17robo_fuzi - ライブラリ化を行った後

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kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

ライブラリ化を行った後

Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo

Fork of 17robo_Practice1 by kusano kiyoshige

bno055_lib.h@0:bf96e953cdb8, 2017-06-26 (annotated)

Committer:: echo_piyo
Date:: Mon Jun 26 09:59:14 2017 +0000
Revision:: 0:bf96e953cdb8

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Who changed what in which revision?

User	Revision	Line number	New contents of line
echo_piyo	0:bf96e953cdb8	1	#ifndef BNO055_H
echo_piyo	0:bf96e953cdb8	2	#define BNO055_H
echo_piyo	0:bf96e953cdb8	3
echo_piyo	0:bf96e953cdb8	4	//UART通信に使用するバッファの最大サイズ
echo_piyo	0:bf96e953cdb8	5	#define BNO055_UART_BUF_MAXLEN 24 //[byte]
echo_piyo	0:bf96e953cdb8	6	//I2Cデフォルトスレーブアドレス
echo_piyo	0:bf96e953cdb8	7	#define BNO055_I2C_DEFADDR 0x28
echo_piyo	0:bf96e953cdb8	8
echo_piyo	0:bf96e953cdb8	9	#define BNO055_PAGE_ID 0x07
echo_piyo	0:bf96e953cdb8	10
echo_piyo	0:bf96e953cdb8	11	#define BNO055P0_CHIP_ID 0x00
echo_piyo	0:bf96e953cdb8	12	#define BNO055P0_ACC_ID 0x01
echo_piyo	0:bf96e953cdb8	13	#define BNO055P0_MAG_ID 0x02
echo_piyo	0:bf96e953cdb8	14	#define BNO055P0_GYR_ID 0x03
echo_piyo	0:bf96e953cdb8	15	#define BNO055P0_SW_REV_ID_LSB 0x04
echo_piyo	0:bf96e953cdb8	16	#define BNO055P0_SW_REV_ID_MSB 0x05
echo_piyo	0:bf96e953cdb8	17	#define BNO055P0_BL_REV_ID 0x06
echo_piyo	0:bf96e953cdb8	18	#define BNO055P0_ACC_DATA_X_LSB 0x08
echo_piyo	0:bf96e953cdb8	19	#define BNO055P0_ACC_DATA_X_MSB 0x09
echo_piyo	0:bf96e953cdb8	20	#define BNO055P0_ACC_DATA_Y_LSB 0x0A
echo_piyo	0:bf96e953cdb8	21	#define BNO055P0_ACC_DATA_Y_MSB 0x0B
echo_piyo	0:bf96e953cdb8	22	#define BNO055P0_ACC_DATA_Z_LSB 0x0C
echo_piyo	0:bf96e953cdb8	23	#define BNO055P0_ACC_DATA_Z_MSB 0x0D
echo_piyo	0:bf96e953cdb8	24	#define BNO055P0_MAG_DATA_X_LSB 0x0E
echo_piyo	0:bf96e953cdb8	25	#define BNO055P0_MAG_DATA_X_MSB 0x0F
echo_piyo	0:bf96e953cdb8	26	#define BNO055P0_MAG_DATA_Y_LSB 0x10
echo_piyo	0:bf96e953cdb8	27	#define BNO055P0_MAG_DATA_Y_MSB 0x11
echo_piyo	0:bf96e953cdb8	28	#define BNO055P0_MAG_DATA_Z_LSB 0x12
echo_piyo	0:bf96e953cdb8	29	#define BNO055P0_MAG_DATA_Z_MSB 0x13
echo_piyo	0:bf96e953cdb8	30	#define BNO055P0_GYR_DATA_X_LSB 0x14
echo_piyo	0:bf96e953cdb8	31	#define BNO055P0_GYR_DATA_X_MSB 0x15
echo_piyo	0:bf96e953cdb8	32	#define BNO055P0_GYR_DATA_Y_LSB 0x16
echo_piyo	0:bf96e953cdb8	33	#define BNO055P0_GYR_DATA_Y_MSB 0x17
echo_piyo	0:bf96e953cdb8	34	#define BNO055P0_GYR_DATA_Z_LSB 0x18
echo_piyo	0:bf96e953cdb8	35	#define BNO055P0_GYR_DATA_Z_MSB 0x19
echo_piyo	0:bf96e953cdb8	36	#define BNO055P0_EUL_HEADING_LSB 0x1A
echo_piyo	0:bf96e953cdb8	37	#define BNO055P0_EUL_HEADING_MSB 0x1B
echo_piyo	0:bf96e953cdb8	38	#define BNO055P0_EUL_ROLL_LSB 0x1C
echo_piyo	0:bf96e953cdb8	39	#define BNO055P0_EUL_ROLL_MSB 0x1D
echo_piyo	0:bf96e953cdb8	40	#define BNO055P0_EUL_PITCH_LSB 0x1E
echo_piyo	0:bf96e953cdb8	41	#define BNO055P0_EUL_PITCH_MSB 0x1F
echo_piyo	0:bf96e953cdb8	42	#define BNO055P0_QUA_DATA_W_LSB 0x20
echo_piyo	0:bf96e953cdb8	43	#define BNO055P0_QUA_DATA_W_MSB 0x21
echo_piyo	0:bf96e953cdb8	44	#define BNO055P0_QUA_DATA_X_LSB 0x22
echo_piyo	0:bf96e953cdb8	45	#define BNO055P0_QUA_DATA_X_MSB 0x23
echo_piyo	0:bf96e953cdb8	46	#define BNO055P0_QUA_DATA_Y_LSB 0x24
echo_piyo	0:bf96e953cdb8	47	#define BNO055P0_QUA_DATA_Y_MSB 0x25
echo_piyo	0:bf96e953cdb8	48	#define BNO055P0_QUA_DATA_Z_LSB 0x26
echo_piyo	0:bf96e953cdb8	49	#define BNO055P0_QUA_DATA_Z_MSB 0x27
echo_piyo	0:bf96e953cdb8	50	#define BNO055P0_LIA_DATA_X_LSB 0x28
echo_piyo	0:bf96e953cdb8	51	#define BNO055P0_LIA_DATA_X_MBS 0x29
echo_piyo	0:bf96e953cdb8	52	#define BNO055P0_LIA_DATA_Y_LSB 0x2A
echo_piyo	0:bf96e953cdb8	53	#define BNO055P0_LIA_DATA_Y_MBS 0x2B
echo_piyo	0:bf96e953cdb8	54	#define BNO055P0_LIA_DATA_Z_LSB 0x2C
echo_piyo	0:bf96e953cdb8	55	#define BNO055P0_LIA_DATA_Z_MBS 0x2D
echo_piyo	0:bf96e953cdb8	56	#define BNO055P0_GRV_DATA_X_LSB 0x2E
echo_piyo	0:bf96e953cdb8	57	#define BNO055P0_GRV_DATA_X_MSB 0x2F
echo_piyo	0:bf96e953cdb8	58	#define BNO055P0_GRV_DATA_Y_LSB 0x30
echo_piyo	0:bf96e953cdb8	59	#define BNO055P0_GRV_DATA_Y_MSB 0x31
echo_piyo	0:bf96e953cdb8	60	#define BNO055P0_GRV_DATA_Z_LSB 0x32
echo_piyo	0:bf96e953cdb8	61	#define BNO055P0_GRV_DATA_Z_MSB 0x33
echo_piyo	0:bf96e953cdb8	62	#define BNO055P0_TEMP 0x34
echo_piyo	0:bf96e953cdb8	63	#define BNO055P0_CALIB_STAT 0x35
echo_piyo	0:bf96e953cdb8	64	#define BNO055P0_ST_RESULT 0x36
echo_piyo	0:bf96e953cdb8	65	#define BNO055P0_INT_STA 0x37
echo_piyo	0:bf96e953cdb8	66	#define BNO055P0_SYS_CLK_STATUS 0x38
echo_piyo	0:bf96e953cdb8	67	#define BNO055P0_SYS_STATUS 0x39
echo_piyo	0:bf96e953cdb8	68	#define BNO055P0_SYS_ERR 0x3A
echo_piyo	0:bf96e953cdb8	69	#define BNO055P0_UNIT_SEL 0x3B
echo_piyo	0:bf96e953cdb8	70	#define BNO055P0_OPR_MODE 0x3D
echo_piyo	0:bf96e953cdb8	71	#define BNO055P0_PWR_MODE 0x3E
echo_piyo	0:bf96e953cdb8	72	#define BNO055P0_SYS_TRIGGER 0x3F
echo_piyo	0:bf96e953cdb8	73	#define BNO055P0_TEMP_SOURCE 0x40
echo_piyo	0:bf96e953cdb8	74	#define BNO055P0_AXIS_MAP_CONFIG 0x41
echo_piyo	0:bf96e953cdb8	75	#define BNO055P0_AXIS_MAP_SIGN 0x42
echo_piyo	0:bf96e953cdb8	76	#define BNO055P0_ACC_OFFSET_X_LSB 0x55
echo_piyo	0:bf96e953cdb8	77	#define BNO055P0_ACC_OFFSET_X_MSB 0x56
echo_piyo	0:bf96e953cdb8	78	#define BNO055P0_ACC_OFFSET_Y_LSB 0x57
echo_piyo	0:bf96e953cdb8	79	#define BNO055P0_ACC_OFFSET_Y_MSB 0x58
echo_piyo	0:bf96e953cdb8	80	#define BNO055P0_ACC_OFFSET_Z_LSB 0x59
echo_piyo	0:bf96e953cdb8	81	#define BNO055P0_ACC_OFFSET_Z_MSB 0x5A
echo_piyo	0:bf96e953cdb8	82	#define BNO055P0_MAG_OFFSET_X_LSB 0x5B
echo_piyo	0:bf96e953cdb8	83	#define BNO055P0_MAG_OFFSET_X_MSB 0x5C
echo_piyo	0:bf96e953cdb8	84	#define BNO055P0_MAG_OFFSET_Y_LSB 0x5D
echo_piyo	0:bf96e953cdb8	85	#define BNO055P0_MAG_OFFSET_Y_MSB 0x5E
echo_piyo	0:bf96e953cdb8	86	#define BNO055P0_MAG_OFFSET_Z_LSB 0x5F
echo_piyo	0:bf96e953cdb8	87	#define BNO055P0_MAG_OFFSET_Z_MSB 0x60
echo_piyo	0:bf96e953cdb8	88	#define BNO055P0_GYR_OFFSET_X_LSB 0x61
echo_piyo	0:bf96e953cdb8	89	#define BNO055P0_GYR_OFFSET_X_MSB 0x62
echo_piyo	0:bf96e953cdb8	90	#define BNO055P0_GYR_OFFSET_Y_LSB 0x63
echo_piyo	0:bf96e953cdb8	91	#define BNO055P0_GYR_OFFSET_Y_MSB 0x64
echo_piyo	0:bf96e953cdb8	92	#define BNO055P0_GYR_OFFSET_Z_LSB 0x65
echo_piyo	0:bf96e953cdb8	93	#define BNO055P0_GYR_OFFSET_Z_MSB 0x66
echo_piyo	0:bf96e953cdb8	94	#define BNO055P0_ACC_RADIUS_LSB 0x67
echo_piyo	0:bf96e953cdb8	95	#define BNO055P0_ACC_RADIUS_MSB 0x68
echo_piyo	0:bf96e953cdb8	96	#define BNO055P0_MAG_RADIUS_LSB 0x69
echo_piyo	0:bf96e953cdb8	97	#define BNO055P0_MAG_RADIUS_MSB 0x6A
echo_piyo	0:bf96e953cdb8	98
echo_piyo	0:bf96e953cdb8	99	#define BNO055P1_ACC_CONFIG 0x08
echo_piyo	0:bf96e953cdb8	100	#define BNO055P1_MAG_CONFIG 0x09
echo_piyo	0:bf96e953cdb8	101	#define BNO055P1_GYR_CONFIG_0 0x0A
echo_piyo	0:bf96e953cdb8	102	#define BNO055P1_GYR_CONFIG_1 0x0B
echo_piyo	0:bf96e953cdb8	103	#define BNO055P1_ACC_SLEEP_CONFIG 0x0C
echo_piyo	0:bf96e953cdb8	104	#define BNO055P1_GYR_SLEEP_CONFIG 0x0D
echo_piyo	0:bf96e953cdb8	105	#define BNO055P1_INT_MSK 0x0F
echo_piyo	0:bf96e953cdb8	106	#define BNO055P1_INT_EN 0x10
echo_piyo	0:bf96e953cdb8	107	#define BNO055P1_ACC_AM_THRES 0x11
echo_piyo	0:bf96e953cdb8	108	#define BNO055P1_ACC_INT_SETTINGS 0x12
echo_piyo	0:bf96e953cdb8	109	#define BNO055P1_ACC_HG_DURATION 0x13
echo_piyo	0:bf96e953cdb8	110	#define BNO055P1_ACC_HG_THRES 0x14
echo_piyo	0:bf96e953cdb8	111	#define BNO055P1_ACC_NM_THRES 0x15
echo_piyo	0:bf96e953cdb8	112	#define BNO055P1_ACC_NM_SET 0x16
echo_piyo	0:bf96e953cdb8	113	#define BNO055P1_GYR_INT_SETING 0x17
echo_piyo	0:bf96e953cdb8	114	#define BNO055P1_GYR_HR_X_SET 0x18
echo_piyo	0:bf96e953cdb8	115	#define BNO055P1_GYR_DUR_X 0x19
echo_piyo	0:bf96e953cdb8	116	#define BNO055P1_GYR_HR_Y_SET 0x1A
echo_piyo	0:bf96e953cdb8	117	#define BNO055P1_GYR_DUR_Y 0x1B
echo_piyo	0:bf96e953cdb8	118	#define BNO055P1_GYR_HR_Z_SET 0x1C
echo_piyo	0:bf96e953cdb8	119	#define BNO055P1_GYR_DUR_Z 0x1D
echo_piyo	0:bf96e953cdb8	120	#define BNO055P1_GYR_AM_THRES 0x1E
echo_piyo	0:bf96e953cdb8	121	#define BNO055P1_GYR_AM_SET 0x1F
echo_piyo	0:bf96e953cdb8	122
echo_piyo	0:bf96e953cdb8	123	class BNO055_CTRL{
echo_piyo	0:bf96e953cdb8	124	public:
echo_piyo	0:bf96e953cdb8	125	BNO055_CTRL();
echo_piyo	0:bf96e953cdb8	126	virtual ~BNO055_CTRL();
echo_piyo	0:bf96e953cdb8	127	protected:
echo_piyo	0:bf96e953cdb8	128	bool page1;
echo_piyo	0:bf96e953cdb8	129	char *ary;
echo_piyo	0:bf96e953cdb8	130	char lastError;
echo_piyo	0:bf96e953cdb8	131	char lastLength;
echo_piyo	0:bf96e953cdb8	132	public:
echo_piyo	0:bf96e953cdb8	133	char getNowPage();
echo_piyo	0:bf96e953cdb8	134	char getLastError();
echo_piyo	0:bf96e953cdb8	135	char getLastLength();
echo_piyo	0:bf96e953cdb8	136	virtual void init();
echo_piyo	0:bf96e953cdb8	137	virtual char rr(bool isPage1, char regAddr);
echo_piyo	0:bf96e953cdb8	138	virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
echo_piyo	0:bf96e953cdb8	139	virtual char wr(bool isPage1, char regAddr, char wBytes);
echo_piyo	0:bf96e953cdb8	140	virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
echo_piyo	0:bf96e953cdb8	141	};
echo_piyo	0:bf96e953cdb8	142
echo_piyo	0:bf96e953cdb8	143	class BNO055_UART_CTRL : public BNO055_CTRL{
echo_piyo	0:bf96e953cdb8	144	public:
echo_piyo	0:bf96e953cdb8	145	BNO055_UART_CTRL(RawSerial *uart);
echo_piyo	0:bf96e953cdb8	146	virtual ~BNO055_UART_CTRL();
echo_piyo	0:bf96e953cdb8	147	private:
echo_piyo	0:bf96e953cdb8	148	RawSerial *iface;
echo_piyo	0:bf96e953cdb8	149	short rxd;
echo_piyo	0:bf96e953cdb8	150	bool read_mark;
echo_piyo	0:bf96e953cdb8	151
echo_piyo	0:bf96e953cdb8	152	void rxInterrupt();
echo_piyo	0:bf96e953cdb8	153	public:
echo_piyo	0:bf96e953cdb8	154	virtual void init();
echo_piyo	0:bf96e953cdb8	155	virtual char rr(bool isPage1, char regAddr);
echo_piyo	0:bf96e953cdb8	156	virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
echo_piyo	0:bf96e953cdb8	157	virtual char wr(bool isPage1, char regAddr, char wBytes);
echo_piyo	0:bf96e953cdb8	158	virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
echo_piyo	0:bf96e953cdb8	159	};
echo_piyo	0:bf96e953cdb8	160
echo_piyo	0:bf96e953cdb8	161	class BNO055_I2C_CTRL : public BNO055_CTRL{
echo_piyo	0:bf96e953cdb8	162	public:
echo_piyo	0:bf96e953cdb8	163	BNO055_I2C_CTRL(I2C *iic, char addr, unsigned int freq);
echo_piyo	0:bf96e953cdb8	164	virtual ~BNO055_I2C_CTRL();
echo_piyo	0:bf96e953cdb8	165	private:
echo_piyo	0:bf96e953cdb8	166	I2C *iface;
echo_piyo	0:bf96e953cdb8	167	char i2c_writeAddr;
echo_piyo	0:bf96e953cdb8	168	char i2c_readAddr;
echo_piyo	0:bf96e953cdb8	169	unsigned int i2c_freq;
echo_piyo	0:bf96e953cdb8	170	public:
echo_piyo	0:bf96e953cdb8	171	virtual void init();
echo_piyo	0:bf96e953cdb8	172	virtual char rr(bool isPage1, char regAddr);
echo_piyo	0:bf96e953cdb8	173	virtual char rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length);
echo_piyo	0:bf96e953cdb8	174	virtual char wr(bool isPage1, char regAddr, char wBytes);
echo_piyo	0:bf96e953cdb8	175	virtual char wrc(bool isPage1, char startRegAddr, char *Bytes, char length);
echo_piyo	0:bf96e953cdb8	176	};
echo_piyo	0:bf96e953cdb8	177
echo_piyo	0:bf96e953cdb8	178	class BOARDC_BNO055{
echo_piyo	0:bf96e953cdb8	179	public:
echo_piyo	0:bf96e953cdb8	180	BOARDC_BNO055(PinName tx, PinName rx);
echo_piyo	0:bf96e953cdb8	181	BOARDC_BNO055(RawSerial *uart);
echo_piyo	0:bf96e953cdb8	182	BOARDC_BNO055(PinName scl, PinName sda, char addr=BNO055_I2C_DEFADDR, unsigned int freq=100000);
echo_piyo	0:bf96e953cdb8	183	BOARDC_BNO055(I2C *iic, char addr=BNO055_I2C_DEFADDR, unsigned int freq=100000);
echo_piyo	0:bf96e953cdb8	184	~BOARDC_BNO055();
echo_piyo	0:bf96e953cdb8	185
echo_piyo	0:bf96e953cdb8	186	private:
echo_piyo	0:bf96e953cdb8	187	BNO055_CTRL *ctrl;
echo_piyo	0:bf96e953cdb8	188	float scaleACC;
echo_piyo	0:bf96e953cdb8	189	float scaleMAG; //fixed
echo_piyo	0:bf96e953cdb8	190	float scaleGYRO;
echo_piyo	0:bf96e953cdb8	191	float scaleTEMP;
echo_piyo	0:bf96e953cdb8	192	float scaleEuler;
echo_piyo	0:bf96e953cdb8	193	float scaleLIA; //=scaleACC
echo_piyo	0:bf96e953cdb8	194	float scaleGV; //=scaleACC
echo_piyo	0:bf96e953cdb8	195	double scaleQuaternion; //fixed
echo_piyo	0:bf96e953cdb8	196	unsigned char axisRemap;
echo_piyo	0:bf96e953cdb8	197	unsigned char axisSign;
echo_piyo	0:bf96e953cdb8	198	bool clkExt;
echo_piyo	0:bf96e953cdb8	199
echo_piyo	0:bf96e953cdb8	200	public:
echo_piyo	0:bf96e953cdb8	201	char initialize(bool resetIface=true);
echo_piyo	0:bf96e953cdb8	202	char getIfaceLastError();
echo_piyo	0:bf96e953cdb8	203	char getIfaceLastLength();
echo_piyo	0:bf96e953cdb8	204
echo_piyo	0:bf96e953cdb8	205	char customRead(bool isPage1, char regAddr);
echo_piyo	0:bf96e953cdb8	206	char customReadC(bool isPage1, char startRegAddr, char *receiveBytes, unsigned char length);
echo_piyo	0:bf96e953cdb8	207	char customWrite(bool isPage1, char regAddr, char wBytes);
echo_piyo	0:bf96e953cdb8	208	char customWriteC(bool isPage1, char startRegAddr, char *Bytes, unsigned char length);
echo_piyo	0:bf96e953cdb8	209
echo_piyo	0:bf96e953cdb8	210	char getPage();
echo_piyo	0:bf96e953cdb8	211	void setPage(unsigned char pageNo);
echo_piyo	0:bf96e953cdb8	212
echo_piyo	0:bf96e953cdb8	213	char getChipID();
echo_piyo	0:bf96e953cdb8	214	char getAccChipID();
echo_piyo	0:bf96e953cdb8	215	char getMagChipID();
echo_piyo	0:bf96e953cdb8	216	char getGyroChipID();
echo_piyo	0:bf96e953cdb8	217
echo_piyo	0:bf96e953cdb8	218	short getRevision();
echo_piyo	0:bf96e953cdb8	219	char getBootRevision();
