BOARDC_BNO055 - BNO055をI2CとUARTで使用するためのライブラリ。UARTはmbedにて不安定なため使用で…

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BNO055をI2CとUARTで使用するためのライブラリ。UARTはmbedにて不安定なため使用できるボードとできないボードがある模様。

Dependents: BNO055_BME280_ Yabusame2_gyro GRhanawaizman test_deg_read

BNO055.cpp@2:e8bc1ae2c20c, 2017-06-25 (annotated)

Committer:: Yajirushi
Date:: Sun Jun 25 05:02:39 2017 +0000
Revision:: 2:e8bc1ae2c20c
Parent:: 0:3807ce385b2a

Quaternion "signed unsigned bug" fix

Who changed what in which revision?

User	Revision	Line number	New contents of line
Yajirushi	0:3807ce385b2a	1	#include "BNO055.h"
Yajirushi	0:3807ce385b2a	2
Yajirushi	0:3807ce385b2a	3	//CLASS:BNO055_CTRL//////////////////////////////////////////////////
Yajirushi	0:3807ce385b2a	4	/* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	5	* BNO055_UART_CTRLクラスとBNO055_I2C_CTRLクラスの基底クラス(インターフェース)
Yajirushi	0:3807ce385b2a	6	* UARTとI2Cをヘッダ書き換えなしで実現するために無理するとこうなった
Yajirushi	0:3807ce385b2a	7	*/
Yajirushi	0:3807ce385b2a	8
Yajirushi	0:3807ce385b2a	9	/* ==================================================================
Yajirushi	0:3807ce385b2a	10	* デフォルトコンストラクタ
Yajirushi	0:3807ce385b2a	11	*/
Yajirushi	0:3807ce385b2a	12	BNO055_CTRL::BNO055_CTRL(){
Yajirushi	0:3807ce385b2a	13	lastError = 0;
Yajirushi	0:3807ce385b2a	14	lastLength = 0;
Yajirushi	0:3807ce385b2a	15	}
Yajirushi	0:3807ce385b2a	16
Yajirushi	0:3807ce385b2a	17	/* ==================================================================
Yajirushi	0:3807ce385b2a	18	* デフォルトデストラクタ
Yajirushi	0:3807ce385b2a	19	*/
Yajirushi	0:3807ce385b2a	20	BNO055_CTRL::~BNO055_CTRL(){}
Yajirushi	0:3807ce385b2a	21
Yajirushi	0:3807ce385b2a	22	/* ==================================================================
Yajirushi	0:3807ce385b2a	23	* 現在のページIDを取得する
Yajirushi	0:3807ce385b2a	24	*/
Yajirushi	0:3807ce385b2a	25	char BNO055_CTRL::getNowPage(){
Yajirushi	0:3807ce385b2a	26	return page1 ? 1 : 0;
Yajirushi	0:3807ce385b2a	27	}
Yajirushi	0:3807ce385b2a	28
Yajirushi	0:3807ce385b2a	29	/* ==================================================================
Yajirushi	0:3807ce385b2a	30	* UARTまたはI2Cで取得した最後のエラーを取得する：通信がうまくいかないときの原因追及
Yajirushi	0:3807ce385b2a	31	*/
Yajirushi	0:3807ce385b2a	32	char BNO055_CTRL::getLastError(){
Yajirushi	0:3807ce385b2a	33	return lastError;
Yajirushi	0:3807ce385b2a	34	}
Yajirushi	0:3807ce385b2a	35
Yajirushi	0:3807ce385b2a	36	/* ==================================================================
Yajirushi	0:3807ce385b2a	37	* UARTまたはI2Cで通信した際の受信バイト数を取得する：通信がうまくいかないときの原因追及
Yajirushi	0:3807ce385b2a	38	*/
Yajirushi	0:3807ce385b2a	39	char BNO055_CTRL::getLastLength(){
Yajirushi	0:3807ce385b2a	40	return lastLength;
Yajirushi	0:3807ce385b2a	41	}
Yajirushi	0:3807ce385b2a	42
Yajirushi	0:3807ce385b2a	43	/* ==================================================================
Yajirushi	0:3807ce385b2a	44	* 未実装関数(子クラスで実装される)
Yajirushi	0:3807ce385b2a	45	*/
Yajirushi	0:3807ce385b2a	46	void BNO055_CTRL::init(){}
Yajirushi	0:3807ce385b2a	47	char BNO055_CTRL::rr(bool isPage1, char regAddr){return 0;}
Yajirushi	2:e8bc1ae2c20c	48	char BNO055_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){return 0;}
Yajirushi	0:3807ce385b2a	49	char BNO055_CTRL::wr(bool isPage1, char regAddr, char wBytes){return 0;}
Yajirushi	0:3807ce385b2a	50	char BNO055_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){return 0;}
Yajirushi	0:3807ce385b2a	51
Yajirushi	0:3807ce385b2a	52
Yajirushi	0:3807ce385b2a	53
Yajirushi	0:3807ce385b2a	54
Yajirushi	0:3807ce385b2a	55
Yajirushi	0:3807ce385b2a	56
Yajirushi	0:3807ce385b2a	57
Yajirushi	0:3807ce385b2a	58
Yajirushi	0:3807ce385b2a	59
Yajirushi	0:3807ce385b2a	60
Yajirushi	0:3807ce385b2a	61	//CLASS:BNO055_UART_CTRL/////////////////////////////////////////////
Yajirushi	0:3807ce385b2a	62	/* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	63	* BNO055_CTRLクラス(インターフェース)を継承(実装)したクラス
Yajirushi	0:3807ce385b2a	64	* UARTで命令を送受信するためのコントロール用クラス
Yajirushi	0:3807ce385b2a	65	*/
Yajirushi	0:3807ce385b2a	66
Yajirushi	0:3807ce385b2a	67	/* ==================================================================
Yajirushi	0:3807ce385b2a	68	* BNO055をUARTでコントロールするためのクラス：コンストラクタ
Yajirushi	0:3807ce385b2a	69	*/
Yajirushi	0:3807ce385b2a	70	BNO055_UART_CTRL::BNO055_UART_CTRL(RawSerial *uart){
Yajirushi	0:3807ce385b2a	71	iface = uart;
Yajirushi	0:3807ce385b2a	72	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	73	read_mark = true;
Yajirushi	0:3807ce385b2a	74
Yajirushi	0:3807ce385b2a	75	page1 = true;
Yajirushi	0:3807ce385b2a	76
Yajirushi	0:3807ce385b2a	77	ary = new char[BNO055_UART_BUF_MAXLEN + 5];
Yajirushi	0:3807ce385b2a	78	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5);
Yajirushi	0:3807ce385b2a	79	lastError = 0;
Yajirushi	0:3807ce385b2a	80	}
Yajirushi	0:3807ce385b2a	81
Yajirushi	0:3807ce385b2a	82	/* ==================================================================
Yajirushi	0:3807ce385b2a	83	* BNO055をUARTでコントロールするためのクラス：デストラクタ
Yajirushi	0:3807ce385b2a	84	*/
Yajirushi	0:3807ce385b2a	85	BNO055_UART_CTRL::~BNO055_UART_CTRL(){
Yajirushi	0:3807ce385b2a	86	delete iface;
Yajirushi	0:3807ce385b2a	87	}
Yajirushi	0:3807ce385b2a	88
Yajirushi	0:3807ce385b2a	89	/* ==================================================================
Yajirushi	0:3807ce385b2a	90	* UART受信割り込み用関数
Yajirushi	0:3807ce385b2a	91	* RX受信トリガがONになると、カウンタを加算する
Yajirushi	0:3807ce385b2a	92	*/
Yajirushi	0:3807ce385b2a	93	void BNO055_UART_CTRL::rxInterrupt(){
Yajirushi	0:3807ce385b2a	94	if(read_mark){
Yajirushi	0:3807ce385b2a	95	rxd = iface->getc();
Yajirushi	0:3807ce385b2a	96	read_mark = false;
Yajirushi	0:3807ce385b2a	97	}
Yajirushi	0:3807ce385b2a	98	}
Yajirushi	0:3807ce385b2a	99
Yajirushi	0:3807ce385b2a	100	/* ==================================================================
Yajirushi	0:3807ce385b2a	101	* <UART>
Yajirushi	0:3807ce385b2a	102	* レジスタの内容を読み取り(1byteのみ)
Yajirushi	0:3807ce385b2a	103	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	104	* returns:
Yajirushi	0:3807ce385b2a	105	* -1 失敗
Yajirushi	0:3807ce385b2a	106	* それ以外成功した際に取得したデータ
Yajirushi	0:3807ce385b2a	107	*/
Yajirushi	0:3807ce385b2a	108	char BNO055_UART_CTRL::rr(bool isPage1, char regAddr){
Yajirushi	0:3807ce385b2a	109	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	110	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	111	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
Yajirushi	0:3807ce385b2a	112	page1 = isPage1;
Yajirushi	0:3807ce385b2a	113	}
Yajirushi	0:3807ce385b2a	114
Yajirushi	0:3807ce385b2a	115	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	116	do{wait_ms(1);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	117
Yajirushi	0:3807ce385b2a	118	//コマンドをセット
Yajirushi	0:3807ce385b2a	119	ary[0] = 0xAA; //StartByte(固定)
Yajirushi	0:3807ce385b2a	120	ary[1] = 0x01; //読み取り
Yajirushi	0:3807ce385b2a	121	ary[2] = regAddr; //レジスタアドレス
Yajirushi	0:3807ce385b2a	122	ary[3] = 1; //バイト長
Yajirushi	0:3807ce385b2a	123
Yajirushi	0:3807ce385b2a	124	//送信
Yajirushi	0:3807ce385b2a	125	iface->putc(ary[0]);
Yajirushi	0:3807ce385b2a	126	iface->putc(ary[1]);
Yajirushi	0:3807ce385b2a	127	iface->putc(ary[2]);
Yajirushi	0:3807ce385b2a	128	iface->putc(ary[3]);
Yajirushi	0:3807ce385b2a	129
Yajirushi	0:3807ce385b2a	130	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	131	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	132
Yajirushi	0:3807ce385b2a	133	lastError = 0;
Yajirushi	0:3807ce385b2a	134	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
Yajirushi	0:3807ce385b2a	135
Yajirushi	0:3807ce385b2a	136	ary[0] = rxd & 0xFF;
Yajirushi	0:3807ce385b2a	137
Yajirushi	0:3807ce385b2a	138	//残りを受信
Yajirushi	0:3807ce385b2a	139	int i = 1;
Yajirushi	0:3807ce385b2a	140	int cnt = (ary[0] == 0xBB) ? 2 : 1;
Yajirushi	0:3807ce385b2a	141	while(i < cnt && iface->readable()){
Yajirushi	0:3807ce385b2a	142	ary[i++] = iface->getc();
Yajirushi	0:3807ce385b2a	143	}
Yajirushi	0:3807ce385b2a	144
Yajirushi	0:3807ce385b2a	145	//レスポンスが0xBB以外:通信失敗
Yajirushi	0:3807ce385b2a	146	if(ary[0] != 0xBB){
Yajirushi	0:3807ce385b2a	147	lastLength = 2;
Yajirushi	0:3807ce385b2a	148	lastError = ary[1];
Yajirushi	0:3807ce385b2a	149	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	150	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	151	read_mark = true;
Yajirushi	0:3807ce385b2a	152	return -1;
Yajirushi	0:3807ce385b2a	153	}
Yajirushi	0:3807ce385b2a	154
Yajirushi	0:3807ce385b2a	155	lastLength = ary[1] + 2;
Yajirushi	0:3807ce385b2a	156
Yajirushi	0:3807ce385b2a	157	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	158	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	159	read_mark = true;
Yajirushi	0:3807ce385b2a	160
Yajirushi	0:3807ce385b2a	161	//通信成功時、取得データを返す
Yajirushi	0:3807ce385b2a	162	return ary[2];
Yajirushi	0:3807ce385b2a	163	}
Yajirushi	0:3807ce385b2a	164
Yajirushi	0:3807ce385b2a	165	/* ==================================================================
Yajirushi	0:3807ce385b2a	166	* <UART>
Yajirushi	0:3807ce385b2a	167	* レジスタの内容を読み取り(複数可)
Yajirushi	0:3807ce385b2a	168	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	169	* returns:
Yajirushi	0:3807ce385b2a	170	* -1 失敗
Yajirushi	0:3807ce385b2a	171	* -2 返答バイト不一致
Yajirushi	0:3807ce385b2a	172	* -4 レスポンスエラー
Yajirushi	0:3807ce385b2a	173	* それ以外成功した際の戻り値バイト数
Yajirushi	0:3807ce385b2a	174	*/
Yajirushi	2:e8bc1ae2c20c	175	char BNO055_UART_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){
Yajirushi	0:3807ce385b2a	176	//読み取りバイト数が1未満またはBNO055_UART_BUF_MAXLEN以上はバッファが足りないので読み取れない
Yajirushi	0:3807ce385b2a	177	if(length < 1 \|\| length > BNO055_UART_BUF_MAXLEN) return -1;
Yajirushi	0:3807ce385b2a	178
Yajirushi	0:3807ce385b2a	179	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	180	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	181	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
Yajirushi	0:3807ce385b2a	182	page1 = isPage1;
Yajirushi	0:3807ce385b2a	183	}
Yajirushi	0:3807ce385b2a	184
Yajirushi	0:3807ce385b2a	185	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	186	do{wait_ms(1);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	187
Yajirushi	0:3807ce385b2a	188	//コマンドをセット
Yajirushi	0:3807ce385b2a	189	ary[0] = 0xAA; //StartByte(固定)
Yajirushi	0:3807ce385b2a	190	ary[1] = 0x01; //読み取り
Yajirushi	0:3807ce385b2a	191	ary[2] = startRegAddr; //読み取り開始レジスタアドレス
Yajirushi	0:3807ce385b2a	192	ary[3] = length; //バイト長
Yajirushi	0:3807ce385b2a	193
Yajirushi	0:3807ce385b2a	194	//送信
Yajirushi	0:3807ce385b2a	195	iface->putc(ary[0]);
Yajirushi	0:3807ce385b2a	196	iface->putc(ary[1]);
Yajirushi	0:3807ce385b2a	197	iface->putc(ary[2]);
Yajirushi	0:3807ce385b2a	198	iface->putc(ary[3]);
Yajirushi	0:3807ce385b2a	199
Yajirushi	0:3807ce385b2a	200	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	201	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	202
Yajirushi	0:3807ce385b2a	203	lastError = 0;
Yajirushi	0:3807ce385b2a	204	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
Yajirushi	0:3807ce385b2a	205
Yajirushi	0:3807ce385b2a	206	ary[0] = rxd & 0xFF;
Yajirushi	0:3807ce385b2a	207
Yajirushi	0:3807ce385b2a	208	//残りを受信
Yajirushi	0:3807ce385b2a	209	int i = 1;
Yajirushi	0:3807ce385b2a	210	int cnt = (ary[0] == 0xBB) ? 2 : 1;
Yajirushi	0:3807ce385b2a	211	while(i < cnt && iface->readable()){
Yajirushi	0:3807ce385b2a	212	ary[i++] = iface->getc();
Yajirushi	0:3807ce385b2a	213	}
Yajirushi	0:3807ce385b2a	214
Yajirushi	0:3807ce385b2a	215	//レスポンスが0xBB以外:通信失敗
Yajirushi	0:3807ce385b2a	216	if(ary[0] != 0xBB){
Yajirushi	0:3807ce385b2a	217	lastLength = 2;
Yajirushi	0:3807ce385b2a	218	lastError = ary[1];
Yajirushi	0:3807ce385b2a	219	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	220	read_mark = true;
Yajirushi	0:3807ce385b2a	221	return -1;
Yajirushi	0:3807ce385b2a	222	}
Yajirushi	0:3807ce385b2a	223
Yajirushi	0:3807ce385b2a	224	//返答バイト長がlengthと一致しない:通信失敗
Yajirushi	0:3807ce385b2a	225	if(ary[1] != length){
Yajirushi	0:3807ce385b2a	226	lastLength = ary[1];
Yajirushi	0:3807ce385b2a	227	lastError = 0;
Yajirushi	0:3807ce385b2a	228	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	229	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	230	read_mark = true;
Yajirushi	0:3807ce385b2a	231	return -2;
Yajirushi	0:3807ce385b2a	232	}
Yajirushi	0:3807ce385b2a	233
Yajirushi	0:3807ce385b2a	234	lastLength = ary[1] + 2;
Yajirushi	0:3807ce385b2a	235
Yajirushi	0:3807ce385b2a	236	memcpy(receiveBytes, ary+2, ary[1]);
Yajirushi	0:3807ce385b2a	237
Yajirushi	0:3807ce385b2a	238	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	239	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	240	read_mark = true;
Yajirushi	0:3807ce385b2a	241
Yajirushi	0:3807ce385b2a	242	return ary[1];
Yajirushi	0:3807ce385b2a	243	}
Yajirushi	0:3807ce385b2a	244
Yajirushi	0:3807ce385b2a	245	/* ==================================================================
Yajirushi	0:3807ce385b2a	246	* <UART>
Yajirushi	0:3807ce385b2a	247	* レジスタ書き込み(1byteのみ)
Yajirushi	0:3807ce385b2a	248	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	249	* returns:
Yajirushi	0:3807ce385b2a	250	* -1 失敗
Yajirushi	0:3807ce385b2a	251	* 1 成功
Yajirushi	0:3807ce385b2a	252	*/
Yajirushi	0:3807ce385b2a	253	char BNO055_UART_CTRL::wr(bool isPage1, char regAddr, char wBytes){
Yajirushi	0:3807ce385b2a	254	//ページが異なるならページ変更命令を発行(再帰処理)
Yajirushi	0:3807ce385b2a	255	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	256	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
Yajirushi	0:3807ce385b2a	257	page1 = isPage1;
Yajirushi	0:3807ce385b2a	258	}
Yajirushi	0:3807ce385b2a	259
Yajirushi	0:3807ce385b2a	260	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	261	do{wait_ms(1);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	262
Yajirushi	0:3807ce385b2a	263	//コマンドをセット
Yajirushi	0:3807ce385b2a	264	ary[0] = 0xAA; //StartByte(固定)
Yajirushi	0:3807ce385b2a	265	ary[1] = 0x00; //書き込み
Yajirushi	0:3807ce385b2a	266	ary[2] = regAddr; //レジスタアドレス
Yajirushi	0:3807ce385b2a	267	ary[3] = 1; //バイト長
Yajirushi	0:3807ce385b2a	268	ary[4] = wBytes; //送信データ
Yajirushi	0:3807ce385b2a	269
Yajirushi	0:3807ce385b2a	270	//送信
Yajirushi	0:3807ce385b2a	271	iface->putc(ary[0]);
Yajirushi	0:3807ce385b2a	272	iface->putc(ary[1]);
Yajirushi	0:3807ce385b2a	273	iface->putc(ary[2]);
Yajirushi	0:3807ce385b2a	274	iface->putc(ary[3]);
Yajirushi	0:3807ce385b2a	275	iface->putc(ary[4]);
Yajirushi	0:3807ce385b2a	276
Yajirushi	0:3807ce385b2a	277	//システムリブートが発生するレジスタの場合は1200ms待つ
Yajirushi	0:3807ce385b2a	278	if(regAddr == 0x3F) wait_ms(1200);
Yajirushi	0:3807ce385b2a	279
Yajirushi	0:3807ce385b2a	280	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	281	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	282
Yajirushi	0:3807ce385b2a	283	lastError = 0;
Yajirushi	0:3807ce385b2a	284	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
Yajirushi	0:3807ce385b2a	285
Yajirushi	0:3807ce385b2a	286	ary[0] = rxd & 0xFF;
Yajirushi	0:3807ce385b2a	287
Yajirushi	0:3807ce385b2a	288	//残りを受信
Yajirushi	0:3807ce385b2a	289	while(iface->readable()){
Yajirushi	0:3807ce385b2a	290	ary[1] = iface->getc();
Yajirushi	0:3807ce385b2a	291	}
Yajirushi	0:3807ce385b2a	292
Yajirushi	0:3807ce385b2a	293	//レスポンスが0xEE以外もしくはステータスが0x01以外:書き込み失敗
Yajirushi	0:3807ce385b2a	294	if(ary[0] != 0xEE \|\| ary[1] != 0x01){
Yajirushi	0:3807ce385b2a	295	lastLength = 2;
Yajirushi	0:3807ce385b2a	296	lastError = ary[1];
Yajirushi	0:3807ce385b2a	297	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	298	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	299	read_mark = true;
Yajirushi	0:3807ce385b2a	300	return -1;
Yajirushi	0:3807ce385b2a	301	}
Yajirushi	0:3807ce385b2a	302
Yajirushi	0:3807ce385b2a	303	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	304	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	305	read_mark = true;
Yajirushi	0:3807ce385b2a	306
Yajirushi	0:3807ce385b2a	307	return 1;
Yajirushi	0:3807ce385b2a	308	}
Yajirushi	0:3807ce385b2a	309
Yajirushi	0:3807ce385b2a	310	/* ==================================================================
Yajirushi	0:3807ce385b2a	311	* <UART>
Yajirushi	0:3807ce385b2a	312	* レジスタ書き込み(複数可)
Yajirushi	0:3807ce385b2a	313	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	314	* returns:
Yajirushi	0:3807ce385b2a	315	* -1 失敗
Yajirushi	0:3807ce385b2a	316	* -4 レスポンスエラー
Yajirushi	0:3807ce385b2a	317	* 1 成功
Yajirushi	0:3807ce385b2a	318	*/
Yajirushi	0:3807ce385b2a	319	char BNO055_UART_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){
Yajirushi	0:3807ce385b2a	320	//書き込みバイト数が1未満またはBNO055_UART_BUF_MAXLEN以上はバッファが足りないので読み取れない
Yajirushi	0:3807ce385b2a	321	if(length < 1 \|\| length > BNO055_UART_BUF_MAXLEN) return -1;
Yajirushi	0:3807ce385b2a	322
Yajirushi	0:3807ce385b2a	323	//ページが異なるならページ変更命令を発行(再帰処理)
Yajirushi	0:3807ce385b2a	324	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	325	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
Yajirushi	0:3807ce385b2a	326	page1 = isPage1;
Yajirushi	0:3807ce385b2a	327	}
Yajirushi	0:3807ce385b2a	328
Yajirushi	0:3807ce385b2a	329	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	330	do{wait_ms(1);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	331
Yajirushi	0:3807ce385b2a	332	//コマンドをセット
Yajirushi	0:3807ce385b2a	333	ary[0] = 0xAA; //StartByte(固定)
Yajirushi	0:3807ce385b2a	334	ary[1] = 0x00; //書き込み
Yajirushi	0:3807ce385b2a	335	ary[2] = startRegAddr; //レジスタアドレス
Yajirushi	0:3807ce385b2a	336	ary[3] = length; //バイト長
Yajirushi	0:3807ce385b2a	337
Yajirushi	0:3807ce385b2a	338	//前部分送信
Yajirushi	0:3807ce385b2a	339	iface->putc(ary[0]);
Yajirushi	0:3807ce385b2a	340	iface->putc(ary[1]);
Yajirushi	0:3807ce385b2a	341	iface->putc(ary[2]);
Yajirushi	0:3807ce385b2a	342	iface->putc(ary[3]);
Yajirushi	0:3807ce385b2a	343
Yajirushi	0:3807ce385b2a	344	//データ内容送信
Yajirushi	0:3807ce385b2a	345	for(int cnt=0; cnt<length; cnt++){
Yajirushi	0:3807ce385b2a	346	iface->putc(Bytes[cnt]);
Yajirushi	0:3807ce385b2a	347	}
Yajirushi	0:3807ce385b2a	348
Yajirushi	0:3807ce385b2a	349	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	350	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	351
Yajirushi	0:3807ce385b2a	352	lastError = 0;
Yajirushi	0:3807ce385b2a	353	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
Yajirushi	0:3807ce385b2a	354
Yajirushi	0:3807ce385b2a	355	ary[0] = rxd & 0xFF;
Yajirushi	0:3807ce385b2a	356
Yajirushi	0:3807ce385b2a	357	//残りを受信
Yajirushi	0:3807ce385b2a	358	while(iface->readable()){
Yajirushi	0:3807ce385b2a	359	ary[1] = iface->getc();
Yajirushi	0:3807ce385b2a	360	}
Yajirushi	0:3807ce385b2a	361
Yajirushi	0:3807ce385b2a	362	//レスポンスが0xEE以外もしくはステータスが0x01以外:書き込み失敗
Yajirushi	0:3807ce385b2a	363	if(ary[0] != 0xEE \|\| ary[1] != 0x01){
Yajirushi	0:3807ce385b2a	364	lastLength = 2;
Yajirushi	0:3807ce385b2a	365	lastError = ary[1];
Yajirushi	0:3807ce385b2a	366	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	367	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	368	read_mark = true;
Yajirushi	0:3807ce385b2a	369	return -1;
Yajirushi	0:3807ce385b2a	370	}
Yajirushi	0:3807ce385b2a	371
Yajirushi	0:3807ce385b2a	372	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	373	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	374	read_mark = true;
Yajirushi	0:3807ce385b2a	375
Yajirushi	0:3807ce385b2a	376	return 1;
Yajirushi	0:3807ce385b2a	377	}
Yajirushi	0:3807ce385b2a	378
Yajirushi	0:3807ce385b2a	379	/* ==================================================================
Yajirushi	0:3807ce385b2a	380	* <UART>
Yajirushi	0:3807ce385b2a	381	* インターフェース設定を初期化する
Yajirushi	0:3807ce385b2a	382	*/
Yajirushi	0:3807ce385b2a	383	void BNO055_UART_CTRL::init(){
Yajirushi	0:3807ce385b2a	384	iface->format(); //8N1 = default
Yajirushi	0:3807ce385b2a	385	iface->baud(115200);
Yajirushi	0:3807ce385b2a	386	wait_ms(5);
Yajirushi	0:3807ce385b2a	387	iface->attach(this, &BNO055_UART_CTRL::rxInterrupt);
Yajirushi	0:3807ce385b2a	388
Yajirushi	0:3807ce385b2a	389	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	390	do{wait_ms(1);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	391
Yajirushi	0:3807ce385b2a	392	//UARTリセット時に0xFFがつく現象および前回送信時の残りがあるため同期がとれない
Yajirushi	0:3807ce385b2a	393	//複数回読み取りを行い、正しいレスポンス(0xBB)が返るまで送信
Yajirushi	0:3807ce385b2a	394	iface->putc(0x01); //dummy
Yajirushi	0:3807ce385b2a	395	iface->putc(0x01); //dummy
Yajirushi	0:3807ce385b2a	396	iface->putc(0x01); //dummy
Yajirushi	0:3807ce385b2a	397	iface->putc(0x01); //dummy
Yajirushi	0:3807ce385b2a	398
Yajirushi	0:3807ce385b2a	399	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	400	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	401
Yajirushi	0:3807ce385b2a	402	char rslt = rxd & 0xFF; //レスポンス
Yajirushi	0:3807ce385b2a	403
Yajirushi	0:3807ce385b2a	404	do{
Yajirushi	0:3807ce385b2a	405	//レスポンスが異常:残りの情報を無視
Yajirushi	0:3807ce385b2a	406	if(rslt != 0xBB){
Yajirushi	0:3807ce385b2a	407	while(iface->readable()){
Yajirushi	0:3807ce385b2a	408	iface->getc();
Yajirushi	0:3807ce385b2a	409	}
Yajirushi	0:3807ce385b2a	410	}
Yajirushi	0:3807ce385b2a	411
Yajirushi	0:3807ce385b2a	412	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	413	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	414	read_mark = true;
Yajirushi	0:3807ce385b2a	415
Yajirushi	0:3807ce385b2a	416	//送信可能になるまで待つ
Yajirushi	0:3807ce385b2a	417	do{wait_ms(5);}while(!iface->writeable());
Yajirushi	0:3807ce385b2a	418
Yajirushi	0:3807ce385b2a	419	iface->putc(0xAA); //START
Yajirushi	0:3807ce385b2a	420	iface->putc(0x01); //読み取り
Yajirushi	0:3807ce385b2a	421	iface->putc(0x07); //ページID
Yajirushi	0:3807ce385b2a	422	iface->putc(0x01); //length 1byte
Yajirushi	0:3807ce385b2a	423
Yajirushi	0:3807ce385b2a	424	//レスポンスを受信するまで待つ
Yajirushi	0:3807ce385b2a	425	while(read_mark) wait_us(100);
Yajirushi	0:3807ce385b2a	426
Yajirushi	0:3807ce385b2a	427	rslt = rxd & 0xFF; //レスポンス
Yajirushi	0:3807ce385b2a	428
Yajirushi	0:3807ce385b2a	429	}while(rslt != 0xBB);
Yajirushi	0:3807ce385b2a	430
Yajirushi	0:3807ce385b2a	431	//残りの情報を無視
Yajirushi	0:3807ce385b2a	432	while(iface->readable()){
Yajirushi	0:3807ce385b2a	433	iface->getc();
Yajirushi	0:3807ce385b2a	434	}
Yajirushi	0:3807ce385b2a	435
Yajirushi	0:3807ce385b2a	436	//受信用割り込みマークをリセット
Yajirushi	0:3807ce385b2a	437	rxd = 0xFFFF;
Yajirushi	0:3807ce385b2a	438	read_mark = true;
Yajirushi	0:3807ce385b2a	439	}
Yajirushi	0:3807ce385b2a	440
Yajirushi	0:3807ce385b2a	441
Yajirushi	0:3807ce385b2a	442
Yajirushi	0:3807ce385b2a	443
Yajirushi	0:3807ce385b2a	444
Yajirushi	0:3807ce385b2a	445
Yajirushi	0:3807ce385b2a	446
Yajirushi	0:3807ce385b2a	447
Yajirushi	0:3807ce385b2a	448	//CLASS:BNO055_I2C_CTRL//////////////////////////////////////////////
Yajirushi	0:3807ce385b2a	449	/* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	450	* BNO055_CTRLクラス(インターフェース)を継承(実装)したクラス
Yajirushi	0:3807ce385b2a	451	* I2Cで命令を送受信するためのコントロール用クラス
Yajirushi	0:3807ce385b2a	452	*/
Yajirushi	0:3807ce385b2a	453
Yajirushi	0:3807ce385b2a	454	/* ==================================================================
Yajirushi	0:3807ce385b2a	455	* BNO055をI2Cでコントロールするためのクラス：コンストラクタ
Yajirushi	0:3807ce385b2a	456	*/
Yajirushi	0:3807ce385b2a	457	BNO055_I2C_CTRL::BNO055_I2C_CTRL(I2C* iic, char addr, unsigned int freq){
Yajirushi	0:3807ce385b2a	458	iface = iic;
Yajirushi	0:3807ce385b2a	459	i2c_writeAddr = addr << 1;
Yajirushi	0:3807ce385b2a	460	i2c_readAddr = i2c_writeAddr + 1;
Yajirushi	0:3807ce385b2a	461	i2c_freq = freq;
Yajirushi	0:3807ce385b2a	462	page1 = true;
Yajirushi	0:3807ce385b2a	463	ary = new char[2];
Yajirushi	0:3807ce385b2a	464	memset(ary, 0, 2);
Yajirushi	0:3807ce385b2a	465	lastError = 0;
Yajirushi	0:3807ce385b2a	466	}
Yajirushi	0:3807ce385b2a	467
Yajirushi	0:3807ce385b2a	468	/* ==================================================================
Yajirushi	0:3807ce385b2a	469	* BNO055をI2Cでコントロールするためのクラス：デストラクタ
Yajirushi	0:3807ce385b2a	470	*/
Yajirushi	0:3807ce385b2a	471	BNO055_I2C_CTRL::~BNO055_I2C_CTRL(){
Yajirushi	0:3807ce385b2a	472	delete iface;
Yajirushi	0:3807ce385b2a	473	delete[] ary;
Yajirushi	0:3807ce385b2a	474	}
Yajirushi	0:3807ce385b2a	475
Yajirushi	0:3807ce385b2a	476	/* ==================================================================
Yajirushi	0:3807ce385b2a	477	* <I2C>
Yajirushi	0:3807ce385b2a	478	* レジスタの内容を読み取り(1byteのみ)
Yajirushi	0:3807ce385b2a	479	*/
Yajirushi	0:3807ce385b2a	480	char BNO055_I2C_CTRL::rr(bool isPage1, char regAddr){
Yajirushi	0:3807ce385b2a	481	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	482	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	483	ary[0] = BNO055_PAGE_ID;
Yajirushi	0:3807ce385b2a	484	ary[1] = (isPage1) ? 1 : 0;
Yajirushi	0:3807ce385b2a	485	page1 = isPage1;
Yajirushi	0:3807ce385b2a	486	iface->write(i2c_writeAddr, ary, 2);
Yajirushi	0:3807ce385b2a	487	}
Yajirushi	0:3807ce385b2a	488
Yajirushi	0:3807ce385b2a	489	ary[0] = regAddr;
Yajirushi	0:3807ce385b2a	490	iface->write(i2c_writeAddr, ary, 1, true);
Yajirushi	0:3807ce385b2a	491	iface->read(i2c_readAddr, ary, 1, false);
Yajirushi	0:3807ce385b2a	492
Yajirushi	0:3807ce385b2a	493	return ary[0];
Yajirushi	0:3807ce385b2a	494	}
Yajirushi	0:3807ce385b2a	495
Yajirushi	0:3807ce385b2a	496	/* ==================================================================
Yajirushi	0:3807ce385b2a	497	* <I2C>
Yajirushi	0:3807ce385b2a	498	* レジスタの内容を読み取り(複数可)
Yajirushi	0:3807ce385b2a	499	*/
Yajirushi	2:e8bc1ae2c20c	500	char BNO055_I2C_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){
Yajirushi	0:3807ce385b2a	501	//読み取りバイト数が1未満
Yajirushi	0:3807ce385b2a	502	if(length < 1) return -1;
Yajirushi	0:3807ce385b2a	503
Yajirushi	0:3807ce385b2a	504	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	505	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	506	ary[0] = BNO055_PAGE_ID;
Yajirushi	0:3807ce385b2a	507	ary[1] = (isPage1) ? 1 : 0;
Yajirushi	0:3807ce385b2a	508	page1 = isPage1;
Yajirushi	0:3807ce385b2a	509	iface->write(i2c_writeAddr, ary, 2);
Yajirushi	0:3807ce385b2a	510	}
Yajirushi	0:3807ce385b2a	511
Yajirushi	0:3807ce385b2a	512	ary[0] = startRegAddr;
Yajirushi	0:3807ce385b2a	513	iface->write(i2c_writeAddr, ary, 1, true);
Yajirushi	2:e8bc1ae2c20c	514	iface->read(i2c_readAddr, (char *)receiveBytes, length, false);
Yajirushi	0:3807ce385b2a	515
Yajirushi	0:3807ce385b2a	516	return receiveBytes[0];
Yajirushi	0:3807ce385b2a	517	}
Yajirushi	0:3807ce385b2a	518
Yajirushi	0:3807ce385b2a	519	/* ==================================================================
Yajirushi	0:3807ce385b2a	520	* <I2C>
Yajirushi	0:3807ce385b2a	521	* レジスタ書き込み(1byteのみ)
Yajirushi	0:3807ce385b2a	522	*/
Yajirushi	0:3807ce385b2a	523	char BNO055_I2C_CTRL::wr(bool isPage1, char regAddr, char wBytes){
Yajirushi	0:3807ce385b2a	524	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	525	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	526	ary[0] = BNO055_PAGE_ID;
Yajirushi	0:3807ce385b2a	527	ary[1] = (isPage1) ? 1 : 0;
Yajirushi	0:3807ce385b2a	528	page1 = isPage1;
Yajirushi	0:3807ce385b2a	529	iface->write(i2c_writeAddr, ary, 2);
