richard misi / ds3231

ds3231

Fork of ds3231 by Justin Jordan

BNO055.h@17:c12eab714b4e, 2018-10-17 (annotated)

Committer:
RCMISbed
Date:
Wed Oct 17 11:36:10 2018 +0000
Revision:
17:c12eab714b4e
rev1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RCMISbed 17:c12eab714b4e 1 #ifndef BNO055_H
RCMISbed 17:c12eab714b4e 2 #define BNO055_H
RCMISbed 17:c12eab714b4e 3
RCMISbed 17:c12eab714b4e 4 #include "mbed.h"
RCMISbed 17:c12eab714b4e 5 //
RCMISbed 17:c12eab714b4e 6 #define BNOAddress (0x28 << 1)
RCMISbed 17:c12eab714b4e 7 //Register definitions
RCMISbed 17:c12eab714b4e 8 /* Page id register definition */
RCMISbed 17:c12eab714b4e 9 #define BNO055_PAGE_ID_ADDR 0x07
RCMISbed 17:c12eab714b4e 10 /* PAGE0 REGISTER DEFINITION START*/
RCMISbed 17:c12eab714b4e 11 #define BNO055_CHIP_ID_ADDR 0x00
RCMISbed 17:c12eab714b4e 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
RCMISbed 17:c12eab714b4e 13 #define BNO055_MAG_REV_ID_ADDR 0x02
RCMISbed 17:c12eab714b4e 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
RCMISbed 17:c12eab714b4e 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
RCMISbed 17:c12eab714b4e 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
RCMISbed 17:c12eab714b4e 17 #define BNO055_BL_REV_ID_ADDR 0x06
RCMISbed 17:c12eab714b4e 18 /* Accel data register */
RCMISbed 17:c12eab714b4e 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
RCMISbed 17:c12eab714b4e 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
RCMISbed 17:c12eab714b4e 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
RCMISbed 17:c12eab714b4e 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
RCMISbed 17:c12eab714b4e 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
RCMISbed 17:c12eab714b4e 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
RCMISbed 17:c12eab714b4e 25 /* Mag data register */
RCMISbed 17:c12eab714b4e 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
RCMISbed 17:c12eab714b4e 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
RCMISbed 17:c12eab714b4e 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
RCMISbed 17:c12eab714b4e 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
RCMISbed 17:c12eab714b4e 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
RCMISbed 17:c12eab714b4e 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
RCMISbed 17:c12eab714b4e 32 /* Gyro data registers */
RCMISbed 17:c12eab714b4e 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
RCMISbed 17:c12eab714b4e 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
RCMISbed 17:c12eab714b4e 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
RCMISbed 17:c12eab714b4e 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
RCMISbed 17:c12eab714b4e 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
RCMISbed 17:c12eab714b4e 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
RCMISbed 17:c12eab714b4e 39 /* Euler data registers */
RCMISbed 17:c12eab714b4e 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
RCMISbed 17:c12eab714b4e 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
RCMISbed 17:c12eab714b4e 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
RCMISbed 17:c12eab714b4e 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
RCMISbed 17:c12eab714b4e 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
RCMISbed 17:c12eab714b4e 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
RCMISbed 17:c12eab714b4e 46 /* Quaternion data registers */
RCMISbed 17:c12eab714b4e 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
RCMISbed 17:c12eab714b4e 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
RCMISbed 17:c12eab714b4e 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
RCMISbed 17:c12eab714b4e 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
RCMISbed 17:c12eab714b4e 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
RCMISbed 17:c12eab714b4e 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
RCMISbed 17:c12eab714b4e 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
RCMISbed 17:c12eab714b4e 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
RCMISbed 17:c12eab714b4e 55 /* Linear acceleration data registers */
RCMISbed 17:c12eab714b4e 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
RCMISbed 17:c12eab714b4e 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
RCMISbed 17:c12eab714b4e 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
RCMISbed 17:c12eab714b4e 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
RCMISbed 17:c12eab714b4e 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
RCMISbed 17:c12eab714b4e 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
RCMISbed 17:c12eab714b4e 62 /* Gravity data registers */
RCMISbed 17:c12eab714b4e 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
RCMISbed 17:c12eab714b4e 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
RCMISbed 17:c12eab714b4e 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
RCMISbed 17:c12eab714b4e 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
RCMISbed 17:c12eab714b4e 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
RCMISbed 17:c12eab714b4e 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
RCMISbed 17:c12eab714b4e 69 /* Temperature data register */
RCMISbed 17:c12eab714b4e 70 #define BNO055_TEMP_ADDR 0x34
RCMISbed 17:c12eab714b4e 71 /* Status registers */
RCMISbed 17:c12eab714b4e 72 #define BNO055_CALIB_STAT_ADDR 0x35
RCMISbed 17:c12eab714b4e 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
RCMISbed 17:c12eab714b4e 74 #define BNO055_INTR_STAT_ADDR 0x37
RCMISbed 17:c12eab714b4e 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
RCMISbed 17:c12eab714b4e 76 #define BNO055_SYS_STAT_ADDR 0x39
RCMISbed 17:c12eab714b4e 77 #define BNO055_SYS_ERR_ADDR 0x3A
RCMISbed 17:c12eab714b4e 78 /* Unit selection register */
RCMISbed 17:c12eab714b4e 79 #define BNO055_UNIT_SEL_ADDR 0x3B
RCMISbed 17:c12eab714b4e 80 #define BNO055_DATA_SELECT_ADDR 0x3C
RCMISbed 17:c12eab714b4e 81 /* Mode registers */
RCMISbed 17:c12eab714b4e 82 #define BNO055_OPR_MODE_ADDR 0x3D
RCMISbed 17:c12eab714b4e 83 #define BNO055_PWR_MODE_ADDR 0x3E
RCMISbed 17:c12eab714b4e 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
RCMISbed 17:c12eab714b4e 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
RCMISbed 17:c12eab714b4e 86 /* Axis remap registers */
RCMISbed 17:c12eab714b4e 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
RCMISbed 17:c12eab714b4e 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
RCMISbed 17:c12eab714b4e 89 /* Accelerometer Offset registers */
RCMISbed 17:c12eab714b4e 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
RCMISbed 17:c12eab714b4e 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
RCMISbed 17:c12eab714b4e 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
RCMISbed 17:c12eab714b4e 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
RCMISbed 17:c12eab714b4e 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
RCMISbed 17:c12eab714b4e 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
RCMISbed 17:c12eab714b4e 96 /* Magnetometer Offset registers */