echo_piyo	0:bf96e953cdb8	220
echo_piyo	0:bf96e953cdb8	221	float getAccScale();
echo_piyo	0:bf96e953cdb8	222	float getMagScale();
echo_piyo	0:bf96e953cdb8	223	float getGyroScale();
echo_piyo	0:bf96e953cdb8	224	float getTempScale();
echo_piyo	0:bf96e953cdb8	225	float getEulerScale();
echo_piyo	0:bf96e953cdb8	226	float getLinearScale();
echo_piyo	0:bf96e953cdb8	227	float getGVScale();
echo_piyo	0:bf96e953cdb8	228	double getQuaternionScale();
echo_piyo	0:bf96e953cdb8	229
echo_piyo	0:bf96e953cdb8	230	void getAccDataAll(short &accX, short &accY, short &accZ);
echo_piyo	0:bf96e953cdb8	231	short getAccDataX();
echo_piyo	0:bf96e953cdb8	232	short getAccDataY();
echo_piyo	0:bf96e953cdb8	233	short getAccDataZ();
echo_piyo	0:bf96e953cdb8	234
echo_piyo	0:bf96e953cdb8	235	void getMagDataAll(short &magX, short &magY, short &magZ);
echo_piyo	0:bf96e953cdb8	236	short getMagDataX();
echo_piyo	0:bf96e953cdb8	237	short getMagDataY();
echo_piyo	0:bf96e953cdb8	238	short getMagDataZ();
echo_piyo	0:bf96e953cdb8	239
echo_piyo	0:bf96e953cdb8	240	void getGyroDataAll(short &gyroX, short &gyroY, short &gyroZ);
echo_piyo	0:bf96e953cdb8	241	short getGyroDataX();
echo_piyo	0:bf96e953cdb8	242	short getGyroDataY();
echo_piyo	0:bf96e953cdb8	243	short getGyroDataZ();
echo_piyo	0:bf96e953cdb8	244
echo_piyo	0:bf96e953cdb8	245	void getEulerDataAll(short &E_heading, short &E_roll, short &E_pitch);
echo_piyo	0:bf96e953cdb8	246	short getEulerDataHeading();
echo_piyo	0:bf96e953cdb8	247	short getEulerDataYaw();
echo_piyo	0:bf96e953cdb8	248	short getEulerDataRoll();
echo_piyo	0:bf96e953cdb8	249	short getEulerDataPitch();
echo_piyo	0:bf96e953cdb8	250
echo_piyo	0:bf96e953cdb8	251	void get9Axis(short *box);
echo_piyo	0:bf96e953cdb8	252	void get9AxisAndEUL(short *box);
echo_piyo	0:bf96e953cdb8	253
echo_piyo	0:bf96e953cdb8	254	void getQuaternion(short &q1, short &q2, short &q3, short &q4);
echo_piyo	0:bf96e953cdb8	255
echo_piyo	0:bf96e953cdb8	256	void getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ);
echo_piyo	0:bf96e953cdb8	257	short getLinearAccDataX();
echo_piyo	0:bf96e953cdb8	258	short getLinearAccDataY();
echo_piyo	0:bf96e953cdb8	259	short getLinearAccDataZ();
echo_piyo	0:bf96e953cdb8	260
echo_piyo	0:bf96e953cdb8	261	void getGVectorDataAll(short &gvX, short &gvY, short &gvZ);
echo_piyo	0:bf96e953cdb8	262	short getGVectorDataX();
echo_piyo	0:bf96e953cdb8	263	short getGVectorDataY();
echo_piyo	0:bf96e953cdb8	264	short getGVectorDataZ();
echo_piyo	0:bf96e953cdb8	265
echo_piyo	0:bf96e953cdb8	266	char getTemperature();
echo_piyo	0:bf96e953cdb8	267
echo_piyo	0:bf96e953cdb8	268	void getCalibStatusAll(char &sys, char &acc, char &mag, char &gyro);
echo_piyo	0:bf96e953cdb8	269	char getCalibStatusSys();
echo_piyo	0:bf96e953cdb8	270	char getCalibStatusAcc();
echo_piyo	0:bf96e953cdb8	271	char getCalibStatusMag();
echo_piyo	0:bf96e953cdb8	272	char getCalibStatusGyro();
echo_piyo	0:bf96e953cdb8	273
echo_piyo	0:bf96e953cdb8	274	char getSelfTestResultAll();
echo_piyo	0:bf96e953cdb8	275	bool getSelfTestResultMCU();
echo_piyo	0:bf96e953cdb8	276	bool getSelfTestResultAcc();
echo_piyo	0:bf96e953cdb8	277	bool getSelfTestResultMag();
echo_piyo	0:bf96e953cdb8	278	bool getSelfTestResultGyro();
echo_piyo	0:bf96e953cdb8	279
echo_piyo	0:bf96e953cdb8	280	char triggeredIntALL();
echo_piyo	0:bf96e953cdb8	281	bool triggeredACC_NM();
echo_piyo	0:bf96e953cdb8	282	bool triggeredACC_AM();
echo_piyo	0:bf96e953cdb8	283	bool triggeredACC_HIGH_G();
echo_piyo	0:bf96e953cdb8	284	bool triggeredGYR_HIGH_RATE();
echo_piyo	0:bf96e953cdb8	285	bool triggeredGYRO_AM();
echo_piyo	0:bf96e953cdb8	286
echo_piyo	0:bf96e953cdb8	287	bool isSystemClockFixed();
echo_piyo	0:bf96e953cdb8	288
echo_piyo	0:bf96e953cdb8	289	char getSystemStatus();
echo_piyo	0:bf96e953cdb8	290	char getSystemError();
echo_piyo	0:bf96e953cdb8	291
echo_piyo	0:bf96e953cdb8	292	char getUNIT_SEL();
echo_piyo	0:bf96e953cdb8	293	char setUNIT_SEL(char selectValue);
echo_piyo	0:bf96e953cdb8	294	char setUNIT_AccUnit(bool isMeterPerSec2=true);
echo_piyo	0:bf96e953cdb8	295	char setUNIT_GyroUnit(bool isDps=true);
echo_piyo	0:bf96e953cdb8	296	char setUNIT_EulerUnit(bool isDegrees=true);
echo_piyo	0:bf96e953cdb8	297	char setUNIT_Temperature(bool isCelsius=true);
echo_piyo	0:bf96e953cdb8	298	char setUNIT_OrientationMode(bool ori_Android=true);
echo_piyo	0:bf96e953cdb8	299
echo_piyo	0:bf96e953cdb8	300	char getOperationMode();
echo_piyo	0:bf96e953cdb8	301	char setOperationMode(char modeValue);
echo_piyo	0:bf96e953cdb8	302	char setOperation_CONFIG();
echo_piyo	0:bf96e953cdb8	303	char setOperation_ACCONRY();
echo_piyo	0:bf96e953cdb8	304	char setOperation_MAGONRY();
echo_piyo	0:bf96e953cdb8	305	char setOperation_GYROONRY();
echo_piyo	0:bf96e953cdb8	306	char setOperation_ACCMAG();
echo_piyo	0:bf96e953cdb8	307	char setOperation_ACCGYRO();
echo_piyo	0:bf96e953cdb8	308	char setOperation_MAGGYRO();
echo_piyo	0:bf96e953cdb8	309	char setOperation_AMG();
echo_piyo	0:bf96e953cdb8	310	char setOperation_Fusion_IMU();
echo_piyo	0:bf96e953cdb8	311	char setOperation_Fusion_COMPASS();
echo_piyo	0:bf96e953cdb8	312	char setOperation_Fusion_M4G();
echo_piyo	0:bf96e953cdb8	313	char setOperation_Fusion_NDOF_FMC_OFF();
echo_piyo	0:bf96e953cdb8	314	char setOperation_Fusion_NDOF();
echo_piyo	0:bf96e953cdb8	315
echo_piyo	0:bf96e953cdb8	316	char getPowerMode();
echo_piyo	0:bf96e953cdb8	317	char setPowerMode(unsigned char modeValue);
echo_piyo	0:bf96e953cdb8	318	char setPowerMode_Normal();
echo_piyo	0:bf96e953cdb8	319	char setPowerMode_LowPower();
echo_piyo	0:bf96e953cdb8	320	char setPowerMode_Suspend();
echo_piyo	0:bf96e953cdb8	321
echo_piyo	0:bf96e953cdb8	322	char setSysTrigger(char regVal);
echo_piyo	0:bf96e953cdb8	323	char setSys_ExternalCrystal(bool isExternal=true);
echo_piyo	0:bf96e953cdb8	324	char resetInterrupt();
echo_piyo	0:bf96e953cdb8	325	char soft_reset();
echo_piyo	0:bf96e953cdb8	326	char execSelfTest();
echo_piyo	0:bf96e953cdb8	327
echo_piyo	0:bf96e953cdb8	328	char getTempSource();
echo_piyo	0:bf96e953cdb8	329	char setTempSource(bool Accelerometer=true);
echo_piyo	0:bf96e953cdb8	330
echo_piyo	0:bf96e953cdb8	331	char getAxisMapConfig();
echo_piyo	0:bf96e953cdb8	332	char setAxisMapConfig(char val);
echo_piyo	0:bf96e953cdb8	333	char getAxisMapSign();
echo_piyo	0:bf96e953cdb8	334	char setAxisMapSign(char val);
echo_piyo	0:bf96e953cdb8	335	char setAxisRemap_topview_topleft();
echo_piyo	0:bf96e953cdb8	336	char setAxisRemap_topview_topright();
echo_piyo	0:bf96e953cdb8	337	char setAxisRemap_topview_bottomleft();
echo_piyo	0:bf96e953cdb8	338	char setAxisRemap_topview_bottomright();
echo_piyo	0:bf96e953cdb8	339	char setAxisRemap_bottomview_topleft();
echo_piyo	0:bf96e953cdb8	340	char setAxisRemap_bottomview_topright();
echo_piyo	0:bf96e953cdb8	341	char setAxisRemap_bottomview_bottomleft();
echo_piyo	0:bf96e953cdb8	342	char setAxisRemap_bottomview_bottomright();
echo_piyo	0:bf96e953cdb8	343	char getAxisRemap_type();
echo_piyo	0:bf96e953cdb8	344
echo_piyo	0:bf96e953cdb8	345	void getAccOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
echo_piyo	0:bf96e953cdb8	346	float getAccOffsetX();
echo_piyo	0:bf96e953cdb8	347	float getAccOffsetY();
echo_piyo	0:bf96e953cdb8	348	float getAccOffsetZ();
echo_piyo	0:bf96e953cdb8	349	char setAccOffsetAll(float offsetX, float offsetY, float offsetZ);
echo_piyo	0:bf96e953cdb8	350	char setAccOffsetX(float offset);
echo_piyo	0:bf96e953cdb8	351	char setAccOffsetY(float offset);
echo_piyo	0:bf96e953cdb8	352	char setAccOffsetZ(float offset);
echo_piyo	0:bf96e953cdb8	353
echo_piyo	0:bf96e953cdb8	354	void getMagOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
echo_piyo	0:bf96e953cdb8	355	float getMagOffsetX();
echo_piyo	0:bf96e953cdb8	356	float getMagOffsetY();
echo_piyo	0:bf96e953cdb8	357	float getMagOffsetZ();
echo_piyo	0:bf96e953cdb8	358	char setMagOffsetAll(float offsetX, float offsetY, float offsetZ);
echo_piyo	0:bf96e953cdb8	359	char setMagOffsetX(float offset);
echo_piyo	0:bf96e953cdb8	360	char setMagOffsetY(float offset);
echo_piyo	0:bf96e953cdb8	361	char setMagOffsetZ(float offset);
echo_piyo	0:bf96e953cdb8	362
echo_piyo	0:bf96e953cdb8	363	void getGyroOffsetAll(float &offsetX, float &offsetY, float &offsetZ);
echo_piyo	0:bf96e953cdb8	364	float getGyroOffsetX();
echo_piyo	0:bf96e953cdb8	365	float getGyroOffsetY();
echo_piyo	0:bf96e953cdb8	366	float getGyroOffsetZ();
echo_piyo	0:bf96e953cdb8	367	char setGyroOffsetAll(float offsetX, float offsetY, float offsetZ);
echo_piyo	0:bf96e953cdb8	368	char setGyroOffsetX(float offset);
echo_piyo	0:bf96e953cdb8	369	char setGyroOffsetY(float offset);
echo_piyo	0:bf96e953cdb8	370	char setGyroOffsetZ(float offset);
echo_piyo	0:bf96e953cdb8	371
echo_piyo	0:bf96e953cdb8	372	short getAccRadius();
echo_piyo	0:bf96e953cdb8	373	char setAccRadius(short LSB);
echo_piyo	0:bf96e953cdb8	374
echo_piyo	0:bf96e953cdb8	375	short getMagRadius();
echo_piyo	0:bf96e953cdb8	376	char setMagRadius(short LSB);
echo_piyo	0:bf96e953cdb8	377
echo_piyo	0:bf96e953cdb8	378	char getAccConfig();
echo_piyo	0:bf96e953cdb8	379	char setAccConfig(char regVal);
echo_piyo	0:bf96e953cdb8	380	char setAccConfig(char gRange, char bandWidth, char powMode);
echo_piyo	0:bf96e953cdb8	381	char setAccRange(unsigned char G);
echo_piyo	0:bf96e953cdb8	382
echo_piyo	0:bf96e953cdb8	383	char getMagConfig();
echo_piyo	0:bf96e953cdb8	384	char setMagConfig(char regVal);
echo_piyo	0:bf96e953cdb8	385	char setMagConfig(char rate, char oprMode, char powMode);
echo_piyo	0:bf96e953cdb8	386
echo_piyo	0:bf96e953cdb8	387	char getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	388	char setGyroConfig_0(char regVal);
echo_piyo	0:bf96e953cdb8	389	char setGyroConfig_0(char range, char bandWidth);
echo_piyo	0:bf96e953cdb8	390	char getGyroConfig_1();
echo_piyo	0:bf96e953cdb8	391	char setGyroConfig_1(char powMode);
echo_piyo	0:bf96e953cdb8	392	char setGyroRange(unsigned short dps);
echo_piyo	0:bf96e953cdb8	393
echo_piyo	0:bf96e953cdb8	394	char getAccSleepConfig();
echo_piyo	0:bf96e953cdb8	395	char setAccSleepConfig(char regVal);
echo_piyo	0:bf96e953cdb8	396	char setAccSleepConfig(char duration, char mode);
echo_piyo	0:bf96e953cdb8	397
echo_piyo	0:bf96e953cdb8	398	char getGyroSleepConfig();
echo_piyo	0:bf96e953cdb8	399	char setGyroSleepConfig(char regVal);
echo_piyo	0:bf96e953cdb8	400	char setGyroSleepConfig(char autoSleepDuration, char duration);
echo_piyo	0:bf96e953cdb8	401
echo_piyo	0:bf96e953cdb8	402	char getInterruptMask();
echo_piyo	0:bf96e953cdb8	403	char setInterruptMask(char mask);
echo_piyo	0:bf96e953cdb8	404
echo_piyo	0:bf96e953cdb8	405	char getInterruptEnable();
echo_piyo	0:bf96e953cdb8	406	char setInterruptEnable(char mask);
echo_piyo	0:bf96e953cdb8	407
echo_piyo	0:bf96e953cdb8	408	float getAccAnyMotionThreashold(bool ismg=true);
echo_piyo	0:bf96e953cdb8	409	char setAccAnyMotionThreashold(bool ismg, float threashold);
echo_piyo	0:bf96e953cdb8	410
echo_piyo	0:bf96e953cdb8	411	char getAccInterruptSettings();
echo_piyo	0:bf96e953cdb8	412	char setAccInterruptSettings(char settings);
echo_piyo	0:bf96e953cdb8	413
echo_piyo	0:bf96e953cdb8	414	unsigned short getAccHighGduration();
echo_piyo	0:bf96e953cdb8	415	char setAccHighGduration(short ms);
echo_piyo	0:bf96e953cdb8	416
echo_piyo	0:bf96e953cdb8	417	float getAccHighGThreashold(bool ismg=true);
echo_piyo	0:bf96e953cdb8	418	char setAccHighGThreashold(bool ismg, float threashold);
echo_piyo	0:bf96e953cdb8	419
echo_piyo	0:bf96e953cdb8	420	float getAccNMThreashold(bool ismg=true);
echo_piyo	0:bf96e953cdb8	421	char setAccNMThreashold(bool ismg, float threashold);
echo_piyo	0:bf96e953cdb8	422
echo_piyo	0:bf96e953cdb8	423	char getAccNMsetting();
echo_piyo	0:bf96e953cdb8	424	char setAccNMsetting(char setting);
echo_piyo	0:bf96e953cdb8	425
echo_piyo	0:bf96e953cdb8	426	char getGyroInterruptSettings();
echo_piyo	0:bf96e953cdb8	427	char setGyroInterruptSettings(char settings);
echo_piyo	0:bf96e953cdb8	428
echo_piyo	0:bf96e953cdb8	429	char getGyroHighRateXsetting();
echo_piyo	0:bf96e953cdb8	430	void getGyroHighRateXsetting_dps(float &hyst, float &thres);
echo_piyo	0:bf96e953cdb8	431	char setGyroHighRateXsetting(char setting);
echo_piyo	0:bf96e953cdb8	432	char setGyroHighRateXsetting_dps(float hystVal, float thresVal);
echo_piyo	0:bf96e953cdb8	433	float getGyroHighRateXduration();
echo_piyo	0:bf96e953cdb8	434	char setGyroHighRateXduration(float duration);
echo_piyo	0:bf96e953cdb8	435
echo_piyo	0:bf96e953cdb8	436	char getGyroHighRateYsetting();
echo_piyo	0:bf96e953cdb8	437	void getGyroHighRateYsetting_dps(float &hyst, float &thres);
echo_piyo	0:bf96e953cdb8	438	char setGyroHighRateYsetting(char setting);
echo_piyo	0:bf96e953cdb8	439	char setGyroHighRateYsetting_dps(float hystVal, float thresVal);
echo_piyo	0:bf96e953cdb8	440	float getGyroHighRateYduration();
echo_piyo	0:bf96e953cdb8	441	char setGyroHighRateYduration(float duration);
echo_piyo	0:bf96e953cdb8	442
echo_piyo	0:bf96e953cdb8	443	char getGyroHighRateZsetting();
echo_piyo	0:bf96e953cdb8	444	void getGyroHighRateZsetting_dps(float &hyst, float &thres);
echo_piyo	0:bf96e953cdb8	445	char setGyroHighRateZsetting(char setting);
echo_piyo	0:bf96e953cdb8	446	char setGyroHighRateZsetting_dps(float hystVal, float thresVal);
echo_piyo	0:bf96e953cdb8	447	float getGyroHighRateZduration();
echo_piyo	0:bf96e953cdb8	448	char setGyroHighRateZduration(float duration);
echo_piyo	0:bf96e953cdb8	449
echo_piyo	0:bf96e953cdb8	450	float getGyroAnyMotionThreashold();
echo_piyo	0:bf96e953cdb8	451	char setGyroAnyMotionThreashold(float threashold);
echo_piyo	0:bf96e953cdb8	452
echo_piyo	0:bf96e953cdb8	453	char getAccAnyMotionSetting();
echo_piyo	0:bf96e953cdb8	454	char setAccAnyMotionSetting(char setting);
echo_piyo	0:bf96e953cdb8	455	};
echo_piyo	0:bf96e953cdb8	456
echo_piyo	0:bf96e953cdb8	457	#endif
echo_piyo	0:bf96e953cdb8	458
echo_piyo	0:bf96e953cdb8	459
echo_piyo	0:bf96e953cdb8	460	//CLASS:BNO055_CTRL//////////////////////////////////////////////////
echo_piyo	0:bf96e953cdb8	461	/* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	462	* 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)
echo_piyo	0:bf96e953cdb8	463	* 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
echo_piyo	0:bf96e953cdb8	464	*/
echo_piyo	0:bf96e953cdb8	465
echo_piyo	0:bf96e953cdb8	466	/* ==================================================================
echo_piyo	0:bf96e953cdb8	467	* デフォルトコンストラクタ
echo_piyo	0:bf96e953cdb8	468	*/
echo_piyo	0:bf96e953cdb8	469	BNO055_CTRL::BNO055_CTRL(){
echo_piyo	0:bf96e953cdb8	470	lastError = 0;
echo_piyo	0:bf96e953cdb8	471	lastLength = 0;
echo_piyo	0:bf96e953cdb8	472	}
echo_piyo	0:bf96e953cdb8	473
echo_piyo	0:bf96e953cdb8	474	/* ==================================================================
echo_piyo	0:bf96e953cdb8	475	* デフォルトデストラクタ
echo_piyo	0:bf96e953cdb8	476	*/
echo_piyo	0:bf96e953cdb8	477	BNO055_CTRL::~BNO055_CTRL(){}
echo_piyo	0:bf96e953cdb8	478
echo_piyo	0:bf96e953cdb8	479	/* ==================================================================
echo_piyo	0:bf96e953cdb8	480	* 現在のページIDを取得する
echo_piyo	0:bf96e953cdb8	481	*/
echo_piyo	0:bf96e953cdb8	482	char BNO055_CTRL::getNowPage(){
echo_piyo	0:bf96e953cdb8	483	return page1 ? 1 : 0;
echo_piyo	0:bf96e953cdb8	484	}
echo_piyo	0:bf96e953cdb8	485
echo_piyo	0:bf96e953cdb8	486	/* ==================================================================
echo_piyo	0:bf96e953cdb8	487	* 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
echo_piyo	0:bf96e953cdb8	488	*/
echo_piyo	0:bf96e953cdb8	489	char BNO055_CTRL::getLastError(){
echo_piyo	0:bf96e953cdb8	490	return lastError;
echo_piyo	0:bf96e953cdb8	491	}
echo_piyo	0:bf96e953cdb8	492
echo_piyo	0:bf96e953cdb8	493	/* ==================================================================
echo_piyo	0:bf96e953cdb8	494	* 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
echo_piyo	0:bf96e953cdb8	495	*/
echo_piyo	0:bf96e953cdb8	496	char BNO055_CTRL::getLastLength(){
echo_piyo	0:bf96e953cdb8	497	return lastLength;
echo_piyo	0:bf96e953cdb8	498	}
echo_piyo	0:bf96e953cdb8	499
echo_piyo	0:bf96e953cdb8	500	/* ==================================================================
echo_piyo	0:bf96e953cdb8	501	* 未実装関数(子クラスで実装される)
echo_piyo	0:bf96e953cdb8	502	*/
echo_piyo	0:bf96e953cdb8	503	void BNO055_CTRL::init(){}
echo_piyo	0:bf96e953cdb8	504	char BNO055_CTRL::rr(bool isPage1, char regAddr){return 0;}
echo_piyo	0:bf96e953cdb8	505	char BNO055_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){return 0;}
echo_piyo	0:bf96e953cdb8	506	char BNO055_CTRL::wr(bool isPage1, char regAddr, char wBytes){return 0;}
echo_piyo	0:bf96e953cdb8	507	char BNO055_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){return 0;}
echo_piyo	0:bf96e953cdb8	508
echo_piyo	0:bf96e953cdb8	509
echo_piyo	0:bf96e953cdb8	510
echo_piyo	0:bf96e953cdb8	511
echo_piyo	0:bf96e953cdb8	512
echo_piyo	0:bf96e953cdb8	513
echo_piyo	0:bf96e953cdb8	514
echo_piyo	0:bf96e953cdb8	515
echo_piyo	0:bf96e953cdb8	516
echo_piyo	0:bf96e953cdb8	517
echo_piyo	0:bf96e953cdb8	518	//CLASS:BNO055_UART_CTRL/////////////////////////////////////////////
echo_piyo	0:bf96e953cdb8	519	/* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	520	* BNO055_CTRLクラス(インターフェース)を継承(実装)したクラス
echo_piyo	0:bf96e953cdb8	521	* UARTで命令を送受信するためのコントロール用クラス
echo_piyo	0:bf96e953cdb8	522	*/
echo_piyo	0:bf96e953cdb8	523
echo_piyo	0:bf96e953cdb8	524	/* ==================================================================
echo_piyo	0:bf96e953cdb8	525	* 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
echo_piyo	0:bf96e953cdb8	526	*/
echo_piyo	0:bf96e953cdb8	527	BNO055_UART_CTRL::BNO055_UART_CTRL(RawSerial *uart){
echo_piyo	0:bf96e953cdb8	528	iface = uart;
echo_piyo	0:bf96e953cdb8	529	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	530	read_mark = true;
echo_piyo	0:bf96e953cdb8	531
echo_piyo	0:bf96e953cdb8	532	page1 = true;
echo_piyo	0:bf96e953cdb8	533
echo_piyo	0:bf96e953cdb8	534	ary = new char[BNO055_UART_BUF_MAXLEN + 5];
echo_piyo	0:bf96e953cdb8	535	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5);
echo_piyo	0:bf96e953cdb8	536	lastError = 0;
echo_piyo	0:bf96e953cdb8	537	}
echo_piyo	0:bf96e953cdb8	538
echo_piyo	0:bf96e953cdb8	539	/* ==================================================================
echo_piyo	0:bf96e953cdb8	540	* BNO055をUARTでコントロールするためのクラス：デストラクタ
echo_piyo	0:bf96e953cdb8	541	*/
echo_piyo	0:bf96e953cdb8	542	BNO055_UART_CTRL::~BNO055_UART_CTRL(){
echo_piyo	0:bf96e953cdb8	543	delete iface;
echo_piyo	0:bf96e953cdb8	544	}
echo_piyo	0:bf96e953cdb8	545
echo_piyo	0:bf96e953cdb8	546	/* ==================================================================
echo_piyo	0:bf96e953cdb8	547	* UART受信割り込み用関数
echo_piyo	0:bf96e953cdb8	548	* RX受信トリガがONになると、カウンタを加算する
echo_piyo	0:bf96e953cdb8	549	*/
echo_piyo	0:bf96e953cdb8	550	void BNO055_UART_CTRL::rxInterrupt(){
echo_piyo	0:bf96e953cdb8	551	if(read_mark){
echo_piyo	0:bf96e953cdb8	552	rxd = iface->getc();
echo_piyo	0:bf96e953cdb8	553	read_mark = false;
echo_piyo	0:bf96e953cdb8	554	}
echo_piyo	0:bf96e953cdb8	555	}
echo_piyo	0:bf96e953cdb8	556
echo_piyo	0:bf96e953cdb8	557	/* ==================================================================
echo_piyo	0:bf96e953cdb8	558	* <UART>
echo_piyo	0:bf96e953cdb8	559	* レジスタの内容を読み取り(1byteのみ)
echo_piyo	0:bf96e953cdb8	560	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	561	* returns:
echo_piyo	0:bf96e953cdb8	562	* -1 失敗
echo_piyo	0:bf96e953cdb8	563	* それ以外成功した際に取得したデータ
echo_piyo	0:bf96e953cdb8	564	*/
echo_piyo	0:bf96e953cdb8	565	char BNO055_UART_CTRL::rr(bool isPage1, char regAddr){
echo_piyo	0:bf96e953cdb8	566	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	567	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	568	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
echo_piyo	0:bf96e953cdb8	569	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	570	}
echo_piyo	0:bf96e953cdb8	571
echo_piyo	0:bf96e953cdb8	572	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	573	do{wait_ms(1);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	574
echo_piyo	0:bf96e953cdb8	575	//コマンドをセット
echo_piyo	0:bf96e953cdb8	576	ary[0] = 0xAA; //StartByte(固定)
echo_piyo	0:bf96e953cdb8	577	ary[1] = 0x01; //読み取り
echo_piyo	0:bf96e953cdb8	578	ary[2] = regAddr; //レジスタアドレス
echo_piyo	0:bf96e953cdb8	579	ary[3] = 1; //バイト長
echo_piyo	0:bf96e953cdb8	580
echo_piyo	0:bf96e953cdb8	581	//送信
echo_piyo	0:bf96e953cdb8	582	iface->putc(ary[0]);
echo_piyo	0:bf96e953cdb8	583	iface->putc(ary[1]);
echo_piyo	0:bf96e953cdb8	584	iface->putc(ary[2]);
echo_piyo	0:bf96e953cdb8	585	iface->putc(ary[3]);
echo_piyo	0:bf96e953cdb8	586
echo_piyo	0:bf96e953cdb8	587	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	588	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	589
echo_piyo	0:bf96e953cdb8	590	lastError = 0;
echo_piyo	0:bf96e953cdb8	591	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
echo_piyo	0:bf96e953cdb8	592
echo_piyo	0:bf96e953cdb8	593	ary[0] = rxd & 0xFF;
echo_piyo	0:bf96e953cdb8	594
echo_piyo	0:bf96e953cdb8	595	//残りを受信
echo_piyo	0:bf96e953cdb8	596	int i = 1;
echo_piyo	0:bf96e953cdb8	597	int cnt = (ary[0] == 0xBB) ? 2 : 1;
echo_piyo	0:bf96e953cdb8	598	while(i < cnt && iface->readable()){
echo_piyo	0:bf96e953cdb8	599	ary[i++] = iface->getc();
echo_piyo	0:bf96e953cdb8	600	}
echo_piyo	0:bf96e953cdb8	601
echo_piyo	0:bf96e953cdb8	602	//レスポンスが0xBB以外:通信失敗
echo_piyo	0:bf96e953cdb8	603	if(ary[0] != 0xBB){
echo_piyo	0:bf96e953cdb8	604	lastLength = 2;
echo_piyo	0:bf96e953cdb8	605	lastError = ary[1];
echo_piyo	0:bf96e953cdb8	606	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	607	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	608	read_mark = true;
echo_piyo	0:bf96e953cdb8	609	return -1;
echo_piyo	0:bf96e953cdb8	610	}
echo_piyo	0:bf96e953cdb8	611
echo_piyo	0:bf96e953cdb8	612	lastLength = ary[1] + 2;
echo_piyo	0:bf96e953cdb8	613
echo_piyo	0:bf96e953cdb8	614	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	615	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	616	read_mark = true;
echo_piyo	0:bf96e953cdb8	617
echo_piyo	0:bf96e953cdb8	618	//通信成功時、取得データを返す
echo_piyo	0:bf96e953cdb8	619	return ary[2];
echo_piyo	0:bf96e953cdb8	620	}
echo_piyo	0:bf96e953cdb8	621
echo_piyo	0:bf96e953cdb8	622	/* ==================================================================
echo_piyo	0:bf96e953cdb8	623	* <UART>
echo_piyo	0:bf96e953cdb8	624	* レジスタの内容を読み取り(複数可)
echo_piyo	0:bf96e953cdb8	625	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	626	* returns:
echo_piyo	0:bf96e953cdb8	627	* -1 失敗
echo_piyo	0:bf96e953cdb8	628	* -2 返答バイト不一致
echo_piyo	0:bf96e953cdb8	629	* -4 レスポンスエラー
echo_piyo	0:bf96e953cdb8	630	* それ以外成功した際の戻り値バイト数
echo_piyo	0:bf96e953cdb8	631	*/
echo_piyo	0:bf96e953cdb8	632	char BNO055_UART_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){
echo_piyo	0:bf96e953cdb8	633	//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
echo_piyo	0:bf96e953cdb8	634	if(length < 1 \|\| length > BNO055_UART_BUF_MAXLEN) return -1;
echo_piyo	0:bf96e953cdb8	635
echo_piyo	0:bf96e953cdb8	636	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	637	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	638	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
echo_piyo	0:bf96e953cdb8	639	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	640	}
echo_piyo	0:bf96e953cdb8	641
echo_piyo	0:bf96e953cdb8	642	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	643	do{wait_ms(1);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	644
echo_piyo	0:bf96e953cdb8	645	//コマンドをセット
echo_piyo	0:bf96e953cdb8	646	ary[0] = 0xAA; //StartByte(固定)
echo_piyo	0:bf96e953cdb8	647	ary[1] = 0x01; //読み取り
echo_piyo	0:bf96e953cdb8	648	ary[2] = startRegAddr; //読み取り開始レジスタアドレス
echo_piyo	0:bf96e953cdb8	649	ary[3] = length; //バイト長
echo_piyo	0:bf96e953cdb8	650
echo_piyo	0:bf96e953cdb8	651	//送信
echo_piyo	0:bf96e953cdb8	652	iface->putc(ary[0]);
echo_piyo	0:bf96e953cdb8	653	iface->putc(ary[1]);
echo_piyo	0:bf96e953cdb8	654	iface->putc(ary[2]);
echo_piyo	0:bf96e953cdb8	655	iface->putc(ary[3]);
echo_piyo	0:bf96e953cdb8	656
echo_piyo	0:bf96e953cdb8	657	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	658	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	659
echo_piyo	0:bf96e953cdb8	660	lastError = 0;
echo_piyo	0:bf96e953cdb8	661	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
echo_piyo	0:bf96e953cdb8	662
echo_piyo	0:bf96e953cdb8	663	ary[0] = rxd & 0xFF;
echo_piyo	0:bf96e953cdb8	664
echo_piyo	0:bf96e953cdb8	665	//残りを受信
echo_piyo	0:bf96e953cdb8	666	int i = 1;
echo_piyo	0:bf96e953cdb8	667	int cnt = (ary[0] == 0xBB) ? 2 : 1;
echo_piyo	0:bf96e953cdb8	668	while(i < cnt && iface->readable()){
echo_piyo	0:bf96e953cdb8	669	ary[i++] = iface->getc();
echo_piyo	0:bf96e953cdb8	670	}
echo_piyo	0:bf96e953cdb8	671
echo_piyo	0:bf96e953cdb8	672	//レスポンスが0xBB以外:通信失敗
echo_piyo	0:bf96e953cdb8	673	if(ary[0] != 0xBB){
echo_piyo	0:bf96e953cdb8	674	lastLength = 2;
echo_piyo	0:bf96e953cdb8	675	lastError = ary[1];
echo_piyo	0:bf96e953cdb8	676	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	677	read_mark = true;
echo_piyo	0:bf96e953cdb8	678	return -1;
echo_piyo	0:bf96e953cdb8	679	}
echo_piyo	0:bf96e953cdb8	680
echo_piyo	0:bf96e953cdb8	681	//返答バイト長がlengthと一致しない:通信失敗
echo_piyo	0:bf96e953cdb8	682	if(ary[1] != length){
echo_piyo	0:bf96e953cdb8	683	lastLength = ary[1];
echo_piyo	0:bf96e953cdb8	684	lastError = 0;
echo_piyo	0:bf96e953cdb8	685	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	686	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	687	read_mark = true;
echo_piyo	0:bf96e953cdb8	688	return -2;
echo_piyo	0:bf96e953cdb8	689	}
echo_piyo	0:bf96e953cdb8	690
echo_piyo	0:bf96e953cdb8	691	lastLength = ary[1] + 2;
echo_piyo	0:bf96e953cdb8	692
echo_piyo	0:bf96e953cdb8	693	memcpy(receiveBytes, ary+2, ary[1]);
echo_piyo	0:bf96e953cdb8	694
echo_piyo	0:bf96e953cdb8	695	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	696	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	697	read_mark = true;
echo_piyo	0:bf96e953cdb8	698
echo_piyo	0:bf96e953cdb8	699	return ary[1];
echo_piyo	0:bf96e953cdb8	700	}
echo_piyo	0:bf96e953cdb8	701
echo_piyo	0:bf96e953cdb8	702	/* ==================================================================
echo_piyo	0:bf96e953cdb8	703	* <UART>
echo_piyo	0:bf96e953cdb8	704	* レジスタ書き込み(1byteのみ)
echo_piyo	0:bf96e953cdb8	705	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	706	* returns:
echo_piyo	0:bf96e953cdb8	707	* -1 失敗
echo_piyo	0:bf96e953cdb8	708	* 1 成功
echo_piyo	0:bf96e953cdb8	709	*/
echo_piyo	0:bf96e953cdb8	710	char BNO055_UART_CTRL::wr(bool isPage1, char regAddr, char wBytes){
echo_piyo	0:bf96e953cdb8	711	//ページが異なるならページ変更命令を発行(再帰処理)
echo_piyo	0:bf96e953cdb8	712	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	713	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
echo_piyo	0:bf96e953cdb8	714	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	715	}
echo_piyo	0:bf96e953cdb8	716
echo_piyo	0:bf96e953cdb8	717	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	718	do{wait_ms(1);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	719