Yajirushi	0:3807ce385b2a	530	}
Yajirushi	0:3807ce385b2a	531
Yajirushi	0:3807ce385b2a	532	ary[0] = regAddr;
Yajirushi	0:3807ce385b2a	533	ary[1] = wBytes;
Yajirushi	0:3807ce385b2a	534
Yajirushi	0:3807ce385b2a	535	iface->write(i2c_writeAddr, ary, 2);
Yajirushi	0:3807ce385b2a	536
Yajirushi	0:3807ce385b2a	537	return ary[0];
Yajirushi	0:3807ce385b2a	538	}
Yajirushi	0:3807ce385b2a	539
Yajirushi	0:3807ce385b2a	540	/* ==================================================================
Yajirushi	0:3807ce385b2a	541	* <I2C>
Yajirushi	0:3807ce385b2a	542	* レジスタ書き込み(複数可)
Yajirushi	0:3807ce385b2a	543	*/
Yajirushi	0:3807ce385b2a	544	char BNO055_I2C_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){
Yajirushi	0:3807ce385b2a	545	//書き込みバイト数が1未満
Yajirushi	0:3807ce385b2a	546	if(length < 1) return -1;
Yajirushi	0:3807ce385b2a	547
Yajirushi	0:3807ce385b2a	548	//ページが異なるならページ変更命令を発行
Yajirushi	0:3807ce385b2a	549	if(page1 != isPage1){
Yajirushi	0:3807ce385b2a	550	ary[0] = BNO055_PAGE_ID;
Yajirushi	0:3807ce385b2a	551	ary[1] = (isPage1) ? 1 : 0;
Yajirushi	0:3807ce385b2a	552	page1 = isPage1;
Yajirushi	0:3807ce385b2a	553	iface->write(i2c_writeAddr, ary, 2);
Yajirushi	0:3807ce385b2a	554	}
Yajirushi	0:3807ce385b2a	555
Yajirushi	0:3807ce385b2a	556	ary[0] = startRegAddr;
Yajirushi	0:3807ce385b2a	557	iface->write(i2c_writeAddr, ary, 1, true);
Yajirushi	0:3807ce385b2a	558	iface->write(i2c_writeAddr, Bytes, length, false);
Yajirushi	0:3807ce385b2a	559
Yajirushi	0:3807ce385b2a	560	return Bytes[0];
Yajirushi	0:3807ce385b2a	561	}
Yajirushi	0:3807ce385b2a	562
Yajirushi	0:3807ce385b2a	563	/* ==================================================================
Yajirushi	0:3807ce385b2a	564	* <I2C>
Yajirushi	0:3807ce385b2a	565	* インターフェース設定を初期化する
Yajirushi	0:3807ce385b2a	566	*/
Yajirushi	0:3807ce385b2a	567	void BNO055_I2C_CTRL::init(){
Yajirushi	0:3807ce385b2a	568	iface->frequency(i2c_freq);
Yajirushi	0:3807ce385b2a	569	wait_ms(5);
Yajirushi	0:3807ce385b2a	570	}
Yajirushi	0:3807ce385b2a	571
Yajirushi	0:3807ce385b2a	572
Yajirushi	0:3807ce385b2a	573
Yajirushi	0:3807ce385b2a	574
Yajirushi	0:3807ce385b2a	575
Yajirushi	0:3807ce385b2a	576
Yajirushi	0:3807ce385b2a	577
Yajirushi	0:3807ce385b2a	578
Yajirushi	0:3807ce385b2a	579
Yajirushi	0:3807ce385b2a	580	//CLASS:BOARDC_BNO055////////////////////////////////////////////////
Yajirushi	0:3807ce385b2a	581	/* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	582	* メインクラス
Yajirushi	0:3807ce385b2a	583	* BNO055をUARTまたはI2Cで使用するための命令をまとめている
Yajirushi	0:3807ce385b2a	584	* 内部にBNO055_CTRLクラスのインスタンスを持ち、コンストラクタの引数によって
Yajirushi	0:3807ce385b2a	585	* UARTとI2Cのどちらを使用するか決定する
Yajirushi	0:3807ce385b2a	586	*/
Yajirushi	0:3807ce385b2a	587
Yajirushi	0:3807ce385b2a	588	/* ==================================================================
Yajirushi	0:3807ce385b2a	589	* コンストラクタ (オーバーロード+3)
Yajirushi	0:3807ce385b2a	590	* UARTで使用する際のコンストラクタ：ピン別名を指定する
Yajirushi	0:3807ce385b2a	591	*/
Yajirushi	0:3807ce385b2a	592	BOARDC_BNO055::BOARDC_BNO055(PinName tx, PinName rx){
Yajirushi	0:3807ce385b2a	593	ctrl = new BNO055_UART_CTRL(new RawSerial(tx, rx));
Yajirushi	0:3807ce385b2a	594
Yajirushi	0:3807ce385b2a	595	scaleACC = 0.01f; // = 1 / 100
Yajirushi	0:3807ce385b2a	596	scaleMAG = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	597	scaleGYRO = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	598	scaleEuler = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	599	scaleTEMP = 1.0f;
Yajirushi	0:3807ce385b2a	600	scaleLIA = scaleACC;
Yajirushi	0:3807ce385b2a	601	scaleGV = scaleACC;
Yajirushi	0:3807ce385b2a	602	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
Yajirushi	0:3807ce385b2a	603
Yajirushi	0:3807ce385b2a	604	clkExt = false;
Yajirushi	0:3807ce385b2a	605	}
Yajirushi	0:3807ce385b2a	606
Yajirushi	0:3807ce385b2a	607	/* ==================================================================
Yajirushi	0:3807ce385b2a	608	* コンストラクタ (オーバーロード+3)
Yajirushi	0:3807ce385b2a	609	* UARTで使用する際のコンストラクタ：RawSerialクラスのインスタンスを指定する
Yajirushi	0:3807ce385b2a	610	*/
Yajirushi	0:3807ce385b2a	611	BOARDC_BNO055::BOARDC_BNO055(RawSerial *uart){
Yajirushi	0:3807ce385b2a	612	ctrl = new BNO055_UART_CTRL(uart);
Yajirushi	0:3807ce385b2a	613
Yajirushi	0:3807ce385b2a	614	scaleACC = 0.01f; // = 1 / 100
Yajirushi	0:3807ce385b2a	615	scaleMAG = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	616	scaleGYRO = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	617	scaleEuler = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	618	scaleTEMP = 1.0f;
Yajirushi	0:3807ce385b2a	619	scaleLIA = scaleACC;
Yajirushi	0:3807ce385b2a	620	scaleGV = scaleACC;
Yajirushi	0:3807ce385b2a	621	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
Yajirushi	0:3807ce385b2a	622
Yajirushi	0:3807ce385b2a	623	clkExt = false;
Yajirushi	0:3807ce385b2a	624	}
Yajirushi	0:3807ce385b2a	625
Yajirushi	0:3807ce385b2a	626	/* ==================================================================
Yajirushi	0:3807ce385b2a	627	* コンストラクタ (オーバーロード+3)
Yajirushi	0:3807ce385b2a	628	* I2Cで使用する際のコンストラクタ：ピン別名を指定する
Yajirushi	0:3807ce385b2a	629	*/
Yajirushi	0:3807ce385b2a	630	BOARDC_BNO055::BOARDC_BNO055(PinName sda, PinName scl, char addr, unsigned int freq){
Yajirushi	0:3807ce385b2a	631	ctrl = new BNO055_I2C_CTRL(new I2C(sda, scl), addr, freq);
Yajirushi	0:3807ce385b2a	632
Yajirushi	0:3807ce385b2a	633	scaleACC = 0.01f; // = 1 / 100
Yajirushi	0:3807ce385b2a	634	scaleMAG = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	635	scaleGYRO = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	636	scaleEuler = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	637	scaleTEMP = 1.0f;
Yajirushi	0:3807ce385b2a	638	scaleLIA = scaleACC;
Yajirushi	0:3807ce385b2a	639	scaleGV = scaleACC;
Yajirushi	0:3807ce385b2a	640	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
Yajirushi	0:3807ce385b2a	641
Yajirushi	0:3807ce385b2a	642	clkExt = false;
Yajirushi	0:3807ce385b2a	643	}
Yajirushi	0:3807ce385b2a	644
Yajirushi	0:3807ce385b2a	645	/* ==================================================================
Yajirushi	0:3807ce385b2a	646	* コンストラクタ (オーバーロード+3)
Yajirushi	0:3807ce385b2a	647	* I2Cで使用する際のコンストラクタ：I2Cクラスのインスタンスを指定する
Yajirushi	0:3807ce385b2a	648	*/
Yajirushi	0:3807ce385b2a	649	BOARDC_BNO055::BOARDC_BNO055(I2C* iic, char addr, unsigned int freq){
Yajirushi	0:3807ce385b2a	650	ctrl = new BNO055_I2C_CTRL(iic, addr, freq);
Yajirushi	0:3807ce385b2a	651
Yajirushi	0:3807ce385b2a	652	scaleACC = 0.01f; // = 1 / 100
Yajirushi	0:3807ce385b2a	653	scaleMAG = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	654	scaleGYRO = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	655	scaleEuler = 0.0625f; // = 1 / 16
Yajirushi	0:3807ce385b2a	656	scaleTEMP = 1.0f;
Yajirushi	0:3807ce385b2a	657	scaleLIA = scaleACC;
Yajirushi	0:3807ce385b2a	658	scaleGV = scaleACC;
Yajirushi	0:3807ce385b2a	659	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
Yajirushi	0:3807ce385b2a	660
Yajirushi	0:3807ce385b2a	661	clkExt = false;
Yajirushi	0:3807ce385b2a	662	}
Yajirushi	0:3807ce385b2a	663
Yajirushi	0:3807ce385b2a	664	/* ==================================================================
Yajirushi	0:3807ce385b2a	665	* デストラクタ
Yajirushi	0:3807ce385b2a	666	*/
Yajirushi	0:3807ce385b2a	667	BOARDC_BNO055::~BOARDC_BNO055(){
Yajirushi	0:3807ce385b2a	668	delete ctrl;
Yajirushi	0:3807ce385b2a	669	}
Yajirushi	0:3807ce385b2a	670
Yajirushi	0:3807ce385b2a	671	/* ==================================================================
Yajirushi	0:3807ce385b2a	672	* デフォルト設定での初期化
Yajirushi	0:3807ce385b2a	673	*/
Yajirushi	0:3807ce385b2a	674	char BOARDC_BNO055::initialize(bool resetIface){
Yajirushi	0:3807ce385b2a	675	if(resetIface) ctrl->init();
Yajirushi	0:3807ce385b2a	676
Yajirushi	0:3807ce385b2a	677	//CONFIGモードに設定
Yajirushi	0:3807ce385b2a	678	setOperation_CONFIG();
Yajirushi	0:3807ce385b2a	679
Yajirushi	0:3807ce385b2a	680	//外部発振子設定,セルフテストの実行,セルフテスト完了まで待つ
Yajirushi	0:3807ce385b2a	681	setSysTrigger(0x81);
Yajirushi	0:3807ce385b2a	682
Yajirushi	0:3807ce385b2a	683	//加速度センサーレンジ設定(+-8G)
Yajirushi	0:3807ce385b2a	684	//地磁気や角速度センサーのレンジやバンドはFusionモードにより自動設定される
Yajirushi	0:3807ce385b2a	685	if(!setAccRange(16)) return -1;
Yajirushi	0:3807ce385b2a	686
Yajirushi	0:3807ce385b2a	687	//各軸リマップ設定(BNO055の1pinマークが表側右下)
Yajirushi	0:3807ce385b2a	688	if(!setAxisRemap_topview_bottomright()) return -2;
Yajirushi	0:3807ce385b2a	689
Yajirushi	0:3807ce385b2a	690	//単位系セット
Yajirushi	0:3807ce385b2a	691	//ORI_Android_Windows : Windows
Yajirushi	0:3807ce385b2a	692	//TEMP_Unit : Celcius
Yajirushi	0:3807ce385b2a	693	//EUL_Unit : Degree
Yajirushi	0:3807ce385b2a	694	//GYR_Unit : deg/s
Yajirushi	0:3807ce385b2a	695	//ACC_Unit : m/s^2
Yajirushi	0:3807ce385b2a	696	if(!setUNIT_SEL(0x00)) return -3;
Yajirushi	0:3807ce385b2a	697
Yajirushi	0:3807ce385b2a	698	//動作モード設定(9軸Fusionモード)
Yajirushi	0:3807ce385b2a	699	if(!setOperation_Fusion_NDOF()) return -4;
Yajirushi	0:3807ce385b2a	700
Yajirushi	0:3807ce385b2a	701	return 0;
Yajirushi	0:3807ce385b2a	702	}
Yajirushi	0:3807ce385b2a	703
Yajirushi	0:3807ce385b2a	704	/* ==================================================================
Yajirushi	0:3807ce385b2a	705	* 通信で発生した最後のエラー番号を返す
Yajirushi	0:3807ce385b2a	706	*/
Yajirushi	0:3807ce385b2a	707	char BOARDC_BNO055::getIfaceLastError(){
Yajirushi	0:3807ce385b2a	708	return ctrl->getLastError();
Yajirushi	0:3807ce385b2a	709	}
Yajirushi	0:3807ce385b2a	710
Yajirushi	0:3807ce385b2a	711	/* ==================================================================
Yajirushi	0:3807ce385b2a	712	* 通信で発生した最後のエラーの通信バイト数を返す
Yajirushi	0:3807ce385b2a	713	*/
Yajirushi	0:3807ce385b2a	714	char BOARDC_BNO055::getIfaceLastLength(){
Yajirushi	0:3807ce385b2a	715	return ctrl->getLastLength();
Yajirushi	0:3807ce385b2a	716	}
Yajirushi	0:3807ce385b2a	717
Yajirushi	0:3807ce385b2a	718	/* ==================================================================
Yajirushi	0:3807ce385b2a	719	* ユーザー定義読み取り(1byte)
Yajirushi	0:3807ce385b2a	720	* レジスタを指定して値を直接読み取る
Yajirushi	0:3807ce385b2a	721	*/
Yajirushi	0:3807ce385b2a	722	char BOARDC_BNO055::customRead(bool isPage1, char regAddr){
Yajirushi	0:3807ce385b2a	723	return ctrl->rr(isPage1, regAddr);
Yajirushi	0:3807ce385b2a	724	}
Yajirushi	0:3807ce385b2a	725
Yajirushi	0:3807ce385b2a	726	/* ==================================================================
Yajirushi	0:3807ce385b2a	727	* ユーザー定義読み取り(連続)
Yajirushi	0:3807ce385b2a	728	* レジスタを指定して値を直接読み取る
Yajirushi	0:3807ce385b2a	729	*/
Yajirushi	2:e8bc1ae2c20c	730	char BOARDC_BNO055::customReadC(bool isPage1, char startRegAddr, unsigned char *receiveBytes, unsigned char length){
Yajirushi	0:3807ce385b2a	731	return ctrl->rrc(isPage1, startRegAddr, receiveBytes, length);
Yajirushi	0:3807ce385b2a	732	}
Yajirushi	0:3807ce385b2a	733
Yajirushi	0:3807ce385b2a	734	/* ==================================================================
Yajirushi	0:3807ce385b2a	735	* ユーザー定義書き込み(1byte)
Yajirushi	0:3807ce385b2a	736	* レジスタを指定して値を直接書き込む
Yajirushi	0:3807ce385b2a	737	*/
Yajirushi	0:3807ce385b2a	738	char BOARDC_BNO055::customWrite(bool isPage1, char regAddr, char wBytes){
Yajirushi	0:3807ce385b2a	739	return ctrl->wr(isPage1, regAddr, wBytes);
Yajirushi	0:3807ce385b2a	740	}
Yajirushi	0:3807ce385b2a	741
Yajirushi	0:3807ce385b2a	742	/* ==================================================================
Yajirushi	0:3807ce385b2a	743	* ユーザー定義書き込み(連続)
Yajirushi	0:3807ce385b2a	744	* レジスタを指定して値を直接書き込む
Yajirushi	0:3807ce385b2a	745	*/
Yajirushi	0:3807ce385b2a	746	char BOARDC_BNO055::customWriteC(bool isPage1, char startRegAddr, char *Bytes, unsigned char length){
Yajirushi	0:3807ce385b2a	747	return ctrl->wrc(isPage1, startRegAddr, Bytes, length);
Yajirushi	0:3807ce385b2a	748	}
Yajirushi	0:3807ce385b2a	749
Yajirushi	0:3807ce385b2a	750	/* ==================================================================
Yajirushi	0:3807ce385b2a	751	* レジスタ：ページIDの現在値を読む
Yajirushi	0:3807ce385b2a	752	* 実際はコントロールクラスが保持している内部変数の値を返しているだけ
Yajirushi	0:3807ce385b2a	753	*/
Yajirushi	0:3807ce385b2a	754	char BOARDC_BNO055::getPage(){
Yajirushi	0:3807ce385b2a	755	return ctrl->getNowPage();
Yajirushi	0:3807ce385b2a	756	}
Yajirushi	0:3807ce385b2a	757
Yajirushi	0:3807ce385b2a	758	/* ==================================================================
Yajirushi	0:3807ce385b2a	759	* レジスタ：ページIDを変更する
Yajirushi	0:3807ce385b2a	760	* ページIDが現在値と同じであれば何もしない
Yajirushi	0:3807ce385b2a	761	*/
Yajirushi	0:3807ce385b2a	762	void BOARDC_BNO055::setPage(unsigned char pageNo){
Yajirushi	0:3807ce385b2a	763	pageNo = (pageNo == 0) ? 0 : 1;
Yajirushi	0:3807ce385b2a	764	if(getPage() == pageNo) return;
Yajirushi	0:3807ce385b2a	765	ctrl->wr((getPage() == 0) ? true : false, BNO055_PAGE_ID, pageNo);
Yajirushi	0:3807ce385b2a	766	}
Yajirushi	0:3807ce385b2a	767
Yajirushi	0:3807ce385b2a	768	/* ==================================================================
Yajirushi	0:3807ce385b2a	769	* レジスタ：チップIDの値を取得する
Yajirushi	0:3807ce385b2a	770	*/
Yajirushi	0:3807ce385b2a	771	char BOARDC_BNO055::getChipID(){
Yajirushi	0:3807ce385b2a	772	return ctrl->rr(0, BNO055P0_CHIP_ID);
Yajirushi	0:3807ce385b2a	773	}
Yajirushi	0:3807ce385b2a	774
Yajirushi	0:3807ce385b2a	775	/* ==================================================================
Yajirushi	0:3807ce385b2a	776	* レジスタ：加速度センサーIDの値を取得する
Yajirushi	0:3807ce385b2a	777	*/
Yajirushi	0:3807ce385b2a	778	char BOARDC_BNO055::getAccChipID(){
Yajirushi	0:3807ce385b2a	779	return ctrl->rr(0, BNO055P0_ACC_ID);
Yajirushi	0:3807ce385b2a	780	}
Yajirushi	0:3807ce385b2a	781
Yajirushi	0:3807ce385b2a	782	/* ==================================================================
Yajirushi	0:3807ce385b2a	783	* レジスタ：地磁気センサーIDの値を取得する
Yajirushi	0:3807ce385b2a	784	*/
Yajirushi	0:3807ce385b2a	785	char BOARDC_BNO055::getMagChipID(){
Yajirushi	0:3807ce385b2a	786	return ctrl->rr(0, BNO055P0_MAG_ID);
Yajirushi	0:3807ce385b2a	787	}
Yajirushi	0:3807ce385b2a	788
Yajirushi	0:3807ce385b2a	789	/* ==================================================================
Yajirushi	0:3807ce385b2a	790	* レジスタ：ジャイロセンサーIDの値を取得する
Yajirushi	0:3807ce385b2a	791	*/
Yajirushi	0:3807ce385b2a	792	char BOARDC_BNO055::getGyroChipID(){
Yajirushi	0:3807ce385b2a	793	return ctrl->rr(0, BNO055P0_GYR_ID);
Yajirushi	0:3807ce385b2a	794	}
Yajirushi	0:3807ce385b2a	795
Yajirushi	0:3807ce385b2a	796	/* ==================================================================
Yajirushi	0:3807ce385b2a	797	* レジスタ：内部ソフトウェアリビジョンの値を取得する
Yajirushi	0:3807ce385b2a	798	*/
Yajirushi	0:3807ce385b2a	799	short BOARDC_BNO055::getRevision(){
Yajirushi	0:3807ce385b2a	800	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	801	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	802	ctrl->rrc(0, BNO055P0_SW_REV_ID_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	803
Yajirushi	0:3807ce385b2a	804	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	805	}
Yajirushi	0:3807ce385b2a	806
Yajirushi	0:3807ce385b2a	807	/* ==================================================================
Yajirushi	0:3807ce385b2a	808	* レジスタ：内部ブートリビジョンの値を取得する
Yajirushi	0:3807ce385b2a	809	*/
Yajirushi	0:3807ce385b2a	810	char BOARDC_BNO055::getBootRevision(){
Yajirushi	0:3807ce385b2a	811	return ctrl->rr(0, BNO055P0_BL_REV_ID);
Yajirushi	0:3807ce385b2a	812	}
Yajirushi	0:3807ce385b2a	813
Yajirushi	0:3807ce385b2a	814	/* ==================================================================
Yajirushi	0:3807ce385b2a	815	* 加速度センサーのRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	816	*/
Yajirushi	0:3807ce385b2a	817	float BOARDC_BNO055::getAccScale(){
Yajirushi	0:3807ce385b2a	818	return scaleACC;
Yajirushi	0:3807ce385b2a	819	}
Yajirushi	0:3807ce385b2a	820
Yajirushi	0:3807ce385b2a	821	/* ==================================================================
Yajirushi	0:3807ce385b2a	822	* 地磁気センサーのRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	823	*/
Yajirushi	0:3807ce385b2a	824	float BOARDC_BNO055::getMagScale(){
Yajirushi	0:3807ce385b2a	825	return scaleMAG;
Yajirushi	0:3807ce385b2a	826	}
Yajirushi	0:3807ce385b2a	827
Yajirushi	0:3807ce385b2a	828	/* ==================================================================
Yajirushi	0:3807ce385b2a	829	* 角速度センサーのRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	830	*/
Yajirushi	0:3807ce385b2a	831	float BOARDC_BNO055::getGyroScale(){
Yajirushi	0:3807ce385b2a	832	return scaleGYRO;
Yajirushi	0:3807ce385b2a	833	}
Yajirushi	0:3807ce385b2a	834
Yajirushi	0:3807ce385b2a	835	/* ==================================================================
Yajirushi	0:3807ce385b2a	836	* 温度センサーのRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	837	*/
Yajirushi	0:3807ce385b2a	838	float BOARDC_BNO055::getTempScale(){
Yajirushi	0:3807ce385b2a	839	return scaleTEMP;
Yajirushi	0:3807ce385b2a	840	}
Yajirushi	0:3807ce385b2a	841
Yajirushi	0:3807ce385b2a	842	/* ==================================================================
Yajirushi	0:3807ce385b2a	843	* オイラー角のRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	844	*/
Yajirushi	0:3807ce385b2a	845	float BOARDC_BNO055::getEulerScale(){
Yajirushi	0:3807ce385b2a	846	return scaleEuler;
Yajirushi	0:3807ce385b2a	847	}
Yajirushi	0:3807ce385b2a	848
Yajirushi	0:3807ce385b2a	849	/* ==================================================================
Yajirushi	0:3807ce385b2a	850	* 加速度センサーの線形加速度のRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	851	*/
Yajirushi	0:3807ce385b2a	852	float BOARDC_BNO055::getLinearScale(){
Yajirushi	0:3807ce385b2a	853	return scaleLIA;
Yajirushi	0:3807ce385b2a	854	}
Yajirushi	0:3807ce385b2a	855
Yajirushi	0:3807ce385b2a	856	/* ==================================================================
Yajirushi	0:3807ce385b2a	857	* 重力ベクトルのRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	858	*/
Yajirushi	0:3807ce385b2a	859	float BOARDC_BNO055::getGVScale(){
Yajirushi	0:3807ce385b2a	860	return scaleGV;
Yajirushi	0:3807ce385b2a	861	}
Yajirushi	0:3807ce385b2a	862
Yajirushi	0:3807ce385b2a	863	/* ==================================================================
Yajirushi	0:3807ce385b2a	864	* 四元数のRAW値に乗算する係数を取得する
Yajirushi	0:3807ce385b2a	865	*/
Yajirushi	0:3807ce385b2a	866	double BOARDC_BNO055::getQuaternionScale(){
Yajirushi	0:3807ce385b2a	867	return scaleQuaternion;
Yajirushi	0:3807ce385b2a	868	}
Yajirushi	0:3807ce385b2a	869
Yajirushi	0:3807ce385b2a	870
Yajirushi	0:3807ce385b2a	871	/* ==================================================================
Yajirushi	0:3807ce385b2a	872	* 加速度センサの値を取得する
Yajirushi	0:3807ce385b2a	873	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	874	* &accX: アドレス参照引数:関数実行後、この変数にX軸の値が格納される
Yajirushi	0:3807ce385b2a	875	* &accY: アドレス参照引数:関数実行後、この変数にY軸の値が格納される
Yajirushi	0:3807ce385b2a	876	* &accZ: アドレス参照引数:関数実行後、この変数にZ軸の値が格納される
Yajirushi	0:3807ce385b2a	877	*/
Yajirushi	0:3807ce385b2a	878	void BOARDC_BNO055::getAccDataAll(short &accX, short &accY, short &accZ){
Yajirushi	0:3807ce385b2a	879	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	880	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	881	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	882
Yajirushi	0:3807ce385b2a	883	accX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	884	accY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	885	accZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	886	}
Yajirushi	0:3807ce385b2a	887
Yajirushi	0:3807ce385b2a	888	/* ==================================================================
Yajirushi	0:3807ce385b2a	889	* 加速度センサの値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	890	*/
Yajirushi	0:3807ce385b2a	891	short BOARDC_BNO055::getAccDataX(){
Yajirushi	0:3807ce385b2a	892	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	893	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	894	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	895
Yajirushi	0:3807ce385b2a	896	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	897	}
Yajirushi	0:3807ce385b2a	898
Yajirushi	0:3807ce385b2a	899	/* ==================================================================
Yajirushi	0:3807ce385b2a	900	* 加速度センサの値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	901	*/
Yajirushi	0:3807ce385b2a	902	short BOARDC_BNO055::getAccDataY(){
Yajirushi	0:3807ce385b2a	903	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	904	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	905	ctrl->rrc(0, BNO055P0_ACC_DATA_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	906
Yajirushi	0:3807ce385b2a	907	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	908	}
Yajirushi	0:3807ce385b2a	909
Yajirushi	0:3807ce385b2a	910	/* ==================================================================
Yajirushi	0:3807ce385b2a	911	* 加速度センサの値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	912	*/
Yajirushi	0:3807ce385b2a	913	short BOARDC_BNO055::getAccDataZ(){
Yajirushi	0:3807ce385b2a	914	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	915	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	916	ctrl->rrc(0, BNO055P0_ACC_DATA_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	917
Yajirushi	0:3807ce385b2a	918	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	919	}
Yajirushi	0:3807ce385b2a	920
Yajirushi	0:3807ce385b2a	921	/* ==================================================================
Yajirushi	0:3807ce385b2a	922	* 地磁気センサの値を取得する
Yajirushi	0:3807ce385b2a	923	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	924	* &magX: アドレス参照引数:関数実行後、この変数にX軸の値が格納される
Yajirushi	0:3807ce385b2a	925	* &magY: アドレス参照引数:関数実行後、この変数にY軸の値が格納される
Yajirushi	0:3807ce385b2a	926	* &magZ: アドレス参照引数:関数実行後、この変数にZ軸の値が格納される
Yajirushi	0:3807ce385b2a	927	*/
Yajirushi	0:3807ce385b2a	928	void BOARDC_BNO055::getMagDataAll(short &magX, short &magY, short &magZ){
Yajirushi	0:3807ce385b2a	929	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	930	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	931	ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	932
Yajirushi	0:3807ce385b2a	933	magX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	934	magY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	935	magZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	936	}
Yajirushi	0:3807ce385b2a	937
Yajirushi	0:3807ce385b2a	938	/* ==================================================================
Yajirushi	0:3807ce385b2a	939	* 地磁気センサの値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	940	*/
Yajirushi	0:3807ce385b2a	941	short BOARDC_BNO055::getMagDataX(){
Yajirushi	0:3807ce385b2a	942	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	943	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	944	ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	945
Yajirushi	0:3807ce385b2a	946	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	947	}
Yajirushi	0:3807ce385b2a	948
Yajirushi	0:3807ce385b2a	949	/* ==================================================================
Yajirushi	0:3807ce385b2a	950	* 地磁気センサの値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	951	*/
Yajirushi	0:3807ce385b2a	952	short BOARDC_BNO055::getMagDataY(){
Yajirushi	0:3807ce385b2a	953	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	954	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	955	ctrl->rrc(0, BNO055P0_MAG_DATA_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	956
Yajirushi	0:3807ce385b2a	957	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	958	}
Yajirushi	0:3807ce385b2a	959
Yajirushi	0:3807ce385b2a	960	/* ==================================================================
Yajirushi	0:3807ce385b2a	961	* 地磁気センサの値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	962	*/
Yajirushi	0:3807ce385b2a	963	short BOARDC_BNO055::getMagDataZ(){
Yajirushi	0:3807ce385b2a	964	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	965	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	966	ctrl->rrc(0, BNO055P0_MAG_DATA_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	967
Yajirushi	0:3807ce385b2a	968	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	969	}
Yajirushi	0:3807ce385b2a	970
Yajirushi	0:3807ce385b2a	971	/* ==================================================================
Yajirushi	0:3807ce385b2a	972	* ジャイロセンサの値を取得する
Yajirushi	0:3807ce385b2a	973	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	974	* &gyroX: アドレス参照引数:関数実行後、この変数にX軸の値が格納される
Yajirushi	0:3807ce385b2a	975	* &gyroY: アドレス参照引数:関数実行後、この変数にY軸の値が格納される
Yajirushi	0:3807ce385b2a	976	* &gyroZ: アドレス参照引数:関数実行後、この変数にZ軸の値が格納される
Yajirushi	0:3807ce385b2a	977	*/
Yajirushi	0:3807ce385b2a	978	void BOARDC_BNO055::getGyroDataAll(short &gyroX, short &gyroY, short &gyroZ){
Yajirushi	0:3807ce385b2a	979	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	980	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	981	ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	982
Yajirushi	0:3807ce385b2a	983	gyroX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	984	gyroY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	985	gyroZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	986	}
Yajirushi	0:3807ce385b2a	987
Yajirushi	0:3807ce385b2a	988	/* ==================================================================
Yajirushi	0:3807ce385b2a	989	* ジャイロセンサの値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	990	*/
Yajirushi	0:3807ce385b2a	991	short BOARDC_BNO055::getGyroDataX(){
Yajirushi	0:3807ce385b2a	992	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	993	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	994	ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	995
Yajirushi	0:3807ce385b2a	996	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	997	}
Yajirushi	0:3807ce385b2a	998
Yajirushi	0:3807ce385b2a	999	/* ==================================================================
Yajirushi	0:3807ce385b2a	1000	* ジャイロセンサの値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1001	*/
Yajirushi	0:3807ce385b2a	1002	short BOARDC_BNO055::getGyroDataY(){
Yajirushi	0:3807ce385b2a	1003	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1004	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1005	ctrl->rrc(0, BNO055P0_GYR_DATA_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1006
Yajirushi	0:3807ce385b2a	1007	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1008	}
Yajirushi	0:3807ce385b2a	1009
Yajirushi	0:3807ce385b2a	1010	/* ==================================================================
Yajirushi	0:3807ce385b2a	1011	* ジャイロセンサの値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1012	*/
Yajirushi	0:3807ce385b2a	1013	short BOARDC_BNO055::getGyroDataZ(){
Yajirushi	0:3807ce385b2a	1014	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1015	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1016	ctrl->rrc(0, BNO055P0_GYR_DATA_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1017
Yajirushi	0:3807ce385b2a	1018	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1019	}
Yajirushi	0:3807ce385b2a	1020
