Diff: BNO055.h

Revision:

4:fe45288757f6

Parent:

3:1db1628eb8b2

diff -r 1db1628eb8b2 -r fe45288757f6 BNO055.h
--- a/BNO055.h	Sun May 31 07:22:40 2015 +0000
+++ b/BNO055.h	Wed Oct 17 11:35:39 2018 +0000
@@ -174,107 +174,100 @@
     }chip;
 
 /** Class for operating Bosch BNO055 sensor over I2C **/
-class BNO055 
-{ 
-public: 
-
-/** Create BNO055 instance **/
-    BNO055(PinName SDA, PinName SCL); 
-    
-/** Perform a power-on reset of the BNO055 **/
+class BNO055 { 
+    public: 
+    /** Create BNO055 instance (constructor) **/
+    BNO055(PinName SDA, PinName SCL);    
+    /** Perform a power-on reset of the BNO055 **/
     void reset();
-/** Check that the BNO055 is connected and download the software details 
-and serial number of chip and store in ID structure **/
+    /** Check that the BNO055 is connected and download the software details and serial number of chip and store in ID structure **/
     bool check();
-/** Turn the external timing crystal on/off **/
+    /** Turn the external timing crystal on/off **/
     void SetExternalCrystal(bool yn);
-/** Set the operation mode of the sensor **/    
+    /** Set the operation mode of the sensor **/    
     void setmode(char mode);
-/** Set the power mode of the sensor **/
-    void setpowermode(char mode);
-    
-/** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
+    /** Set the power mode of the sensor **/
+    void setpowermode(char mode);  
+    /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
     void set_accel_units(char units);
-/** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
+    /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
     void set_anglerate_units(char units);
-/** Set the output units from the IMU, either DEGREES or RADIANS **/
+    /** Set the output units from the IMU, either DEGREES or RADIANS **/
     void set_angle_units(char units);
-/** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
+    /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
     void set_temp_units(char units);
-/** Set the data output format to either WINDOWS or ANDROID **/    
+    /** Set the data output format to either WINDOWS or ANDROID **/    
     void set_orientation(char units);
-/** Set the mapping of the exes/directions as per page 25 of datasheet
+    /** Set the mapping of the exes/directions as per page 25 of datasheet
     range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
-    void set_mapping(char orient);
-    
-/** Get the current values from the accelerometer **/
+    void set_mapping(char orient);   
+    /** Get the current values from the accelerometer **/
     void get_accel(void);
-/** Get the current values from the gyroscope **/
+    /** Get the current values from the gyroscope **/
     void get_gyro(void);
-/** Get the current values from the magnetometer **/
+    /** Get the current values from the magnetometer **/
     void get_mag(void);
-/** Get the corrected linear acceleration **/
+    /** Get the corrected linear acceleration **/
     void get_lia(void);
-/** Get the current gravity vector **/
+    /** Get the current gravity vector **/
     void get_grv(void);
-/** Get the output quaternion **/
+    /** Get the output quaternion **/
     void get_quat(void);
-/** Get the current Euler angles **/
+    /** Get the current Euler angles **/
     void get_angles(void);
-/** Get the current temperature **/
+    /** Get the current temperature **/
     void get_temp(void);
-
-/** Read the calibration status register and store the result in the calib variable **/
+    /** Read the calibration status register and store the result in the calib variable **/
     void get_calib(void);
-/** Read the offset and radius values into the calibration array**/
+    /** Read the offset and radius values into the calibration array**/
     void read_calibration_data(void);
-/** Write the contents of the calibration array into the registers **/    
+    /** Write the contents of the calibration array into the registers **/    
     void write_calibration_data(void);
     
-/** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
+    /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
     x,y,z are the scale floating point values and
     rawx, rawy, rawz are the int16_t values read from the sensors **/
     values accel,gyro,mag,lia,gravity;
-/** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
+    /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
     and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
     angles euler;
-/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+    /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
     registers **/    
     quaternion quat;
 
-/** Current contents of calibration status register **/
+    /** Current contents of calibration status register **/
     char calib;
-/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
+    /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
     char calibration[22];
-/** Structure containing sensor numbers, software version and chip UID **/
+    /** Structure containing sensor numbers, software version and chip UID **/
     chip ID;
-/** Current temperature **/
+    /** Current temperature **/
     int temperature;
     
     private:
     
-        I2C _i2c;
-        char rx,tx[2],address;  //I2C variables
-        char rawdata[22]; //Temporary array for input data values
-        char op_mode;
-        char pwr_mode;
-        float accel_scale,rate_scale,angle_scale;
-        int temp_scale;
+    I2C _i2c;
+    char rx,tx[2],address;  //I2C variables
+    char rawdata[22];       //Temporary array for input data values
+    char op_mode;
+    char pwr_mode;
+    float accel_scale,rate_scale,angle_scale;
+    int temp_scale;
         
-void readchar(char location){
-    tx[0] = location;
-    _i2c.write(address,tx,1,true);
-    _i2c.read(address,&rx,1,false);
-}
+    void readchar(char location){
+        tx[0] = location;
+        _i2c.write(address,tx,1,true);
+        _i2c.read(address,&rx,1,false);
+        }
 
-void writechar(char location, char value){
-    tx[0] = location;
-    tx[1] = value;
-    _i2c.write(address,tx,2);
-}
+    void writechar(char location, char value){
+        tx[0] = location;
+        tx[1] = value;
+        _i2c.write(address,tx,2);
+        }
 
-void setpage(char value){
-    writechar(BNO055_PAGE_ID_ADDR,value);
-}
+    void setpage(char value){
+        writechar(BNO055_PAGE_ID_ADDR,value);
+        }
     };
 #endif
\ No newline at end of file