Bosch BNO055 IMU library fork
Dependents: Orion_newPCB_test_LV Orion_PCB_test_Faulhaber_gr41_wptcmd_V1
Fork of BNO055 by
Diff: BNO055.cpp
- Revision:
- 1:2c3322a8d417
- Parent:
- 0:24f23c36dd24
- Child:
- 2:695c6e5d239a
--- a/BNO055.cpp Thu May 28 19:22:25 2015 +0000 +++ b/BNO055.cpp Sat May 30 18:36:36 2015 +0000 @@ -8,7 +8,7 @@ accel_scale = 1.0f; rate_scale = 1.0f/16.0f; angle_scale = 1.0f/16.0f; - temp_scale = 1.0f; + temp_scale = 1; } void BNO055::reset(){ @@ -93,16 +93,23 @@ void BNO055::set_temp_units(char units){ readchar(BNO055_UNIT_SEL_ADDR); if (units == CENTIGRADE){ - rx = rx & 0x7F; - temp_scale = 1.0f; + rx = rx & 0xEF; + temp_scale = 1; } else { rx = rx | units; - temp_scale = 2.0f; + temp_scale = 2; } writechar(BNO055_UNIT_SEL_ADDR,rx); } +void BNO055::set_orientation(char units){ + readchar(BNO055_UNIT_SEL_ADDR); + if (units == WINDOWS) rx = rx &0x7F; + else rx = rx | units; + writechar(BNO055_UNIT_SEL_ADDR,rx); +} + void BNO055::setmode(char omode){ writechar(BNO055_OPR_MODE_ADDR,omode); op_mode = omode; @@ -173,7 +180,88 @@ gravity.z = float(gravity.rawz)*accel_scale; } +void BNO055::get_quat(void){ + tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address+1,rawdata,8,0); + quat.raww = (rawdata[1] << 8 | rawdata[0]); + quat.rawx = (rawdata[3] << 8 | rawdata[2]); + quat.rawy = (rawdata[5] << 8 | rawdata[4]); + quat.rawz = (rawdata[7] << 8 | rawdata[6]); + quat.w = float(quat.raww)/16384.0f; + quat.x = float(quat.rawx)/16384.0f; + quat.y = float(quat.rawy)/16384.0f; + quat.z = float(quat.rawz)/16384.0f; +} + +void BNO055::get_temp(void){ + readchar(BNO055_TEMP_ADDR); + temperature = rx / temp_scale; +} + void BNO055::get_calib(void){ readchar(BNO055_CALIB_STAT_ADDR); calib = rx; +} + +void BNO055::read_calibration_data(void){ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.read(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::write_calibration_data(void){ + char tempmode = op_mode; + setmode(OPERATION_MODE_CONFIG); + wait_ms(20); + tx[0] = ACCEL_OFFSET_X_LSB_ADDR; + _i2c.write(address,tx,1,true); + _i2c.write(address,calibration,22,false); + setmode(tempmode); + wait_ms(10); +} + +void BNO055::set_mapping(char orient){ + switch (orient){ + case 0: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04); + break; + case 1: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 2: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + break; + case 3: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02); + break; + case 4: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03); + break; + case 5: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01); + break; + case 6: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07); + break; + case 7: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05); + break; + default: + writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24); + writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00); + } } \ No newline at end of file