Yajirushi	0:3807ce385b2a	1021	/* ==================================================================
Yajirushi	0:3807ce385b2a	1022	* FusionSensing:オイラー角の値を取得する
Yajirushi	0:3807ce385b2a	1023	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	2:e8bc1ae2c20c	1024	* Roll軸およびPitch軸が+-45degの範囲を超える場合、Yaw軸の値は不安定となる
Yajirushi	2:e8bc1ae2c20c	1025	* (その場合はgetEulerFromQを使用することで四元数からオイラー角を導出可能)
Yajirushi	0:3807ce385b2a	1026	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1027	* &E_heading: アドレス参照引数:関数実行後、この変数にYaw軸(heading)の値が格納される
Yajirushi	0:3807ce385b2a	1028	* &E_roll: アドレス参照引数:関数実行後、この変数にroll軸の値が格納される
Yajirushi	0:3807ce385b2a	1029	* &E_pitch: アドレス参照引数:関数実行後、この変数にpitch軸の値が格納される
Yajirushi	0:3807ce385b2a	1030	*/
Yajirushi	0:3807ce385b2a	1031	void BOARDC_BNO055::getEulerDataAll(short &E_heading, short &E_roll, short &E_pitch){
Yajirushi	0:3807ce385b2a	1032	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	1033	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	1034	ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	1035
Yajirushi	0:3807ce385b2a	1036	E_heading = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1037	E_roll = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1038	E_pitch = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1039	}
Yajirushi	0:3807ce385b2a	1040
Yajirushi	0:3807ce385b2a	1041	/* ==================================================================
Yajirushi	0:3807ce385b2a	1042	* FusionSensing:オイラー角の値(Yaw軸(heading)のみ)を取得する
Yajirushi	0:3807ce385b2a	1043	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	0:3807ce385b2a	1044	*/
Yajirushi	0:3807ce385b2a	1045	short BOARDC_BNO055::getEulerDataHeading(){
Yajirushi	0:3807ce385b2a	1046	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1047	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1048	ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1049
Yajirushi	0:3807ce385b2a	1050	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1051	}
Yajirushi	0:3807ce385b2a	1052
Yajirushi	0:3807ce385b2a	1053	/* ==================================================================
Yajirushi	0:3807ce385b2a	1054	* getEulerDataHeading()のエイリアス
Yajirushi	0:3807ce385b2a	1055	* FusionSensing:オイラー角の値(Yaw軸(heading)のみ)を返す
Yajirushi	0:3807ce385b2a	1056	*/
Yajirushi	0:3807ce385b2a	1057	short BOARDC_BNO055::getEulerDataYaw(){
Yajirushi	0:3807ce385b2a	1058	return getEulerDataHeading();
Yajirushi	0:3807ce385b2a	1059	}
Yajirushi	0:3807ce385b2a	1060
Yajirushi	0:3807ce385b2a	1061	/* ==================================================================
Yajirushi	0:3807ce385b2a	1062	* FusionSensing:オイラー角の値(pitch軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1063	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	0:3807ce385b2a	1064	*/
Yajirushi	0:3807ce385b2a	1065	short BOARDC_BNO055::getEulerDataRoll(){
Yajirushi	0:3807ce385b2a	1066	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1067	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1068	ctrl->rrc(0, BNO055P0_EUL_ROLL_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1069
Yajirushi	0:3807ce385b2a	1070	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1071	}
Yajirushi	0:3807ce385b2a	1072
Yajirushi	0:3807ce385b2a	1073	/* ==================================================================
Yajirushi	0:3807ce385b2a	1074	* FusionSensing:オイラー角の値(pitch軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1075	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	0:3807ce385b2a	1076	*/
Yajirushi	0:3807ce385b2a	1077	short BOARDC_BNO055::getEulerDataPitch(){
Yajirushi	0:3807ce385b2a	1078	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1079	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1080	ctrl->rrc(0, BNO055P0_EUL_PITCH_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1081
Yajirushi	0:3807ce385b2a	1082	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1083	}
Yajirushi	0:3807ce385b2a	1084
Yajirushi	0:3807ce385b2a	1085	/* ==================================================================
Yajirushi	0:3807ce385b2a	1086	* FusionSensing:9軸センサーのすべての値の値を取得する
Yajirushi	0:3807ce385b2a	1087	*/
Yajirushi	0:3807ce385b2a	1088	void BOARDC_BNO055::get9Axis(short *box){
Yajirushi	2:e8bc1ae2c20c	1089	unsigned char rsv[18];
Yajirushi	0:3807ce385b2a	1090	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 18);
Yajirushi	0:3807ce385b2a	1091
Yajirushi	0:3807ce385b2a	1092	box[0] = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1093	box[1] = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1094	box[2] = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1095	box[3] = (rsv[7] << 8) \| rsv[6];
Yajirushi	0:3807ce385b2a	1096	box[4] = (rsv[9] << 8) \| rsv[8];
Yajirushi	0:3807ce385b2a	1097	box[5] = (rsv[11] << 8) \| rsv[10];
Yajirushi	0:3807ce385b2a	1098	box[6] = (rsv[13] << 8) \| rsv[12];
Yajirushi	0:3807ce385b2a	1099	box[7] = (rsv[15] << 8) \| rsv[14];
Yajirushi	0:3807ce385b2a	1100	box[8] = (rsv[17] << 8) \| rsv[16];
Yajirushi	0:3807ce385b2a	1101	}
Yajirushi	0:3807ce385b2a	1102
Yajirushi	0:3807ce385b2a	1103	/* ==================================================================
Yajirushi	0:3807ce385b2a	1104	* FusionSensing:9軸センサーのすべての値とオイラー角のすべての値を取得する
Yajirushi	0:3807ce385b2a	1105	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	0:3807ce385b2a	1106	*/
Yajirushi	0:3807ce385b2a	1107	void BOARDC_BNO055::get9AxisAndEUL(short *box){
Yajirushi	2:e8bc1ae2c20c	1108	unsigned char rsv[24];
Yajirushi	0:3807ce385b2a	1109	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 24);
Yajirushi	0:3807ce385b2a	1110
Yajirushi	0:3807ce385b2a	1111	box[0] = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1112	box[1] = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1113	box[2] = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1114	box[3] = (rsv[7] << 8) \| rsv[6];
Yajirushi	0:3807ce385b2a	1115	box[4] = (rsv[9] << 8) \| rsv[8];
Yajirushi	0:3807ce385b2a	1116	box[5] = (rsv[11] << 8) \| rsv[10];
Yajirushi	0:3807ce385b2a	1117	box[6] = (rsv[13] << 8) \| rsv[12];
Yajirushi	0:3807ce385b2a	1118	box[7] = (rsv[15] << 8) \| rsv[14];
Yajirushi	0:3807ce385b2a	1119	box[8] = (rsv[17] << 8) \| rsv[16];
Yajirushi	0:3807ce385b2a	1120	box[9] = (rsv[19] << 8) \| rsv[18];
Yajirushi	0:3807ce385b2a	1121	box[10] = (rsv[21] << 8) \| rsv[20];
Yajirushi	0:3807ce385b2a	1122	box[11] = (rsv[23] << 8) \| rsv[22];
Yajirushi	0:3807ce385b2a	1123	}
Yajirushi	0:3807ce385b2a	1124
Yajirushi	0:3807ce385b2a	1125	/* ==================================================================
Yajirushi	0:3807ce385b2a	1126	* FusionSensing:四元数(Quaternion)を取得する
Yajirushi	0:3807ce385b2a	1127	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	0:3807ce385b2a	1128	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1129	* &q1, &q2, &q3, &q4:アドレス参照引数:関数実行後、この変数に四元数が格納される
Yajirushi	0:3807ce385b2a	1130	*/
Yajirushi	0:3807ce385b2a	1131	void BOARDC_BNO055::getQuaternion(short &q1, short &q2, short &q3, short &q4){
Yajirushi	0:3807ce385b2a	1132	//連続8byte読み取り
Yajirushi	2:e8bc1ae2c20c	1133	unsigned char rsv[8];
Yajirushi	0:3807ce385b2a	1134	ctrl->rrc(0, BNO055P0_QUA_DATA_W_LSB, rsv, 8);
Yajirushi	0:3807ce385b2a	1135
Yajirushi	0:3807ce385b2a	1136	q1 = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1137	q2 = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1138	q3 = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1139	q4 = (rsv[7] << 8) \| rsv[6];
Yajirushi	0:3807ce385b2a	1140	}
Yajirushi	0:3807ce385b2a	1141
Yajirushi	0:3807ce385b2a	1142	/* ==================================================================
Yajirushi	2:e8bc1ae2c20c	1143	* FusionSensing:四元数(Quaternion)を取得し、オイラー角を算出して返す
Yajirushi	2:e8bc1ae2c20c	1144	* FusionSensing機能(内部演算機能)を使用していない場合は不定の値を返す
Yajirushi	2:e8bc1ae2c20c	1145	* 出力数値範囲 -180.0 to 180.0[deg] CW(時計回り)- CCW(反時計回り)+
Yajirushi	2:e8bc1ae2c20c	1146	* ------------------------------------------------------------------
Yajirushi	2:e8bc1ae2c20c	1147	* &E_heading, &E_roll, &E_pitch:アドレス参照引数:関数実行後、この変数にオイラー角が格納される
Yajirushi	2:e8bc1ae2c20c	1148	*/
Yajirushi	2:e8bc1ae2c20c	1149	void BOARDC_BNO055::getEulerFromQ(double &E_heading, double &E_roll, double &E_pitch){
Yajirushi	2:e8bc1ae2c20c	1150	//連続8byte読み取り
Yajirushi	2:e8bc1ae2c20c	1151	unsigned char rsv[8];
Yajirushi	2:e8bc1ae2c20c	1152	ctrl->rrc(0, BNO055P0_QUA_DATA_W_LSB, rsv, 8);
Yajirushi	2:e8bc1ae2c20c	1153
Yajirushi	2:e8bc1ae2c20c	1154	//四元数を実際の数値に変換(1 / 2^14を掛けるより2^14で割ったほうが早い・・・)
Yajirushi	2:e8bc1ae2c20c	1155	double q1, q2, q3, q4;
Yajirushi	2:e8bc1ae2c20c	1156	q1 = (double)((short)((rsv[1] << 8) \| rsv[0]) / 16384.0);
Yajirushi	2:e8bc1ae2c20c	1157	q2 = (double)((short)((rsv[3] << 8) \| rsv[2]) / 16384.0);
Yajirushi	2:e8bc1ae2c20c	1158	q3 = (double)((short)((rsv[5] << 8) \| rsv[4]) / 16384.0);
Yajirushi	2:e8bc1ae2c20c	1159	q4 = (double)((short)((rsv[7] << 8) \| rsv[6]) / 16384.0);
Yajirushi	2:e8bc1ae2c20c	1160
Yajirushi	2:e8bc1ae2c20c	1161	//四元数からオイラー角に変換
Yajirushi	2:e8bc1ae2c20c	1162	//ref: Wikipedia
Yajirushi	2:e8bc1ae2c20c	1163	//Conversion between quaternions and Euler angles(Quaternion to Euler Angles Conversion)
Yajirushi	2:e8bc1ae2c20c	1164	double q3q3 = q3 * q3;
Yajirushi	2:e8bc1ae2c20c	1165
Yajirushi	2:e8bc1ae2c20c	1166	double m1 = +2.0 * (q1 * q2 + q3 * q4);
Yajirushi	2:e8bc1ae2c20c	1167	double m2 = +1.0 - 2.0 * (q2 * q2 + q3q3);
Yajirushi	2:e8bc1ae2c20c	1168	E_roll = atan2(m1, m2) * 57.2957795131;
Yajirushi	2:e8bc1ae2c20c	1169
Yajirushi	2:e8bc1ae2c20c	1170	m1 = +2.0 * (q1 * q3 - q4 * q2);
Yajirushi	2:e8bc1ae2c20c	1171	m1 = (m1 > 1.0)? 1.0 : m1;
Yajirushi	2:e8bc1ae2c20c	1172	m1 = (m1 < -1.0)? -1.0 : m1;
Yajirushi	2:e8bc1ae2c20c	1173	E_pitch = asin(m1) * 57.2957795131;
Yajirushi	2:e8bc1ae2c20c	1174
Yajirushi	2:e8bc1ae2c20c	1175	m1 = +2.0 * (q1 * q4 + q2 * q3);
Yajirushi	2:e8bc1ae2c20c	1176	m2 = +1.0 - 2.0 * (q3q3 + q4 * q4);
Yajirushi	2:e8bc1ae2c20c	1177	E_heading = atan2(m1, m2) * 57.2957795131;
Yajirushi	2:e8bc1ae2c20c	1178	}
Yajirushi	2:e8bc1ae2c20c	1179
Yajirushi	2:e8bc1ae2c20c	1180	/* ==================================================================
Yajirushi	0:3807ce385b2a	1181	* 線形加速度(LinearAcceleration)での加速度センサの値を取得する
Yajirushi	0:3807ce385b2a	1182	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1183	* &L_accX: アドレス参照引数:関数実行後、この変数にX軸の値が格納される
Yajirushi	0:3807ce385b2a	1184	* &L_accY: アドレス参照引数:関数実行後、この変数にY軸の値が格納される
Yajirushi	0:3807ce385b2a	1185	* &L_accZ: アドレス参照引数:関数実行後、この変数にZ軸の値が格納される
Yajirushi	0:3807ce385b2a	1186	*/
Yajirushi	0:3807ce385b2a	1187	void BOARDC_BNO055::getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ){
Yajirushi	0:3807ce385b2a	1188	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	1189	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	1190	ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	1191
Yajirushi	0:3807ce385b2a	1192	L_accX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1193	L_accY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1194	L_accZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1195	}
Yajirushi	0:3807ce385b2a	1196
Yajirushi	0:3807ce385b2a	1197	/* ==================================================================
Yajirushi	0:3807ce385b2a	1198	* 線形加速度(LinearAcceleration)での加速度センサの値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1199	*/
Yajirushi	0:3807ce385b2a	1200	short BOARDC_BNO055::getLinearAccDataX(){
Yajirushi	0:3807ce385b2a	1201	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1202	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1203	ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1204
Yajirushi	0:3807ce385b2a	1205	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1206	}
Yajirushi	0:3807ce385b2a	1207
Yajirushi	0:3807ce385b2a	1208	/* ==================================================================
Yajirushi	0:3807ce385b2a	1209	* 線形加速度(LinearAcceleration)での加速度センサの値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1210	*/
Yajirushi	0:3807ce385b2a	1211	short BOARDC_BNO055::getLinearAccDataY(){
Yajirushi	0:3807ce385b2a	1212	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1213	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1214	ctrl->rrc(0, BNO055P0_LIA_DATA_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1215
Yajirushi	0:3807ce385b2a	1216	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1217	}
Yajirushi	0:3807ce385b2a	1218
Yajirushi	0:3807ce385b2a	1219	/* ==================================================================
Yajirushi	0:3807ce385b2a	1220	* 線形加速度(LinearAcceleration)での加速度センサの値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1221	*/
Yajirushi	0:3807ce385b2a	1222	short BOARDC_BNO055::getLinearAccDataZ(){
Yajirushi	0:3807ce385b2a	1223	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1224	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1225	ctrl->rrc(0, BNO055P0_LIA_DATA_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1226
Yajirushi	0:3807ce385b2a	1227	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1228	}
Yajirushi	0:3807ce385b2a	1229
Yajirushi	0:3807ce385b2a	1230	/* ==================================================================
Yajirushi	0:3807ce385b2a	1231	* 重力ベクトル情報を取得する
Yajirushi	0:3807ce385b2a	1232	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1233	* &gvX: アドレス参照引数:関数実行後、この変数にX軸の値が格納される
Yajirushi	0:3807ce385b2a	1234	* &gvY: アドレス参照引数:関数実行後、この変数にY軸の値が格納される
Yajirushi	0:3807ce385b2a	1235	* &gvZ: アドレス参照引数:関数実行後、この変数にZ軸の値が格納される
Yajirushi	0:3807ce385b2a	1236	*/
Yajirushi	0:3807ce385b2a	1237	void BOARDC_BNO055::getGVectorDataAll(short &gvX, short &gvY, short &gvZ){
Yajirushi	0:3807ce385b2a	1238	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	1239	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	1240	ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	1241
Yajirushi	0:3807ce385b2a	1242	gvX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1243	gvY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	1244	gvZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	1245	}
Yajirushi	0:3807ce385b2a	1246
Yajirushi	0:3807ce385b2a	1247	/* ==================================================================
Yajirushi	0:3807ce385b2a	1248	* 重力ベクトル情報(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1249	*/
Yajirushi	0:3807ce385b2a	1250	short BOARDC_BNO055::getGVectorDataX(){
Yajirushi	0:3807ce385b2a	1251	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1252	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1253	ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1254
Yajirushi	0:3807ce385b2a	1255	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1256	}
Yajirushi	0:3807ce385b2a	1257
Yajirushi	0:3807ce385b2a	1258	/* ==================================================================
Yajirushi	0:3807ce385b2a	1259	* 重力ベクトル情報(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1260	*/
Yajirushi	0:3807ce385b2a	1261	short BOARDC_BNO055::getGVectorDataY(){
Yajirushi	0:3807ce385b2a	1262	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1263	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1264	ctrl->rrc(0, BNO055P0_GRV_DATA_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1265
Yajirushi	0:3807ce385b2a	1266	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1267	}
Yajirushi	0:3807ce385b2a	1268
Yajirushi	0:3807ce385b2a	1269	/* ==================================================================
Yajirushi	0:3807ce385b2a	1270	* 重力ベクトル情報(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	1271	*/
Yajirushi	0:3807ce385b2a	1272	short BOARDC_BNO055::getGVectorDataZ(){
Yajirushi	0:3807ce385b2a	1273	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	1274	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	1275	ctrl->rrc(0, BNO055P0_GRV_DATA_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	1276
Yajirushi	0:3807ce385b2a	1277	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	1278	}
Yajirushi	0:3807ce385b2a	1279
Yajirushi	0:3807ce385b2a	1280	/* ==================================================================
Yajirushi	0:3807ce385b2a	1281	* センサー内部温度情報を取得する
Yajirushi	0:3807ce385b2a	1282	* 内部温度のセンサーは2つあり、どちらか一方のみの温度を返す
Yajirushi	0:3807ce385b2a	1283	* (設定レジスタTEMP_SOURCEにて選択可)
Yajirushi	0:3807ce385b2a	1284	* (setTempSource(bool)にて選択可)
Yajirushi	0:3807ce385b2a	1285	*/
Yajirushi	0:3807ce385b2a	1286	char BOARDC_BNO055::getTemperature(){
Yajirushi	0:3807ce385b2a	1287	return ctrl->rr(0, BNO055P0_TEMP);
Yajirushi	0:3807ce385b2a	1288	}
Yajirushi	0:3807ce385b2a	1289
Yajirushi	0:3807ce385b2a	1290	/* ==================================================================
Yajirushi	0:3807ce385b2a	1291	* キャリブレーション(補正)の状態を取得する
Yajirushi	0:3807ce385b2a	1292	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1293	* &sys: アドレス参照引数:関数実行後、この変数にsystem補正の状態が格納される
Yajirushi	0:3807ce385b2a	1294	* &acc: アドレス参照引数:関数実行後、この変数に加速度センサー補正の状態が格納される
Yajirushi	0:3807ce385b2a	1295	* &mag: アドレス参照引数:関数実行後、この変数に地磁気センサー補正の状態が格納される
Yajirushi	0:3807ce385b2a	1296	* &gyro: アドレス参照引数:関数実行後、この変数に角速度センサー補正の状態が格納される
Yajirushi	0:3807ce385b2a	1297	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1298	* 各補正情報は0 - 100[%]の百分率で返答される。それぞれ2bitであるため
Yajirushi	0:3807ce385b2a	1299	* 値は0[%],32[%],66[%],100[%]のいずれか
Yajirushi	0:3807ce385b2a	1300	*/
Yajirushi	0:3807ce385b2a	1301	void BOARDC_BNO055::getCalibStatusAll(char &sys, char &acc, char &mag, char &gyro){
Yajirushi	0:3807ce385b2a	1302	char rv = ctrl->rr(0, BNO055P0_CALIB_STAT);
Yajirushi	0:3807ce385b2a	1303	sys = (((rv & 0xC0) >> 6) * 34);
Yajirushi	0:3807ce385b2a	1304	gyro = (((rv & 0x30) >> 4) * 34);
Yajirushi	0:3807ce385b2a	1305	acc = (((rv & 0x0C) >> 2) * 34);
Yajirushi	0:3807ce385b2a	1306	mag = ((rv & 0x03) * 34);
Yajirushi	0:3807ce385b2a	1307	sys -= (sys == 0) ? 0 : 2;
Yajirushi	0:3807ce385b2a	1308	gyro -= (gyro == 0) ? 0 : 2;
Yajirushi	0:3807ce385b2a	1309	acc -= (acc == 0) ? 0 : 2;
Yajirushi	0:3807ce385b2a	1310	mag -= (mag == 0) ? 0 : 2;
Yajirushi	0:3807ce385b2a	1311	}
Yajirushi	0:3807ce385b2a	1312
Yajirushi	0:3807ce385b2a	1313	/* ==================================================================
Yajirushi	0:3807ce385b2a	1314	* キャリブレーション(補正)の状態(systemのみ)を取得する
Yajirushi	0:3807ce385b2a	1315	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1316	* 各補正情報は0 - 100[%]の百分率で返答される。それぞれ2bitであるため
Yajirushi	0:3807ce385b2a	1317	* 値は0[%],32[%],66[%],100[%]のいずれか
Yajirushi	0:3807ce385b2a	1318	*/
Yajirushi	0:3807ce385b2a	1319	char BOARDC_BNO055::getCalibStatusSys(){
Yajirushi	0:3807ce385b2a	1320	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0xC0) >> 6) * 34) - 2;
Yajirushi	0:3807ce385b2a	1321	return (ret < 0) ? 0 : ret;
Yajirushi	0:3807ce385b2a	1322	}
Yajirushi	0:3807ce385b2a	1323
Yajirushi	0:3807ce385b2a	1324	/* ==================================================================
Yajirushi	0:3807ce385b2a	1325	* キャリブレーション(補正)の状態(加速度センサーのみ)を取得する
Yajirushi	0:3807ce385b2a	1326	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1327	* 各補正情報は0 - 100[%]の百分率で返答される。それぞれ2bitであるため
Yajirushi	0:3807ce385b2a	1328	* 値は0[%],32[%],66[%],100[%]のいずれか
Yajirushi	0:3807ce385b2a	1329	*/
Yajirushi	0:3807ce385b2a	1330	char BOARDC_BNO055::getCalibStatusAcc(){
Yajirushi	0:3807ce385b2a	1331	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x0C) >> 2) * 34) - 2;
Yajirushi	0:3807ce385b2a	1332	return (ret < 0) ? 0 : ret;
Yajirushi	0:3807ce385b2a	1333	}
Yajirushi	0:3807ce385b2a	1334
Yajirushi	0:3807ce385b2a	1335	/* ==================================================================
Yajirushi	0:3807ce385b2a	1336	* キャリブレーション(補正)の状態(地磁気センサーのみ)を取得する
Yajirushi	0:3807ce385b2a	1337	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1338	* 各補正情報は0 - 100[%]の百分率で返答される。それぞれ2bitであるため
Yajirushi	0:3807ce385b2a	1339	* 値は0[%],32[%],66[%],100[%]のいずれか
Yajirushi	0:3807ce385b2a	1340	*/
Yajirushi	0:3807ce385b2a	1341	char BOARDC_BNO055::getCalibStatusMag(){
Yajirushi	0:3807ce385b2a	1342	char ret = ((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x03) * 34) - 2;
Yajirushi	0:3807ce385b2a	1343	return (ret < 0) ? 0 : ret;
Yajirushi	0:3807ce385b2a	1344	}
Yajirushi	0:3807ce385b2a	1345
Yajirushi	0:3807ce385b2a	1346	/* ==================================================================
Yajirushi	0:3807ce385b2a	1347	* キャリブレーション(補正)の状態(角速度センサーのみ)を取得する
Yajirushi	0:3807ce385b2a	1348	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1349	* 各補正情報は0 - 100[%]の百分率で返答される。それぞれ2bitであるため
Yajirushi	0:3807ce385b2a	1350	* 値は0[%],32[%],66[%],100[%]のいずれか
Yajirushi	0:3807ce385b2a	1351	*/
Yajirushi	0:3807ce385b2a	1352	char BOARDC_BNO055::getCalibStatusGyro(){
Yajirushi	0:3807ce385b2a	1353	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x30) >> 4) * 34) - 2;
Yajirushi	0:3807ce385b2a	1354	return (ret < 0) ? 0 : ret;
Yajirushi	0:3807ce385b2a	1355	}
Yajirushi	0:3807ce385b2a	1356
Yajirushi	0:3807ce385b2a	1357	/* ==================================================================
Yajirushi	0:3807ce385b2a	1358	* システムおよびセンサーのセルフテストの実行結果を取得する
Yajirushi	0:3807ce385b2a	1359	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1360	* returns:
Yajirushi	0:3807ce385b2a	1361	* 1bit目:加速度センサーのセルフテストの実行結果(0:failed(異常), 1:passed(正常))
Yajirushi	0:3807ce385b2a	1362	* 2bit目:地磁気センサーのセルフテストの実行結果(0:failed(異常), 1:passed(正常))
Yajirushi	0:3807ce385b2a	1363	* 3bit目:角速度センサーのセルフテストの実行結果(0:failed(異常), 1:passed(正常))
Yajirushi	0:3807ce385b2a	1364	* 4bit目:内部マイコンのセルフテストの実行結果(0:failed(異常), 1:passed(正常))
Yajirushi	0:3807ce385b2a	1365	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1366	* 例:戻り値 0x0D (0b00001101)
Yajirushi	0:3807ce385b2a	1367	* >>加速度センサー:正常(1)
Yajirushi	0:3807ce385b2a	1368	* >>地磁気センサー:異常(0)
Yajirushi	0:3807ce385b2a	1369	* >>角速度センサー：正常(1)
Yajirushi	0:3807ce385b2a	1370	* >>内部マイコン:正常(1)
Yajirushi	0:3807ce385b2a	1371	*/
Yajirushi	0:3807ce385b2a	1372	char BOARDC_BNO055::getSelfTestResultAll(){
Yajirushi	0:3807ce385b2a	1373	return ctrl->rr(0, BNO055P0_ST_RESULT);
Yajirushi	0:3807ce385b2a	1374	}
Yajirushi	0:3807ce385b2a	1375
Yajirushi	0:3807ce385b2a	1376	/* ==================================================================
Yajirushi	0:3807ce385b2a	1377	* 内部マイコン(BNO055のMCU)のセルフテストの実行結果を取得する
Yajirushi	0:3807ce385b2a	1378	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1379	* returns:
Yajirushi	0:3807ce385b2a	1380	* false:failed(異常)
Yajirushi	0:3807ce385b2a	1381	* true:passed(正常)
Yajirushi	0:3807ce385b2a	1382	*/
Yajirushi	0:3807ce385b2a	1383	bool BOARDC_BNO055::getSelfTestResultMCU(){
Yajirushi	0:3807ce385b2a	1384	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x08) >> 3) == 1);
Yajirushi	0:3807ce385b2a	1385	}
Yajirushi	0:3807ce385b2a	1386
Yajirushi	0:3807ce385b2a	1387	/* ==================================================================
Yajirushi	0:3807ce385b2a	1388	* 加速度センサーのセルフテストの実行結果を取得する
Yajirushi	0:3807ce385b2a	1389	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1390	* returns:
Yajirushi	0:3807ce385b2a	1391	* false:failed(異常)
Yajirushi	0:3807ce385b2a	1392	* true:passed(正常)
Yajirushi	0:3807ce385b2a	1393	*/
Yajirushi	0:3807ce385b2a	1394	bool BOARDC_BNO055::getSelfTestResultAcc(){
Yajirushi	0:3807ce385b2a	1395	return ((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x01) == 1);
Yajirushi	0:3807ce385b2a	1396	}
Yajirushi	0:3807ce385b2a	1397
Yajirushi	0:3807ce385b2a	1398	/* ==================================================================
Yajirushi	0:3807ce385b2a	1399	* 地磁気センサーのセルフテストの実行結果を取得する
Yajirushi	0:3807ce385b2a	1400	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1401	* returns:
Yajirushi	0:3807ce385b2a	1402	* false:failed(異常)
Yajirushi	0:3807ce385b2a	1403	* true:passed(正常)
Yajirushi	0:3807ce385b2a	1404	*/
Yajirushi	0:3807ce385b2a	1405	bool BOARDC_BNO055::getSelfTestResultMag(){
Yajirushi	0:3807ce385b2a	1406	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x02) >> 1) == 1);
Yajirushi	0:3807ce385b2a	1407	}
Yajirushi	0:3807ce385b2a	1408
Yajirushi	0:3807ce385b2a	1409	/* ==================================================================
Yajirushi	0:3807ce385b2a	1410	* 地磁気センサーのセルフテストの実行結果を取得する
Yajirushi	0:3807ce385b2a	1411	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1412	* returns:
Yajirushi	0:3807ce385b2a	1413	* false:failed(異常)
Yajirushi	0:3807ce385b2a	1414	* true:passed(正常)
Yajirushi	0:3807ce385b2a	1415	*/
Yajirushi	0:3807ce385b2a	1416	bool BOARDC_BNO055::getSelfTestResultGyro(){
Yajirushi	0:3807ce385b2a	1417	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x04) >> 2) == 1);
Yajirushi	0:3807ce385b2a	1418	}
Yajirushi	0:3807ce385b2a	1419
Yajirushi	0:3807ce385b2a	1420	/* ==================================================================
Yajirushi	0:3807ce385b2a	1421	* 発生している割り込みステータス情報を取得する
Yajirushi	0:3807ce385b2a	1422	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1423	* returns:
Yajirushi	0:3807ce385b2a	1424	* 3bit目:GYRO_AM(角速度AnyMotion発生)(1:発生中, 0:なし)
Yajirushi	0:3807ce385b2a	1425	* 4bit目:GYR_HIGH_RATE(角速度ハイレート発生)(1:発生中, 0:なし)
Yajirushi	0:3807ce385b2a	1426	* 6bit目:ACC_HIGH_G(加速度急加速発生)(1:発生中, 0:なし)
Yajirushi	0:3807ce385b2a	1427	* 7bit目:ACC_AM(角速度AnyMotion発生)(1:発生中, 0:なし)
Yajirushi	0:3807ce385b2a	1428	* 8bit目:ACC_NM(角速度NoMotion発生)(1:発生中, 0:なし)
Yajirushi	0:3807ce385b2a	1429	*/
Yajirushi	0:3807ce385b2a	1430	char BOARDC_BNO055::triggeredIntALL(){
Yajirushi	0:3807ce385b2a	1431	return ctrl->rr(0, BNO055P0_INT_STA);
Yajirushi	0:3807ce385b2a	1432	}
Yajirushi	0:3807ce385b2a	1433
Yajirushi	0:3807ce385b2a	1434	/* ==================================================================
Yajirushi	0:3807ce385b2a	1435	* 発生している割り込みステータス情報(ACC_NM)を取得する
Yajirushi	0:3807ce385b2a	1436	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1437	* returns:
Yajirushi	0:3807ce385b2a	1438	* true:ACC_NMトリガー発生中
Yajirushi	0:3807ce385b2a	1439	* false:ACC_NMトリガーなし
Yajirushi	0:3807ce385b2a	1440	*/
Yajirushi	0:3807ce385b2a	1441	bool BOARDC_BNO055::triggeredACC_NM(){
Yajirushi	0:3807ce385b2a	1442	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x80) >> 7) == 1);
Yajirushi	0:3807ce385b2a	1443	}
Yajirushi	0:3807ce385b2a	1444
Yajirushi	0:3807ce385b2a	1445	/* ==================================================================
Yajirushi	0:3807ce385b2a	1446	* 発生している割り込みステータス情報(ACC_AM)を取得する
Yajirushi	0:3807ce385b2a	1447	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1448	* returns:
Yajirushi	0:3807ce385b2a	1449	* true:ACC_AMトリガー発生中
Yajirushi	0:3807ce385b2a	1450	* false:ACC_AMトリガーなし
Yajirushi	0:3807ce385b2a	1451	*/
Yajirushi	0:3807ce385b2a	1452	bool BOARDC_BNO055::triggeredACC_AM(){
Yajirushi	0:3807ce385b2a	1453	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x40) >> 6) == 1);
Yajirushi	0:3807ce385b2a	1454	}
Yajirushi	0:3807ce385b2a	1455
Yajirushi	0:3807ce385b2a	1456	/* ==================================================================
Yajirushi	0:3807ce385b2a	1457	* 発生している割り込みステータス情報(ACC_HIGH_G)を取得する
Yajirushi	0:3807ce385b2a	1458	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1459	* returns:
Yajirushi	0:3807ce385b2a	1460	* true:ACC_HIGH_Gトリガー発生中
Yajirushi	0:3807ce385b2a	1461	* false:ACC_HIGH_Gトリガーなし
Yajirushi	0:3807ce385b2a	1462	*/
Yajirushi	0:3807ce385b2a	1463	bool BOARDC_BNO055::triggeredACC_HIGH_G(){
Yajirushi	0:3807ce385b2a	1464	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x20) >> 5) == 1);
Yajirushi	0:3807ce385b2a	1465	}
Yajirushi	0:3807ce385b2a	1466
Yajirushi	0:3807ce385b2a	1467	/* ==================================================================
Yajirushi	0:3807ce385b2a	1468	* 発生している割り込みステータス情報(GYR_HIGH_RATE)を取得する
Yajirushi	0:3807ce385b2a	1469	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1470	* returns:
Yajirushi	0:3807ce385b2a	1471	* true:GYR_HIGH_RATEトリガー発生中
Yajirushi	0:3807ce385b2a	1472	* false:GYR_HIGH_RATEトリガーなし
Yajirushi	0:3807ce385b2a	1473	*/
Yajirushi	0:3807ce385b2a	1474	bool BOARDC_BNO055::triggeredGYR_HIGH_RATE(){
Yajirushi	0:3807ce385b2a	1475	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x08) >> 3) == 1);
Yajirushi	0:3807ce385b2a	1476	}
Yajirushi	0:3807ce385b2a	1477
Yajirushi	0:3807ce385b2a	1478	/* ==================================================================
Yajirushi	0:3807ce385b2a	1479	* 発生している割り込みステータス情報(GYRO_AM)を取得する
Yajirushi	0:3807ce385b2a	1480	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1481	* returns:
Yajirushi	0:3807ce385b2a	1482	* true:GYRO_AMトリガー発生中
Yajirushi	0:3807ce385b2a	1483	* false:GYRO_AMトリガーなし
Yajirushi	0:3807ce385b2a	1484	*/
Yajirushi	0:3807ce385b2a	1485	bool BOARDC_BNO055::triggeredGYRO_AM(){
Yajirushi	0:3807ce385b2a	1486	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x04) >> 2) == 1);
Yajirushi	0:3807ce385b2a	1487	}
Yajirushi	0:3807ce385b2a	1488
Yajirushi	0:3807ce385b2a	1489	/* ==================================================================
Yajirushi	0:3807ce385b2a	1490	* BNO055のシステムクロック固定情報を取得する
Yajirushi	0:3807ce385b2a	1491	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1492	* returns:
Yajirushi	0:3807ce385b2a	1493	* true:設定によって固定されている(SYS_TRIGGEレジスタのCLK_SEL)
Yajirushi	0:3807ce385b2a	1494	* false:設定されていない(内部か外部選択可)
Yajirushi	0:3807ce385b2a	1495	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1496	* setSys_ExternalCrystal(bool)で設定可
Yajirushi	0:3807ce385b2a	1497	*/
Yajirushi	0:3807ce385b2a	1498	bool BOARDC_BNO055::isSystemClockFixed(){
Yajirushi	0:3807ce385b2a	1499	return (ctrl->rr(0, BNO055P0_SYS_CLK_STATUS) == 1);
Yajirushi	0:3807ce385b2a	1500	}
Yajirushi	0:3807ce385b2a	1501
Yajirushi	0:3807ce385b2a	1502	/* ==================================================================
Yajirushi	0:3807ce385b2a	1503	* BNO055のシステムステータスを取得する
Yajirushi	0:3807ce385b2a	1504	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1505	* returns:
Yajirushi	0:3807ce385b2a	1506	* 0: システム待機状態
Yajirushi	0:3807ce385b2a	1507	* 1: システムエラー
Yajirushi	0:3807ce385b2a	1508	* 2: ペリフェラル初期化中
Yajirushi	0:3807ce385b2a	1509	* 3: システム初期化中
Yajirushi	0:3807ce385b2a	1510	* 4: セルフテスト実行中
Yajirushi	0:3807ce385b2a	1511	* 5: 起動中(Fusionアルゴリズム起動中)
Yajirushi	0:3807ce385b2a	1512	* 6: 起動中(Fusionアルゴリズムなし)
Yajirushi	0:3807ce385b2a	1513	*/
Yajirushi	0:3807ce385b2a	1514	char BOARDC_BNO055::getSystemStatus(){
Yajirushi	0:3807ce385b2a	1515	return ctrl->rr(0, BNO055P0_SYS_STATUS);
Yajirushi	0:3807ce385b2a	1516	}
Yajirushi	0:3807ce385b2a	1517
Yajirushi	0:3807ce385b2a	1518	/* ==================================================================
Yajirushi	0:3807ce385b2a	1519	* BNO055のシステムエラー情報を取得する
Yajirushi	0:3807ce385b2a	1520	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1521	* returns:
Yajirushi	0:3807ce385b2a	1522	* 0: エラーなし
Yajirushi	0:3807ce385b2a	1523	* 1: ペリフェラル初期化エラー
Yajirushi	0:3807ce385b2a	1524	* 2: システム初期化エラー
Yajirushi	0:3807ce385b2a	1525	* 3: セルフテスト結果不調
Yajirushi	0:3807ce385b2a	1526	* 4: レジスタマップエラー(値の範囲外)
Yajirushi	0:3807ce385b2a	1527	* 5: レジスタマップエラー(アドレスの範囲外)
Yajirushi	0:3807ce385b2a	1528	* 6: レジスタマップエラー(書き込み不能)
Yajirushi	0:3807ce385b2a	1529	* 7: BNO005LowPowerモードにつき指定モード実行不可
Yajirushi	0:3807ce385b2a	1530	* 8: 加速度センサーPowerMode実行不可
Yajirushi	0:3807ce385b2a	1531	* 9: Fusionアルゴリズム設定エラー
Yajirushi	0:3807ce385b2a	1532	* 10: 各センサー設定エラー
Yajirushi	0:3807ce385b2a	1533	*/
Yajirushi	0:3807ce385b2a	1534	char BOARDC_BNO055::getSystemError(){
Yajirushi	0:3807ce385b2a	1535	return ctrl->rr(0, BNO055P0_SYS_ERR);
Yajirushi	0:3807ce385b2a	1536	}
Yajirushi	0:3807ce385b2a	1537
Yajirushi	0:3807ce385b2a	1538	/* ==================================================================
Yajirushi	0:3807ce385b2a	1539	* システムの設定単位系を取得する
Yajirushi	0:3807ce385b2a	1540	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1541	* returns:
Yajirushi	0:3807ce385b2a	1542	* 1bit目: 加速度センサー単位系(0:m/s^2, 1:mg)
Yajirushi	0:3807ce385b2a	1543	* 2bit目: 角速度センサー単位系(0:deg/s, 1:rad/s)
Yajirushi	0:3807ce385b2a	1544	* 3bit目: オイラー角単位系(0:deg, 1:rad)
Yajirushi	0:3807ce385b2a	1545	* 5bit目: 温度単位系(0:摂氏, 1:華氏)
Yajirushi	0:3807ce385b2a	1546	* 7bit目: 出力設定(0:Windows, 1:Android)
Yajirushi	0:3807ce385b2a	1547	*/
Yajirushi	0:3807ce385b2a	1548	char BOARDC_BNO055::getUNIT_SEL(){
Yajirushi	0:3807ce385b2a	1549	return ctrl->rr(0, BNO055P0_UNIT_SEL);
Yajirushi	0:3807ce385b2a	1550	}
Yajirushi	0:3807ce385b2a	1551
Yajirushi	0:3807ce385b2a	1552	/* ==================================================================
Yajirushi	0:3807ce385b2a	1553	* システムの設定単位系を設定する
Yajirushi	0:3807ce385b2a	1554	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1555	* 引数selectValue:
Yajirushi	0:3807ce385b2a	1556	* 1bit目: 加速度センサー単位系(0:m/s^2, 1:mg)
Yajirushi	0:3807ce385b2a	1557	* 2bit目: 角速度センサー単位系(0:deg/s, 1:rad/s)
Yajirushi	0:3807ce385b2a	1558	* 3bit目: オイラー角単位系(0:deg, 1:rad)
Yajirushi	0:3807ce385b2a	1559	* 5bit目: 温度単位系(0:摂氏, 1:華氏)
Yajirushi	0:3807ce385b2a	1560	* 7bit目: 出力設定(0:Windows, 1:Android)
Yajirushi	0:3807ce385b2a	1561	* returns:
Yajirushi	0:3807ce385b2a	1562	* -1 失敗
Yajirushi	0:3807ce385b2a	1563	* 1 成功
Yajirushi	0:3807ce385b2a	1564	*/
Yajirushi	0:3807ce385b2a	1565	char BOARDC_BNO055::setUNIT_SEL(char selectValue){
Yajirushi	0:3807ce385b2a	1566	if(ctrl->wr(0, BNO055P0_UNIT_SEL, selectValue) == -1) return -1;
Yajirushi	0:3807ce385b2a	1567
Yajirushi	0:3807ce385b2a	1568	scaleACC = ((selectValue & 0x01) == 0) ? 0.01f : 1.0f;
Yajirushi	0:3807ce385b2a	1569	scaleGYRO = ((selectValue & 0x02) == 0) ? 0.0625f : 0.001111111111f;
Yajirushi	0:3807ce385b2a	1570	scaleEuler = ((selectValue & 0x04) == 0) ? 0.0625f : 0.001111111111f;
Yajirushi	0:3807ce385b2a	1571	scaleTEMP = ((selectValue & 0x10) == 0) ? 1.0f : 2.0f;
Yajirushi	0:3807ce385b2a	1572	scaleLIA = scaleACC;
Yajirushi	0:3807ce385b2a	1573	scaleGV = scaleACC;
Yajirushi	0:3807ce385b2a	1574
Yajirushi	0:3807ce385b2a	1575	return 1;
Yajirushi	0:3807ce385b2a	1576	}
Yajirushi	0:3807ce385b2a	1577
Yajirushi	0:3807ce385b2a	1578	/* ==================================================================
Yajirushi	0:3807ce385b2a	1579	* システムの設定単位系(加速度センサー)を設定する
Yajirushi	0:3807ce385b2a	1580	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1581	* 引数isMeterPerSec2:
Yajirushi	0:3807ce385b2a	1582	* true: m/s^2
Yajirushi	0:3807ce385b2a	1583	* false: mg
Yajirushi	0:3807ce385b2a	1584	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1585	* returns:
Yajirushi	0:3807ce385b2a	1586	* -1 失敗
Yajirushi	0:3807ce385b2a	1587	* 1 成功
Yajirushi	0:3807ce385b2a	1588	*/
Yajirushi	0:3807ce385b2a	1589	char BOARDC_BNO055::setUNIT_AccUnit(bool isMeterPerSec2){
Yajirushi	0:3807ce385b2a	1590	char val = getUNIT_SEL() & 0xFE;
Yajirushi	0:3807ce385b2a	1591	if(!isMeterPerSec2) val += 1;
Yajirushi	0:3807ce385b2a	1592	return setUNIT_SEL(val);
Yajirushi	0:3807ce385b2a	1593	}
Yajirushi	0:3807ce385b2a	1594
Yajirushi	0:3807ce385b2a	1595	/* ==================================================================
Yajirushi	0:3807ce385b2a	1596	* システムの設定単位系(角速度センサー)を設定する
Yajirushi	0:3807ce385b2a	1597	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1598	* 引数isDps:
Yajirushi	0:3807ce385b2a	1599	* true: dps(Degrees/s)
Yajirushi	0:3807ce385b2a	1600	* false: rps(Radians/s)
Yajirushi	0:3807ce385b2a	1601	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1602	* returns:
Yajirushi	0:3807ce385b2a	1603	* -1 失敗
Yajirushi	0:3807ce385b2a	1604	* 1 成功
Yajirushi	0:3807ce385b2a	1605	*/
Yajirushi	0:3807ce385b2a	1606	char BOARDC_BNO055::setUNIT_GyroUnit(bool isDps){
Yajirushi	0:3807ce385b2a	1607	char val = getUNIT_SEL() & 0xFD;
Yajirushi	0:3807ce385b2a	1608	if(!isDps) val += 2;
Yajirushi	0:3807ce385b2a	1609	return setUNIT_SEL(val);
Yajirushi	0:3807ce385b2a	1610	}
Yajirushi	0:3807ce385b2a	1611
Yajirushi	0:3807ce385b2a	1612	/* ==================================================================
Yajirushi	0:3807ce385b2a	1613	* システムの設定単位系(オイラー角)を設定する
Yajirushi	0:3807ce385b2a	1614	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1615	* 引数isDegrees:
Yajirushi	0:3807ce385b2a	1616	* true: Degrees
Yajirushi	0:3807ce385b2a	1617	* false: Radians
Yajirushi	0:3807ce385b2a	1618	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1619	* returns:
Yajirushi	0:3807ce385b2a	1620	* -1 失敗
Yajirushi	0:3807ce385b2a	1621	* 1 成功
Yajirushi	0:3807ce385b2a	1622	*/
Yajirushi	0:3807ce385b2a	1623	char BOARDC_BNO055::setUNIT_EulerUnit(bool isDegrees){
Yajirushi	0:3807ce385b2a	1624	char val = getUNIT_SEL() & 0xFB;
Yajirushi	0:3807ce385b2a	1625	if(!isDegrees) val += 4;
Yajirushi	0:3807ce385b2a	1626	return setUNIT_SEL(val);
Yajirushi	0:3807ce385b2a	1627	}
Yajirushi	0:3807ce385b2a	1628
Yajirushi	0:3807ce385b2a	1629	/* ==================================================================
Yajirushi	0:3807ce385b2a	1630	* システムの設定単位系(温度)を設定する
Yajirushi	0:3807ce385b2a	1631	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1632	* 引数isCelsius:
Yajirushi	0:3807ce385b2a	1633	* true: 摂氏(Celsius)
Yajirushi	0:3807ce385b2a	1634	* false: 華氏(Fahrenheit)
Yajirushi	0:3807ce385b2a	1635	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1636	* returns:
Yajirushi	0:3807ce385b2a	1637	* -1 失敗
Yajirushi	0:3807ce385b2a	1638	* 1 成功
Yajirushi	0:3807ce385b2a	1639	*/
Yajirushi	0:3807ce385b2a	1640	char BOARDC_BNO055::setUNIT_Temperature(bool isCelsius){
Yajirushi	0:3807ce385b2a	1641	char val = getUNIT_SEL() & 0xEF;
Yajirushi	0:3807ce385b2a	1642	if(!isCelsius) val += 16;
Yajirushi	0:3807ce385b2a	1643	return setUNIT_SEL(val);
Yajirushi	0:3807ce385b2a	1644	}
Yajirushi	0:3807ce385b2a	1645
Yajirushi	0:3807ce385b2a	1646	/* ==================================================================
Yajirushi	0:3807ce385b2a	1647	* システムの設定単位系(出力設定)を設定する
Yajirushi	0:3807ce385b2a	1648	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1649	* 引数ori_Android:
Yajirushi	0:3807ce385b2a	1650	* true: Android用(Pitch角:+180 to -180 反時計回り＋)
Yajirushi	0:3807ce385b2a	1651	* false: Windows用(Pitch角:-180 to +180 時計回り＋)
Yajirushi	0:3807ce385b2a	1652	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1653	* returns:
Yajirushi	0:3807ce385b2a	1654	* -1 失敗
Yajirushi	0:3807ce385b2a	1655	* 1 成功
Yajirushi	0:3807ce385b2a	1656	*/
Yajirushi	0:3807ce385b2a	1657	char BOARDC_BNO055::setUNIT_OrientationMode(bool ori_Android){
Yajirushi	0:3807ce385b2a	1658	char val = getUNIT_SEL() & 0xBF;
Yajirushi	0:3807ce385b2a	1659	if(!ori_Android) val += 64;
Yajirushi	0:3807ce385b2a	1660	return setUNIT_SEL(val);
Yajirushi	0:3807ce385b2a	1661	}
Yajirushi	0:3807ce385b2a	1662
Yajirushi	0:3807ce385b2a	1663	/* ==================================================================
Yajirushi	0:3807ce385b2a	1664	* システムの動作モードを取得する
Yajirushi	0:3807ce385b2a	1665	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1666	* returns:
Yajirushi	0:3807ce385b2a	1667	* 1 ACCONLY(NO FUSION)加速度のみ
Yajirushi	0:3807ce385b2a	1668	* 2 MAGONLY(NO FUSION)地磁気のみ
Yajirushi	0:3807ce385b2a	1669	* 3 GYROONLY(NO FUSION)角速度のみ
Yajirushi	0:3807ce385b2a	1670	* 4 ACCMAG(NO FUSION)加速度と地磁気
Yajirushi	0:3807ce385b2a	1671	* 5 ACCGYRO(NO FUSION)加速度と角速度
Yajirushi	0:3807ce385b2a	1672	* 6 MAGGYRO(NO FUSION)地磁気と角速度
Yajirushi	0:3807ce385b2a	1673	* 7 AMG(NO FUSION)加速度、地磁気、角速度
Yajirushi	0:3807ce385b2a	1674	* 8 IMU
Yajirushi	0:3807ce385b2a	1675	* 9 COMPASS
Yajirushi	0:3807ce385b2a	1676	* 10 M4G
Yajirushi	0:3807ce385b2a	1677	* 11 NDOF_FMC_OFF
Yajirushi	0:3807ce385b2a	1678	* 12 NDOF
Yajirushi	0:3807ce385b2a	1679	*/
Yajirushi	0:3807ce385b2a	1680	char BOARDC_BNO055::getOperationMode(){
Yajirushi	0:3807ce385b2a	1681	return ctrl->rr(0, BNO055P0_OPR_MODE);
Yajirushi	0:3807ce385b2a	1682	}
Yajirushi	0:3807ce385b2a	1683
Yajirushi	0:3807ce385b2a	1684	/* ==================================================================
Yajirushi	0:3807ce385b2a	1685	* システムの動作モードを設定する
Yajirushi	0:3807ce385b2a	1686	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1687	* 引数modeValue:
Yajirushi	0:3807ce385b2a	1688	* 1 ACCONLY(NO FUSION)加速度のみ
Yajirushi	0:3807ce385b2a	1689	* 2 MAGONLY(NO FUSION)地磁気のみ
Yajirushi	0:3807ce385b2a	1690	* 3 GYROONLY(NO FUSION)角速度のみ
Yajirushi	0:3807ce385b2a	1691	* 4 ACCMAG(NO FUSION)加速度と地磁気
Yajirushi	0:3807ce385b2a	1692	* 5 ACCGYRO(NO FUSION)加速度と角速度
Yajirushi	0:3807ce385b2a	1693	* 6 MAGGYRO(NO FUSION)地磁気と角速度
Yajirushi	0:3807ce385b2a	1694	* 7 AMG(NO FUSION)加速度、地磁気、角速度
Yajirushi	0:3807ce385b2a	1695	* 8 IMU
Yajirushi	0:3807ce385b2a	1696	* 9 COMPASS
Yajirushi	0:3807ce385b2a	1697	* 10 M4G
Yajirushi	0:3807ce385b2a	1698	* 11 NDOF_FMC_OFF
Yajirushi	0:3807ce385b2a	1699	* 12 NDOF
Yajirushi	0:3807ce385b2a	1700	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1701	* returns:
Yajirushi	0:3807ce385b2a	1702	* -1 失敗
Yajirushi	0:3807ce385b2a	1703	* 1 成功
Yajirushi	0:3807ce385b2a	1704	*/
Yajirushi	0:3807ce385b2a	1705	char BOARDC_BNO055::setOperationMode(char modeValue){
Yajirushi	0:3807ce385b2a	1706	if(modeValue < 0 \|\| modeValue > 12) modeValue = 7;
Yajirushi	0:3807ce385b2a	1707	return ctrl->wr(0, BNO055P0_OPR_MODE, modeValue);
Yajirushi	0:3807ce385b2a	1708	}
Yajirushi	0:3807ce385b2a	1709
Yajirushi	0:3807ce385b2a	1710	/* ==================================================================
Yajirushi	0:3807ce385b2a	1711	* システムの動作モードを設定モードに設定する
Yajirushi	0:3807ce385b2a	1712	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1713	* returns:
Yajirushi	0:3807ce385b2a	1714	* -1 失敗
Yajirushi	0:3807ce385b2a	1715	* 1 成功
Yajirushi	0:3807ce385b2a	1716	*/
Yajirushi	0:3807ce385b2a	1717	char BOARDC_BNO055::setOperation_CONFIG(){
Yajirushi	0:3807ce385b2a	1718	return ctrl->wr(0, BNO055P0_OPR_MODE, 0);
Yajirushi	0:3807ce385b2a	1719	}
Yajirushi	0:3807ce385b2a	1720
Yajirushi	0:3807ce385b2a	1721	/* ==================================================================
Yajirushi	0:3807ce385b2a	1722	* システムの動作モードを加速度モードに設定する
Yajirushi	0:3807ce385b2a	1723	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1724	* returns:
Yajirushi	0:3807ce385b2a	1725	* -1 失敗
Yajirushi	0:3807ce385b2a	1726	* 1 成功
Yajirushi	0:3807ce385b2a	1727	*/
Yajirushi	0:3807ce385b2a	1728	char BOARDC_BNO055::setOperation_ACCONRY(){
Yajirushi	0:3807ce385b2a	1729	return ctrl->wr(0, BNO055P0_OPR_MODE, 1);
Yajirushi	0:3807ce385b2a	1730	}
Yajirushi	0:3807ce385b2a	1731
Yajirushi	0:3807ce385b2a	1732	/* ==================================================================
Yajirushi	0:3807ce385b2a	1733	* システムの動作モードを地磁気モードに設定する
Yajirushi	0:3807ce385b2a	1734	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1735	* returns:
Yajirushi	0:3807ce385b2a	1736	* -1 失敗
Yajirushi	0:3807ce385b2a	1737	* 1 成功
Yajirushi	0:3807ce385b2a	1738	*/
Yajirushi	0:3807ce385b2a	1739	char BOARDC_BNO055::setOperation_MAGONRY(){
Yajirushi	0:3807ce385b2a	1740	return ctrl->wr(0, BNO055P0_OPR_MODE, 2);
Yajirushi	0:3807ce385b2a	1741	}
Yajirushi	0:3807ce385b2a	1742
Yajirushi	0:3807ce385b2a	1743	/* ==================================================================
Yajirushi	0:3807ce385b2a	1744	* システムの動作モードを角速度モードに設定する
Yajirushi	0:3807ce385b2a	1745	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1746	* returns:
Yajirushi	0:3807ce385b2a	1747	* -1 失敗
Yajirushi	0:3807ce385b2a	1748	* 1 成功
Yajirushi	0:3807ce385b2a	1749	*/
Yajirushi	0:3807ce385b2a	1750	char BOARDC_BNO055::setOperation_GYROONRY(){
Yajirushi	0:3807ce385b2a	1751	return ctrl->wr(0, BNO055P0_OPR_MODE, 3);
Yajirushi	0:3807ce385b2a	1752	}
Yajirushi	0:3807ce385b2a	1753
Yajirushi	0:3807ce385b2a	1754	/* ==================================================================
Yajirushi	0:3807ce385b2a	1755	* システムの動作モードを加速度地磁気モードに設定する
Yajirushi	0:3807ce385b2a	1756	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1757	* returns:
Yajirushi	0:3807ce385b2a	1758	* -1 失敗
Yajirushi	0:3807ce385b2a	1759	* 1 成功
Yajirushi	0:3807ce385b2a	1760	*/
Yajirushi	0:3807ce385b2a	1761	char BOARDC_BNO055::setOperation_ACCMAG(){
Yajirushi	0:3807ce385b2a	1762	return ctrl->wr(0, BNO055P0_OPR_MODE, 4);
Yajirushi	0:3807ce385b2a	1763	}
Yajirushi	0:3807ce385b2a	1764
Yajirushi	0:3807ce385b2a	1765	/* ==================================================================
Yajirushi	0:3807ce385b2a	1766	* システムの動作モードを加速度角速度モードに設定する
Yajirushi	0:3807ce385b2a	1767	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1768	* returns:
Yajirushi	0:3807ce385b2a	1769	* -1 失敗
Yajirushi	0:3807ce385b2a	1770	* 1 成功
Yajirushi	0:3807ce385b2a	1771	*/
Yajirushi	0:3807ce385b2a	1772	char BOARDC_BNO055::setOperation_ACCGYRO(){
Yajirushi	0:3807ce385b2a	1773	return ctrl->wr(0, BNO055P0_OPR_MODE, 5);
Yajirushi	0:3807ce385b2a	1774	}
Yajirushi	0:3807ce385b2a	1775
Yajirushi	0:3807ce385b2a	1776	/* ==================================================================
Yajirushi	0:3807ce385b2a	1777	* システムの動作モードを地磁気角速度モードに設定する
Yajirushi	0:3807ce385b2a	1778	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1779	* returns:
Yajirushi	0:3807ce385b2a	1780	* -1 失敗
Yajirushi	0:3807ce385b2a	1781	* 1 成功
Yajirushi	0:3807ce385b2a	1782	*/
Yajirushi	0:3807ce385b2a	1783	char BOARDC_BNO055::setOperation_MAGGYRO(){
Yajirushi	0:3807ce385b2a	1784	return ctrl->wr(0, BNO055P0_OPR_MODE, 6);
Yajirushi	0:3807ce385b2a	1785	}
Yajirushi	0:3807ce385b2a	1786
Yajirushi	0:3807ce385b2a	1787	/* ==================================================================
Yajirushi	0:3807ce385b2a	1788	* システムの動作モードをFusionなし9軸モードに設定する
Yajirushi	0:3807ce385b2a	1789	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1790	* returns:
Yajirushi	0:3807ce385b2a	1791	* -1 失敗
Yajirushi	0:3807ce385b2a	1792	* 1 成功
Yajirushi	0:3807ce385b2a	1793	*/
Yajirushi	0:3807ce385b2a	1794	char BOARDC_BNO055::setOperation_AMG(){
Yajirushi	0:3807ce385b2a	1795	return ctrl->wr(0, BNO055P0_OPR_MODE, 7);
Yajirushi	0:3807ce385b2a	1796	}
Yajirushi	0:3807ce385b2a	1797
Yajirushi	0:3807ce385b2a	1798	/* ==================================================================
Yajirushi	0:3807ce385b2a	1799	* システムの動作モードを6軸(加速度、角速度)Fusionモードに設定する
Yajirushi	0:3807ce385b2a	1800	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1801	* returns:
Yajirushi	0:3807ce385b2a	1802	* -1 失敗
Yajirushi	0:3807ce385b2a	1803	* 1 成功
Yajirushi	0:3807ce385b2a	1804	*/
Yajirushi	0:3807ce385b2a	1805	char BOARDC_BNO055::setOperation_Fusion_IMU(){
Yajirushi	0:3807ce385b2a	1806	return ctrl->wr(0, BNO055P0_OPR_MODE, 8);
Yajirushi	0:3807ce385b2a	1807	}
Yajirushi	0:3807ce385b2a	1808
Yajirushi	0:3807ce385b2a	1809	/* ==================================================================
Yajirushi	0:3807ce385b2a	1810	* システムの動作モードを6軸(加速度、地磁気)Fusionモード(相対系)に設定する
Yajirushi	0:3807ce385b2a	1811	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1812	* returns:
Yajirushi	0:3807ce385b2a	1813	* -1 失敗
Yajirushi	0:3807ce385b2a	1814	* 1 成功
Yajirushi	0:3807ce385b2a	1815	*/
Yajirushi	0:3807ce385b2a	1816	char BOARDC_BNO055::setOperation_Fusion_COMPASS(){
Yajirushi	0:3807ce385b2a	1817	return ctrl->wr(0, BNO055P0_OPR_MODE, 9);
Yajirushi	0:3807ce385b2a	1818	}
Yajirushi	0:3807ce385b2a	1819
Yajirushi	0:3807ce385b2a	1820	/* ==================================================================
Yajirushi	0:3807ce385b2a	1821	* システムの動作モードを6軸(加速度、地磁気)Fusionモード(絶対系)に設定する
Yajirushi	0:3807ce385b2a	1822	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1823	* returns:
Yajirushi	0:3807ce385b2a	1824	* -1 失敗
Yajirushi	0:3807ce385b2a	1825	* 1 成功
Yajirushi	0:3807ce385b2a	1826	*/
Yajirushi	0:3807ce385b2a	1827	char BOARDC_BNO055::setOperation_Fusion_M4G(){
Yajirushi	0:3807ce385b2a	1828	return ctrl->wr(0, BNO055P0_OPR_MODE, 10);
Yajirushi	0:3807ce385b2a	1829	}
Yajirushi	0:3807ce385b2a	1830
Yajirushi	0:3807ce385b2a	1831	/* ==================================================================
Yajirushi	0:3807ce385b2a	1832	* システムの動作モードをNDOFモード(地磁気短時間補正OFF)に設定する
Yajirushi	0:3807ce385b2a	1833	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1834	* returns:
Yajirushi	0:3807ce385b2a	1835	* -1 失敗
Yajirushi	0:3807ce385b2a	1836	* 1 成功
Yajirushi	0:3807ce385b2a	1837	*/
Yajirushi	0:3807ce385b2a	1838	char BOARDC_BNO055::setOperation_Fusion_NDOF_FMC_OFF(){
Yajirushi	0:3807ce385b2a	1839	return ctrl->wr(0, BNO055P0_OPR_MODE, 11);
Yajirushi	0:3807ce385b2a	1840	}
Yajirushi	0:3807ce385b2a	1841
Yajirushi	0:3807ce385b2a	1842	/* ==================================================================
Yajirushi	0:3807ce385b2a	1843	* システムの動作モードをNDOFモードに設定する
Yajirushi	0:3807ce385b2a	1844	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1845	* returns:
Yajirushi	0:3807ce385b2a	1846	* -1 失敗
Yajirushi	0:3807ce385b2a	1847	* 1 成功
Yajirushi	0:3807ce385b2a	1848	*/
Yajirushi	0:3807ce385b2a	1849	char BOARDC_BNO055::setOperation_Fusion_NDOF(){
Yajirushi	0:3807ce385b2a	1850	return ctrl->wr(0, BNO055P0_OPR_MODE, 12);
Yajirushi	0:3807ce385b2a	1851	}
Yajirushi	0:3807ce385b2a	1852
Yajirushi	0:3807ce385b2a	1853	/* ==================================================================
Yajirushi	0:3807ce385b2a	1854	* システムの電源モードを取得する
Yajirushi	0:3807ce385b2a	1855	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1856	* returns:
Yajirushi	0:3807ce385b2a	1857	* 0: Normal
Yajirushi	0:3807ce385b2a	1858	* 1: LowPower
Yajirushi	0:3807ce385b2a	1859	* 2: Suspend
Yajirushi	0:3807ce385b2a	1860	*/
Yajirushi	0:3807ce385b2a	1861	char BOARDC_BNO055::getPowerMode(){
Yajirushi	0:3807ce385b2a	1862	return ctrl->rr(0, BNO055P0_PWR_MODE);
Yajirushi	0:3807ce385b2a	1863	}
Yajirushi	0:3807ce385b2a	1864
Yajirushi	0:3807ce385b2a	1865	/* ==================================================================
Yajirushi	0:3807ce385b2a	1866	* システムの電源モードを設定する
Yajirushi	0:3807ce385b2a	1867	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1868	* modeValue:
Yajirushi	0:3807ce385b2a	1869	* 0: Normal
Yajirushi	0:3807ce385b2a	1870	* 1: LowPower
Yajirushi	0:3807ce385b2a	1871	* 2: Suspend
Yajirushi	0:3807ce385b2a	1872	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1873	* returns:
Yajirushi	0:3807ce385b2a	1874	* -1 失敗
Yajirushi	0:3807ce385b2a	1875	* 1 成功
Yajirushi	0:3807ce385b2a	1876	*/
Yajirushi	0:3807ce385b2a	1877	char BOARDC_BNO055::setPowerMode(unsigned char modeValue){
Yajirushi	0:3807ce385b2a	1878	if(modeValue > 2) return -1;
Yajirushi	0:3807ce385b2a	1879	return ctrl->wr(0, BNO055P0_PWR_MODE, modeValue);
Yajirushi	0:3807ce385b2a	1880	}
Yajirushi	0:3807ce385b2a	1881
Yajirushi	0:3807ce385b2a	1882	/* ==================================================================
Yajirushi	0:3807ce385b2a	1883	* システムの電源モードを通常モードに設定する
Yajirushi	0:3807ce385b2a	1884	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1885	* returns:
Yajirushi	0:3807ce385b2a	1886	* -1 失敗
Yajirushi	0:3807ce385b2a	1887	* 1 成功
Yajirushi	0:3807ce385b2a	1888	*/
Yajirushi	0:3807ce385b2a	1889	char BOARDC_BNO055::setPowerMode_Normal(){
Yajirushi	0:3807ce385b2a	1890	return ctrl->wr(0, BNO055P0_PWR_MODE, 0);
Yajirushi	0:3807ce385b2a	1891	}
Yajirushi	0:3807ce385b2a	1892
Yajirushi	0:3807ce385b2a	1893	/* ==================================================================
Yajirushi	0:3807ce385b2a	1894	* システムの電源モードを低消費電力モードに設定する
Yajirushi	0:3807ce385b2a	1895	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1896	* returns:
Yajirushi	0:3807ce385b2a	1897	* -1 失敗
Yajirushi	0:3807ce385b2a	1898	* 1 成功
Yajirushi	0:3807ce385b2a	1899	*/
Yajirushi	0:3807ce385b2a	1900	char BOARDC_BNO055::setPowerMode_LowPower(){
Yajirushi	0:3807ce385b2a	1901	return ctrl->wr(0, BNO055P0_PWR_MODE, 1);
Yajirushi	0:3807ce385b2a	1902	}
Yajirushi	0:3807ce385b2a	1903
Yajirushi	0:3807ce385b2a	1904	/* ==================================================================
Yajirushi	0:3807ce385b2a	1905	* システムの電源モードをスリープモードに設定する
Yajirushi	0:3807ce385b2a	1906	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1907	* returns:
Yajirushi	0:3807ce385b2a	1908	* -1 失敗
Yajirushi	0:3807ce385b2a	1909	* 1 成功
Yajirushi	0:3807ce385b2a	1910	*/
Yajirushi	0:3807ce385b2a	1911	char BOARDC_BNO055::setPowerMode_Suspend(){
Yajirushi	0:3807ce385b2a	1912	return ctrl->wr(0, BNO055P0_PWR_MODE, 2);
Yajirushi	0:3807ce385b2a	1913	}
Yajirushi	0:3807ce385b2a	1914
Yajirushi	0:3807ce385b2a	1915	/* ==================================================================
Yajirushi	0:3807ce385b2a	1916	* システムのトリガー設定を変更する
Yajirushi	0:3807ce385b2a	1917	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1918	* returns:
Yajirushi	0:3807ce385b2a	1919	* -1 失敗
Yajirushi	0:3807ce385b2a	1920	* 0 変更なし
Yajirushi	0:3807ce385b2a	1921	* 1 成功
Yajirushi	0:3807ce385b2a	1922	*/
Yajirushi	0:3807ce385b2a	1923	char BOARDC_BNO055::setSysTrigger(char regVal){
Yajirushi	0:3807ce385b2a	1924	clkExt = regVal >> 7;
Yajirushi	0:3807ce385b2a	1925	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, regVal & 0xE1);
Yajirushi	0:3807ce385b2a	1926	}
Yajirushi	0:3807ce385b2a	1927
Yajirushi	0:3807ce385b2a	1928	/* ==================================================================
Yajirushi	0:3807ce385b2a	1929	* システムのクロック発振元を設定する
Yajirushi	0:3807ce385b2a	1930	* 外部を指定する場合は、設定前にXIN,XOUTが発振子に結線されている必要がある
Yajirushi	0:3807ce385b2a	1931	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1932	* returns:
Yajirushi	0:3807ce385b2a	1933	* -1 失敗
Yajirushi	0:3807ce385b2a	1934	* 0 変更なし
Yajirushi	0:3807ce385b2a	1935	* 1 成功
Yajirushi	0:3807ce385b2a	1936	*/
Yajirushi	0:3807ce385b2a	1937	char BOARDC_BNO055::setSys_ExternalCrystal(bool isExternal){
Yajirushi	0:3807ce385b2a	1938	if(clkExt == isExternal) return 0;
Yajirushi	0:3807ce385b2a	1939
Yajirushi	0:3807ce385b2a	1940	clkExt = isExternal;
Yajirushi	0:3807ce385b2a	1941	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, (clkExt) ? 0x80 : 0x00);
Yajirushi	0:3807ce385b2a	1942	}
Yajirushi	0:3807ce385b2a	1943
Yajirushi	0:3807ce385b2a	1944	/* ==================================================================
Yajirushi	0:3807ce385b2a	1945	* システムの割り込み発生をすべてリセットする
Yajirushi	0:3807ce385b2a	1946	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1947	* returns:
Yajirushi	0:3807ce385b2a	1948	* -1 失敗
Yajirushi	0:3807ce385b2a	1949	* 1 成功
Yajirushi	0:3807ce385b2a	1950	*/
Yajirushi	0:3807ce385b2a	1951	char BOARDC_BNO055::resetInterrupt(){
Yajirushi	0:3807ce385b2a	1952	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x40);
Yajirushi	0:3807ce385b2a	1953	}
Yajirushi	0:3807ce385b2a	1954
Yajirushi	0:3807ce385b2a	1955	/* ==================================================================
Yajirushi	0:3807ce385b2a	1956	* システムをリセットする
