Ryota Yamamoto
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
Diff: BNO055.cpp
- Revision:
- 3:363ec3772dce
- Parent:
- 1:7dbc931127c0
- Child:
- 4:9efb4abafd2e
--- a/BNO055.cpp Tue May 30 07:07:35 2017 +0000
+++ b/BNO055.cpp Sun Jun 25 05:10:27 2017 +0000
@@ -45,7 +45,7 @@
*/
void BNO055_CTRL::init(){}
char BNO055_CTRL::rr(bool isPage1, char regAddr){return 0;}
-char BNO055_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){return 0;}
+char BNO055_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){return 0;}
char BNO055_CTRL::wr(bool isPage1, char regAddr, char wBytes){return 0;}
char BNO055_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){return 0;}
@@ -172,7 +172,7 @@
* -4 レスポンスエラー
* それ以外 成功した際の戻り値バイト数
*/
-char BNO055_UART_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){
+char BNO055_UART_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){
//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
if(length < 1 || length > BNO055_UART_BUF_MAXLEN) return -1;
@@ -497,7 +497,7 @@
* <I2C>
* レジスタの内容を読み取り(複数可)
*/
-char BNO055_I2C_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){
+char BNO055_I2C_CTRL::rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length){
//読み取りバイト数が1未満
if(length < 1) return -1;
@@ -511,7 +511,7 @@
ary[0] = startRegAddr;
iface->write(i2c_writeAddr, ary, 1, true);
- iface->read(i2c_readAddr, receiveBytes, length, false);
+ iface->read(i2c_readAddr, (char *)receiveBytes, length, false);
return receiveBytes[0];
}
@@ -727,7 +727,7 @@
* ユーザー定義読み取り(連続)
* レジスタを指定して値を直接読み取る
*/
-char BOARDC_BNO055::customReadC(bool isPage1, char startRegAddr, char *receiveBytes, unsigned char length){
+char BOARDC_BNO055::customReadC(bool isPage1, char startRegAddr, unsigned char *receiveBytes, unsigned char length){
return ctrl->rrc(isPage1, startRegAddr, receiveBytes, length);
}
@@ -798,7 +798,7 @@
*/
short BOARDC_BNO055::getRevision(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_SW_REV_ID_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -877,7 +877,7 @@
*/
void BOARDC_BNO055::getAccDataAll(short &accX, short &accY, short &accZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 6);
accX = (rsv[1] << 8) | rsv[0];
@@ -890,7 +890,7 @@
*/
short BOARDC_BNO055::getAccDataX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -901,7 +901,7 @@
*/
short BOARDC_BNO055::getAccDataY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_DATA_Y_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -912,7 +912,7 @@
*/
short BOARDC_BNO055::getAccDataZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_DATA_Z_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -927,7 +927,7 @@
*/
void BOARDC_BNO055::getMagDataAll(short &magX, short &magY, short &magZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 6);
magX = (rsv[1] << 8) | rsv[0];
@@ -940,7 +940,7 @@
*/
short BOARDC_BNO055::getMagDataX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -951,7 +951,7 @@
*/
short BOARDC_BNO055::getMagDataY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_DATA_Y_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -962,7 +962,7 @@
*/
short BOARDC_BNO055::getMagDataZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_DATA_Z_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -977,7 +977,7 @@
*/
void BOARDC_BNO055::getGyroDataAll(short &gyroX, short &gyroY, short &gyroZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 6);
gyroX = (rsv[1] << 8) | rsv[0];
@@ -990,7 +990,7 @@
*/
short BOARDC_BNO055::getGyroDataX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1001,7 +1001,7 @@
*/
short BOARDC_BNO055::getGyroDataY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_DATA_Y_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1012,7 +1012,7 @@
*/
short BOARDC_BNO055::getGyroDataZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_DATA_Z_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1030,7 +1030,7 @@
*/
void BOARDC_BNO055::getEulerDataAll(short &E_heading, short &E_roll, short &E_pitch){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 6);
E_heading = (rsv[1] << 8) | rsv[0];
@@ -1044,7 +1044,7 @@
*/
short BOARDC_BNO055::getEulerDataHeading(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1064,7 +1064,7 @@
*/
short BOARDC_BNO055::getEulerDataRoll(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_EUL_ROLL_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1076,7 +1076,7 @@
*/
short BOARDC_BNO055::getEulerDataPitch(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_EUL_PITCH_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1086,7 +1086,7 @@
* FusionSensing:9軸センサーのすべての値の値を取得する
*/
void BOARDC_BNO055::get9Axis(short *box){
