Alexander Lill / BNO055_fusion

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Fork of BNO055_fusion by Kenji Arai

Files at this revision

API Documentation at this revision

Revision 5:cf33bcfe976c, committed 2017-08-22

Comitter:
kenjiArai
Date:
Tue Aug 22 10:13:30 2017 +0000
Parent:
4:9e6fead1e93e
Child:
6:07d01bf36ad0
Commit message:
countermeasure for NonCopyable

Changed in this revision

BNO055.cpp Show annotated file Show diff for this revision Revisions of this file
BNO055.h Show annotated file Show diff for this revision Revisions of this file 
--- 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;
 }
+

--- 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: