Takushima Yukimasa / Mbed 2 deprecated R19_ManuTakukAHWGeo

a

Dependencies:   mbed

BNO055/BNO055.h@20:3f68738c4019, 2019-10-11 (annotated)

Committer:
Tom0108
Date:
Fri Oct 11 07:29:15 2019 +0000
Revision:
20:3f68738c4019
Parent:
11:c1a22e2e3534 
Gyro reset measures

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tom0108 11:c1a22e2e3534 1 #ifndef BNO055_H
Tom0108 11:c1a22e2e3534 2 #define BNO055_H
Tom0108 11:c1a22e2e3534 3
Tom0108 11:c1a22e2e3534 4 #include "mbed.h"
Tom0108 11:c1a22e2e3534 5 //
Tom0108 11:c1a22e2e3534 6 #define BNOAddress (0x29 << 1)
Tom0108 11:c1a22e2e3534 7 //Register definitions
Tom0108 11:c1a22e2e3534 8 /* Page id register definition */
Tom0108 11:c1a22e2e3534 9 #define BNO055_PAGE_ID_ADDR 0x07
Tom0108 11:c1a22e2e3534 10 /* PAGE0 REGISTER DEFINITION START*/
Tom0108 11:c1a22e2e3534 11 #define BNO055_CHIP_ID_ADDR 0x00
Tom0108 11:c1a22e2e3534 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
Tom0108 11:c1a22e2e3534 13 #define BNO055_MAG_REV_ID_ADDR 0x02
Tom0108 11:c1a22e2e3534 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
Tom0108 11:c1a22e2e3534 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
Tom0108 11:c1a22e2e3534 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
Tom0108 11:c1a22e2e3534 17 #define BNO055_BL_REV_ID_ADDR 0x06
Tom0108 11:c1a22e2e3534 18 /* Accel data register */
Tom0108 11:c1a22e2e3534 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
Tom0108 11:c1a22e2e3534 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
Tom0108 11:c1a22e2e3534 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
Tom0108 11:c1a22e2e3534 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
Tom0108 11:c1a22e2e3534 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
Tom0108 11:c1a22e2e3534 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
Tom0108 11:c1a22e2e3534 25 /* Mag data register */
Tom0108 11:c1a22e2e3534 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
Tom0108 11:c1a22e2e3534 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
Tom0108 11:c1a22e2e3534 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
Tom0108 11:c1a22e2e3534 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
Tom0108 11:c1a22e2e3534 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
Tom0108 11:c1a22e2e3534 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
Tom0108 11:c1a22e2e3534 32 /* Gyro data registers */
Tom0108 11:c1a22e2e3534 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
Tom0108 11:c1a22e2e3534 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
Tom0108 11:c1a22e2e3534 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
Tom0108 11:c1a22e2e3534 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
Tom0108 11:c1a22e2e3534 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
Tom0108 11:c1a22e2e3534 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
Tom0108 11:c1a22e2e3534 39 /* Euler data registers */
Tom0108 11:c1a22e2e3534 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
Tom0108 11:c1a22e2e3534 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
Tom0108 11:c1a22e2e3534 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
Tom0108 11:c1a22e2e3534 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
Tom0108 11:c1a22e2e3534 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
Tom0108 11:c1a22e2e3534 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
Tom0108 11:c1a22e2e3534 46 /* Quaternion data registers */
Tom0108 11:c1a22e2e3534 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
Tom0108 11:c1a22e2e3534 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
Tom0108 11:c1a22e2e3534 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
Tom0108 11:c1a22e2e3534 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
Tom0108 11:c1a22e2e3534 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
Tom0108 11:c1a22e2e3534 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
Tom0108 11:c1a22e2e3534 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
Tom0108 11:c1a22e2e3534 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
Tom0108 11:c1a22e2e3534 55 /* Linear acceleration data registers */
Tom0108 11:c1a22e2e3534 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
Tom0108 11:c1a22e2e3534 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
Tom0108 11:c1a22e2e3534 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
Tom0108 11:c1a22e2e3534 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
Tom0108 11:c1a22e2e3534 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
Tom0108 11:c1a22e2e3534 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
Tom0108 11:c1a22e2e3534 62 /* Gravity data registers */
Tom0108 11:c1a22e2e3534 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
Tom0108 11:c1a22e2e3534 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
Tom0108 11:c1a22e2e3534 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
Tom0108 11:c1a22e2e3534 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
Tom0108 11:c1a22e2e3534 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
Tom0108 11:c1a22e2e3534 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
Tom0108 11:c1a22e2e3534 69 /* Temperature data register */
Tom0108 11:c1a22e2e3534 70 #define BNO055_TEMP_ADDR 0x34
Tom0108 11:c1a22e2e3534 71 /* Status registers */
Tom0108 11:c1a22e2e3534 72 #define BNO055_CALIB_STAT_ADDR 0x35
Tom0108 11:c1a22e2e3534 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
Tom0108 11:c1a22e2e3534 74 #define BNO055_INTR_STAT_ADDR 0x37
Tom0108 11:c1a22e2e3534 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
Tom0108 11:c1a22e2e3534 76 #define BNO055_SYS_STAT_ADDR 0x39
Tom0108 11:c1a22e2e3534 77 #define BNO055_SYS_ERR_ADDR 0x3A
Tom0108 11:c1a22e2e3534 78 /* Unit selection register */
Tom0108 11:c1a22e2e3534 79 #define BNO055_UNIT_SEL_ADDR 0x3B
Tom0108 11:c1a22e2e3534 80 #define BNO055_DATA_SELECT_ADDR 0x3C
Tom0108 11:c1a22e2e3534 81 /* Mode registers */
Tom0108 11:c1a22e2e3534 82 #define BNO055_OPR_MODE_ADDR 0x3D
Tom0108 11:c1a22e2e3534 83 #define BNO055_PWR_MODE_ADDR 0x3E
Tom0108 11:c1a22e2e3534 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
Tom0108 11:c1a22e2e3534 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
Tom0108 11:c1a22e2e3534 86 /* Axis remap registers */
Tom0108 11:c1a22e2e3534 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
Tom0108 11:c1a22e2e3534 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
Tom0108 11:c1a22e2e3534 89 /* Accelerometer Offset registers */
Tom0108 11:c1a22e2e3534 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
Tom0108 11:c1a22e2e3534 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
Tom0108 11:c1a22e2e3534 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
Tom0108 11:c1a22e2e3534 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
Tom0108 11:c1a22e2e3534 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
Tom0108 11:c1a22e2e3534 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
Tom0108 11:c1a22e2e3534 96 /* Magnetometer Offset registers */
Tom0108 11:c1a22e2e3534 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
Tom0108 11:c1a22e2e3534 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
Tom0108 11:c1a22e2e3534 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
Tom0108 11:c1a22e2e3534 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
Tom0108 11:c1a22e2e3534 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
Tom0108 11:c1a22e2e3534 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
Tom0108 11:c1a22e2e3534 103 /* Gyroscope Offset registers*/
Tom0108 11:c1a22e2e3534 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
Tom0108 11:c1a22e2e3534 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
Tom0108 11:c1a22e2e3534 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
Tom0108 11:c1a22e2e3534 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
Tom0108 11:c1a22e2e3534 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
Tom0108 11:c1a22e2e3534 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
Tom0108 11:c1a22e2e3534 110 /* Radius registers */
Tom0108 11:c1a22e2e3534 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
Tom0108 11:c1a22e2e3534 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
Tom0108 11:c1a22e2e3534 113 #define MAG_RADIUS_LSB_ADDR 0x69
Tom0108 11:c1a22e2e3534 114 #define MAG_RADIUS_MSB_ADDR 0x6A
Tom0108 11:c1a22e2e3534 115
Tom0108 11:c1a22e2e3534 116 /* Page 1 registers */
Tom0108 11:c1a22e2e3534 117 #define BNO055_UNIQUE_ID_ADDR 0x50
Tom0108 11:c1a22e2e3534 118
Tom0108 11:c1a22e2e3534 119 //Definitions for unit selection
Tom0108 11:c1a22e2e3534 120 #define MPERSPERS 0x00
Tom0108 11:c1a22e2e3534 121 #define MILLIG 0x01
Tom0108 11:c1a22e2e3534 122 #define DEG_PER_SEC 0x00
Tom0108 11:c1a22e2e3534 123 #define RAD_PER_SEC 0x02
Tom0108 11:c1a22e2e3534 124 #define DEGREES 0x00
Tom0108 11:c1a22e2e3534 125 #define RADIANS 0x04
Tom0108 11:c1a22e2e3534 126 #define CENTIGRADE 0x00
Tom0108 11:c1a22e2e3534 127 #define FAHRENHEIT 0x10
Tom0108 11:c1a22e2e3534 128 #define WINDOWS 0x00
Tom0108 11:c1a22e2e3534 129 #define ANDROID 0x80
Tom0108 11:c1a22e2e3534 130
Tom0108 11:c1a22e2e3534 131 //Definitions for power mode
Tom0108 11:c1a22e2e3534 132 #define POWER_MODE_NORMAL 0x00
Tom0108 11:c1a22e2e3534 133 #define POWER_MODE_LOWPOWER 0x01
Tom0108 11:c1a22e2e3534 134 #define POWER_MODE_SUSPEND 0x02
Tom0108 11:c1a22e2e3534 135
Tom0108 11:c1a22e2e3534 136 //Definitions for operating mode
Tom0108 11:c1a22e2e3534 137 #define OPERATION_MODE_CONFIG 0x00
Tom0108 11:c1a22e2e3534 138 #define OPERATION_MODE_ACCONLY 0x01
Tom0108 11:c1a22e2e3534 139 #define OPERATION_MODE_MAGONLY 0x02
Tom0108 11:c1a22e2e3534 140 #define OPERATION_MODE_GYRONLY 0x03
Tom0108 11:c1a22e2e3534 141 #define OPERATION_MODE_ACCMAG 0x04
Tom0108 11:c1a22e2e3534 142 #define OPERATION_MODE_ACCGYRO 0x05
Tom0108 11:c1a22e2e3534 143 #define OPERATION_MODE_MAGGYRO 0x06
Tom0108 11:c1a22e2e3534 144 #define OPERATION_MODE_AMG 0x07
Tom0108 11:c1a22e2e3534 145 #define OPERATION_MODE_IMUPLUS 0x08
Tom0108 11:c1a22e2e3534 146 #define OPERATION_MODE_COMPASS 0x09
Tom0108 11:c1a22e2e3534 147 #define OPERATION_MODE_M4G 0x0A
Tom0108 11:c1a22e2e3534 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
Tom0108 11:c1a22e2e3534 149 #define OPERATION_MODE_NDOF 0x0C
Tom0108 11:c1a22e2e3534 150
Tom0108 11:c1a22e2e3534 151 typedef struct values{
Tom0108 11:c1a22e2e3534 152 int16_t rawx,rawy,rawz;
Tom0108 11:c1a22e2e3534 153 float x,y,z;
Tom0108 11:c1a22e2e3534 154 }values;
Tom0108 11:c1a22e2e3534 155