Yajirushi	0:3807ce385b2a	1957	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1958	* returns:
Yajirushi	0:3807ce385b2a	1959	* -1 失敗
Yajirushi	0:3807ce385b2a	1960	* 1 成功
Yajirushi	0:3807ce385b2a	1961	*/
Yajirushi	0:3807ce385b2a	1962	char BOARDC_BNO055::soft_reset(){
Yajirushi	0:3807ce385b2a	1963	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x20);
Yajirushi	0:3807ce385b2a	1964	}
Yajirushi	0:3807ce385b2a	1965
Yajirushi	0:3807ce385b2a	1966	/* ==================================================================
Yajirushi	0:3807ce385b2a	1967	* セルフテストを実行する
Yajirushi	0:3807ce385b2a	1968	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1969	* returns:
Yajirushi	0:3807ce385b2a	1970	* -1 失敗
Yajirushi	0:3807ce385b2a	1971	* 1 成功
Yajirushi	0:3807ce385b2a	1972	*/
Yajirushi	0:3807ce385b2a	1973	char BOARDC_BNO055::execSelfTest(){
Yajirushi	0:3807ce385b2a	1974	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x01);
Yajirushi	0:3807ce385b2a	1975	}
Yajirushi	0:3807ce385b2a	1976
Yajirushi	0:3807ce385b2a	1977	/* ==================================================================
Yajirushi	0:3807ce385b2a	1978	* システムの温度計測に使用するセンサーを取得する
Yajirushi	0:3807ce385b2a	1979	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1980	* returns:
Yajirushi	0:3807ce385b2a	1981	* 0 温度計測に加速度センサーを使用している
Yajirushi	0:3807ce385b2a	1982	* 1 温度計測に角速度センサーを使用している
Yajirushi	0:3807ce385b2a	1983	*/
Yajirushi	0:3807ce385b2a	1984	char BOARDC_BNO055::getTempSource(){
Yajirushi	0:3807ce385b2a	1985	return ctrl->rr(0, BNO055P0_TEMP_SOURCE);
Yajirushi	0:3807ce385b2a	1986	}
Yajirushi	0:3807ce385b2a	1987
Yajirushi	0:3807ce385b2a	1988	/* ==================================================================
Yajirushi	0:3807ce385b2a	1989	* システムの温度計測に使用するセンサーを選択する
Yajirushi	0:3807ce385b2a	1990	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1991	* 引数Accelerometer:
Yajirushi	0:3807ce385b2a	1992	* true:加速度センサーを温度計測に使用する
Yajirushi	0:3807ce385b2a	1993	* false:角速度センサーを温度計測に使用する
Yajirushi	0:3807ce385b2a	1994	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	1995	* returns:
Yajirushi	0:3807ce385b2a	1996	* -1 失敗
Yajirushi	0:3807ce385b2a	1997	* 1 成功
Yajirushi	0:3807ce385b2a	1998	*/
Yajirushi	0:3807ce385b2a	1999	char BOARDC_BNO055::setTempSource(bool Accelerometer){
Yajirushi	0:3807ce385b2a	2000	return ctrl->wr(0, BNO055P0_TEMP_SOURCE, (Accelerometer) ? 0 : 1);
Yajirushi	0:3807ce385b2a	2001	}
Yajirushi	0:3807ce385b2a	2002
Yajirushi	0:3807ce385b2a	2003	/* ==================================================================
Yajirushi	0:3807ce385b2a	2004	* センサー出力軸交換情報の取得
Yajirushi	0:3807ce385b2a	2005	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2006	* returns:
Yajirushi	0:3807ce385b2a	2007	* AXIS_MAP_CONFIGの設定情報:BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2008	*/
Yajirushi	0:3807ce385b2a	2009	char BOARDC_BNO055::getAxisMapConfig(){
Yajirushi	0:3807ce385b2a	2010	char ret = ctrl->rr(0, BNO055P0_AXIS_MAP_CONFIG);
Yajirushi	0:3807ce385b2a	2011	if(axisRemap != ret) axisRemap = ret;
Yajirushi	0:3807ce385b2a	2012	return axisRemap;
Yajirushi	0:3807ce385b2a	2013	}
Yajirushi	0:3807ce385b2a	2014
Yajirushi	0:3807ce385b2a	2015	/* ==================================================================
Yajirushi	0:3807ce385b2a	2016	* センサー出力軸交換の設定
Yajirushi	0:3807ce385b2a	2017	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2018	* 引数val:
Yajirushi	0:3807ce385b2a	2019	* X,Y,Zの出力交換の情報
Yajirushi	0:3807ce385b2a	2020	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2021	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2022	* returns:
Yajirushi	0:3807ce385b2a	2023	* -1 失敗
Yajirushi	0:3807ce385b2a	2024	* 0 変更なし
Yajirushi	0:3807ce385b2a	2025	* 1 成功
Yajirushi	0:3807ce385b2a	2026	*/
Yajirushi	0:3807ce385b2a	2027	char BOARDC_BNO055::setAxisMapConfig(char val){
Yajirushi	0:3807ce385b2a	2028	if(axisRemap == (val & 0x3F)) return 0;
Yajirushi	0:3807ce385b2a	2029	else axisRemap = (val & 0x3F);
Yajirushi	0:3807ce385b2a	2030	return ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2031	}
Yajirushi	0:3807ce385b2a	2032
Yajirushi	0:3807ce385b2a	2033	/* ==================================================================
Yajirushi	0:3807ce385b2a	2034	* センサー出力軸符号情報の取得
Yajirushi	0:3807ce385b2a	2035	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2036	* returns:
Yajirushi	0:3807ce385b2a	2037	* AXIS_MAP_SIGNの設定情報:BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2038	*/
Yajirushi	0:3807ce385b2a	2039	char BOARDC_BNO055::getAxisMapSign(){
Yajirushi	0:3807ce385b2a	2040	char ret = ctrl->rr(0, BNO055P0_AXIS_MAP_SIGN);
Yajirushi	0:3807ce385b2a	2041	if(axisSign != ret) axisSign = ret;
Yajirushi	0:3807ce385b2a	2042	return axisSign;
Yajirushi	0:3807ce385b2a	2043	}
Yajirushi	0:3807ce385b2a	2044
Yajirushi	0:3807ce385b2a	2045	/* ==================================================================
Yajirushi	0:3807ce385b2a	2046	* センサー出力軸符号の設定
Yajirushi	0:3807ce385b2a	2047	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2048	* 引数val:
Yajirushi	0:3807ce385b2a	2049	* X,Y,Zの出力符号の情報
Yajirushi	0:3807ce385b2a	2050	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2051	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2052	* returns:
Yajirushi	0:3807ce385b2a	2053	* -1 失敗
Yajirushi	0:3807ce385b2a	2054	* 0 変更なし
Yajirushi	0:3807ce385b2a	2055	* 1 成功
Yajirushi	0:3807ce385b2a	2056	*/
Yajirushi	0:3807ce385b2a	2057	char BOARDC_BNO055::setAxisMapSign(char val){
Yajirushi	0:3807ce385b2a	2058	if(axisSign == (val & 0x07)) return 0;
Yajirushi	0:3807ce385b2a	2059	else axisSign = (val & 0x07);
Yajirushi	0:3807ce385b2a	2060	return ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2061	}
Yajirushi	0:3807ce385b2a	2062
Yajirushi	0:3807ce385b2a	2063	/* ==================================================================
Yajirushi	0:3807ce385b2a	2064	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側左上]
Yajirushi	0:3807ce385b2a	2065	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2066	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2067	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2068	* returns:
Yajirushi	0:3807ce385b2a	2069	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2070	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2071	* 1 成功
Yajirushi	0:3807ce385b2a	2072	*/
Yajirushi	0:3807ce385b2a	2073	char BOARDC_BNO055::setAxisRemap_topview_topleft(){
Yajirushi	0:3807ce385b2a	2074	axisRemap = 0x21;
Yajirushi	0:3807ce385b2a	2075	axisSign = 0x04;
Yajirushi	0:3807ce385b2a	2076	char ret = 0;
Yajirushi	0:3807ce385b2a	2077	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2078	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2079	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2080	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2081	return 1;
Yajirushi	0:3807ce385b2a	2082	}
Yajirushi	0:3807ce385b2a	2083
Yajirushi	0:3807ce385b2a	2084	/* ==================================================================
Yajirushi	0:3807ce385b2a	2085	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側右上]
Yajirushi	0:3807ce385b2a	2086	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2087	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2088	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2089	* returns:
Yajirushi	0:3807ce385b2a	2090	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2091	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2092	* 1 成功
Yajirushi	0:3807ce385b2a	2093	*/
Yajirushi	0:3807ce385b2a	2094	char BOARDC_BNO055::setAxisRemap_topview_topright(){
Yajirushi	0:3807ce385b2a	2095	axisRemap = 0x24;
Yajirushi	0:3807ce385b2a	2096	axisSign = 0x00;
Yajirushi	0:3807ce385b2a	2097	char ret = 0;
Yajirushi	0:3807ce385b2a	2098	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2099	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2100	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2101	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2102	return 1;
Yajirushi	0:3807ce385b2a	2103	}
Yajirushi	0:3807ce385b2a	2104
Yajirushi	0:3807ce385b2a	2105	/* ==================================================================
Yajirushi	0:3807ce385b2a	2106	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側左下]
Yajirushi	0:3807ce385b2a	2107	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2108	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2109	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2110	* returns:
Yajirushi	0:3807ce385b2a	2111	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2112	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2113	* 1 成功
Yajirushi	0:3807ce385b2a	2114	*/
Yajirushi	0:3807ce385b2a	2115	char BOARDC_BNO055::setAxisRemap_topview_bottomleft(){
Yajirushi	0:3807ce385b2a	2116	axisRemap = 0x24;
Yajirushi	0:3807ce385b2a	2117	axisSign = 0x06;
Yajirushi	0:3807ce385b2a	2118	char ret = 0;
Yajirushi	0:3807ce385b2a	2119	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2120	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2121	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2122	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2123	return 1;
Yajirushi	0:3807ce385b2a	2124	}
Yajirushi	0:3807ce385b2a	2125
Yajirushi	0:3807ce385b2a	2126	/* ==================================================================
Yajirushi	0:3807ce385b2a	2127	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側右下]
Yajirushi	0:3807ce385b2a	2128	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2129	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2130	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2131	* returns:
Yajirushi	0:3807ce385b2a	2132	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2133	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2134	* 1 成功
Yajirushi	0:3807ce385b2a	2135	*/
Yajirushi	0:3807ce385b2a	2136	char BOARDC_BNO055::setAxisRemap_topview_bottomright(){
Yajirushi	0:3807ce385b2a	2137	axisRemap = 0x21;
Yajirushi	0:3807ce385b2a	2138	axisSign = 0x02;
Yajirushi	0:3807ce385b2a	2139	char ret = 0;
Yajirushi	0:3807ce385b2a	2140	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2141	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2142	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2143	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2144	return 1;
Yajirushi	0:3807ce385b2a	2145	}
Yajirushi	0:3807ce385b2a	2146
Yajirushi	0:3807ce385b2a	2147	/* ==================================================================
Yajirushi	0:3807ce385b2a	2148	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側から見たとき裏側左上]
Yajirushi	0:3807ce385b2a	2149	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2150	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2151	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2152	* returns:
Yajirushi	0:3807ce385b2a	2153	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2154	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2155	* 1 成功
Yajirushi	0:3807ce385b2a	2156	*/
Yajirushi	0:3807ce385b2a	2157	char BOARDC_BNO055::setAxisRemap_bottomview_topleft(){
Yajirushi	0:3807ce385b2a	2158	axisRemap = 0x24;
Yajirushi	0:3807ce385b2a	2159	axisSign = 0x03;
Yajirushi	0:3807ce385b2a	2160	char ret = 0;
Yajirushi	0:3807ce385b2a	2161	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2162	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2163	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2164	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2165	return 1;
Yajirushi	0:3807ce385b2a	2166	}
Yajirushi	0:3807ce385b2a	2167
Yajirushi	0:3807ce385b2a	2168	/* ==================================================================
Yajirushi	0:3807ce385b2a	2169	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側から見たとき裏側右上]
Yajirushi	0:3807ce385b2a	2170	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2171	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2172	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2173	* returns:
Yajirushi	0:3807ce385b2a	2174	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2175	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2176	* 1 成功
Yajirushi	0:3807ce385b2a	2177	*/
Yajirushi	0:3807ce385b2a	2178	char BOARDC_BNO055::setAxisRemap_bottomview_topright(){
Yajirushi	0:3807ce385b2a	2179	axisRemap = 0x21;
Yajirushi	0:3807ce385b2a	2180	axisSign = 0x01;
Yajirushi	0:3807ce385b2a	2181	char ret = 0;
Yajirushi	0:3807ce385b2a	2182	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2183	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2184	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2185	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2186	return 1;
Yajirushi	0:3807ce385b2a	2187	}
Yajirushi	0:3807ce385b2a	2188
Yajirushi	0:3807ce385b2a	2189	/* ==================================================================
Yajirushi	0:3807ce385b2a	2190	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側から見たとき裏側左下]
Yajirushi	0:3807ce385b2a	2191	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2192	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2193	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2194	* returns:
Yajirushi	0:3807ce385b2a	2195	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2196	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2197	* 1 成功
Yajirushi	0:3807ce385b2a	2198	*/
Yajirushi	0:3807ce385b2a	2199	char BOARDC_BNO055::setAxisRemap_bottomview_bottomleft(){
Yajirushi	0:3807ce385b2a	2200	axisRemap = 0x21;
Yajirushi	0:3807ce385b2a	2201	axisSign = 0x07;
Yajirushi	0:3807ce385b2a	2202	char ret = 0;
Yajirushi	0:3807ce385b2a	2203	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2204	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2205	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2206	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2207	return 1;
Yajirushi	0:3807ce385b2a	2208	}
Yajirushi	0:3807ce385b2a	2209
Yajirushi	0:3807ce385b2a	2210	/* ==================================================================
Yajirushi	0:3807ce385b2a	2211	* センサー出力軸の符号と交換を直感的に設定する[1pinが表側から見たとき裏側右下]
Yajirushi	0:3807ce385b2a	2212	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2213	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2214	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2215	* returns:
Yajirushi	0:3807ce385b2a	2216	* -1 AXIS_MAP_CONFIG設定の失敗
Yajirushi	0:3807ce385b2a	2217	* -2 AXIS_MAP_SIGN設定の失敗
Yajirushi	0:3807ce385b2a	2218	* 1 成功
Yajirushi	0:3807ce385b2a	2219	*/
Yajirushi	0:3807ce385b2a	2220	char BOARDC_BNO055::setAxisRemap_bottomview_bottomright(){
Yajirushi	0:3807ce385b2a	2221	axisRemap = 0x24;
Yajirushi	0:3807ce385b2a	2222	axisSign = 0x05;
Yajirushi	0:3807ce385b2a	2223	char ret = 0;
Yajirushi	0:3807ce385b2a	2224	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
Yajirushi	0:3807ce385b2a	2225	if(ret == -1) return -1;
Yajirushi	0:3807ce385b2a	2226	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
Yajirushi	0:3807ce385b2a	2227	if(ret == -1) return -2;
Yajirushi	0:3807ce385b2a	2228	return 1;
Yajirushi	0:3807ce385b2a	2229	}
Yajirushi	0:3807ce385b2a	2230
Yajirushi	0:3807ce385b2a	2231	/* ==================================================================
Yajirushi	0:3807ce385b2a	2232	* センサー出力軸の符号と交換の情報を直感的な形で取得する
Yajirushi	0:3807ce385b2a	2233	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2234	* (BNO055データシート [3.4 Axis remap] を参照
Yajirushi	0:3807ce385b2a	2235	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2236	* returns:
Yajirushi	0:3807ce385b2a	2237	* 0 [P0]表側から見たとき、BNO055の1pinが表側左上にある状態
Yajirushi	0:3807ce385b2a	2238	* 1 [P1]表側から見たとき、BNO055の1pinが表側右上にある状態
Yajirushi	0:3807ce385b2a	2239	* 2 [P2]表側から見たとき、BNO055の1pinが表側左下にある状態
Yajirushi	0:3807ce385b2a	2240	* 3 [P3]表側から見たとき、BNO055の1pinが表側右下にある状態
Yajirushi	0:3807ce385b2a	2241	* 4 [P4]表側から見たとき、BNO055の1pinが裏側左上にある状態
Yajirushi	0:3807ce385b2a	2242	* 5 [P5]表側から見たとき、BNO055の1pinが裏側右上にある状態
Yajirushi	0:3807ce385b2a	2243	* 6 [P6]表側から見たとき、BNO055の1pinが裏側左下にある状態
Yajirushi	0:3807ce385b2a	2244	* 7 [P7]表側から見たとき、BNO055の1pinが裏側右下にある状態
Yajirushi	0:3807ce385b2a	2245	* -1 それ以外の設定
Yajirushi	0:3807ce385b2a	2246	*/
Yajirushi	0:3807ce385b2a	2247	char BOARDC_BNO055::getAxisRemap_type(){
Yajirushi	0:3807ce385b2a	2248	getAxisMapConfig(); //axisRemapに最新の値を格納
Yajirushi	0:3807ce385b2a	2249	getAxisMapSign(); //axisSignに最新の値を格納
Yajirushi	0:3807ce385b2a	2250
Yajirushi	0:3807ce385b2a	2251	if(axisRemap == 0x21){
Yajirushi	0:3807ce385b2a	2252	switch(axisSign){
Yajirushi	0:3807ce385b2a	2253	case 0x04:
Yajirushi	0:3807ce385b2a	2254	return 0;
Yajirushi	0:3807ce385b2a	2255	case 0x02:
Yajirushi	0:3807ce385b2a	2256	return 3;
Yajirushi	0:3807ce385b2a	2257	case 0x01:
Yajirushi	0:3807ce385b2a	2258	return 5;
Yajirushi	0:3807ce385b2a	2259	case 0x07:
Yajirushi	0:3807ce385b2a	2260	return 6;
Yajirushi	0:3807ce385b2a	2261	}
Yajirushi	0:3807ce385b2a	2262	}else if(axisRemap == 0x24){
Yajirushi	0:3807ce385b2a	2263	switch(axisSign){
Yajirushi	0:3807ce385b2a	2264	case 0x00:
Yajirushi	0:3807ce385b2a	2265	return 1;
Yajirushi	0:3807ce385b2a	2266	case 0x06:
Yajirushi	0:3807ce385b2a	2267	return 2;
Yajirushi	0:3807ce385b2a	2268	case 0x03:
Yajirushi	0:3807ce385b2a	2269	return 4;
Yajirushi	0:3807ce385b2a	2270	case 0x05:
Yajirushi	0:3807ce385b2a	2271	return 7;
Yajirushi	0:3807ce385b2a	2272	}
Yajirushi	0:3807ce385b2a	2273	}
Yajirushi	0:3807ce385b2a	2274
Yajirushi	0:3807ce385b2a	2275	return -1;
Yajirushi	0:3807ce385b2a	2276	}
Yajirushi	0:3807ce385b2a	2277
Yajirushi	0:3807ce385b2a	2278	/* ==================================================================
Yajirushi	0:3807ce385b2a	2279	* 加速度センサーの補正値を取得する
Yajirushi	0:3807ce385b2a	2280	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2281	* &offsetX: アドレス参照引数:関数実行後、この変数にX軸補正値が格納される
Yajirushi	0:3807ce385b2a	2282	* &offsetY: アドレス参照引数:関数実行後、この変数にY軸補正値が格納される
Yajirushi	0:3807ce385b2a	2283	* &offsetZ: アドレス参照引数:関数実行後、この変数にZ軸補正値が格納される
Yajirushi	0:3807ce385b2a	2284	*/
Yajirushi	0:3807ce385b2a	2285	void BOARDC_BNO055::getAccOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
Yajirushi	0:3807ce385b2a	2286	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	2287	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	2288	ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	2289
Yajirushi	0:3807ce385b2a	2290	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2291	short offY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	2292	short offZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	2293	offsetX = (1.0f * offX) * scaleACC;
Yajirushi	0:3807ce385b2a	2294	offsetY = (1.0f * offY) * scaleACC;
Yajirushi	0:3807ce385b2a	2295	offsetZ = (1.0f * offZ) * scaleACC;
Yajirushi	0:3807ce385b2a	2296	}
Yajirushi	0:3807ce385b2a	2297
Yajirushi	0:3807ce385b2a	2298	/* ==================================================================
Yajirushi	0:3807ce385b2a	2299	* 加速度センサーの補正値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2300	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2301	* returns:
Yajirushi	0:3807ce385b2a	2302	* X軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2303	*/
Yajirushi	0:3807ce385b2a	2304	float BOARDC_BNO055::getAccOffsetX(){
Yajirushi	0:3807ce385b2a	2305	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2306	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2307	ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2308
Yajirushi	0:3807ce385b2a	2309	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2310	return (1.0f * offX) * scaleACC;
Yajirushi	0:3807ce385b2a	2311	}
Yajirushi	0:3807ce385b2a	2312
Yajirushi	0:3807ce385b2a	2313	/* ==================================================================
Yajirushi	0:3807ce385b2a	2314	* 加速度センサーの補正値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2315	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2316	* returns:
Yajirushi	0:3807ce385b2a	2317	* Y軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2318	*/
Yajirushi	0:3807ce385b2a	2319	float BOARDC_BNO055::getAccOffsetY(){
Yajirushi	0:3807ce385b2a	2320	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2321	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2322	ctrl->rrc(0, BNO055P0_ACC_OFFSET_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2323
Yajirushi	0:3807ce385b2a	2324	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2325	return (1.0f * offX) * scaleACC;
Yajirushi	0:3807ce385b2a	2326	}
Yajirushi	0:3807ce385b2a	2327
Yajirushi	0:3807ce385b2a	2328	/* ==================================================================
Yajirushi	0:3807ce385b2a	2329	* 加速度センサーの補正値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2330	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2331	* returns:
Yajirushi	0:3807ce385b2a	2332	* Z軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2333	*/
Yajirushi	0:3807ce385b2a	2334	float BOARDC_BNO055::getAccOffsetZ(){
Yajirushi	0:3807ce385b2a	2335	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2336	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2337	ctrl->rrc(0, BNO055P0_ACC_OFFSET_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2338
Yajirushi	0:3807ce385b2a	2339	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2340	return (1.0f * offX) * scaleACC;
Yajirushi	0:3807ce385b2a	2341	}
Yajirushi	0:3807ce385b2a	2342
Yajirushi	0:3807ce385b2a	2343	/* ==================================================================
Yajirushi	0:3807ce385b2a	2344	* 加速度センサーの補正値を設定する
Yajirushi	0:3807ce385b2a	2345	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2346	* offsetX: スケール乗算済みのX軸の補正値
Yajirushi	0:3807ce385b2a	2347	* offsetY: スケール乗算済みのY軸の補正値
Yajirushi	0:3807ce385b2a	2348	* offsetZ: スケール乗算済みのZ軸の補正値
Yajirushi	0:3807ce385b2a	2349	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2350	* returns:
Yajirushi	0:3807ce385b2a	2351	* -1 失敗
Yajirushi	0:3807ce385b2a	2352	* 1 成功
Yajirushi	0:3807ce385b2a	2353	*/
Yajirushi	0:3807ce385b2a	2354	char BOARDC_BNO055::setAccOffsetAll(float offsetX, float offsetY, float offsetZ){
Yajirushi	0:3807ce385b2a	2355	short offX = (short)((offsetX / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2356	short offY = (short)((offsetY / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2357	short offZ = (short)((offsetZ / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2358	char msg[6];
Yajirushi	0:3807ce385b2a	2359	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2360	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2361	msg[2] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2362	msg[3] = offY >> 8;
Yajirushi	0:3807ce385b2a	2363	msg[4] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2364	msg[5] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2365
Yajirushi	0:3807ce385b2a	2366	//連続6byte書き込み
Yajirushi	0:3807ce385b2a	2367	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_X_LSB, msg, 6);
Yajirushi	0:3807ce385b2a	2368	}
Yajirushi	0:3807ce385b2a	2369
Yajirushi	0:3807ce385b2a	2370	char BOARDC_BNO055::setAccOffsetX(float offset){
Yajirushi	0:3807ce385b2a	2371	short offX = (short)((offset / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2372	char msg[2];
Yajirushi	0:3807ce385b2a	2373	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2374	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2375
Yajirushi	0:3807ce385b2a	2376	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2377	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_X_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2378	}
Yajirushi	0:3807ce385b2a	2379
Yajirushi	0:3807ce385b2a	2380	char BOARDC_BNO055::setAccOffsetY(float offset){
Yajirushi	0:3807ce385b2a	2381	short offY = (short)((offset / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2382	char msg[2];
Yajirushi	0:3807ce385b2a	2383	msg[0] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2384	msg[1] = offY >> 8;
Yajirushi	0:3807ce385b2a	2385
Yajirushi	0:3807ce385b2a	2386	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2387	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_Y_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2388	}
Yajirushi	0:3807ce385b2a	2389
Yajirushi	0:3807ce385b2a	2390	char BOARDC_BNO055::setAccOffsetZ(float offset){
Yajirushi	0:3807ce385b2a	2391	short offZ = (short)((offset / scaleACC) + 0.5f);
Yajirushi	0:3807ce385b2a	2392	char msg[2];
Yajirushi	0:3807ce385b2a	2393	msg[0] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2394	msg[1] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2395
Yajirushi	0:3807ce385b2a	2396	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2397	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_Z_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2398	}
Yajirushi	0:3807ce385b2a	2399
Yajirushi	0:3807ce385b2a	2400	/* ==================================================================
Yajirushi	0:3807ce385b2a	2401	* 地磁気センサーの補正値を取得する
Yajirushi	0:3807ce385b2a	2402	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2403	* &offsetX: アドレス参照引数:関数実行後、この変数にX軸補正値が格納される
Yajirushi	0:3807ce385b2a	2404	* &offsetY: アドレス参照引数:関数実行後、この変数にY軸補正値が格納される
Yajirushi	0:3807ce385b2a	2405	* &offsetZ: アドレス参照引数:関数実行後、この変数にZ軸補正値が格納される
Yajirushi	0:3807ce385b2a	2406	*/
Yajirushi	0:3807ce385b2a	2407	void BOARDC_BNO055::getMagOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
Yajirushi	0:3807ce385b2a	2408	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	2409	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	2410	ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	2411
Yajirushi	0:3807ce385b2a	2412	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2413	short offY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	2414	short offZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	2415	offsetX = (1.0f * offX) * scaleMAG;
Yajirushi	0:3807ce385b2a	2416	offsetY = (1.0f * offY) * scaleMAG;
Yajirushi	0:3807ce385b2a	2417	offsetZ = (1.0f * offZ) * scaleMAG;
Yajirushi	0:3807ce385b2a	2418	}
Yajirushi	0:3807ce385b2a	2419
Yajirushi	0:3807ce385b2a	2420	/* ==================================================================
Yajirushi	0:3807ce385b2a	2421	* 地磁気センサーの補正値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2422	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2423	* returns:
Yajirushi	0:3807ce385b2a	2424	* X軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2425	*/
Yajirushi	0:3807ce385b2a	2426	float BOARDC_BNO055::getMagOffsetX(){
Yajirushi	0:3807ce385b2a	2427	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2428	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2429	ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2430
Yajirushi	0:3807ce385b2a	2431	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2432	return (1.0f * offX) * scaleMAG;
Yajirushi	0:3807ce385b2a	2433	}
Yajirushi	0:3807ce385b2a	2434
Yajirushi	0:3807ce385b2a	2435	/* ==================================================================
Yajirushi	0:3807ce385b2a	2436	* 地磁気センサーの補正値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2437	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2438	* returns:
Yajirushi	0:3807ce385b2a	2439	* Y軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2440	*/
Yajirushi	0:3807ce385b2a	2441	float BOARDC_BNO055::getMagOffsetY(){
Yajirushi	0:3807ce385b2a	2442	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2443	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2444	ctrl->rrc(0, BNO055P0_MAG_OFFSET_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2445
Yajirushi	0:3807ce385b2a	2446	short offY = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2447	return (1.0f * offY) * scaleMAG;
Yajirushi	0:3807ce385b2a	2448	}
Yajirushi	0:3807ce385b2a	2449
Yajirushi	0:3807ce385b2a	2450	/* ==================================================================
Yajirushi	0:3807ce385b2a	2451	* 地磁気センサーの補正値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2452	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2453	* returns:
Yajirushi	0:3807ce385b2a	2454	* Z軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2455	*/
Yajirushi	0:3807ce385b2a	2456	float BOARDC_BNO055::getMagOffsetZ(){
Yajirushi	0:3807ce385b2a	2457	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2458	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2459	ctrl->rrc(0, BNO055P0_MAG_OFFSET_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2460
Yajirushi	0:3807ce385b2a	2461	short offZ = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2462	return (1.0f * offZ) * scaleMAG;
Yajirushi	0:3807ce385b2a	2463	}
Yajirushi	0:3807ce385b2a	2464
Yajirushi	0:3807ce385b2a	2465	/* ==================================================================
Yajirushi	0:3807ce385b2a	2466	* 地磁気センサーの補正値を設定する
Yajirushi	0:3807ce385b2a	2467	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2468	* offsetX: スケール乗算済みのX軸の補正値
Yajirushi	0:3807ce385b2a	2469	* offsetY: スケール乗算済みのY軸の補正値
Yajirushi	0:3807ce385b2a	2470	* offsetZ: スケール乗算済みのZ軸の補正値
Yajirushi	0:3807ce385b2a	2471	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2472	* returns:
Yajirushi	0:3807ce385b2a	2473	* -1 失敗
Yajirushi	0:3807ce385b2a	2474	* 1 成功
Yajirushi	0:3807ce385b2a	2475	*/
Yajirushi	0:3807ce385b2a	2476	char BOARDC_BNO055::setMagOffsetAll(float offsetX, float offsetY, float offsetZ){
Yajirushi	0:3807ce385b2a	2477	short offX = (short)((offsetX / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2478	short offY = (short)((offsetY / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2479	short offZ = (short)((offsetZ / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2480	char msg[6];
Yajirushi	0:3807ce385b2a	2481	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2482	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2483	msg[2] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2484	msg[3] = offY >> 8;
Yajirushi	0:3807ce385b2a	2485	msg[4] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2486	msg[5] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2487
Yajirushi	0:3807ce385b2a	2488	//連続6byte書き込み
Yajirushi	0:3807ce385b2a	2489	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_X_LSB, msg, 6);
Yajirushi	0:3807ce385b2a	2490	}
Yajirushi	0:3807ce385b2a	2491
Yajirushi	0:3807ce385b2a	2492	/* ==================================================================
Yajirushi	0:3807ce385b2a	2493	* 地磁気センサーの補正値(X軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2494	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2495	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2496	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2497	* returns:
Yajirushi	0:3807ce385b2a	2498	* -1 失敗
Yajirushi	0:3807ce385b2a	2499	* 1 成功
Yajirushi	0:3807ce385b2a	2500	*/
Yajirushi	0:3807ce385b2a	2501	char BOARDC_BNO055::setMagOffsetX(float offset){
Yajirushi	0:3807ce385b2a	2502	short offX = (short)((offset / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2503	char msg[2];
Yajirushi	0:3807ce385b2a	2504	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2505	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2506
Yajirushi	0:3807ce385b2a	2507	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2508	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_X_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2509	}
Yajirushi	0:3807ce385b2a	2510
Yajirushi	0:3807ce385b2a	2511	/* ==================================================================
Yajirushi	0:3807ce385b2a	2512	* 地磁気センサーの補正値(Y軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2513	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2514	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2515	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2516	* returns:
Yajirushi	0:3807ce385b2a	2517	* -1 失敗
Yajirushi	0:3807ce385b2a	2518	* 1 成功
Yajirushi	0:3807ce385b2a	2519	*/
Yajirushi	0:3807ce385b2a	2520	char BOARDC_BNO055::setMagOffsetY(float offset){
Yajirushi	0:3807ce385b2a	2521	short offY = (short)((offset / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2522	char msg[2];
Yajirushi	0:3807ce385b2a	2523	msg[0] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2524	msg[1] = offY >> 8;
Yajirushi	0:3807ce385b2a	2525
Yajirushi	0:3807ce385b2a	2526	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2527	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_Y_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2528	}
Yajirushi	0:3807ce385b2a	2529
Yajirushi	0:3807ce385b2a	2530	/* ==================================================================
Yajirushi	0:3807ce385b2a	2531	* 地磁気センサーの補正値(Z軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2532	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2533	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2534	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2535	* returns:
Yajirushi	0:3807ce385b2a	2536	* -1 失敗
Yajirushi	0:3807ce385b2a	2537	* 1 成功
Yajirushi	0:3807ce385b2a	2538	*/
Yajirushi	0:3807ce385b2a	2539	char BOARDC_BNO055::setMagOffsetZ(float offset){
Yajirushi	0:3807ce385b2a	2540	short offZ = (short)((offset / scaleMAG) + 0.5f);
Yajirushi	0:3807ce385b2a	2541	char msg[2];
Yajirushi	0:3807ce385b2a	2542	msg[0] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2543	msg[1] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2544
Yajirushi	0:3807ce385b2a	2545	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2546	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_Z_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2547	}
Yajirushi	0:3807ce385b2a	2548
Yajirushi	0:3807ce385b2a	2549	/* ==================================================================
Yajirushi	0:3807ce385b2a	2550	* 角速度センサーの補正値を取得する
Yajirushi	0:3807ce385b2a	2551	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2552	* &offsetX: アドレス参照引数:関数実行後、この変数にX軸補正値が格納される
Yajirushi	0:3807ce385b2a	2553	* &offsetY: アドレス参照引数:関数実行後、この変数にY軸補正値が格納される
Yajirushi	0:3807ce385b2a	2554	* &offsetZ: アドレス参照引数:関数実行後、この変数にZ軸補正値が格納される
Yajirushi	0:3807ce385b2a	2555	*/
Yajirushi	0:3807ce385b2a	2556	void BOARDC_BNO055::getGyroOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
Yajirushi	0:3807ce385b2a	2557	//連続6byte読み取り
Yajirushi	2:e8bc1ae2c20c	2558	unsigned char rsv[6];
Yajirushi	0:3807ce385b2a	2559	ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 6);
Yajirushi	0:3807ce385b2a	2560
Yajirushi	0:3807ce385b2a	2561	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2562	short offY = (rsv[3] << 8) \| rsv[2];
Yajirushi	0:3807ce385b2a	2563	short offZ = (rsv[5] << 8) \| rsv[4];
Yajirushi	0:3807ce385b2a	2564	offsetX = (1.0f * offX) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2565	offsetY = (1.0f * offY) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2566	offsetZ = (1.0f * offZ) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2567	}
Yajirushi	0:3807ce385b2a	2568
Yajirushi	0:3807ce385b2a	2569	/* ==================================================================
Yajirushi	0:3807ce385b2a	2570	* 角速度センサーの補正値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2571	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2572	* returns:
Yajirushi	0:3807ce385b2a	2573	* X軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2574	*/
Yajirushi	0:3807ce385b2a	2575	float BOARDC_BNO055::getGyroOffsetX(){
Yajirushi	0:3807ce385b2a	2576	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2577	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2578	ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2579
Yajirushi	0:3807ce385b2a	2580	short offX = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2581	return (1.0f * offX) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2582	}
Yajirushi	0:3807ce385b2a	2583
Yajirushi	0:3807ce385b2a	2584	/* ==================================================================
Yajirushi	0:3807ce385b2a	2585	* 角速度センサーの補正値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2586	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2587	* returns:
Yajirushi	0:3807ce385b2a	2588	* Y軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2589	*/
Yajirushi	0:3807ce385b2a	2590	float BOARDC_BNO055::getGyroOffsetY(){
Yajirushi	0:3807ce385b2a	2591	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2592	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2593	ctrl->rrc(0, BNO055P0_GYR_OFFSET_Y_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2594
Yajirushi	0:3807ce385b2a	2595	short offY = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2596	return (1.0f * offY) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2597	}
Yajirushi	0:3807ce385b2a	2598
Yajirushi	0:3807ce385b2a	2599	/* ==================================================================
Yajirushi	0:3807ce385b2a	2600	* 角速度センサーの補正値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	2601	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2602	* returns:
Yajirushi	0:3807ce385b2a	2603	* Z軸補正値(スケール乗算済み)
Yajirushi	0:3807ce385b2a	2604	*/
Yajirushi	0:3807ce385b2a	2605	float BOARDC_BNO055::getGyroOffsetZ(){
Yajirushi	0:3807ce385b2a	2606	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2607	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2608	ctrl->rrc(0, BNO055P0_GYR_OFFSET_Z_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2609
Yajirushi	0:3807ce385b2a	2610	short offZ = (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2611	return (1.0f * offZ) * scaleGYRO;
Yajirushi	0:3807ce385b2a	2612	}
Yajirushi	0:3807ce385b2a	2613
Yajirushi	0:3807ce385b2a	2614	/* ==================================================================
Yajirushi	0:3807ce385b2a	2615	* 角速度センサーの補正値を設定する
Yajirushi	0:3807ce385b2a	2616	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2617	* offsetX: スケール乗算済みのX軸の補正値
Yajirushi	0:3807ce385b2a	2618	* offsetY: スケール乗算済みのY軸の補正値
Yajirushi	0:3807ce385b2a	2619	* offsetZ: スケール乗算済みのZ軸の補正値
Yajirushi	0:3807ce385b2a	2620	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2621	* returns:
Yajirushi	0:3807ce385b2a	2622	* -1 失敗
Yajirushi	0:3807ce385b2a	2623	* 1 成功
Yajirushi	0:3807ce385b2a	2624	*/
Yajirushi	0:3807ce385b2a	2625	char BOARDC_BNO055::setGyroOffsetAll(float offsetX, float offsetY, float offsetZ){
Yajirushi	0:3807ce385b2a	2626	short offX = (short)((offsetX / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2627	short offY = (short)((offsetY / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2628	short offZ = (short)((offsetZ / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2629	char msg[6];
Yajirushi	0:3807ce385b2a	2630	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2631	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2632	msg[2] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2633	msg[3] = offY >> 8;
Yajirushi	0:3807ce385b2a	2634	msg[4] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2635	msg[5] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2636
Yajirushi	0:3807ce385b2a	2637	//連続6byte書き込み
Yajirushi	0:3807ce385b2a	2638	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_X_LSB, msg, 6);
Yajirushi	0:3807ce385b2a	2639	}
Yajirushi	0:3807ce385b2a	2640
Yajirushi	0:3807ce385b2a	2641	/* ==================================================================
Yajirushi	0:3807ce385b2a	2642	* 角速度センサーの補正値(X軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2643	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2644	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2645	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2646	* returns:
Yajirushi	0:3807ce385b2a	2647	* -1 失敗
Yajirushi	0:3807ce385b2a	2648	* 1 成功
Yajirushi	0:3807ce385b2a	2649	*/
Yajirushi	0:3807ce385b2a	2650	char BOARDC_BNO055::setGyroOffsetX(float offset){
Yajirushi	0:3807ce385b2a	2651	short offX = (short)((offset / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2652	char msg[2];
Yajirushi	0:3807ce385b2a	2653	msg[0] = offX & 0xFF;
Yajirushi	0:3807ce385b2a	2654	msg[1] = offX >> 8;
Yajirushi	0:3807ce385b2a	2655
Yajirushi	0:3807ce385b2a	2656	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2657	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_X_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2658	}
Yajirushi	0:3807ce385b2a	2659
Yajirushi	0:3807ce385b2a	2660	/* ==================================================================
Yajirushi	0:3807ce385b2a	2661	* 角速度センサーの補正値(Y軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2662	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2663	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2664	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2665	* returns:
Yajirushi	0:3807ce385b2a	2666	* -1 失敗
Yajirushi	0:3807ce385b2a	2667	* 1 成功
Yajirushi	0:3807ce385b2a	2668	*/
Yajirushi	0:3807ce385b2a	2669	char BOARDC_BNO055::setGyroOffsetY(float offset){
Yajirushi	0:3807ce385b2a	2670	short offY = (short)((offset / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2671	char msg[2];
Yajirushi	0:3807ce385b2a	2672	msg[0] = offY & 0xFF;
Yajirushi	0:3807ce385b2a	2673	msg[1] = offY >> 8;
Yajirushi	0:3807ce385b2a	2674
Yajirushi	0:3807ce385b2a	2675	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2676	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_Y_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2677	}
Yajirushi	0:3807ce385b2a	2678
Yajirushi	0:3807ce385b2a	2679	/* ==================================================================
Yajirushi	0:3807ce385b2a	2680	* 角速度センサーの補正値(Z軸のみ)を設定する
Yajirushi	0:3807ce385b2a	2681	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2682	* offset: スケール乗算済みの補正値
Yajirushi	0:3807ce385b2a	2683	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2684	* returns:
Yajirushi	0:3807ce385b2a	2685	* -1 失敗
Yajirushi	0:3807ce385b2a	2686	* 1 成功
Yajirushi	0:3807ce385b2a	2687	*/
Yajirushi	0:3807ce385b2a	2688	char BOARDC_BNO055::setGyroOffsetZ(float offset){
Yajirushi	0:3807ce385b2a	2689	short offZ = (short)((offset / scaleGYRO) + 0.5f);
Yajirushi	0:3807ce385b2a	2690	char msg[2];
Yajirushi	0:3807ce385b2a	2691	msg[0] = offZ & 0xFF;
Yajirushi	0:3807ce385b2a	2692	msg[1] = offZ >> 8;
Yajirushi	0:3807ce385b2a	2693
Yajirushi	0:3807ce385b2a	2694	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2695	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_Z_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2696	}
Yajirushi	0:3807ce385b2a	2697
Yajirushi	0:3807ce385b2a	2698	/* ==================================================================
Yajirushi	0:3807ce385b2a	2699	* 加速度センサーのデータ出力範囲[単位:LSB]を取得する
Yajirushi	0:3807ce385b2a	2700	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2701	* returns:
Yajirushi	0:3807ce385b2a	2702	* +-データ計測範囲[単位:LSB]
Yajirushi	0:3807ce385b2a	2703	*/
Yajirushi	0:3807ce385b2a	2704	short BOARDC_BNO055::getAccRadius(){
Yajirushi	0:3807ce385b2a	2705	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2706	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2707	ctrl->rrc(0, BNO055P0_ACC_RADIUS_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2708
Yajirushi	0:3807ce385b2a	2709	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2710	}
Yajirushi	0:3807ce385b2a	2711
Yajirushi	0:3807ce385b2a	2712	/* ==================================================================
Yajirushi	0:3807ce385b2a	2713	* 加速度センサーのデータ出力範囲[単位:LSB]を設定する
Yajirushi	0:3807ce385b2a	2714	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2715	* 引数r: データ計測範囲の最大値および最低値(-r から +r　の範囲が計測範囲)
Yajirushi	0:3807ce385b2a	2716	* 最大値は1000[LSB]
Yajirushi	0:3807ce385b2a	2717	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2718	* returns:
Yajirushi	0:3807ce385b2a	2719	* -1 失敗
Yajirushi	0:3807ce385b2a	2720	* 1 成功
Yajirushi	0:3807ce385b2a	2721	*/
Yajirushi	0:3807ce385b2a	2722	char BOARDC_BNO055::setAccRadius(short LSB){
Yajirushi	0:3807ce385b2a	2723	if(LSB > 1000) LSB = 1000;
Yajirushi	0:3807ce385b2a	2724
Yajirushi	0:3807ce385b2a	2725	char msg[2];
Yajirushi	0:3807ce385b2a	2726	msg[0] = LSB & 0xFF;
Yajirushi	0:3807ce385b2a	2727	msg[1] = LSB >> 8;
Yajirushi	0:3807ce385b2a	2728
Yajirushi	0:3807ce385b2a	2729	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2730	return ctrl->wrc(0, BNO055P0_ACC_RADIUS_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2731	}
Yajirushi	0:3807ce385b2a	2732
Yajirushi	0:3807ce385b2a	2733	/* ==================================================================
Yajirushi	0:3807ce385b2a	2734	* 地磁気センサーのデータ出力範囲[単位:LSB]を取得する
Yajirushi	0:3807ce385b2a	2735	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2736	* returns:
Yajirushi	0:3807ce385b2a	2737	* +-データ計測範囲
Yajirushi	0:3807ce385b2a	2738	*/
Yajirushi	0:3807ce385b2a	2739	short BOARDC_BNO055::getMagRadius(){
Yajirushi	0:3807ce385b2a	2740	//連続2byte読み取り
Yajirushi	2:e8bc1ae2c20c	2741	unsigned char rsv[2];
Yajirushi	0:3807ce385b2a	2742	ctrl->rrc(0, BNO055P0_MAG_RADIUS_LSB, rsv, 2);
Yajirushi	0:3807ce385b2a	2743
Yajirushi	0:3807ce385b2a	2744	return (rsv[1] << 8) \| rsv[0];
Yajirushi	0:3807ce385b2a	2745	}
Yajirushi	0:3807ce385b2a	2746
Yajirushi	0:3807ce385b2a	2747	/* ==================================================================
Yajirushi	0:3807ce385b2a	2748	* 加速度センサーのデータ出力範囲[単位:LSB]を設定する
Yajirushi	0:3807ce385b2a	2749	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2750	* 引数r: データ計測範囲の最大値および最低値(-r から +r　の範囲が計測範囲)
Yajirushi	0:3807ce385b2a	2751	* 最大値は960[LSB]
Yajirushi	0:3807ce385b2a	2752	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2753	* returns:
Yajirushi	0:3807ce385b2a	2754	* -1 失敗
Yajirushi	0:3807ce385b2a	2755	* 1 成功
Yajirushi	0:3807ce385b2a	2756	*/
Yajirushi	0:3807ce385b2a	2757	char BOARDC_BNO055::setMagRadius(short LSB){
Yajirushi	0:3807ce385b2a	2758	if(LSB > 960) LSB = 960;
Yajirushi	0:3807ce385b2a	2759
Yajirushi	0:3807ce385b2a	2760	char msg[2];
Yajirushi	0:3807ce385b2a	2761	msg[0] = LSB & 0xFF;
Yajirushi	0:3807ce385b2a	2762	msg[1] = LSB >> 8;
Yajirushi	0:3807ce385b2a	2763
Yajirushi	0:3807ce385b2a	2764	//連続2byte書き込み
Yajirushi	0:3807ce385b2a	2765	return ctrl->wrc(0, BNO055P0_MAG_RADIUS_LSB, msg, 2);
Yajirushi	0:3807ce385b2a	2766	}
Yajirushi	0:3807ce385b2a	2767
Yajirushi	0:3807ce385b2a	2768	/* ==================================================================
Yajirushi	0:3807ce385b2a	2769	* 加速度センサー設定のレジスタ値を取得する
Yajirushi	0:3807ce385b2a	2770	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2771	* returns:
Yajirushi	0:3807ce385b2a	2772	* 加速度センサー設定のレジスタ値
Yajirushi	0:3807ce385b2a	2773	*/
Yajirushi	0:3807ce385b2a	2774	char BOARDC_BNO055::getAccConfig(){
Yajirushi	0:3807ce385b2a	2775	return ctrl->rr(1, BNO055P1_ACC_CONFIG);
Yajirushi	0:3807ce385b2a	2776	}
Yajirushi	0:3807ce385b2a	2777
Yajirushi	0:3807ce385b2a	2778	/* ==================================================================
Yajirushi	0:3807ce385b2a	2779	* 加速度センサー設定のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2780	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2781	* 引数regVal: 加速度センサー設定のレジスタ値
Yajirushi	0:3807ce385b2a	2782	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2783	* returns:
Yajirushi	0:3807ce385b2a	2784	* -1 失敗
Yajirushi	0:3807ce385b2a	2785	* 1 成功
Yajirushi	0:3807ce385b2a	2786	*/
Yajirushi	0:3807ce385b2a	2787	char BOARDC_BNO055::setAccConfig(char regVal){
Yajirushi	0:3807ce385b2a	2788	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2789	}
Yajirushi	0:3807ce385b2a	2790
Yajirushi	0:3807ce385b2a	2791	/* ==================================================================
Yajirushi	0:3807ce385b2a	2792	* 加速度センサー設定のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2793	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2794	* 引数gRange: 加速度センサーの計測範囲
Yajirushi	0:3807ce385b2a	2795	* 引数bandWidth: 加速度センサー出力レート(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2796	* 引数powMode: 加速度センサー電源設定(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2797	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2798	* returns:
Yajirushi	0:3807ce385b2a	2799	* -1 失敗
Yajirushi	0:3807ce385b2a	2800	* 1 成功
Yajirushi	0:3807ce385b2a	2801	*/
Yajirushi	0:3807ce385b2a	2802	char BOARDC_BNO055::setAccConfig(char gRange, char bandWidth, char powMode){
Yajirushi	0:3807ce385b2a	2803	char regVal = (powMode << 5) \| (bandWidth << 2) \| gRange;
Yajirushi	0:3807ce385b2a	2804	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2805	}
Yajirushi	0:3807ce385b2a	2806
Yajirushi	0:3807ce385b2a	2807	/* ==================================================================
Yajirushi	0:3807ce385b2a	2808	* 加速度センサーの計測範囲を設定する
Yajirushi	0:3807ce385b2a	2809	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2810	* 引数G: 加速度センサーの計測範囲(+-2, 4, 8, 16Gのいずれか)
Yajirushi	0:3807ce385b2a	2811	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2812	* returns:
Yajirushi	0:3807ce385b2a	2813	* -1 失敗
Yajirushi	0:3807ce385b2a	2814	* 1 成功
Yajirushi	0:3807ce385b2a	2815	*/
Yajirushi	0:3807ce385b2a	2816	char BOARDC_BNO055::setAccRange(unsigned char G){
Yajirushi	0:3807ce385b2a	2817	char val = 0;
Yajirushi	0:3807ce385b2a	2818	switch(G){
Yajirushi	0:3807ce385b2a	2819	case 2:
Yajirushi	0:3807ce385b2a	2820	val = 0x00;
Yajirushi	0:3807ce385b2a	2821	break;
Yajirushi	0:3807ce385b2a	2822	case 4:
Yajirushi	0:3807ce385b2a	2823	val = 0x01;
Yajirushi	0:3807ce385b2a	2824	break;
Yajirushi	0:3807ce385b2a	2825	case 8:
Yajirushi	0:3807ce385b2a	2826	val = 0x02;
Yajirushi	0:3807ce385b2a	2827	break;
Yajirushi	0:3807ce385b2a	2828	case 16:
Yajirushi	0:3807ce385b2a	2829	val = 0x03;
Yajirushi	0:3807ce385b2a	2830	break;
Yajirushi	0:3807ce385b2a	2831	default:
Yajirushi	0:3807ce385b2a	2832	val = 0x02;
Yajirushi	0:3807ce385b2a	2833	}
Yajirushi	0:3807ce385b2a	2834
Yajirushi	0:3807ce385b2a	2835	char regVal = ctrl->rr(1, BNO055P1_ACC_CONFIG);
Yajirushi	0:3807ce385b2a	2836	regVal = (regVal & 0xFC) \| val;
Yajirushi	0:3807ce385b2a	2837
Yajirushi	0:3807ce385b2a	2838	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2839	}
Yajirushi	0:3807ce385b2a	2840
Yajirushi	0:3807ce385b2a	2841	/* ==================================================================
Yajirushi	0:3807ce385b2a	2842	* 地磁気センサー設定のレジスタ値を取得する
Yajirushi	0:3807ce385b2a	2843	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2844	* returns:
Yajirushi	0:3807ce385b2a	2845	* 地磁気センサー設定のレジスタ値
Yajirushi	0:3807ce385b2a	2846	*/
Yajirushi	0:3807ce385b2a	2847	char BOARDC_BNO055::getMagConfig(){
Yajirushi	0:3807ce385b2a	2848	return ctrl->rr(1, BNO055P1_MAG_CONFIG);
Yajirushi	0:3807ce385b2a	2849	}
Yajirushi	0:3807ce385b2a	2850
Yajirushi	0:3807ce385b2a	2851	/* ==================================================================
Yajirushi	0:3807ce385b2a	2852	* 地磁気センサー設定のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2853	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2854	* 引数regVal: 地磁気センサー設定のレジスタ値
Yajirushi	0:3807ce385b2a	2855	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2856	* returns:
Yajirushi	0:3807ce385b2a	2857	* -1 失敗
Yajirushi	0:3807ce385b2a	2858	* 1 成功
Yajirushi	0:3807ce385b2a	2859	*/
Yajirushi	0:3807ce385b2a	2860	char BOARDC_BNO055::setMagConfig(char regVal){
Yajirushi	0:3807ce385b2a	2861	return ctrl->wr(1, BNO055P1_MAG_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2862	}
Yajirushi	0:3807ce385b2a	2863
Yajirushi	0:3807ce385b2a	2864	/* ==================================================================
Yajirushi	0:3807ce385b2a	2865	* 地磁気センサー設定のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2866	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2867	* 引数rate: 地磁気センサー出力レート(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2868	* 引数oprMode: 地磁気センサー出力モード(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2869	* 引数powMode: 地磁気センサー電源設定(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2870	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2871	* returns:
Yajirushi	0:3807ce385b2a	2872	* -1 失敗
Yajirushi	0:3807ce385b2a	2873	* 1 成功
Yajirushi	0:3807ce385b2a	2874	*/
Yajirushi	0:3807ce385b2a	2875	char BOARDC_BNO055::setMagConfig(char rate, char oprMode, char powMode){
Yajirushi	0:3807ce385b2a	2876	char regVal = powMode << 5 \| oprMode << 3 \| rate;
Yajirushi	0:3807ce385b2a	2877	return ctrl->wr(1, BNO055P1_MAG_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2878	}
Yajirushi	0:3807ce385b2a	2879
Yajirushi	0:3807ce385b2a	2880	/* ==================================================================
Yajirushi	0:3807ce385b2a	2881	* 角速度センサー設定(0)のレジスタ値を取得する
Yajirushi	0:3807ce385b2a	2882	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2883	* returns:
Yajirushi	0:3807ce385b2a	2884	* 角速度センサー設定(0)のレジスタ値
Yajirushi	0:3807ce385b2a	2885	*/
Yajirushi	0:3807ce385b2a	2886	char BOARDC_BNO055::getGyroConfig_0(){
Yajirushi	0:3807ce385b2a	2887	return ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
Yajirushi	0:3807ce385b2a	2888	}
Yajirushi	0:3807ce385b2a	2889
Yajirushi	0:3807ce385b2a	2890	/* ==================================================================
Yajirushi	0:3807ce385b2a	2891	* 角速度センサー設定(0)のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2892	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2893	* 引数regVal: 角速度センサー設定(0)のレジスタ値
Yajirushi	0:3807ce385b2a	2894	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2895	* returns:
Yajirushi	0:3807ce385b2a	2896	* -1 失敗
Yajirushi	0:3807ce385b2a	2897	* 1 成功
Yajirushi	0:3807ce385b2a	2898	*/
Yajirushi	0:3807ce385b2a	2899	char BOARDC_BNO055::setGyroConfig_0(char regVal){
Yajirushi	0:3807ce385b2a	2900	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
Yajirushi	0:3807ce385b2a	2901	}
Yajirushi	0:3807ce385b2a	2902
Yajirushi	0:3807ce385b2a	2903	/* ==================================================================
Yajirushi	0:3807ce385b2a	2904	* 角速度センサー設定(0)のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2905	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2906	* 引数range: 角速度センサーの計測範囲(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2907	* 引数bandWidth: 角速度センサー出力レート(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2908	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2909	* returns:
Yajirushi	0:3807ce385b2a	2910	* -1 失敗
