bno055
Dependents: LPC1768-GPS-FUSION-17102018-1
Fork of BNO055 by
Diff: BNO055.cpp
- Revision:
- 4:fe45288757f6
- Parent:
- 3:1db1628eb8b2
--- a/BNO055.cpp Sun May 31 07:22:40 2015 +0000 +++ b/BNO055.cpp Wed Oct 17 11:35:39 2018 +0000 @@ -10,21 +10,22 @@ angle_scale = 1.0f/16.0f; temp_scale = 1; } + void BNO055::reset(){ -//Perform a power-on-reset + //Perform a power-on-reset readchar(BNO055_SYS_TRIGGER_ADDR); rx = rx | 0x20; writechar(BNO055_SYS_TRIGGER_ADDR,rx); -//Wait for the system to come back up again (datasheet says 650ms) + //Wait for the system to come back up again (datasheet says 650ms) wait_ms(675); -} + } bool BNO055::check(){ -//Check we have communication link with the chip + //Check we have communication link with the chip readchar(BNO055_CHIP_ID_ADDR); if (rx != 0xA0) return false; -//Grab the chip ID and software versions + //Grab the chip ID and software versions tx[0] = BNO055_CHIP_ID_ADDR; _i2c.write(address,tx,1,true); _i2c.read(address+1,rawdata,7,false); @@ -43,13 +44,15 @@ return true; } + void BNO055::SetExternalCrystal(bool yn){ -// Read the current status from the device + // Read the current status from the device readchar(BNO055_SYS_TRIGGER_ADDR); if (yn) rx = rx | 0x80; else rx = rx & 0x7F; writechar(BNO055_SYS_TRIGGER_ADDR,rx); -} + } + void BNO055::set_accel_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); @@ -62,7 +65,8 @@ accel_scale = 1.0f; } writechar(BNO055_UNIT_SEL_ADDR,rx); -} + } + void BNO055::set_anglerate_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); @@ -75,7 +79,8 @@ rate_scale = 1.0f/900.0f; } writechar(BNO055_UNIT_SEL_ADDR,rx); -} + } + void BNO055::set_angle_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); @@ -88,7 +93,9 @@ rate_scale = 1.0f/900.0f; } writechar(BNO055_UNIT_SEL_ADDR,rx); -} + } + + void BNO055::set_temp_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); @@ -101,7 +108,9 @@ temp_scale = 2; } writechar(BNO055_UNIT_SEL_ADDR,rx); -} + } + + void BNO055::set_orientation(char units){ readchar(BNO055_UNIT_SEL_ADDR); @@ -113,12 +122,14 @@ void BNO055::setmode(char omode){ writechar(BNO055_OPR_MODE_ADDR,omode); op_mode = omode; -} + } + void BNO055::setpowermode(char pmode){ writechar(BNO055_PWR_MODE_ADDR,pmode); pwr_mode = pmode; -} + } + void BNO055::get_accel(void){ tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR; @@ -130,7 +141,8 @@ accel.x = float(accel.rawx)*accel_scale; accel.y = float(accel.rawy)*accel_scale; accel.z = float(accel.rawz)*accel_scale; -} + } + void BNO055::get_gyro(void){ tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR; @@ -142,7 +154,8 @@ gyro.x = float(gyro.rawx)*rate_scale; gyro.y = float(gyro.rawy)*rate_scale; gyro.z = float(gyro.rawz)*rate_scale; -} + } + void BNO055::get_mag(void){ tx[0] = BNO055_MAG_DATA_X_LSB_ADDR; @@ -154,7 +167,8 @@ mag.x = float(mag.rawx); mag.y = float(mag.rawy); mag.z = float(mag.rawz); -} + } + void BNO055::get_lia(void){ tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR; @@ -166,7 +180,8 @@ lia.x = float(lia.rawx)*accel_scale; lia.y = float(lia.rawy)*accel_scale; lia.z = float(lia.rawz)*accel_scale; -} + } + void BNO055::get_grv(void){ tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR; @@ -178,7 +193,8 @@ gravity.x = float(gravity.rawx)*accel_scale; gravity.y = float(gravity.rawy)*accel_scale; gravity.z = float(gravity.rawz)*accel_scale; -} + } + void BNO055::get_quat(void){ tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR; @@ -192,7 +208,8 @@ quat.x = float(quat.rawx)/16384.0f; quat.y = float(quat.rawy)/16384.0f; quat.z = float(quat.rawz)/16384.0f; -} + } + void BNO055::get_angles(void){ tx[0] = BNO055_EULER_H_LSB_ADDR; @@ -204,18 +221,20 @@ euler.yaw = float(euler.rawyaw)*angle_scale; euler.roll = float(euler.rawroll)*angle_scale; euler.pitch = float(euler.rawpitch)*angle_scale; -} + } void BNO055::get_temp(void){ readchar(BNO055_TEMP_ADDR); temperature = rx / temp_scale; -} + } + void BNO055::get_calib(void){ readchar(BNO055_CALIB_STAT_ADDR); calib = rx; -} + } + void BNO055::read_calibration_data(void){ char tempmode = op_mode; @@ -226,7 +245,8 @@ _i2c.read(address,calibration,22,false); setmode(tempmode); wait_ms(10); -} + } + void BNO055::write_calibration_data(void){ char tempmode = op_mode; @@ -237,7 +257,8 @@ _i2c.write(address,calibration,22,false); setmode(tempmode); wait_ms(10); -} + } + void BNO055::set_mapping(char orient){ switch (orient){ @@ -277,4 +298,4 @@ writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); } -} \ No newline at end of file + } \ No newline at end of file