Tom0108 11:c1a22e2e3534 156 typedef struct angles{
Tom0108 11:c1a22e2e3534 157 int16_t rawroll,rawpitch,rawyaw;
Tom0108 11:c1a22e2e3534 158 float roll, pitch, yaw;
Tom0108 11:c1a22e2e3534 159 } angles;
Tom0108 11:c1a22e2e3534 160
Tom0108 11:c1a22e2e3534 161 typedef struct quaternion{
Tom0108 11:c1a22e2e3534 162 int16_t raww,rawx,rawy,rawz;
Tom0108 11:c1a22e2e3534 163 float w,x,y,z;
Tom0108 11:c1a22e2e3534 164 }quaternion;
Tom0108 11:c1a22e2e3534 165
Tom0108 11:c1a22e2e3534 166 typedef struct chip{
Tom0108 11:c1a22e2e3534 167 char id;
Tom0108 11:c1a22e2e3534 168 char accel;
Tom0108 11:c1a22e2e3534 169 char gyro;
Tom0108 11:c1a22e2e3534 170 char mag;
Tom0108 11:c1a22e2e3534 171 char sw[2];
Tom0108 11:c1a22e2e3534 172 char bootload;
Tom0108 11:c1a22e2e3534 173 char serial[16];
Tom0108 11:c1a22e2e3534 174 }chip;
Tom0108 11:c1a22e2e3534 175
Tom0108 11:c1a22e2e3534 176 /** Class for operating Bosch BNO055 sensor over I2C **/
Tom0108 11:c1a22e2e3534 177 class BNO055
Tom0108 11:c1a22e2e3534 178 {
Tom0108 11:c1a22e2e3534 179 public:
Tom0108 11:c1a22e2e3534 180
Tom0108 11:c1a22e2e3534 181 /** Create BNO055 instance **/
Tom0108 11:c1a22e2e3534 182 BNO055(PinName SDA, PinName SCL);
Tom0108 11:c1a22e2e3534 183
Tom0108 11:c1a22e2e3534 184 /** Perform a power-on reset of the BNO055 **/
Tom0108 11:c1a22e2e3534 185 void reset();
Tom0108 11:c1a22e2e3534 186 /** Check that the BNO055 is connected and download the software details
Tom0108 11:c1a22e2e3534 187 and serial number of chip and store in ID structure **/
Tom0108 11:c1a22e2e3534 188 bool check();
Tom0108 11:c1a22e2e3534 189 /** Turn the external timing crystal on/off **/
Tom0108 11:c1a22e2e3534 190 void SetExternalCrystal(bool yn);
Tom0108 11:c1a22e2e3534 191 /** Set the operation mode of the sensor **/
Tom0108 11:c1a22e2e3534 192 void setmode(char mode);
Tom0108 11:c1a22e2e3534 193 /** Set the power mode of the sensor **/
Tom0108 11:c1a22e2e3534 194 void setpowermode(char mode);
Tom0108 11:c1a22e2e3534 195
Tom0108 11:c1a22e2e3534 196 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
Tom0108 11:c1a22e2e3534 197 void set_accel_units(char units);
Tom0108 11:c1a22e2e3534 198 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
Tom0108 11:c1a22e2e3534 199 void set_anglerate_units(char units);
Tom0108 11:c1a22e2e3534 200 /** Set the output units from the IMU, either DEGREES or RADIANS **/
Tom0108 11:c1a22e2e3534 201 void set_angle_units(char units);
Tom0108 11:c1a22e2e3534 202 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
Tom0108 11:c1a22e2e3534 203 void set_temp_units(char units);
Tom0108 11:c1a22e2e3534 204 /** Set the data output format to either WINDOWS or ANDROID **/
Tom0108 11:c1a22e2e3534 205 void set_orientation(char units);
Tom0108 11:c1a22e2e3534 206 /** Set the mapping of the exes/directions as per page 25 of datasheet
Tom0108 11:c1a22e2e3534 207 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
Tom0108 11:c1a22e2e3534 208 void set_mapping(char orient);
Tom0108 11:c1a22e2e3534 209
Tom0108 11:c1a22e2e3534 210 /** Get the current values from the accelerometer **/
Tom0108 11:c1a22e2e3534 211 void get_accel(void);
Tom0108 11:c1a22e2e3534 212 /** Get the current values from the gyroscope **/
Tom0108 11:c1a22e2e3534 213 void get_gyro(void);
Tom0108 11:c1a22e2e3534 214 /** Get the current values from the magnetometer **/
Tom0108 11:c1a22e2e3534 215 void get_mag(void);
Tom0108 11:c1a22e2e3534 216 /** Get the corrected linear acceleration **/
Tom0108 11:c1a22e2e3534 217 void get_lia(void);
Tom0108 11:c1a22e2e3534 218 /** Get the current gravity vector **/
Tom0108 11:c1a22e2e3534 219 void get_grv(void);
Tom0108 11:c1a22e2e3534 220 /** Get the output quaternion **/
Tom0108 11:c1a22e2e3534 221 void get_quat(void);
Tom0108 11:c1a22e2e3534 222 /** Get the current Euler angles **/
Tom0108 11:c1a22e2e3534 223 void get_angles(void);
Tom0108 11:c1a22e2e3534 224 /** Get the current temperature **/
Tom0108 11:c1a22e2e3534 225 void get_temp(void);
Tom0108 11:c1a22e2e3534 226
Tom0108 11:c1a22e2e3534 227 /** Read the calibration status register and store the result in the calib variable **/
Tom0108 11:c1a22e2e3534 228 void get_calib(void);
Tom0108 11:c1a22e2e3534 229 /** Read the offset and radius values into the calibration array**/
Tom0108 11:c1a22e2e3534 230 void read_calibration_data(void);
Tom0108 11:c1a22e2e3534 231 /** Write the contents of the calibration array into the registers **/
Tom0108 11:c1a22e2e3534 232 void write_calibration_data(void);
Tom0108 11:c1a22e2e3534 233
Tom0108 11:c1a22e2e3534 234 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
Tom0108 11:c1a22e2e3534 235 x,y,z are the scale floating point values and
Tom0108 11:c1a22e2e3534 236 rawx, rawy, rawz are the int16_t values read from the sensors **/
Tom0108 11:c1a22e2e3534 237 values accel,gyro,mag,lia,gravity;
Tom0108 11:c1a22e2e3534 238 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
Tom0108 11:c1a22e2e3534 239 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
Tom0108 11:c1a22e2e3534 240 angles euler;
Tom0108 11:c1a22e2e3534 241 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
Tom0108 11:c1a22e2e3534 242 registers **/
Tom0108 11:c1a22e2e3534 243 quaternion quat;
Tom0108 11:c1a22e2e3534 244
Tom0108 11:c1a22e2e3534 245 /** Current contents of calibration status register **/
Tom0108 11:c1a22e2e3534 246 char calib;
Tom0108 11:c1a22e2e3534 247 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
Tom0108 11:c1a22e2e3534 248 char calibration[22];
Tom0108 11:c1a22e2e3534 249 /** Structure containing sensor numbers, software version and chip UID **/
Tom0108 11:c1a22e2e3534 250 chip ID;
Tom0108 11:c1a22e2e3534 251 /** Current temperature **/
Tom0108 11:c1a22e2e3534 252 int temperature;
Tom0108 11:c1a22e2e3534 253
Tom0108 11:c1a22e2e3534 254 private:
Tom0108 11:c1a22e2e3534 255
Tom0108 11:c1a22e2e3534 256 I2C _i2c;
Tom0108 11:c1a22e2e3534 257 char rx,tx[2],address; //I2C variables
Tom0108 11:c1a22e2e3534 258 char rawdata[22]; //Temporary array for input data values
Tom0108 11:c1a22e2e3534 259 char op_mode;
Tom0108 11:c1a22e2e3534 260 char pwr_mode;
Tom0108 11:c1a22e2e3534 261 float accel_scale,rate_scale,angle_scale;
Tom0108 11:c1a22e2e3534 262 int temp_scale;
Tom0108 11:c1a22e2e3534 263
Tom0108 11:c1a22e2e3534 264 void readchar(char location){
Tom0108 11:c1a22e2e3534 265 tx[0] = location;
Tom0108 11:c1a22e2e3534 266 _i2c.write(address,tx,1,true);
Tom0108 11:c1a22e2e3534 267 _i2c.read(address,&rx,1,false);
Tom0108 11:c1a22e2e3534 268 }
Tom0108 11:c1a22e2e3534 269
Tom0108 11:c1a22e2e3534 270 void writechar(char location, char value){
Tom0108 11:c1a22e2e3534 271 tx[0] = location;
Tom0108 11:c1a22e2e3534 272 tx[1] = value;
Tom0108 11:c1a22e2e3534 273 _i2c.write(address,tx,2);
Tom0108 11:c1a22e2e3534 274 }
Tom0108 11:c1a22e2e3534 275
Tom0108 11:c1a22e2e3534 276 void setpage(char value){
Tom0108 11:c1a22e2e3534 277 writechar(BNO055_PAGE_ID_ADDR,value);
Tom0108 11:c1a22e2e3534 278 }
Tom0108 11:c1a22e2e3534 279 };
Tom0108 11:c1a22e2e3534 280 #endif