Dave Turner / BNO055

I2C library for Bosch BNO055 sensor

Dependents:   BNO055_HelloWorld robfish_test_IMU_and_hallsensor SCRIBE_stepper SCRIBE_servo ... more

Based off the Bosch Sensortec driver stored at GitHub. I've broken out the main control functions out as separate functions, save for the interrupt setting up, Configuration for the separate sensors not yet enabled.

Diff: BNO055.cpp

Revision:
2:695c6e5d239a
Parent:
1:2c3322a8d417
Child:
3:1db1628eb8b2
--- a/BNO055.cpp	Sat May 30 18:36:36 2015 +0000
+++ b/BNO055.cpp	Sat May 30 19:08:59 2015 +0000
@@ -194,6 +194,19 @@
     quat.z = float(quat.rawz)/16384.0f;
 }
 
+void BNO055::get_angles(void){
+    tx[0] = BNO055_EULER_H_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    angles.rawyaw = (rawdata[1] << 8 | rawdata[0]);
+    angles.rawroll = (rawdata[3] << 8 | rawdata[2]);
+    angles.rawpitch = (rawdata[5] << 8 | rawdata[4]);
+    angles.yaw = float(angles.rawyaw)*angle_scale;
+    angles.roll = float(angles.rawroll)*angle_scale;
+    angles.pitch = float(angles.rawpitch)*angle_scale;
+}
+
+
 void BNO055::get_temp(void){
     readchar(BNO055_TEMP_ADDR);
     temperature = rx / temp_scale;