Diff: BNO055.h

Revision:

1:2c3322a8d417

Parent:

0:24f23c36dd24

Child:

2:695c6e5d239a

--- a/BNO055.h	Thu May 28 19:22:25 2015 +0000
+++ b/BNO055.h	Sat May 30 18:36:36 2015 +0000
@@ -122,9 +122,11 @@
 #define DEG_PER_SEC 0x00
 #define RAD_PER_SEC 0x02
 #define DEGREES     0x00
-#define RADIANS     0x40
+#define RADIANS     0x04
 #define CENTIGRADE  0x00
-#define FAHRENHEIT  0x80
+#define FAHRENHEIT  0x10
+#define WINDOWS     0x00
+#define ANDROID     0x80
 
 //Definitions for power mode
 #define POWER_MODE_NORMAL   0x00 
@@ -132,7 +134,7 @@
 #define POWER_MODE_SUSPEND  0x02 
 
 //Definitions for operating mode
-#define OPERATION_MODE_CONFIG       0x00 
+#define OPERATION_MODE_CONFIG        0x00 
 #define OPERATION_MODE_ACCONLY       0x01 
 #define OPERATION_MODE_MAGONLY       0x02 
 #define OPERATION_MODE_GYRONLY       0x03 
@@ -170,7 +172,6 @@
     char bootload;
     char serial[16];
     }chip;
-        
 
 class BNO055 
 { 
@@ -188,13 +189,20 @@
     void set_anglerate_units(char units);
     void set_angle_units(char units);
     void set_temp_units(char units);
+    void set_orientation(char units);
+    void set_mapping(char orient);
+    
     void get_accel(void);
     void get_gyro(void);
     void get_mag(void);
     void get_lia(void);
     void get_grv(void);
     void get_quat(void);
+    void get_temp(void);
+
     void get_calib(void);
+    void read_calibration_data(void);
+    void write_calibration_data(void);
     
     values accel,gyro,mag,lia,gravity;
     angles euler;
@@ -203,14 +211,17 @@
     char status;
     char calibration[22];
     chip ID;
+    int temperature;
+    
     private:
     
         I2C _i2c;
         char rx,tx[2],address;  //I2C variables
-        char rawdata[16]; //Temporary array for input data values
+        char rawdata[22]; //Temporary array for input data values
         char op_mode;
         char pwr_mode;
-        float accel_scale,rate_scale,angle_scale,temp_scale;
+        float accel_scale,rate_scale,angle_scale;
+        int temp_scale;
         
 void readchar(char location){
     tx[0] = location;