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
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.h
- Revision:
- 5:cf33bcfe976c
- Parent:
- 4:9e6fead1e93e
- Child:
- 6:07d01bf36ad0
diff -r 9e6fead1e93e -r cf33bcfe976c BNO055.h --- a/BNO055.h Thu Apr 16 10:47:40 2015 +0000 +++ b/BNO055.h Tue Aug 22 10:13:30 2017 +0000 @@ -3,17 +3,11 @@ * 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 */ /* *---------------- REFERENCE ---------------------------------------------------------------------- @@ -267,7 +261,8 @@ uint8_t check_operating_mode(void); uint8_t select_page(uint8_t page); - I2C _i2c; + I2C *_i2c_p; + I2C &_i2c; DigitalOut _res; private: