, 1, false);
@@ -185,7 +188,7 @@
     dt[0] = BNO055_TEMP_SOURCE;
     dt[1] = 1;
     _i2c.write(chip_addr, dt, 2, false);
-    wait_ms(1); // Do I need to wait?
+    WAIT_MS(1); // Do I need to wait?
     dt[0] = BNO055_TEMP;
     _i2c.write(chip_addr, dt, 1, true);
     _i2c.read(chip_addr, dt, 1, false);
@@ -245,9 +248,9 @@
 uint8_t BNO055::reset(void)
 {
      _res = 0;
-     wait_ms(1);   // Reset 1mS
+     WAIT_MS(1);   // Reset 1mS
      _res = 1;
-     wait(0.7);  // Need to wait at least 650mS
+     WAIT_MS(700); // Need to wait at least 650mS
 #if defined(TARGET_STM32L152RE)
     _i2c.frequency(400000);
 #else
@@ -343,7 +346,7 @@
             dt[0] = BNO055_OPR_MODE;
             dt[1] = mode;
             _i2c.write(chip_addr, dt, 2, false);
-            wait_ms(19);    // wait 19mS
+            WAIT_MS(19);    // wait 19mS
             break;
         case MODE_IMU:
         case MODE_COMPASS:
@@ -354,12 +357,12 @@
                 dt[0] = BNO055_OPR_MODE;
                 dt[1] = CONFIGMODE;
                 _i2c.write(chip_addr, dt, 2, false);
-                wait_ms(19);    // wait 19mS
+                WAIT_MS(19);    // wait 19mS
             }
             dt[0] = BNO055_OPR_MODE;
             dt[1] = mode;
             _i2c.write(chip_addr, dt, 2, false);
-            wait_ms(7);    // wait 7mS
+            WAIT_MS(7);    // wait 7mS
             break;
         default:
             break;
@@ -481,3 +484,4 @@
     change_fusion_mode(current_mode);
     return d;
 }
+