echo_piyo	0:bf96e953cdb8	720	//コマンドをセット
echo_piyo	0:bf96e953cdb8	721	ary[0] = 0xAA; //StartByte(固定)
echo_piyo	0:bf96e953cdb8	722	ary[1] = 0x00; //書き込み
echo_piyo	0:bf96e953cdb8	723	ary[2] = regAddr; //レジスタアドレス
echo_piyo	0:bf96e953cdb8	724	ary[3] = 1; //バイト長
echo_piyo	0:bf96e953cdb8	725	ary[4] = wBytes; //送信データ
echo_piyo	0:bf96e953cdb8	726
echo_piyo	0:bf96e953cdb8	727	//送信
echo_piyo	0:bf96e953cdb8	728	iface->putc(ary[0]);
echo_piyo	0:bf96e953cdb8	729	iface->putc(ary[1]);
echo_piyo	0:bf96e953cdb8	730	iface->putc(ary[2]);
echo_piyo	0:bf96e953cdb8	731	iface->putc(ary[3]);
echo_piyo	0:bf96e953cdb8	732	iface->putc(ary[4]);
echo_piyo	0:bf96e953cdb8	733
echo_piyo	0:bf96e953cdb8	734	//システムリブートが発生するレジスタの場合は1200ms待つ
echo_piyo	0:bf96e953cdb8	735	if(regAddr == 0x3F) wait_ms(1200);
echo_piyo	0:bf96e953cdb8	736
echo_piyo	0:bf96e953cdb8	737	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	738	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	739
echo_piyo	0:bf96e953cdb8	740	lastError = 0;
echo_piyo	0:bf96e953cdb8	741	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
echo_piyo	0:bf96e953cdb8	742
echo_piyo	0:bf96e953cdb8	743	ary[0] = rxd & 0xFF;
echo_piyo	0:bf96e953cdb8	744
echo_piyo	0:bf96e953cdb8	745	//残りを受信
echo_piyo	0:bf96e953cdb8	746	while(iface->readable()){
echo_piyo	0:bf96e953cdb8	747	ary[1] = iface->getc();
echo_piyo	0:bf96e953cdb8	748	}
echo_piyo	0:bf96e953cdb8	749
echo_piyo	0:bf96e953cdb8	750	//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
echo_piyo	0:bf96e953cdb8	751	if(ary[0] != 0xEE \|\| ary[1] != 0x01){
echo_piyo	0:bf96e953cdb8	752	lastLength = 2;
echo_piyo	0:bf96e953cdb8	753	lastError = ary[1];
echo_piyo	0:bf96e953cdb8	754	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	755	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	756	read_mark = true;
echo_piyo	0:bf96e953cdb8	757	return -1;
echo_piyo	0:bf96e953cdb8	758	}
echo_piyo	0:bf96e953cdb8	759
echo_piyo	0:bf96e953cdb8	760	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	761	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	762	read_mark = true;
echo_piyo	0:bf96e953cdb8	763
echo_piyo	0:bf96e953cdb8	764	return 1;
echo_piyo	0:bf96e953cdb8	765	}
echo_piyo	0:bf96e953cdb8	766
echo_piyo	0:bf96e953cdb8	767	/* ==================================================================
echo_piyo	0:bf96e953cdb8	768	* <UART>
echo_piyo	0:bf96e953cdb8	769	* レジスタ書き込み(複数可)
echo_piyo	0:bf96e953cdb8	770	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	771	* returns:
echo_piyo	0:bf96e953cdb8	772	* -1 失敗
echo_piyo	0:bf96e953cdb8	773	* -4 レスポンスエラー
echo_piyo	0:bf96e953cdb8	774	* 1 成功
echo_piyo	0:bf96e953cdb8	775	*/
echo_piyo	0:bf96e953cdb8	776	char BNO055_UART_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){
echo_piyo	0:bf96e953cdb8	777	//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
echo_piyo	0:bf96e953cdb8	778	if(length < 1 \|\| length > BNO055_UART_BUF_MAXLEN) return -1;
echo_piyo	0:bf96e953cdb8	779
echo_piyo	0:bf96e953cdb8	780	//ページが異なるならページ変更命令を発行(再帰処理)
echo_piyo	0:bf96e953cdb8	781	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	782	wr(page1, BNO055_PAGE_ID, (isPage1) ? 1 : 0);
echo_piyo	0:bf96e953cdb8	783	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	784	}
echo_piyo	0:bf96e953cdb8	785
echo_piyo	0:bf96e953cdb8	786	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	787	do{wait_ms(1);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	788
echo_piyo	0:bf96e953cdb8	789	//コマンドをセット
echo_piyo	0:bf96e953cdb8	790	ary[0] = 0xAA; //StartByte(固定)
echo_piyo	0:bf96e953cdb8	791	ary[1] = 0x00; //書き込み
echo_piyo	0:bf96e953cdb8	792	ary[2] = startRegAddr; //レジスタアドレス
echo_piyo	0:bf96e953cdb8	793	ary[3] = length; //バイト長
echo_piyo	0:bf96e953cdb8	794
echo_piyo	0:bf96e953cdb8	795	//前部分送信
echo_piyo	0:bf96e953cdb8	796	iface->putc(ary[0]);
echo_piyo	0:bf96e953cdb8	797	iface->putc(ary[1]);
echo_piyo	0:bf96e953cdb8	798	iface->putc(ary[2]);
echo_piyo	0:bf96e953cdb8	799	iface->putc(ary[3]);
echo_piyo	0:bf96e953cdb8	800
echo_piyo	0:bf96e953cdb8	801	//データ内容送信
echo_piyo	0:bf96e953cdb8	802	for(int cnt=0; cnt<length; cnt++){
echo_piyo	0:bf96e953cdb8	803	iface->putc(Bytes[cnt]);
echo_piyo	0:bf96e953cdb8	804	}
echo_piyo	0:bf96e953cdb8	805
echo_piyo	0:bf96e953cdb8	806	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	807	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	808
echo_piyo	0:bf96e953cdb8	809	lastError = 0;
echo_piyo	0:bf96e953cdb8	810	memset(ary, 0, BNO055_UART_BUF_MAXLEN + 5); //配列ゼロクリア
echo_piyo	0:bf96e953cdb8	811
echo_piyo	0:bf96e953cdb8	812	ary[0] = rxd & 0xFF;
echo_piyo	0:bf96e953cdb8	813
echo_piyo	0:bf96e953cdb8	814	//残りを受信
echo_piyo	0:bf96e953cdb8	815	while(iface->readable()){
echo_piyo	0:bf96e953cdb8	816	ary[1] = iface->getc();
echo_piyo	0:bf96e953cdb8	817	}
echo_piyo	0:bf96e953cdb8	818
echo_piyo	0:bf96e953cdb8	819	//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
echo_piyo	0:bf96e953cdb8	820	if(ary[0] != 0xEE \|\| ary[1] != 0x01){
echo_piyo	0:bf96e953cdb8	821	lastLength = 2;
echo_piyo	0:bf96e953cdb8	822	lastError = ary[1];
echo_piyo	0:bf96e953cdb8	823	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	824	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	825	read_mark = true;
echo_piyo	0:bf96e953cdb8	826	return -1;
echo_piyo	0:bf96e953cdb8	827	}
echo_piyo	0:bf96e953cdb8	828
echo_piyo	0:bf96e953cdb8	829	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	830	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	831	read_mark = true;
echo_piyo	0:bf96e953cdb8	832
echo_piyo	0:bf96e953cdb8	833	return 1;
echo_piyo	0:bf96e953cdb8	834	}
echo_piyo	0:bf96e953cdb8	835
echo_piyo	0:bf96e953cdb8	836	/* ==================================================================
echo_piyo	0:bf96e953cdb8	837	* <UART>
echo_piyo	0:bf96e953cdb8	838	* インターフェース設定を初期化する
echo_piyo	0:bf96e953cdb8	839	*/
echo_piyo	0:bf96e953cdb8	840	void BNO055_UART_CTRL::init(){
echo_piyo	0:bf96e953cdb8	841	iface->format(); //8N1 = default
echo_piyo	0:bf96e953cdb8	842	iface->baud(115200);
echo_piyo	0:bf96e953cdb8	843	wait_ms(5);
echo_piyo	0:bf96e953cdb8	844	iface->attach(this, &BNO055_UART_CTRL::rxInterrupt);
echo_piyo	0:bf96e953cdb8	845
echo_piyo	0:bf96e953cdb8	846	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	847	do{wait_ms(1);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	848
echo_piyo	0:bf96e953cdb8	849	//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
echo_piyo	0:bf96e953cdb8	850	//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
echo_piyo	0:bf96e953cdb8	851	iface->putc(0x01); //dummy
echo_piyo	0:bf96e953cdb8	852	iface->putc(0x01); //dummy
echo_piyo	0:bf96e953cdb8	853	iface->putc(0x01); //dummy
echo_piyo	0:bf96e953cdb8	854	iface->putc(0x01); //dummy