Yajirushi	0:3807ce385b2a	2911	* 1 成功
Yajirushi	0:3807ce385b2a	2912	*/
Yajirushi	0:3807ce385b2a	2913	char BOARDC_BNO055::setGyroConfig_0(char range, char bandWidth){
Yajirushi	0:3807ce385b2a	2914	char regVal = bandWidth << 3 \| range;
Yajirushi	0:3807ce385b2a	2915	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
Yajirushi	0:3807ce385b2a	2916	}
Yajirushi	0:3807ce385b2a	2917
Yajirushi	0:3807ce385b2a	2918	/* ==================================================================
Yajirushi	0:3807ce385b2a	2919	* 角速度センサー設定(1)のレジスタ値を取得する
Yajirushi	0:3807ce385b2a	2920	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2921	* returns:
Yajirushi	0:3807ce385b2a	2922	* 角速度センサー設定(1)のレジスタ値
Yajirushi	0:3807ce385b2a	2923	*/
Yajirushi	0:3807ce385b2a	2924	char BOARDC_BNO055::getGyroConfig_1(){
Yajirushi	0:3807ce385b2a	2925	return ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
Yajirushi	0:3807ce385b2a	2926	}
Yajirushi	0:3807ce385b2a	2927
Yajirushi	0:3807ce385b2a	2928	/* ==================================================================
Yajirushi	0:3807ce385b2a	2929	* 角速度センサー設定(1)のレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2930	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2931	* 引数powMode: 角速度センサーの電源設定(Fusion時は自動設定)
Yajirushi	0:3807ce385b2a	2932	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2933	* returns:
Yajirushi	0:3807ce385b2a	2934	* -1 失敗
Yajirushi	0:3807ce385b2a	2935	* 1 成功
Yajirushi	0:3807ce385b2a	2936	*/
Yajirushi	0:3807ce385b2a	2937	char BOARDC_BNO055::setGyroConfig_1(char powMode){
Yajirushi	0:3807ce385b2a	2938	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, powMode & 0x07);
Yajirushi	0:3807ce385b2a	2939	}
Yajirushi	0:3807ce385b2a	2940
Yajirushi	0:3807ce385b2a	2941	/* ==================================================================
Yajirushi	0:3807ce385b2a	2942	* 角速度センサーの計測範囲を設定する
Yajirushi	0:3807ce385b2a	2943	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2944	* 引数G: 角速度センサーの計測範囲(2000, 1000, 500, 250, 125dpsのいずれか)
Yajirushi	0:3807ce385b2a	2945	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2946	* returns:
Yajirushi	0:3807ce385b2a	2947	* -1 失敗
Yajirushi	0:3807ce385b2a	2948	* 1 成功
Yajirushi	0:3807ce385b2a	2949	*/
Yajirushi	0:3807ce385b2a	2950	char BOARDC_BNO055::setGyroRange(unsigned short dps){
Yajirushi	0:3807ce385b2a	2951	char val = 0;
Yajirushi	0:3807ce385b2a	2952	switch(dps){
Yajirushi	0:3807ce385b2a	2953	case 2000:
Yajirushi	0:3807ce385b2a	2954	val = 0;
Yajirushi	0:3807ce385b2a	2955	break;
Yajirushi	0:3807ce385b2a	2956	case 1000:
Yajirushi	0:3807ce385b2a	2957	val = 1;
Yajirushi	0:3807ce385b2a	2958	break;
Yajirushi	0:3807ce385b2a	2959	case 500:
Yajirushi	0:3807ce385b2a	2960	val = 2;
Yajirushi	0:3807ce385b2a	2961	break;
Yajirushi	0:3807ce385b2a	2962	case 250:
Yajirushi	0:3807ce385b2a	2963	val = 3;
Yajirushi	0:3807ce385b2a	2964	break;
Yajirushi	0:3807ce385b2a	2965	case 125:
Yajirushi	0:3807ce385b2a	2966	val = 4;
Yajirushi	0:3807ce385b2a	2967	break;
Yajirushi	0:3807ce385b2a	2968	default:
Yajirushi	0:3807ce385b2a	2969	val = 1;
Yajirushi	0:3807ce385b2a	2970	}
Yajirushi	0:3807ce385b2a	2971
Yajirushi	0:3807ce385b2a	2972	char regVal = ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
Yajirushi	0:3807ce385b2a	2973	regVal = (regVal & 0xF8) + val;
Yajirushi	0:3807ce385b2a	2974
Yajirushi	0:3807ce385b2a	2975	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
Yajirushi	0:3807ce385b2a	2976	}
Yajirushi	0:3807ce385b2a	2977
Yajirushi	0:3807ce385b2a	2978	/* ==================================================================
Yajirushi	0:3807ce385b2a	2979	* 加速度センサーのスリープモードのレジスタ値を取得する
Yajirushi	0:3807ce385b2a	2980	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2981	* returns:
Yajirushi	0:3807ce385b2a	2982	* 加速度センサーのスリープモードのレジスタ値
Yajirushi	0:3807ce385b2a	2983	*/
Yajirushi	0:3807ce385b2a	2984	char BOARDC_BNO055::getAccSleepConfig(){
Yajirushi	0:3807ce385b2a	2985	return ctrl->rr(1, BNO055P1_ACC_SLEEP_CONFIG);
Yajirushi	0:3807ce385b2a	2986	}
Yajirushi	0:3807ce385b2a	2987
Yajirushi	0:3807ce385b2a	2988	/* ==================================================================
Yajirushi	0:3807ce385b2a	2989	* 加速度センサーのスリープモードのレジスタ値を設定する
Yajirushi	0:3807ce385b2a	2990	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2991	* 引数regVal: 加速度センサーのスリープモードのレジスタ値
Yajirushi	0:3807ce385b2a	2992	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	2993	* returns:
Yajirushi	0:3807ce385b2a	2994	* -1 失敗
Yajirushi	0:3807ce385b2a	2995	* 1 成功
Yajirushi	0:3807ce385b2a	2996	*/
Yajirushi	0:3807ce385b2a	2997	char BOARDC_BNO055::setAccSleepConfig(char regVal){
Yajirushi	0:3807ce385b2a	2998	return ctrl->wr(1, BNO055P1_ACC_SLEEP_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	2999	}
Yajirushi	0:3807ce385b2a	3000
Yajirushi	0:3807ce385b2a	3001	/* ==================================================================
Yajirushi	0:3807ce385b2a	3002	* 加速度センサーのスリープモードのレジスタ値を設定する
Yajirushi	0:3807ce385b2a	3003	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3004	* 引数duration: 加速度センサーのスリープモードの持続閾値
Yajirushi	0:3807ce385b2a	3005	* 引数mode: 加速度センサーのスリープモード選択
Yajirushi	0:3807ce385b2a	3006	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3007	* returns:
Yajirushi	0:3807ce385b2a	3008	* -1 失敗
Yajirushi	0:3807ce385b2a	3009	* 1 成功
Yajirushi	0:3807ce385b2a	3010	*/
Yajirushi	0:3807ce385b2a	3011	char BOARDC_BNO055::setAccSleepConfig(char duration, char mode){
Yajirushi	0:3807ce385b2a	3012	char regVal = duration << 1 \| mode;
Yajirushi	0:3807ce385b2a	3013	return ctrl->wr(1, BNO055P1_ACC_SLEEP_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	3014	}
Yajirushi	0:3807ce385b2a	3015
Yajirushi	0:3807ce385b2a	3016	/* ==================================================================
Yajirushi	0:3807ce385b2a	3017	* 角速度センサーのスリープモードのレジスタ値を取得する
Yajirushi	0:3807ce385b2a	3018	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3019	* returns:
Yajirushi	0:3807ce385b2a	3020	* 角速度センサーのスリープモードのレジスタ値
Yajirushi	0:3807ce385b2a	3021	*/
Yajirushi	0:3807ce385b2a	3022	char BOARDC_BNO055::getGyroSleepConfig(){
Yajirushi	0:3807ce385b2a	3023	return ctrl->rr(1, BNO055P1_GYR_SLEEP_CONFIG);
Yajirushi	0:3807ce385b2a	3024	}
Yajirushi	0:3807ce385b2a	3025
Yajirushi	0:3807ce385b2a	3026	/* ==================================================================
Yajirushi	0:3807ce385b2a	3027	* 角速度センサーのスリープモードのレジスタ値を設定する
Yajirushi	0:3807ce385b2a	3028	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3029	* 引数regVal: 角速度センサーのスリープモードのレジスタ値
Yajirushi	0:3807ce385b2a	3030	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3031	* returns:
Yajirushi	0:3807ce385b2a	3032	* -1 失敗
Yajirushi	0:3807ce385b2a	3033	* 1 成功
Yajirushi	0:3807ce385b2a	3034	*/
Yajirushi	0:3807ce385b2a	3035	char BOARDC_BNO055::setGyroSleepConfig(char regVal){
Yajirushi	0:3807ce385b2a	3036	return ctrl->wr(1, BNO055P1_GYR_SLEEP_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	3037	}
Yajirushi	0:3807ce385b2a	3038
Yajirushi	0:3807ce385b2a	3039	/* ==================================================================
Yajirushi	0:3807ce385b2a	3040	* 角速度センサーのスリープモードのレジスタ値を設定する
Yajirushi	0:3807ce385b2a	3041	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3042	* 引数duration: 角速度センサーの自動スリープモードの持続閾値
Yajirushi	0:3807ce385b2a	3043	* 引数mode: 角速度センサーのスリープモードの持続閾値
Yajirushi	0:3807ce385b2a	3044	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3045	* returns:
Yajirushi	0:3807ce385b2a	3046	* -1 失敗
Yajirushi	0:3807ce385b2a	3047	* 1 成功
Yajirushi	0:3807ce385b2a	3048	*/
Yajirushi	0:3807ce385b2a	3049	char BOARDC_BNO055::setGyroSleepConfig(char autoSleepDuration, char duration){
Yajirushi	0:3807ce385b2a	3050	char regVal = autoSleepDuration << 3 \| duration;
Yajirushi	0:3807ce385b2a	3051	return ctrl->wr(1, BNO055P1_GYR_SLEEP_CONFIG, regVal);
Yajirushi	0:3807ce385b2a	3052	}
Yajirushi	0:3807ce385b2a	3053
Yajirushi	0:3807ce385b2a	3054	/* ==================================================================
Yajirushi	0:3807ce385b2a	3055	* 各センサーの割り込みフラグ発生のINTピン出力許可設定を取得する
Yajirushi	0:3807ce385b2a	3056	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3057	* returns:
Yajirushi	0:3807ce385b2a	3058	* 各センサーの割り込みフラグ有効無効設定のレジスタ値
Yajirushi	0:3807ce385b2a	3059	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3060	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3061	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3062	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3063	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3064	*/
Yajirushi	0:3807ce385b2a	3065	char BOARDC_BNO055::getInterruptMask(){
Yajirushi	0:3807ce385b2a	3066	return ctrl->rr(1, BNO055P1_INT_MSK);
Yajirushi	0:3807ce385b2a	3067	}
Yajirushi	0:3807ce385b2a	3068
Yajirushi	0:3807ce385b2a	3069	/* ==================================================================
Yajirushi	0:3807ce385b2a	3070	* 各センサーの割り込みフラグ発生のINTピン出力許可設定を設定する
Yajirushi	0:3807ce385b2a	3071	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3072	* 引数mask: 各センサーの割り込みフラグ有効無効設定のレジスタ値
Yajirushi	0:3807ce385b2a	3073	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3074	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3075	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3076	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3077	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:許可)
Yajirushi	0:3807ce385b2a	3078	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3079	* returns:
Yajirushi	0:3807ce385b2a	3080	* -1 失敗
Yajirushi	0:3807ce385b2a	3081	* 1 成功
Yajirushi	0:3807ce385b2a	3082	*/
Yajirushi	0:3807ce385b2a	3083	char BOARDC_BNO055::setInterruptMask(char mask){
Yajirushi	0:3807ce385b2a	3084	return ctrl->wr(1, BNO055P1_INT_MSK, mask);
Yajirushi	0:3807ce385b2a	3085	}
Yajirushi	0:3807ce385b2a	3086
Yajirushi	0:3807ce385b2a	3087	/* ==================================================================
Yajirushi	0:3807ce385b2a	3088	* 各センサーの割り込みフラグ有効無効設定を取得する
Yajirushi	0:3807ce385b2a	3089	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3090	* returns:
Yajirushi	0:3807ce385b2a	3091	* 各センサーの割り込みフラグ有効無効設定のレジスタ値
Yajirushi	0:3807ce385b2a	3092	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3093	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3094	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3095	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3096	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3097	*/
Yajirushi	0:3807ce385b2a	3098	char BOARDC_BNO055::getInterruptEnable(){
Yajirushi	0:3807ce385b2a	3099	return ctrl->rr(1, BNO055P1_INT_EN);
Yajirushi	0:3807ce385b2a	3100	}
Yajirushi	0:3807ce385b2a	3101
Yajirushi	0:3807ce385b2a	3102	/* ==================================================================
Yajirushi	0:3807ce385b2a	3103	* 各センサーの割り込みフラグ有効無効設定を設定する
Yajirushi	0:3807ce385b2a	3104	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3105	* 引数mask: 各センサーの割り込みフラグ有効無効設定のレジスタ値
Yajirushi	0:3807ce385b2a	3106	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3107	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3108	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3109	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3110	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:有効)
Yajirushi	0:3807ce385b2a	3111	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3112	* returns:
Yajirushi	0:3807ce385b2a	3113	* -1 失敗
Yajirushi	0:3807ce385b2a	3114	* 1 成功
Yajirushi	0:3807ce385b2a	3115	*/
Yajirushi	0:3807ce385b2a	3116	char BOARDC_BNO055::setInterruptEnable(char mask){
Yajirushi	0:3807ce385b2a	3117	return ctrl->wr(1, BNO055P1_INT_EN, mask);
Yajirushi	0:3807ce385b2a	3118	}
Yajirushi	0:3807ce385b2a	3119
Yajirushi	0:3807ce385b2a	3120	/* ==================================================================
Yajirushi	0:3807ce385b2a	3121	* 加速度センサーのAnyMotion割り込み発生閾値を取得する
Yajirushi	0:3807ce385b2a	3122	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3123	* 引数ismg: 出力する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3124	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3125	* returns:
Yajirushi	0:3807ce385b2a	3126	* 加速度センサーのAnyMotion割り込み発生閾値
Yajirushi	0:3807ce385b2a	3127	*/
Yajirushi	0:3807ce385b2a	3128	float BOARDC_BNO055::getAccAnyMotionThreashold(bool ismg){
Yajirushi	0:3807ce385b2a	3129	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3130	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3131
Yajirushi	0:3807ce385b2a	3132	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3133	case 0:
Yajirushi	0:3807ce385b2a	3134	scale = 3.91;
Yajirushi	0:3807ce385b2a	3135	break;
Yajirushi	0:3807ce385b2a	3136	case 1:
Yajirushi	0:3807ce385b2a	3137	scale = 7.81;
Yajirushi	0:3807ce385b2a	3138	break;
Yajirushi	0:3807ce385b2a	3139	case 2:
Yajirushi	0:3807ce385b2a	3140	scale = 15.63;
Yajirushi	0:3807ce385b2a	3141	break;
Yajirushi	0:3807ce385b2a	3142	case 3:
Yajirushi	0:3807ce385b2a	3143	scale = 31.25;
Yajirushi	0:3807ce385b2a	3144	break;
Yajirushi	0:3807ce385b2a	3145	}
Yajirushi	0:3807ce385b2a	3146
Yajirushi	0:3807ce385b2a	3147	scale *= (ismg) ? 1.0 : 9.80665;
Yajirushi	0:3807ce385b2a	3148
Yajirushi	0:3807ce385b2a	3149	return (1.0 * ctrl->rr(1, BNO055P1_ACC_AM_THRES)) * scale;
Yajirushi	0:3807ce385b2a	3150	}
Yajirushi	0:3807ce385b2a	3151
Yajirushi	0:3807ce385b2a	3152	/* ==================================================================
Yajirushi	0:3807ce385b2a	3153	* 加速度センサーのAnyMotion割り込み発生閾値を設定する
Yajirushi	0:3807ce385b2a	3154	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3155	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3156	* 引数threashold: 単位変換済みの閾値
Yajirushi	0:3807ce385b2a	3157	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3158	* returns:
Yajirushi	0:3807ce385b2a	3159	* -1 失敗
Yajirushi	0:3807ce385b2a	3160	* 1 成功
Yajirushi	0:3807ce385b2a	3161	*/
Yajirushi	0:3807ce385b2a	3162	char BOARDC_BNO055::setAccAnyMotionThreashold(bool ismg, float threashold){
Yajirushi	0:3807ce385b2a	3163	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3164	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3165
Yajirushi	0:3807ce385b2a	3166	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3167	case 0:
Yajirushi	0:3807ce385b2a	3168	scale = 3.91;
Yajirushi	0:3807ce385b2a	3169	break;
Yajirushi	0:3807ce385b2a	3170	case 1:
Yajirushi	0:3807ce385b2a	3171	scale = 7.81;
Yajirushi	0:3807ce385b2a	3172	break;
Yajirushi	0:3807ce385b2a	3173	case 2:
Yajirushi	0:3807ce385b2a	3174	scale = 15.63;
Yajirushi	0:3807ce385b2a	3175	break;
Yajirushi	0:3807ce385b2a	3176	case 3:
Yajirushi	0:3807ce385b2a	3177	scale = 31.25;
Yajirushi	0:3807ce385b2a	3178	break;
Yajirushi	0:3807ce385b2a	3179	}
Yajirushi	0:3807ce385b2a	3180
Yajirushi	0:3807ce385b2a	3181	scale *= (ismg) ? 1.0 : 9.8;
Yajirushi	0:3807ce385b2a	3182
Yajirushi	0:3807ce385b2a	3183	char cTh = (char)((threashold / scale) + 0.5);
Yajirushi	0:3807ce385b2a	3184
Yajirushi	0:3807ce385b2a	3185	return ctrl->wr(1, BNO055P1_ACC_AM_THRES, cTh);
Yajirushi	0:3807ce385b2a	3186	}
Yajirushi	0:3807ce385b2a	3187
Yajirushi	0:3807ce385b2a	3188	/* ==================================================================
Yajirushi	0:3807ce385b2a	3189	* 加速度センサーの割り込み使用設定を取得する
Yajirushi	0:3807ce385b2a	3190	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3191	* returns:
Yajirushi	0:3807ce385b2a	3192	* 0bit目,1bit目連続発生閾値([1bit目+0bit目+1]回の発生でフラグON)
Yajirushi	0:3807ce385b2a	3193	* 2bit目 AM/NM_X_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3194	* 3bit目 AM/NM_Y_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3195	* 4bit目 AM/NM_Z_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3196	* 5bit目 HG_X_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3197	* 6bit目 HG_Y_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3198	* 7bit目 HG_Z_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3199	*/
Yajirushi	0:3807ce385b2a	3200	char BOARDC_BNO055::getAccInterruptSettings(){
Yajirushi	0:3807ce385b2a	3201	return ctrl->rr(1, BNO055P1_ACC_INT_SETTINGS);
Yajirushi	0:3807ce385b2a	3202	}
Yajirushi	0:3807ce385b2a	3203
Yajirushi	0:3807ce385b2a	3204	/* ==================================================================
Yajirushi	0:3807ce385b2a	3205	* 加速度センサーの割り込み使用設定を設定する
Yajirushi	0:3807ce385b2a	3206	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3207	* 引数settings:
Yajirushi	0:3807ce385b2a	3208	* 0bit目,1bit目連続発生閾値([1bit目+0bit目+1]回の発生でフラグON)
Yajirushi	0:3807ce385b2a	3209	* 2bit目 AM/NM_X_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3210	* 3bit目 AM/NM_Y_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3211	* 4bit目 AM/NM_Z_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3212	* 5bit目 HG_X_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3213	* 6bit目 HG_Y_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3214	* 7bit目 HG_Z_AXISトリガー使用(0:使用しない, 1:使用する)
Yajirushi	0:3807ce385b2a	3215	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3216	* returns:
Yajirushi	0:3807ce385b2a	3217	* -1 失敗
Yajirushi	0:3807ce385b2a	3218	* 1 成功
Yajirushi	0:3807ce385b2a	3219	*/
Yajirushi	0:3807ce385b2a	3220	char BOARDC_BNO055::setAccInterruptSettings(char settings){
Yajirushi	0:3807ce385b2a	3221	return ctrl->wr(1, BNO055P1_ACC_INT_SETTINGS, settings);
Yajirushi	0:3807ce385b2a	3222	}
Yajirushi	0:3807ce385b2a	3223
Yajirushi	0:3807ce385b2a	3224	/* ==================================================================
Yajirushi	0:3807ce385b2a	3225	* 加速度センサーのHighG割り込み閾値を取得する
Yajirushi	0:3807ce385b2a	3226	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3227	* returns:
Yajirushi	0:3807ce385b2a	3228	* HighG割り込み発生閾値[単位:ミリ秒](2ms - 512ms)
Yajirushi	0:3807ce385b2a	3229	*/
Yajirushi	0:3807ce385b2a	3230	unsigned short BOARDC_BNO055::getAccHighGduration(){
Yajirushi	0:3807ce385b2a	3231	return (ctrl->rr(1, BNO055P1_ACC_HG_DURATION) + 1) << 1;
Yajirushi	0:3807ce385b2a	3232	}
Yajirushi	0:3807ce385b2a	3233
Yajirushi	0:3807ce385b2a	3234	/* ==================================================================
Yajirushi	0:3807ce385b2a	3235	* 加速度センサーのHighG割り込み継続発生閾値を設定する
Yajirushi	0:3807ce385b2a	3236	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3237	* 引数ms: HighG割り込み継続発生閾値[単位:ミリ秒](2ms - 512ms)
Yajirushi	0:3807ce385b2a	3238	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3239	* returns:
Yajirushi	0:3807ce385b2a	3240	* -1 失敗
Yajirushi	0:3807ce385b2a	3241	* 1 成功
Yajirushi	0:3807ce385b2a	3242	*/
Yajirushi	0:3807ce385b2a	3243	char BOARDC_BNO055::setAccHighGduration(short ms){
Yajirushi	0:3807ce385b2a	3244	if(ms > 512 \|\| ms < 2) return -1;
Yajirushi	0:3807ce385b2a	3245
Yajirushi	0:3807ce385b2a	3246	ms = (ms >> 1) - 1;
Yajirushi	0:3807ce385b2a	3247
Yajirushi	0:3807ce385b2a	3248	return ctrl->wr(1, BNO055P1_ACC_HG_DURATION, ms & 0xFF);
Yajirushi	0:3807ce385b2a	3249	}
Yajirushi	0:3807ce385b2a	3250
Yajirushi	0:3807ce385b2a	3251	/* ==================================================================
Yajirushi	0:3807ce385b2a	3252	* 加速度センサーのHighG割り込み発生閾値を取得する
Yajirushi	0:3807ce385b2a	3253	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3254	* 引数ismg: 出力する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3255	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3256	* returns:
Yajirushi	0:3807ce385b2a	3257	* HighG割り込み発生閾値
Yajirushi	0:3807ce385b2a	3258	*/
Yajirushi	0:3807ce385b2a	3259	float BOARDC_BNO055::getAccHighGThreashold(bool ismg){
Yajirushi	0:3807ce385b2a	3260	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3261	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3262
Yajirushi	0:3807ce385b2a	3263	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3264	case 0:
Yajirushi	0:3807ce385b2a	3265	scale = 7.81;
Yajirushi	0:3807ce385b2a	3266	break;
Yajirushi	0:3807ce385b2a	3267	case 1:
Yajirushi	0:3807ce385b2a	3268	scale = 15.63;
Yajirushi	0:3807ce385b2a	3269	break;
Yajirushi	0:3807ce385b2a	3270	case 2:
Yajirushi	0:3807ce385b2a	3271	scale = 31.25;
Yajirushi	0:3807ce385b2a	3272	break;
Yajirushi	0:3807ce385b2a	3273	case 3:
Yajirushi	0:3807ce385b2a	3274	scale = 62.5;
Yajirushi	0:3807ce385b2a	3275	break;
Yajirushi	0:3807ce385b2a	3276	}
Yajirushi	0:3807ce385b2a	3277
Yajirushi	0:3807ce385b2a	3278	scale *= (ismg) ? 1.0 : 9.8;
Yajirushi	0:3807ce385b2a	3279
Yajirushi	0:3807ce385b2a	3280	return (1.0 * ctrl->rr(1, BNO055P1_ACC_HG_THRES)) * scale;
Yajirushi	0:3807ce385b2a	3281	}
Yajirushi	0:3807ce385b2a	3282
Yajirushi	0:3807ce385b2a	3283	/* ==================================================================
Yajirushi	0:3807ce385b2a	3284	* 加速度センサーのHighG割り込み発生閾値を設定する
Yajirushi	0:3807ce385b2a	3285	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3286	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3287	* 引数threashold: 単位変換済みの閾値
Yajirushi	0:3807ce385b2a	3288	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3289	* returns:
Yajirushi	0:3807ce385b2a	3290	* -1 失敗
Yajirushi	0:3807ce385b2a	3291	* 1 成功
Yajirushi	0:3807ce385b2a	3292	*/
Yajirushi	0:3807ce385b2a	3293	char BOARDC_BNO055::setAccHighGThreashold(bool ismg, float threashold){
Yajirushi	0:3807ce385b2a	3294	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3295	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3296
Yajirushi	0:3807ce385b2a	3297	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3298	case 0:
Yajirushi	0:3807ce385b2a	3299	scale = 7.81;
Yajirushi	0:3807ce385b2a	3300	break;
Yajirushi	0:3807ce385b2a	3301	case 1:
Yajirushi	0:3807ce385b2a	3302	scale = 15.63;
Yajirushi	0:3807ce385b2a	3303	break;
Yajirushi	0:3807ce385b2a	3304	case 2:
Yajirushi	0:3807ce385b2a	3305	scale = 31.25;
Yajirushi	0:3807ce385b2a	3306	break;
Yajirushi	0:3807ce385b2a	3307	case 3:
Yajirushi	0:3807ce385b2a	3308	scale = 62.5;
Yajirushi	0:3807ce385b2a	3309	break;
Yajirushi	0:3807ce385b2a	3310	}
Yajirushi	0:3807ce385b2a	3311
Yajirushi	0:3807ce385b2a	3312	scale *= (ismg) ? 1.0 : 9.8;
Yajirushi	0:3807ce385b2a	3313
Yajirushi	0:3807ce385b2a	3314	char cTh = (char)((threashold / scale) + 0.5);
Yajirushi	0:3807ce385b2a	3315
Yajirushi	0:3807ce385b2a	3316	return ctrl->wr(1, BNO055P1_ACC_HG_THRES, cTh);
Yajirushi	0:3807ce385b2a	3317	}
Yajirushi	0:3807ce385b2a	3318
Yajirushi	0:3807ce385b2a	3319	/* ==================================================================
Yajirushi	0:3807ce385b2a	3320	* 加速度センサーのNoMotion割り込み発生閾値を取得する
Yajirushi	0:3807ce385b2a	3321	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3322	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3323	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3324	* returns:
Yajirushi	0:3807ce385b2a	3325	* NoMotion割り込み発生閾値
Yajirushi	0:3807ce385b2a	3326	*/
Yajirushi	0:3807ce385b2a	3327	float BOARDC_BNO055::getAccNMThreashold(bool ismg){
Yajirushi	0:3807ce385b2a	3328	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3329	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3330
Yajirushi	0:3807ce385b2a	3331	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3332	case 0:
Yajirushi	0:3807ce385b2a	3333	scale = 3.91;
Yajirushi	0:3807ce385b2a	3334	break;
Yajirushi	0:3807ce385b2a	3335	case 1:
Yajirushi	0:3807ce385b2a	3336	scale = 7.81;
Yajirushi	0:3807ce385b2a	3337	break;
Yajirushi	0:3807ce385b2a	3338	case 2:
Yajirushi	0:3807ce385b2a	3339	scale = 15.63;
Yajirushi	0:3807ce385b2a	3340	break;
Yajirushi	0:3807ce385b2a	3341	case 3:
Yajirushi	0:3807ce385b2a	3342	scale = 31.25;
Yajirushi	0:3807ce385b2a	3343	break;
Yajirushi	0:3807ce385b2a	3344	}
Yajirushi	0:3807ce385b2a	3345
Yajirushi	0:3807ce385b2a	3346	scale *= (ismg) ? 1.0 : 9.8;
Yajirushi	0:3807ce385b2a	3347
Yajirushi	0:3807ce385b2a	3348	return (1.0 * ctrl->rr(1, BNO055P1_ACC_NM_THRES)) * scale;
Yajirushi	0:3807ce385b2a	3349	}
Yajirushi	0:3807ce385b2a	3350
Yajirushi	0:3807ce385b2a	3351	/* ==================================================================
Yajirushi	0:3807ce385b2a	3352	* 加速度センサーのNoMotion割り込み発生閾値を設定する
Yajirushi	0:3807ce385b2a	3353	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3354	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
Yajirushi	0:3807ce385b2a	3355	* 引数threashold: 単位変換済みの閾値
Yajirushi	0:3807ce385b2a	3356	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3357	* returns:
Yajirushi	0:3807ce385b2a	3358	* -1 失敗
Yajirushi	0:3807ce385b2a	3359	* 1 成功
Yajirushi	0:3807ce385b2a	3360	*/
Yajirushi	0:3807ce385b2a	3361	char BOARDC_BNO055::setAccNMThreashold(bool ismg, float threashold){
Yajirushi	0:3807ce385b2a	3362	char rc = getAccConfig();
Yajirushi	0:3807ce385b2a	3363	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3364
Yajirushi	0:3807ce385b2a	3365	switch(rc & 0x03){
Yajirushi	0:3807ce385b2a	3366	case 0:
Yajirushi	0:3807ce385b2a	3367	scale = 3.91;
Yajirushi	0:3807ce385b2a	3368	break;
Yajirushi	0:3807ce385b2a	3369	case 1:
Yajirushi	0:3807ce385b2a	3370	scale = 7.81;
Yajirushi	0:3807ce385b2a	3371	break;
Yajirushi	0:3807ce385b2a	3372	case 2:
Yajirushi	0:3807ce385b2a	3373	scale = 15.63;
Yajirushi	0:3807ce385b2a	3374	break;
Yajirushi	0:3807ce385b2a	3375	case 3:
Yajirushi	0:3807ce385b2a	3376	scale = 31.25;
Yajirushi	0:3807ce385b2a	3377	break;
Yajirushi	0:3807ce385b2a	3378	}
Yajirushi	0:3807ce385b2a	3379
Yajirushi	0:3807ce385b2a	3380	scale *= (ismg) ? 1.0 : 9.8;
Yajirushi	0:3807ce385b2a	3381
Yajirushi	0:3807ce385b2a	3382	char cTh = (char)((threashold / scale) + 0.5);
Yajirushi	0:3807ce385b2a	3383
Yajirushi	0:3807ce385b2a	3384	return ctrl->wr(1, BNO055P1_ACC_NM_THRES, cTh);
Yajirushi	0:3807ce385b2a	3385	}
Yajirushi	0:3807ce385b2a	3386
Yajirushi	0:3807ce385b2a	3387	/* ==================================================================
Yajirushi	0:3807ce385b2a	3388	* 加速度センサーのNoMotion割り込み設定を取得する
Yajirushi	0:3807ce385b2a	3389	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3390	* returns:
Yajirushi	0:3807ce385b2a	3391	* NoMotion割り込み設定値
Yajirushi	0:3807ce385b2a	3392	* 1bit目: スローモーション、ノーモーション選択(0:NoMotion, 1:SlowMotion)
Yajirushi	0:3807ce385b2a	3393	* 2 - 7bit目: slo_no_mot _dur設定値(データシート参照)
Yajirushi	0:3807ce385b2a	3394	*/
Yajirushi	0:3807ce385b2a	3395	char BOARDC_BNO055::getAccNMsetting(){
Yajirushi	0:3807ce385b2a	3396	return ctrl->rr(1, BNO055P1_ACC_NM_SET);
Yajirushi	0:3807ce385b2a	3397	}
Yajirushi	0:3807ce385b2a	3398
Yajirushi	0:3807ce385b2a	3399	/* ==================================================================
Yajirushi	0:3807ce385b2a	3400	* 加速度センサーのNoMotion割り込み設定を設定する
Yajirushi	0:3807ce385b2a	3401	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3402	* 引数setting: NoMotion割り込み設定値
Yajirushi	0:3807ce385b2a	3403	* 1bit目: スローモーション、ノーモーション選択(0:NoMotion, 1:SlowMotion)
Yajirushi	0:3807ce385b2a	3404	* 2 - 7bit目: slo_no_mot _dur設定値(データシート参照)
Yajirushi	0:3807ce385b2a	3405	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3406	* returns:
Yajirushi	0:3807ce385b2a	3407	* -1 失敗
Yajirushi	0:3807ce385b2a	3408	* 1 成功
Yajirushi	0:3807ce385b2a	3409	*/
Yajirushi	0:3807ce385b2a	3410	char BOARDC_BNO055::setAccNMsetting(char setting){
Yajirushi	0:3807ce385b2a	3411	return ctrl->wr(1, BNO055P1_ACC_NM_SET, setting);
Yajirushi	0:3807ce385b2a	3412	}
Yajirushi	0:3807ce385b2a	3413