RCMISbed 17:c12eab714b4e 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
RCMISbed 17:c12eab714b4e 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
RCMISbed 17:c12eab714b4e 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
RCMISbed 17:c12eab714b4e 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
RCMISbed 17:c12eab714b4e 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
RCMISbed 17:c12eab714b4e 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
RCMISbed 17:c12eab714b4e 103 /* Gyroscope Offset registers*/
RCMISbed 17:c12eab714b4e 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
RCMISbed 17:c12eab714b4e 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
RCMISbed 17:c12eab714b4e 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
RCMISbed 17:c12eab714b4e 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
RCMISbed 17:c12eab714b4e 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
RCMISbed 17:c12eab714b4e 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
RCMISbed 17:c12eab714b4e 110 /* Radius registers */
RCMISbed 17:c12eab714b4e 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
RCMISbed 17:c12eab714b4e 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
RCMISbed 17:c12eab714b4e 113 #define MAG_RADIUS_LSB_ADDR 0x69
RCMISbed 17:c12eab714b4e 114 #define MAG_RADIUS_MSB_ADDR 0x6A
RCMISbed 17:c12eab714b4e 115
RCMISbed 17:c12eab714b4e 116 /* Page 1 registers */
RCMISbed 17:c12eab714b4e 117 #define BNO055_UNIQUE_ID_ADDR 0x50
RCMISbed 17:c12eab714b4e 118
RCMISbed 17:c12eab714b4e 119 //Definitions for unit selection
RCMISbed 17:c12eab714b4e 120 #define MPERSPERS 0x00
RCMISbed 17:c12eab714b4e 121 #define MILLIG 0x01
RCMISbed 17:c12eab714b4e 122 #define DEG_PER_SEC 0x00
RCMISbed 17:c12eab714b4e 123 #define RAD_PER_SEC 0x02
RCMISbed 17:c12eab714b4e 124 #define DEGREES 0x00
RCMISbed 17:c12eab714b4e 125 #define RADIANS 0x04
RCMISbed 17:c12eab714b4e 126 #define CENTIGRADE 0x00
RCMISbed 17:c12eab714b4e 127 #define FAHRENHEIT 0x10
RCMISbed 17:c12eab714b4e 128 #define WINDOWS 0x00
RCMISbed 17:c12eab714b4e 129 #define ANDROID 0x80
RCMISbed 17:c12eab714b4e 130
RCMISbed 17:c12eab714b4e 131 //Definitions for power mode
RCMISbed 17:c12eab714b4e 132 #define POWER_MODE_NORMAL 0x00
RCMISbed 17:c12eab714b4e 133 #define POWER_MODE_LOWPOWER 0x01
RCMISbed 17:c12eab714b4e 134 #define POWER_MODE_SUSPEND 0x02
RCMISbed 17:c12eab714b4e 135
RCMISbed 17:c12eab714b4e 136 //Definitions for operating mode
RCMISbed 17:c12eab714b4e 137 #define OPERATION_MODE_CONFIG 0x00
RCMISbed 17:c12eab714b4e 138 #define OPERATION_MODE_ACCONLY 0x01
RCMISbed 17:c12eab714b4e 139 #define OPERATION_MODE_MAGONLY 0x02
RCMISbed 17:c12eab714b4e 140 #define OPERATION_MODE_GYRONLY 0x03
RCMISbed 17:c12eab714b4e 141 #define OPERATION_MODE_ACCMAG 0x04
RCMISbed 17:c12eab714b4e 142 #define OPERATION_MODE_ACCGYRO 0x05
RCMISbed 17:c12eab714b4e 143 #define OPERATION_MODE_MAGGYRO 0x06
RCMISbed 17:c12eab714b4e 144 #define OPERATION_MODE_AMG 0x07
RCMISbed 17:c12eab714b4e 145 #define OPERATION_MODE_IMUPLUS 0x08
RCMISbed 17:c12eab714b4e 146 #define OPERATION_MODE_COMPASS 0x09
RCMISbed 17:c12eab714b4e 147 #define OPERATION_MODE_M4G 0x0A
RCMISbed 17:c12eab714b4e 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
RCMISbed 17:c12eab714b4e 149 #define OPERATION_MODE_NDOF 0x0C
RCMISbed 17:c12eab714b4e 150
RCMISbed 17:c12eab714b4e 151 typedef struct values{
RCMISbed 17:c12eab714b4e 152 int16_t rawx,rawy,rawz;
RCMISbed 17:c12eab714b4e 153 float x,y,z;