- char rsv[18];
+ unsigned char rsv[18];
ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 18);
box[0] = (rsv[1] << 8) | rsv[0];
@@ -1105,7 +1105,7 @@
* 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
*/
void BOARDC_BNO055::get9AxisAndEUL(short *box){
- char rsv[24];
+ unsigned char rsv[24];
ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 24);
box[0] = (rsv[1] << 8) | rsv[0];
@@ -1130,7 +1130,7 @@
*/
void BOARDC_BNO055::getQuaternion(short &q1, short &q2, short &q3, short &q4){
//連続8byte読み取り
- char rsv[8];
+ unsigned char rsv[8];
ctrl->rrc(0, BNO055P0_QUA_DATA_W_LSB, rsv, 8);
q1 = (rsv[1] << 8) | rsv[0];
@@ -1148,7 +1148,7 @@
*/
void BOARDC_BNO055::getEulerFromQ(double &E_heading, double &E_roll, double &E_pitch){
//連続8byte読み取り
- char rsv[8];
+ unsigned char rsv[8];
ctrl->rrc(0, BNO055P0_QUA_DATA_W_LSB, rsv, 8);
//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・・・)
@@ -1186,7 +1186,7 @@
*/
void BOARDC_BNO055::getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 6);
L_accX = (rsv[1] << 8) | rsv[0];
@@ -1199,7 +1199,7 @@
*/
short BOARDC_BNO055::getLinearAccDataX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1210,7 +1210,7 @@
*/
short BOARDC_BNO055::getLinearAccDataY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_LIA_DATA_Y_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1221,7 +1221,7 @@
*/
short BOARDC_BNO055::getLinearAccDataZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_LIA_DATA_Z_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1236,7 +1236,7 @@
*/
void BOARDC_BNO055::getGVectorDataAll(short &gvX, short &gvY, short &gvZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 6);
gvX = (rsv[1] << 8) | rsv[0];
@@ -1249,7 +1249,7 @@
*/
short BOARDC_BNO055::getGVectorDataX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1260,7 +1260,7 @@
*/
short BOARDC_BNO055::getGVectorDataY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GRV_DATA_Y_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -1271,7 +1271,7 @@
*/
short BOARDC_BNO055::getGVectorDataZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GRV_DATA_Z_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -2284,7 +2284,7 @@
*/
void BOARDC_BNO055::getAccOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 6);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2303,7 +2303,7 @@
*/
float BOARDC_BNO055::getAccOffsetX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 2);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2318,7 +2318,7 @@
*/
float BOARDC_BNO055::getAccOffsetY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_OFFSET_Y_LSB, rsv, 2);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2333,7 +2333,7 @@
*/
float BOARDC_BNO055::getAccOffsetZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_OFFSET_Z_LSB, rsv, 2);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2406,7 +2406,7 @@
*/
void BOARDC_BNO055::getMagOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 6);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2425,7 +2425,7 @@
*/
float BOARDC_BNO055::getMagOffsetX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 2);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2440,7 +2440,7 @@
*/
float BOARDC_BNO055::getMagOffsetY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_OFFSET_Y_LSB, rsv, 2);
short offY = (rsv[1] << 8) | rsv[0];
@@ -2455,7 +2455,7 @@
*/
float BOARDC_BNO055::getMagOffsetZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_OFFSET_Z_LSB, rsv, 2);
short offZ = (rsv[1] << 8) | rsv[0];
@@ -2555,7 +2555,7 @@
*/
void BOARDC_BNO055::getGyroOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
//連続6byte読み取り
- char rsv[6];
+ unsigned char rsv[6];
ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 6);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2574,7 +2574,7 @@
*/
float BOARDC_BNO055::getGyroOffsetX(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 2);
short offX = (rsv[1] << 8) | rsv[0];
@@ -2589,7 +2589,7 @@
*/
float BOARDC_BNO055::getGyroOffsetY(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_OFFSET_Y_LSB, rsv, 2);
short offY = (rsv[1] << 8) | rsv[0];
@@ -2604,7 +2604,7 @@
*/
float BOARDC_BNO055::getGyroOffsetZ(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_GYR_OFFSET_Z_LSB, rsv, 2);
short offZ = (rsv[1] << 8) | rsv[0];
@@ -2703,7 +2703,7 @@
*/
short BOARDC_BNO055::getAccRadius(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_ACC_RADIUS_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];
@@ -2738,7 +2738,7 @@
*/
short BOARDC_BNO055::getMagRadius(){
//連続2byte読み取り
- char rsv[2];
+ unsigned char rsv[2];
ctrl->rrc(0, BNO055P0_MAG_RADIUS_LSB, rsv, 2);
return (rsv[1] << 8) | rsv[0];