Yajirushi	0:3807ce385b2a	3414	/* ==================================================================
Yajirushi	0:3807ce385b2a	3415	* 角速度センサーの割り込み設定を取得する
Yajirushi	0:3807ce385b2a	3416	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3417	* returns:
Yajirushi	0:3807ce385b2a	3418	* 角速度センサーの割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3419	*/
Yajirushi	0:3807ce385b2a	3420	char BOARDC_BNO055::getGyroInterruptSettings(){
Yajirushi	0:3807ce385b2a	3421	return ctrl->rr(1, BNO055P1_GYR_INT_SETING);
Yajirushi	0:3807ce385b2a	3422	}
Yajirushi	0:3807ce385b2a	3423
Yajirushi	0:3807ce385b2a	3424	/* ==================================================================
Yajirushi	0:3807ce385b2a	3425	* 角速度センサーの割り込み設定を設定する
Yajirushi	0:3807ce385b2a	3426	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3427	* 引数setting: 角速度センサーの割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3428	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3429	* returns:
Yajirushi	0:3807ce385b2a	3430	* -1 失敗
Yajirushi	0:3807ce385b2a	3431	* 1 成功
Yajirushi	0:3807ce385b2a	3432	*/
Yajirushi	0:3807ce385b2a	3433	char BOARDC_BNO055::setGyroInterruptSettings(char settings){
Yajirushi	0:3807ce385b2a	3434	return ctrl->wr(1, BNO055P1_GYR_INT_SETING, settings);
Yajirushi	0:3807ce385b2a	3435	}
Yajirushi	0:3807ce385b2a	3436
Yajirushi	0:3807ce385b2a	3437	/* ==================================================================
Yajirushi	0:3807ce385b2a	3438	* 角速度センサーのHighRate割り込み設定(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3439	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3440	* 引数setting: 角速度センサーの割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3441	*/
Yajirushi	0:3807ce385b2a	3442	char BOARDC_BNO055::getGyroHighRateXsetting(){
Yajirushi	0:3807ce385b2a	3443	return ctrl->rr(1, BNO055P1_GYR_HR_X_SET);
Yajirushi	0:3807ce385b2a	3444	}
Yajirushi	0:3807ce385b2a	3445
Yajirushi	0:3807ce385b2a	3446	/* ==================================================================
Yajirushi	0:3807ce385b2a	3447	* 角速度センサーのHighRate割り込み設定(X軸のみ、実際の値)を取得する
Yajirushi	0:3807ce385b2a	3448	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3449	* 引数&hyst: アドレス参照引数:関数実行後、この変数にヒステリシスの値が格納される
Yajirushi	0:3807ce385b2a	3450	* 引数&thres: アドレス参照引数:関数実行後、この変数にスレッショルドの値が格納される
Yajirushi	0:3807ce385b2a	3451	*/
Yajirushi	0:3807ce385b2a	3452	void BOARDC_BNO055::getGyroHighRateXsetting_dps(float &hyst, float &thres){
Yajirushi	0:3807ce385b2a	3453	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3454	hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3455	thres = 0.0f;
Yajirushi	0:3807ce385b2a	3456
Yajirushi	0:3807ce385b2a	3457	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3458	case 0:
Yajirushi	0:3807ce385b2a	3459	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3460	thres = 62.5;
Yajirushi	0:3807ce385b2a	3461	break;
Yajirushi	0:3807ce385b2a	3462	case 1:
Yajirushi	0:3807ce385b2a	3463	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3464	thres = 31.25;
Yajirushi	0:3807ce385b2a	3465	break;
Yajirushi	0:3807ce385b2a	3466	case 2:
Yajirushi	0:3807ce385b2a	3467	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3468	thres = 15.62;
Yajirushi	0:3807ce385b2a	3469	break;
Yajirushi	0:3807ce385b2a	3470	case 3:
Yajirushi	0:3807ce385b2a	3471	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3472	thres = 7.81;
Yajirushi	0:3807ce385b2a	3473	break;
Yajirushi	0:3807ce385b2a	3474	case 4:
Yajirushi	0:3807ce385b2a	3475	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3476	thres = 3.90;
Yajirushi	0:3807ce385b2a	3477	break;
Yajirushi	0:3807ce385b2a	3478	}
Yajirushi	0:3807ce385b2a	3479
Yajirushi	0:3807ce385b2a	3480	char val = ctrl->rr(1, BNO055P1_GYR_HR_X_SET);
Yajirushi	0:3807ce385b2a	3481
Yajirushi	0:3807ce385b2a	3482	hyst = (float)((val & 0x60) 1.0);
Yajirushi	0:3807ce385b2a	3483	thres = (float)((val & 0x1F) 1.0);
Yajirushi	0:3807ce385b2a	3484	}
Yajirushi	0:3807ce385b2a	3485
Yajirushi	0:3807ce385b2a	3486	/* ==================================================================
Yajirushi	0:3807ce385b2a	3487	* 角速度センサーのHighRate割り込み設定(X軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3488	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3489	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3490	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3491	* returns:
Yajirushi	0:3807ce385b2a	3492	* -1 失敗
Yajirushi	0:3807ce385b2a	3493	* 1 成功
Yajirushi	0:3807ce385b2a	3494	*/
Yajirushi	0:3807ce385b2a	3495	char BOARDC_BNO055::setGyroHighRateXsetting(char setting){
Yajirushi	0:3807ce385b2a	3496	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, setting);
Yajirushi	0:3807ce385b2a	3497	}
Yajirushi	0:3807ce385b2a	3498
Yajirushi	0:3807ce385b2a	3499	/* ==================================================================
Yajirushi	0:3807ce385b2a	3500	* 角速度センサーのHighRate割り込み設定(X軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3501	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3502	* 引数hystVal: ヒステリシス
Yajirushi	0:3807ce385b2a	3503	* 引数thresVal: スレッショルド
Yajirushi	0:3807ce385b2a	3504	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3505	* returns:
Yajirushi	0:3807ce385b2a	3506	* -1 失敗
Yajirushi	0:3807ce385b2a	3507	* 1 成功
Yajirushi	0:3807ce385b2a	3508	*/
Yajirushi	0:3807ce385b2a	3509	char BOARDC_BNO055::setGyroHighRateXsetting_dps(float hystVal, float thresVal){
Yajirushi	0:3807ce385b2a	3510	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3511	float hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3512	float thres = 0.0f;
Yajirushi	0:3807ce385b2a	3513
Yajirushi	0:3807ce385b2a	3514	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3515	case 0:
Yajirushi	0:3807ce385b2a	3516	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3517	thres = 62.5;
Yajirushi	0:3807ce385b2a	3518	break;
Yajirushi	0:3807ce385b2a	3519	case 1:
Yajirushi	0:3807ce385b2a	3520	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3521	thres = 31.25;
Yajirushi	0:3807ce385b2a	3522	break;
Yajirushi	0:3807ce385b2a	3523	case 2:
Yajirushi	0:3807ce385b2a	3524	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3525	thres = 15.62;
Yajirushi	0:3807ce385b2a	3526	break;
Yajirushi	0:3807ce385b2a	3527	case 3:
Yajirushi	0:3807ce385b2a	3528	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3529	thres = 7.81;
Yajirushi	0:3807ce385b2a	3530	break;
Yajirushi	0:3807ce385b2a	3531	case 4:
Yajirushi	0:3807ce385b2a	3532	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3533	thres = 3.90;
Yajirushi	0:3807ce385b2a	3534	break;
Yajirushi	0:3807ce385b2a	3535	}
Yajirushi	0:3807ce385b2a	3536
Yajirushi	0:3807ce385b2a	3537	char hystChar = (char)((hystVal / hyst) + 0.5);
Yajirushi	0:3807ce385b2a	3538	char thresChar = (char)((thresVal / thres) + 0.5);
Yajirushi	0:3807ce385b2a	3539
Yajirushi	0:3807ce385b2a	3540	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, ((hystChar << 5) \| thresChar));
Yajirushi	0:3807ce385b2a	3541	}
Yajirushi	0:3807ce385b2a	3542
Yajirushi	0:3807ce385b2a	3543	/* ==================================================================
Yajirushi	0:3807ce385b2a	3544	* 角速度センサーのHighRate割り込み継続発生閾値(X軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3545	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3546	* returns:
Yajirushi	0:3807ce385b2a	3547	* HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3548	*/
Yajirushi	0:3807ce385b2a	3549	float BOARDC_BNO055::getGyroHighRateXduration(){
Yajirushi	0:3807ce385b2a	3550	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_X)) * 2.5;
Yajirushi	0:3807ce385b2a	3551	}
Yajirushi	0:3807ce385b2a	3552
Yajirushi	0:3807ce385b2a	3553	/* ==================================================================
Yajirushi	0:3807ce385b2a	3554	* 角速度センサーのHighRate割り込み継続発生閾値(X軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3555	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3556	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3557	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3558	* returns:
Yajirushi	0:3807ce385b2a	3559	* -1 失敗
Yajirushi	0:3807ce385b2a	3560	* 1 成功
Yajirushi	0:3807ce385b2a	3561	*/
Yajirushi	0:3807ce385b2a	3562	char BOARDC_BNO055::setGyroHighRateXduration(float duration){
Yajirushi	0:3807ce385b2a	3563	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
Yajirushi	0:3807ce385b2a	3564	}
Yajirushi	0:3807ce385b2a	3565
Yajirushi	0:3807ce385b2a	3566	/* ==================================================================
Yajirushi	0:3807ce385b2a	3567	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3568	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3569	* returns:
Yajirushi	0:3807ce385b2a	3570	* 角速度センサーのHighRate割り込み設定
Yajirushi	0:3807ce385b2a	3571	*/
Yajirushi	0:3807ce385b2a	3572	char BOARDC_BNO055::getGyroHighRateYsetting(){
Yajirushi	0:3807ce385b2a	3573	return ctrl->rr(1, BNO055P1_GYR_HR_Y_SET);
Yajirushi	0:3807ce385b2a	3574	}
Yajirushi	0:3807ce385b2a	3575
Yajirushi	0:3807ce385b2a	3576	/* ==================================================================
Yajirushi	0:3807ce385b2a	3577	* 角速度センサーのHighRate割り込み設定(Y軸のみ、実際の値)を取得する
Yajirushi	0:3807ce385b2a	3578	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3579	* 引数&hyst: アドレス参照引数:関数実行後、この変数にヒステリシスの値が格納される
Yajirushi	0:3807ce385b2a	3580	* 引数&thres: アドレス参照引数:関数実行後、この変数にスレッショルドの値が格納される
Yajirushi	0:3807ce385b2a	3581	*/
Yajirushi	0:3807ce385b2a	3582	void BOARDC_BNO055::getGyroHighRateYsetting_dps(float &hyst, float &thres){
Yajirushi	0:3807ce385b2a	3583	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3584	hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3585	thres = 0.0f;
Yajirushi	0:3807ce385b2a	3586
Yajirushi	0:3807ce385b2a	3587	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3588	case 0:
Yajirushi	0:3807ce385b2a	3589	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3590	thres = 62.5;
Yajirushi	0:3807ce385b2a	3591	break;
Yajirushi	0:3807ce385b2a	3592	case 1:
Yajirushi	0:3807ce385b2a	3593	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3594	thres = 31.25;
Yajirushi	0:3807ce385b2a	3595	break;
Yajirushi	0:3807ce385b2a	3596	case 2:
Yajirushi	0:3807ce385b2a	3597	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3598	thres = 15.62;
Yajirushi	0:3807ce385b2a	3599	break;
Yajirushi	0:3807ce385b2a	3600	case 3:
Yajirushi	0:3807ce385b2a	3601	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3602	thres = 7.81;
Yajirushi	0:3807ce385b2a	3603	break;
Yajirushi	0:3807ce385b2a	3604	case 4:
Yajirushi	0:3807ce385b2a	3605	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3606	thres = 3.90;
Yajirushi	0:3807ce385b2a	3607	break;
Yajirushi	0:3807ce385b2a	3608	}
Yajirushi	0:3807ce385b2a	3609
Yajirushi	0:3807ce385b2a	3610	char val = ctrl->rr(1, BNO055P1_GYR_HR_Y_SET);
Yajirushi	0:3807ce385b2a	3611
Yajirushi	0:3807ce385b2a	3612	hyst = (float)((val & 0x60) 1.0);
Yajirushi	0:3807ce385b2a	3613	thres = (float)((val & 0x1F) 1.0);
Yajirushi	0:3807ce385b2a	3614	}
Yajirushi	0:3807ce385b2a	3615
Yajirushi	0:3807ce385b2a	3616	/* ==================================================================
Yajirushi	0:3807ce385b2a	3617	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3618	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3619	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3620	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3621	* returns:
Yajirushi	0:3807ce385b2a	3622	* -1 失敗
Yajirushi	0:3807ce385b2a	3623	* 1 成功
Yajirushi	0:3807ce385b2a	3624	*/
Yajirushi	0:3807ce385b2a	3625	char BOARDC_BNO055::setGyroHighRateYsetting(char setting){
Yajirushi	0:3807ce385b2a	3626	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, setting);
Yajirushi	0:3807ce385b2a	3627	}
Yajirushi	0:3807ce385b2a	3628
Yajirushi	0:3807ce385b2a	3629	/* ==================================================================
Yajirushi	0:3807ce385b2a	3630	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3631	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3632	* 引数hystVal: ヒステリシス
Yajirushi	0:3807ce385b2a	3633	* 引数thresVal: スレッショルド
Yajirushi	0:3807ce385b2a	3634	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3635	* returns:
Yajirushi	0:3807ce385b2a	3636	* -1 失敗
Yajirushi	0:3807ce385b2a	3637	* 1 成功
Yajirushi	0:3807ce385b2a	3638	*/
Yajirushi	0:3807ce385b2a	3639	char BOARDC_BNO055::setGyroHighRateYsetting_dps(float hystVal, float thresVal){
Yajirushi	0:3807ce385b2a	3640	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3641	float hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3642	float thres = 0.0f;
Yajirushi	0:3807ce385b2a	3643
Yajirushi	0:3807ce385b2a	3644	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3645	case 0:
Yajirushi	0:3807ce385b2a	3646	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3647	thres = 62.5;
Yajirushi	0:3807ce385b2a	3648	break;
Yajirushi	0:3807ce385b2a	3649	case 1:
Yajirushi	0:3807ce385b2a	3650	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3651	thres = 31.25;
Yajirushi	0:3807ce385b2a	3652	break;
Yajirushi	0:3807ce385b2a	3653	case 2:
Yajirushi	0:3807ce385b2a	3654	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3655	thres = 15.62;
Yajirushi	0:3807ce385b2a	3656	break;
Yajirushi	0:3807ce385b2a	3657	case 3:
Yajirushi	0:3807ce385b2a	3658	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3659	thres = 7.81;
Yajirushi	0:3807ce385b2a	3660	break;
Yajirushi	0:3807ce385b2a	3661	case 4:
Yajirushi	0:3807ce385b2a	3662	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3663	thres = 3.90;
Yajirushi	0:3807ce385b2a	3664	break;
Yajirushi	0:3807ce385b2a	3665	}
Yajirushi	0:3807ce385b2a	3666
Yajirushi	0:3807ce385b2a	3667	char hystChar = (char)((hystVal / hyst) + 0.5);
Yajirushi	0:3807ce385b2a	3668	char thresChar = (char)((thresVal / thres) + 0.5);
Yajirushi	0:3807ce385b2a	3669
Yajirushi	0:3807ce385b2a	3670	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, ((hystChar << 5) \| thresChar));
Yajirushi	0:3807ce385b2a	3671	}
Yajirushi	0:3807ce385b2a	3672
Yajirushi	0:3807ce385b2a	3673	/* ==================================================================
Yajirushi	0:3807ce385b2a	3674	* 角速度センサーのHighRate割り込み継続発生閾値(Y軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3675	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3676	* returns:
Yajirushi	0:3807ce385b2a	3677	* HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3678	*/
Yajirushi	0:3807ce385b2a	3679	float BOARDC_BNO055::getGyroHighRateYduration(){
Yajirushi	0:3807ce385b2a	3680	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_Y)) * 2.5;
Yajirushi	0:3807ce385b2a	3681	}
Yajirushi	0:3807ce385b2a	3682
Yajirushi	0:3807ce385b2a	3683	/* ==================================================================
Yajirushi	0:3807ce385b2a	3684	* 角速度センサーのHighRate割り込み継続発生閾値(Y軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3685	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3686	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3687	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3688	* returns:
Yajirushi	0:3807ce385b2a	3689	* -1 失敗
Yajirushi	0:3807ce385b2a	3690	* 1 成功
Yajirushi	0:3807ce385b2a	3691	*/
Yajirushi	0:3807ce385b2a	3692	char BOARDC_BNO055::setGyroHighRateYduration(float duration){
Yajirushi	0:3807ce385b2a	3693	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
Yajirushi	0:3807ce385b2a	3694	}
Yajirushi	0:3807ce385b2a	3695
Yajirushi	0:3807ce385b2a	3696	/* ==================================================================
Yajirushi	0:3807ce385b2a	3697	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3698	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3699	* returns:
Yajirushi	0:3807ce385b2a	3700	* 角速度センサーのHighRate割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3701	*/
Yajirushi	0:3807ce385b2a	3702	char BOARDC_BNO055::getGyroHighRateZsetting(){
Yajirushi	0:3807ce385b2a	3703	return ctrl->rr(1, BNO055P1_GYR_HR_Z_SET);
Yajirushi	0:3807ce385b2a	3704	}
Yajirushi	0:3807ce385b2a	3705
Yajirushi	0:3807ce385b2a	3706	/* ==================================================================
Yajirushi	0:3807ce385b2a	3707	* 角速度センサーのHighRate割り込み設定(Z軸のみ、実際の値)を取得する
Yajirushi	0:3807ce385b2a	3708	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3709	* 引数&hyst: アドレス参照引数:関数実行後、この変数にヒステリシスの値が格納される
Yajirushi	0:3807ce385b2a	3710	* 引数&thres: アドレス参照引数:関数実行後、この変数にスレッショルドの値が格納される
Yajirushi	0:3807ce385b2a	3711	*/
Yajirushi	0:3807ce385b2a	3712	void BOARDC_BNO055::getGyroHighRateZsetting_dps(float &hyst, float &thres){
Yajirushi	0:3807ce385b2a	3713	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3714	hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3715	thres = 0.0f;
Yajirushi	0:3807ce385b2a	3716
Yajirushi	0:3807ce385b2a	3717	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3718	case 0:
Yajirushi	0:3807ce385b2a	3719	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3720	thres = 62.5;
Yajirushi	0:3807ce385b2a	3721	break;
Yajirushi	0:3807ce385b2a	3722	case 1:
Yajirushi	0:3807ce385b2a	3723	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3724	thres = 31.25;
Yajirushi	0:3807ce385b2a	3725	break;
Yajirushi	0:3807ce385b2a	3726	case 2:
Yajirushi	0:3807ce385b2a	3727	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3728	thres = 15.62;
Yajirushi	0:3807ce385b2a	3729	break;
Yajirushi	0:3807ce385b2a	3730	case 3:
Yajirushi	0:3807ce385b2a	3731	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3732	thres = 7.81;
Yajirushi	0:3807ce385b2a	3733	break;
Yajirushi	0:3807ce385b2a	3734	case 4:
Yajirushi	0:3807ce385b2a	3735	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3736	thres = 3.90;
Yajirushi	0:3807ce385b2a	3737	break;
Yajirushi	0:3807ce385b2a	3738	}
Yajirushi	0:3807ce385b2a	3739
Yajirushi	0:3807ce385b2a	3740	char val = ctrl->rr(1, BNO055P1_GYR_HR_Z_SET);
Yajirushi	0:3807ce385b2a	3741
Yajirushi	0:3807ce385b2a	3742	hyst = (float)((val & 0x60) 1.0);
Yajirushi	0:3807ce385b2a	3743	thres = (float)((val & 0x1F) 1.0);
Yajirushi	0:3807ce385b2a	3744	}
Yajirushi	0:3807ce385b2a	3745
Yajirushi	0:3807ce385b2a	3746	/* ==================================================================
Yajirushi	0:3807ce385b2a	3747	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3748	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3749	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3750	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3751	* returns:
Yajirushi	0:3807ce385b2a	3752	* -1 失敗
Yajirushi	0:3807ce385b2a	3753	* 1 成功
Yajirushi	0:3807ce385b2a	3754	*/
Yajirushi	0:3807ce385b2a	3755	char BOARDC_BNO055::setGyroHighRateZsetting(char setting){
Yajirushi	0:3807ce385b2a	3756	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, setting);
Yajirushi	0:3807ce385b2a	3757	}
Yajirushi	0:3807ce385b2a	3758
Yajirushi	0:3807ce385b2a	3759	/* ==================================================================
Yajirushi	0:3807ce385b2a	3760	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3761	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3762	* 引数hystVal: ヒステリシス
Yajirushi	0:3807ce385b2a	3763	* 引数thresVal: スレッショルド
Yajirushi	0:3807ce385b2a	3764	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3765	* returns:
Yajirushi	0:3807ce385b2a	3766	* -1 失敗
Yajirushi	0:3807ce385b2a	3767	* 1 成功
Yajirushi	0:3807ce385b2a	3768	*/
Yajirushi	0:3807ce385b2a	3769	char BOARDC_BNO055::setGyroHighRateZsetting_dps(float hystVal, float thresVal){
Yajirushi	0:3807ce385b2a	3770	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3771	float hyst = 0.0f;
Yajirushi	0:3807ce385b2a	3772	float thres = 0.0f;
Yajirushi	0:3807ce385b2a	3773
Yajirushi	0:3807ce385b2a	3774	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3775	case 0:
Yajirushi	0:3807ce385b2a	3776	hyst = 62.26;
Yajirushi	0:3807ce385b2a	3777	thres = 62.5;
Yajirushi	0:3807ce385b2a	3778	break;
Yajirushi	0:3807ce385b2a	3779	case 1:
Yajirushi	0:3807ce385b2a	3780	hyst = 31.13;
Yajirushi	0:3807ce385b2a	3781	thres = 31.25;
Yajirushi	0:3807ce385b2a	3782	break;
Yajirushi	0:3807ce385b2a	3783	case 2:
Yajirushi	0:3807ce385b2a	3784	hyst = 15.56;
Yajirushi	0:3807ce385b2a	3785	thres = 15.62;
Yajirushi	0:3807ce385b2a	3786	break;
Yajirushi	0:3807ce385b2a	3787	case 3:
Yajirushi	0:3807ce385b2a	3788	hyst = 7.78;
Yajirushi	0:3807ce385b2a	3789	thres = 7.81;
Yajirushi	0:3807ce385b2a	3790	break;
Yajirushi	0:3807ce385b2a	3791	case 4:
Yajirushi	0:3807ce385b2a	3792	hyst = 3.89;
Yajirushi	0:3807ce385b2a	3793	thres = 3.90;
Yajirushi	0:3807ce385b2a	3794	break;
Yajirushi	0:3807ce385b2a	3795	}
Yajirushi	0:3807ce385b2a	3796
Yajirushi	0:3807ce385b2a	3797	char hystChar = (char)((hystVal / hyst) + 0.5);
Yajirushi	0:3807ce385b2a	3798	char thresChar = (char)((thresVal / thres) + 0.5);
Yajirushi	0:3807ce385b2a	3799
Yajirushi	0:3807ce385b2a	3800	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, ((hystChar << 5) \| thresChar));
Yajirushi	0:3807ce385b2a	3801	}
Yajirushi	0:3807ce385b2a	3802
Yajirushi	0:3807ce385b2a	3803	/* ==================================================================
Yajirushi	0:3807ce385b2a	3804	* 角速度センサーのHighRate割り込み継続発生閾値(Z軸のみ)を取得する
Yajirushi	0:3807ce385b2a	3805	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3806	* returns:
Yajirushi	0:3807ce385b2a	3807	* HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3808	*/
Yajirushi	0:3807ce385b2a	3809	float BOARDC_BNO055::getGyroHighRateZduration(){
Yajirushi	0:3807ce385b2a	3810	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_Z)) * 2.5;
Yajirushi	0:3807ce385b2a	3811	}
Yajirushi	0:3807ce385b2a	3812
Yajirushi	0:3807ce385b2a	3813	/* ==================================================================
Yajirushi	0:3807ce385b2a	3814	* 角速度センサーのHighRate割り込み継続発生閾値(Z軸のみ)を設定する
Yajirushi	0:3807ce385b2a	3815	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3816	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
Yajirushi	0:3807ce385b2a	3817	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3818	* returns:
Yajirushi	0:3807ce385b2a	3819	* -1 失敗
Yajirushi	0:3807ce385b2a	3820	* 1 成功
Yajirushi	0:3807ce385b2a	3821	*/
Yajirushi	0:3807ce385b2a	3822	char BOARDC_BNO055::setGyroHighRateZduration(float duration){
Yajirushi	0:3807ce385b2a	3823	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
Yajirushi	0:3807ce385b2a	3824	}
Yajirushi	0:3807ce385b2a	3825
Yajirushi	0:3807ce385b2a	3826	/* ==================================================================
Yajirushi	0:3807ce385b2a	3827	* 角速度センサーのAnyMotion割り込み閾値を取得する
Yajirushi	0:3807ce385b2a	3828	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3829	* returns:
Yajirushi	0:3807ce385b2a	3830	* AnyMotion割り込み閾値[単位:dps]
Yajirushi	0:3807ce385b2a	3831	*/
Yajirushi	0:3807ce385b2a	3832	float BOARDC_BNO055::getGyroAnyMotionThreashold(){
Yajirushi	0:3807ce385b2a	3833	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3834	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3835
Yajirushi	0:3807ce385b2a	3836	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3837	case 0:
Yajirushi	0:3807ce385b2a	3838	scale = 1.0f;
Yajirushi	0:3807ce385b2a	3839	break;
Yajirushi	0:3807ce385b2a	3840	case 1:
Yajirushi	0:3807ce385b2a	3841	scale = 0.5;
Yajirushi	0:3807ce385b2a	3842	break;
Yajirushi	0:3807ce385b2a	3843	case 2:
Yajirushi	0:3807ce385b2a	3844	scale = 0.25;
Yajirushi	0:3807ce385b2a	3845	break;
Yajirushi	0:3807ce385b2a	3846	case 3:
Yajirushi	0:3807ce385b2a	3847	scale = 0.125;
Yajirushi	0:3807ce385b2a	3848	break;
Yajirushi	0:3807ce385b2a	3849	case 4:
Yajirushi	0:3807ce385b2a	3850	scale = 0.0625;
Yajirushi	0:3807ce385b2a	3851	break;
Yajirushi	0:3807ce385b2a	3852	}
Yajirushi	0:3807ce385b2a	3853
Yajirushi	0:3807ce385b2a	3854	return (1.0f * ctrl->rr(1, BNO055P1_GYR_AM_THRES)) * scale;
Yajirushi	0:3807ce385b2a	3855	}
Yajirushi	0:3807ce385b2a	3856
Yajirushi	0:3807ce385b2a	3857	/* ==================================================================
Yajirushi	0:3807ce385b2a	3858	* 角速度センサーのAnyMotion割り込み閾値を設定する
Yajirushi	0:3807ce385b2a	3859	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3860	* 引数threashold: AnyMotion割り込み閾値[単位:dps]
Yajirushi	0:3807ce385b2a	3861	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3862	* returns:
Yajirushi	0:3807ce385b2a	3863	* -1 失敗
Yajirushi	0:3807ce385b2a	3864	* 1 成功
Yajirushi	0:3807ce385b2a	3865	*/
Yajirushi	0:3807ce385b2a	3866	char BOARDC_BNO055::setGyroAnyMotionThreashold(float threashold){
Yajirushi	0:3807ce385b2a	3867	char r = getGyroConfig_0();
Yajirushi	0:3807ce385b2a	3868	float scale = 0.0f;
Yajirushi	0:3807ce385b2a	3869
Yajirushi	0:3807ce385b2a	3870	switch(r & 0x07){
Yajirushi	0:3807ce385b2a	3871	case 0:
Yajirushi	0:3807ce385b2a	3872	scale = 1.0f;
Yajirushi	0:3807ce385b2a	3873	break;
Yajirushi	0:3807ce385b2a	3874	case 1:
Yajirushi	0:3807ce385b2a	3875	scale = 0.5;
Yajirushi	0:3807ce385b2a	3876	break;
Yajirushi	0:3807ce385b2a	3877	case 2:
Yajirushi	0:3807ce385b2a	3878	scale = 0.25;
Yajirushi	0:3807ce385b2a	3879	break;
Yajirushi	0:3807ce385b2a	3880	case 3:
Yajirushi	0:3807ce385b2a	3881	scale = 0.125;
Yajirushi	0:3807ce385b2a	3882	break;
Yajirushi	0:3807ce385b2a	3883	case 4:
Yajirushi	0:3807ce385b2a	3884	scale = 0.0625;
Yajirushi	0:3807ce385b2a	3885	break;
Yajirushi	0:3807ce385b2a	3886	}
Yajirushi	0:3807ce385b2a	3887
Yajirushi	0:3807ce385b2a	3888	return ctrl->wr(1, BNO055P1_GYR_AM_THRES, (char)((threashold / scale) + 0.5));
Yajirushi	0:3807ce385b2a	3889	}
Yajirushi	0:3807ce385b2a	3890
Yajirushi	0:3807ce385b2a	3891	/* ==================================================================
Yajirushi	0:3807ce385b2a	3892	* 加速度センサーのAnyMotion割り込み閾値を取得する
Yajirushi	0:3807ce385b2a	3893	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3894	* returns:
Yajirushi	0:3807ce385b2a	3895	* AnyMotion割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3896	*/
Yajirushi	0:3807ce385b2a	3897	char BOARDC_BNO055::getAccAnyMotionSetting(){
Yajirushi	0:3807ce385b2a	3898	return ctrl->rr(1, BNO055P1_GYR_AM_SET);
Yajirushi	0:3807ce385b2a	3899	}
Yajirushi	0:3807ce385b2a	3900
Yajirushi	0:3807ce385b2a	3901	/* ==================================================================
Yajirushi	0:3807ce385b2a	3902	* 加速度センサーのAnyMotion割り込み閾値を設定する
Yajirushi	0:3807ce385b2a	3903	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3904	* 引数setting: AnyMotion割り込み設定レジスタ値
Yajirushi	0:3807ce385b2a	3905	* ------------------------------------------------------------------
Yajirushi	0:3807ce385b2a	3906	* returns:
Yajirushi	0:3807ce385b2a	3907	* -1 失敗
Yajirushi	0:3807ce385b2a	3908	* 1 成功
Yajirushi	0:3807ce385b2a	3909	*/
Yajirushi	0:3807ce385b2a	3910	char BOARDC_BNO055::setAccAnyMotionSetting(char setting){
Yajirushi	0:3807ce385b2a	3911	return ctrl->wr(1, BNO055P1_GYR_AM_SET, setting);
Yajirushi	0:3807ce385b2a	3912	}

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Type:	Library
Created:	29 Nov 2016
Imports:	85
Forks:	0
Commits:	6
Dependents:	4
Dependencies:	0
Followers:	4

BNO055.cpp@2:e8bc1ae2c20c, 2017-06-25 (annotated)

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