Ryota Yamamoto / BOARDC_BNO055

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Dependents:   BNO055_BME280_ Yabusame2_gyro GRhanawaizman test_deg_read

Diff: BNO055.h

Revision:
2:e8bc1ae2c20c
Parent:
0:3807ce385b2a
diff -r 3807ce385b2a -r e8bc1ae2c20c BNO055.h
--- a/BNO055.h	Tue Nov 29 02:57:08 2016 +0000
+++ b/BNO055.h	Sun Jun 25 05:02:39 2017 +0000
@@ -138,7 +138,7 @@
     char getLastLength();
     virtual void init();
     virtual char rr(bool isPage1, char regAddr);
-    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length);
     virtual char wr(bool isPage1, char regAddr, char wBytes);
     virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
 };
@@ -156,7 +156,7 @@
 public:
     virtual void init();
     virtual char rr(bool isPage1, char regAddr);
-    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length);
     virtual char wr(bool isPage1, char regAddr, char wBytes);
     virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
 };
@@ -173,7 +173,7 @@
 public:
     virtual void init();
     virtual char rr(bool isPage1, char regAddr);
-    virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
+    virtual char rrc(bool isPage1, char startRegAddr, unsigned char *receiveBytes, char length);
     virtual char wr(bool isPage1, char regAddr, char wBytes);
     virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
 };
@@ -206,7 +206,7 @@
     char getIfaceLastLength();
 
     char customRead(bool isPage1, char regAddr);
-    char customReadC(bool isPage1, char startRegAddr, char *receiveBytes, unsigned char length);
+    char customReadC(bool isPage1, char startRegAddr, unsigned char *receiveBytes, unsigned char length);
     char customWrite(bool isPage1, char regAddr, char wBytes);
     char customWriteC(bool isPage1, char startRegAddr, char *Bytes, unsigned char length);
 
@@ -255,6 +255,7 @@
     void get9AxisAndEUL(short *box);
 
     void getQuaternion(short &q1, short &q2, short &q3, short &q4);
+    void getEulerFromQ(double &E_heading, double &E_roll, double &E_pitch);
 
     void getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ);
     short getLinearAccDataX();