RCMISbed 17:c12eab714b4e 154 }values;
RCMISbed 17:c12eab714b4e 155
RCMISbed 17:c12eab714b4e 156 typedef struct angles{
RCMISbed 17:c12eab714b4e 157 int16_t rawroll,rawpitch,rawyaw;
RCMISbed 17:c12eab714b4e 158 float roll, pitch, yaw;
RCMISbed 17:c12eab714b4e 159 } angles;
RCMISbed 17:c12eab714b4e 160
RCMISbed 17:c12eab714b4e 161 typedef struct quaternion{
RCMISbed 17:c12eab714b4e 162 int16_t raww,rawx,rawy,rawz;
RCMISbed 17:c12eab714b4e 163 float w,x,y,z;
RCMISbed 17:c12eab714b4e 164 }quaternion;
RCMISbed 17:c12eab714b4e 165
RCMISbed 17:c12eab714b4e 166 typedef struct chip{
RCMISbed 17:c12eab714b4e 167 char id;
RCMISbed 17:c12eab714b4e 168 char accel;
RCMISbed 17:c12eab714b4e 169 char gyro;
RCMISbed 17:c12eab714b4e 170 char mag;
RCMISbed 17:c12eab714b4e 171 char sw[2];
RCMISbed 17:c12eab714b4e 172 char bootload;
RCMISbed 17:c12eab714b4e 173 char serial[16];
RCMISbed 17:c12eab714b4e 174 }chip;
RCMISbed 17:c12eab714b4e 175
RCMISbed 17:c12eab714b4e 176 /** Class for operating Bosch BNO055 sensor over I2C **/
RCMISbed 17:c12eab714b4e 177 class BNO055 {
RCMISbed 17:c12eab714b4e 178 public:
RCMISbed 17:c12eab714b4e 179 /** Create BNO055 instance (constructor) **/
RCMISbed 17:c12eab714b4e 180 BNO055(PinName SDA, PinName SCL);
RCMISbed 17:c12eab714b4e 181 /** Perform a power-on reset of the BNO055 **/
RCMISbed 17:c12eab714b4e 182 void reset();
RCMISbed 17:c12eab714b4e 183 /** Check that the BNO055 is connected and download the software details and serial number of chip and store in ID structure **/
RCMISbed 17:c12eab714b4e 184 bool check();
RCMISbed 17:c12eab714b4e 185 /** Turn the external timing crystal on/off **/
RCMISbed 17:c12eab714b4e 186 void SetExternalCrystal(bool yn);
RCMISbed 17:c12eab714b4e 187 /** Set the operation mode of the sensor **/
RCMISbed 17:c12eab714b4e 188 void setmode(char mode);
RCMISbed 17:c12eab714b4e 189 /** Set the power mode of the sensor **/
RCMISbed 17:c12eab714b4e 190 void setpowermode(char mode);
RCMISbed 17:c12eab714b4e 191 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
RCMISbed 17:c12eab714b4e 192 void set_accel_units(char units);
RCMISbed 17:c12eab714b4e 193 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
RCMISbed 17:c12eab714b4e 194 void set_anglerate_units(char units);
RCMISbed 17:c12eab714b4e 195 /** Set the output units from the IMU, either DEGREES or RADIANS **/
RCMISbed 17:c12eab714b4e 196 void set_angle_units(char units);
RCMISbed 17:c12eab714b4e 197 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
RCMISbed 17:c12eab714b4e 198 void set_temp_units(char units);
RCMISbed 17:c12eab714b4e 199 /** Set the data output format to either WINDOWS or ANDROID **/
RCMISbed 17:c12eab714b4e 200 void set_orientation(char units);
RCMISbed 17:c12eab714b4e 201 /** Set the mapping of the exes/directions as per page 25 of datasheet
RCMISbed 17:c12eab714b4e 202 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
RCMISbed 17:c12eab714b4e 203 void set_mapping(char orient);
RCMISbed 17:c12eab714b4e 204 /** Get the current values from the accelerometer **/
RCMISbed 17:c12eab714b4e 205 void get_accel(void);
RCMISbed 17:c12eab714b4e 206 /** Get the current values from the gyroscope **/
RCMISbed 17:c12eab714b4e 207 void get_gyro(void);
RCMISbed 17:c12eab714b4e 208 /** Get the current values from the magnetometer **/
RCMISbed 17:c12eab714b4e 209 void get_mag(void);
RCMISbed 17:c12eab714b4e 210 /** Get the corrected linear acceleration **/
RCMISbed 17:c12eab714b4e 211 void get_lia(void);
RCMISbed 17:c12eab714b4e 212 /** Get the current gravity vector **/
RCMISbed 17:c12eab714b4e 213 void get_grv(void);
RCMISbed 17:c12eab714b4e 214 /** Get the output quaternion **/
RCMISbed 17:c12eab714b4e 215 void get_quat(void);
RCMISbed 17:c12eab714b4e 216 /** Get the current Euler angles **/
RCMISbed 17:c12eab714b4e 217 void get_angles(void);
RCMISbed 17:c12eab714b4e 218 /** Get the current temperature **/
RCMISbed 17:c12eab714b4e 219 void get_temp(void);
RCMISbed 17:c12eab714b4e 220 /** Read the calibration status register and store the result in the calib variable **/
RCMISbed 17:c12eab714b4e 221 void get_calib(void);
RCMISbed 17:c12eab714b4e 222 /** Read the offset and radius values into the calibration array**/
RCMISbed 17:c12eab714b4e 223 void read_calibration_data(void);
RCMISbed 17:c12eab714b4e 224 /** Write the contents of the calibration array into the registers **/
RCMISbed 17:c12eab714b4e 225 void write_calibration_data(void);
RCMISbed 17:c12eab714b4e 226
RCMISbed 17:c12eab714b4e 227 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
RCMISbed 17:c12eab714b4e 228 x,y,z are the scale floating point values and
RCMISbed 17:c12eab714b4e 229 rawx, rawy, rawz are the int16_t values read from the sensors **/
RCMISbed 17:c12eab714b4e 230 values accel,gyro,mag,lia,gravity;
RCMISbed 17:c12eab714b4e 231 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
RCMISbed 17:c12eab714b4e 232 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
RCMISbed 17:c12eab714b4e 233 angles euler;
RCMISbed 17:c12eab714b4e 234 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
RCMISbed 17:c12eab714b4e 235 registers **/
RCMISbed 17:c12eab714b4e 236 quaternion quat;
RCMISbed 17:c12eab714b4e 237
RCMISbed 17:c12eab714b4e 238 /** Current contents of calibration status register **/
RCMISbed 17:c12eab714b4e 239 char calib;
RCMISbed 17:c12eab714b4e 240 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
RCMISbed 17:c12eab714b4e 241 char calibration[22];
RCMISbed 17:c12eab714b4e 242 /** Structure containing sensor numbers, software version and chip UID **/
RCMISbed 17:c12eab714b4e 243 chip ID;
RCMISbed 17:c12eab714b4e 244 /** Current temperature **/
RCMISbed 17:c12eab714b4e 245 int temperature;
RCMISbed 17:c12eab714b4e 246
RCMISbed 17:c12eab714b4e 247 private:
RCMISbed 17:c12eab714b4e 248
RCMISbed 17:c12eab714b4e 249 I2C _i2c;
RCMISbed 17:c12eab714b4e 250 char rx,tx[2],address; //I2C variables
RCMISbed 17:c12eab714b4e 251 char rawdata[22]; //Temporary array for input data values
RCMISbed 17:c12eab714b4e 252 char op_mode;
RCMISbed 17:c12eab714b4e 253 char pwr_mode;
RCMISbed 17:c12eab714b4e 254 float accel_scale,rate_scale,angle_scale;
RCMISbed 17:c12eab714b4e 255 int temp_scale;
RCMISbed 17:c12eab714b4e 256
RCMISbed 17:c12eab714b4e 257 void readchar(char location){
RCMISbed 17:c12eab714b4e 258 tx[0] = location;
RCMISbed 17:c12eab714b4e 259 _i2c.write(address,tx,1,true);
RCMISbed 17:c12eab714b4e 260 _i2c.read(address,&rx,1,false);
RCMISbed 17:c12eab714b4e 261 }
RCMISbed 17:c12eab714b4e 262
RCMISbed 17:c12eab714b4e 263 void writechar(char location, char value){
RCMISbed 17:c12eab714b4e 264 tx[0] = location;
RCMISbed 17:c12eab714b4e 265 tx[1] = value;
RCMISbed 17:c12eab714b4e 266 _i2c.write(address,tx,2);
RCMISbed 17:c12eab714b4e 267 }
RCMISbed 17:c12eab714b4e 268
RCMISbed 17:c12eab714b4e 269 void setpage(char value){
RCMISbed 17:c12eab714b4e 270 writechar(BNO055_PAGE_ID_ADDR,value);
RCMISbed 17:c12eab714b4e 271 }
RCMISbed 17:c12eab714b4e 272 };
RCMISbed 17:c12eab714b4e 273 #endif