echo_piyo	0:bf96e953cdb8	855
echo_piyo	0:bf96e953cdb8	856	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	857	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	858
echo_piyo	0:bf96e953cdb8	859	char rslt = rxd & 0xFF; //レスポンス
echo_piyo	0:bf96e953cdb8	860
echo_piyo	0:bf96e953cdb8	861	do{
echo_piyo	0:bf96e953cdb8	862	//レスポンスが異常:残りの情報を無視
echo_piyo	0:bf96e953cdb8	863	if(rslt != 0xBB){
echo_piyo	0:bf96e953cdb8	864	while(iface->readable()){
echo_piyo	0:bf96e953cdb8	865	iface->getc();
echo_piyo	0:bf96e953cdb8	866	}
echo_piyo	0:bf96e953cdb8	867	}
echo_piyo	0:bf96e953cdb8	868
echo_piyo	0:bf96e953cdb8	869	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	870	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	871	read_mark = true;
echo_piyo	0:bf96e953cdb8	872
echo_piyo	0:bf96e953cdb8	873	//送信可能になるまで待つ
echo_piyo	0:bf96e953cdb8	874	do{wait_ms(5);}while(!iface->writeable());
echo_piyo	0:bf96e953cdb8	875
echo_piyo	0:bf96e953cdb8	876	iface->putc(0xAA); //START
echo_piyo	0:bf96e953cdb8	877	iface->putc(0x01); //読み取り
echo_piyo	0:bf96e953cdb8	878	iface->putc(0x07); //ページID
echo_piyo	0:bf96e953cdb8	879	iface->putc(0x01); //length 1byte
echo_piyo	0:bf96e953cdb8	880
echo_piyo	0:bf96e953cdb8	881	//レスポンスを受信するまで待つ
echo_piyo	0:bf96e953cdb8	882	while(read_mark) wait_us(100);
echo_piyo	0:bf96e953cdb8	883
echo_piyo	0:bf96e953cdb8	884	rslt = rxd & 0xFF; //レスポンス
echo_piyo	0:bf96e953cdb8	885
echo_piyo	0:bf96e953cdb8	886	}while(rslt != 0xBB);
echo_piyo	0:bf96e953cdb8	887
echo_piyo	0:bf96e953cdb8	888	//残りの情報を無視
echo_piyo	0:bf96e953cdb8	889	while(iface->readable()){
echo_piyo	0:bf96e953cdb8	890	iface->getc();
echo_piyo	0:bf96e953cdb8	891	}
echo_piyo	0:bf96e953cdb8	892
echo_piyo	0:bf96e953cdb8	893	//受信用割り込みマークをリセット
echo_piyo	0:bf96e953cdb8	894	rxd = 0xFFFF;
echo_piyo	0:bf96e953cdb8	895	read_mark = true;
echo_piyo	0:bf96e953cdb8	896	}
echo_piyo	0:bf96e953cdb8	897
echo_piyo	0:bf96e953cdb8	898
echo_piyo	0:bf96e953cdb8	899
echo_piyo	0:bf96e953cdb8	900
echo_piyo	0:bf96e953cdb8	901
echo_piyo	0:bf96e953cdb8	902
echo_piyo	0:bf96e953cdb8	903
echo_piyo	0:bf96e953cdb8	904
echo_piyo	0:bf96e953cdb8	905	//CLASS:BNO055_I2C_CTRL//////////////////////////////////////////////
echo_piyo	0:bf96e953cdb8	906	/* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	907	* BNO055_CTRLクラス(インターフェース)を継承(実装)したクラス
echo_piyo	0:bf96e953cdb8	908	* I2Cで命令を送受信するためのコントロール用クラス
echo_piyo	0:bf96e953cdb8	909	*/
echo_piyo	0:bf96e953cdb8	910
echo_piyo	0:bf96e953cdb8	911	/* ==================================================================
echo_piyo	0:bf96e953cdb8	912	* 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
echo_piyo	0:bf96e953cdb8	913	*/
echo_piyo	0:bf96e953cdb8	914	BNO055_I2C_CTRL::BNO055_I2C_CTRL(I2C* iic, char addr, unsigned int freq){
echo_piyo	0:bf96e953cdb8	915	iface = iic;
echo_piyo	0:bf96e953cdb8	916	i2c_writeAddr = addr << 1;
echo_piyo	0:bf96e953cdb8	917	i2c_readAddr = i2c_writeAddr + 1;
echo_piyo	0:bf96e953cdb8	918	i2c_freq = freq;
echo_piyo	0:bf96e953cdb8	919	page1 = true;
echo_piyo	0:bf96e953cdb8	920	ary = new char[2];
echo_piyo	0:bf96e953cdb8	921	memset(ary, 0, 2);
echo_piyo	0:bf96e953cdb8	922	lastError = 0;
echo_piyo	0:bf96e953cdb8	923	}
echo_piyo	0:bf96e953cdb8	924
echo_piyo	0:bf96e953cdb8	925	/* ==================================================================
echo_piyo	0:bf96e953cdb8	926	* BNO055をI2Cでコントロールするためのクラス：デストラクタ
echo_piyo	0:bf96e953cdb8	927	*/
echo_piyo	0:bf96e953cdb8	928	BNO055_I2C_CTRL::~BNO055_I2C_CTRL(){
echo_piyo	0:bf96e953cdb8	929	delete iface;
echo_piyo	0:bf96e953cdb8	930	delete[] ary;
echo_piyo	0:bf96e953cdb8	931	}
echo_piyo	0:bf96e953cdb8	932
echo_piyo	0:bf96e953cdb8	933	/* ==================================================================
echo_piyo	0:bf96e953cdb8	934	* <I2C>
echo_piyo	0:bf96e953cdb8	935	* レジスタの内容を読み取り(1byteのみ)
echo_piyo	0:bf96e953cdb8	936	*/
echo_piyo	0:bf96e953cdb8	937	char BNO055_I2C_CTRL::rr(bool isPage1, char regAddr){
echo_piyo	0:bf96e953cdb8	938	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	939	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	940	ary[0] = BNO055_PAGE_ID;
echo_piyo	0:bf96e953cdb8	941	ary[1] = (isPage1) ? 1 : 0;
echo_piyo	0:bf96e953cdb8	942	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	943	iface->write(i2c_writeAddr, ary, 2);
echo_piyo	0:bf96e953cdb8	944	}
echo_piyo	0:bf96e953cdb8	945
echo_piyo	0:bf96e953cdb8	946	ary[0] = regAddr;
echo_piyo	0:bf96e953cdb8	947	iface->write(i2c_writeAddr, ary, 1, true);
echo_piyo	0:bf96e953cdb8	948	iface->read(i2c_readAddr, ary, 1, false);
echo_piyo	0:bf96e953cdb8	949
echo_piyo	0:bf96e953cdb8	950	return ary[0];
echo_piyo	0:bf96e953cdb8	951	}
echo_piyo	0:bf96e953cdb8	952
echo_piyo	0:bf96e953cdb8	953	/* ==================================================================
echo_piyo	0:bf96e953cdb8	954	* <I2C>
echo_piyo	0:bf96e953cdb8	955	* レジスタの内容を読み取り(複数可)
echo_piyo	0:bf96e953cdb8	956	*/
echo_piyo	0:bf96e953cdb8	957	char BNO055_I2C_CTRL::rrc(bool isPage1, char startRegAddr, char *receiveBytes, char length){
echo_piyo	0:bf96e953cdb8	958	//読み取りバイト数が1未満
echo_piyo	0:bf96e953cdb8	959	if(length < 1) return -1;
echo_piyo	0:bf96e953cdb8	960
echo_piyo	0:bf96e953cdb8	961	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	962	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	963	ary[0] = BNO055_PAGE_ID;
echo_piyo	0:bf96e953cdb8	964	ary[1] = (isPage1) ? 1 : 0;
echo_piyo	0:bf96e953cdb8	965	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	966	iface->write(i2c_writeAddr, ary, 2);
echo_piyo	0:bf96e953cdb8	967	}
echo_piyo	0:bf96e953cdb8	968
echo_piyo	0:bf96e953cdb8	969	ary[0] = startRegAddr;
echo_piyo	0:bf96e953cdb8	970	iface->write(i2c_writeAddr, ary, 1, true);
echo_piyo	0:bf96e953cdb8	971	iface->read(i2c_readAddr, receiveBytes, length, false);
echo_piyo	0:bf96e953cdb8	972
echo_piyo	0:bf96e953cdb8	973	return receiveBytes[0];
echo_piyo	0:bf96e953cdb8	974	}
echo_piyo	0:bf96e953cdb8	975
echo_piyo	0:bf96e953cdb8	976	/* ==================================================================
echo_piyo	0:bf96e953cdb8	977	* <I2C>
echo_piyo	0:bf96e953cdb8	978	* レジスタ書き込み(1byteのみ)
echo_piyo	0:bf96e953cdb8	979	*/
echo_piyo	0:bf96e953cdb8	980	char BNO055_I2C_CTRL::wr(bool isPage1, char regAddr, char wBytes){
echo_piyo	0:bf96e953cdb8	981	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	982	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	983	ary[0] = BNO055_PAGE_ID;
echo_piyo	0:bf96e953cdb8	984	ary[1] = (isPage1) ? 1 : 0;
echo_piyo	0:bf96e953cdb8	985	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	986	iface->write(i2c_writeAddr, ary, 2);
echo_piyo	0:bf96e953cdb8	987	}
echo_piyo	0:bf96e953cdb8	988
echo_piyo	0:bf96e953cdb8	989	ary[0] = regAddr;
echo_piyo	0:bf96e953cdb8	990	ary[1] = wBytes;
echo_piyo	0:bf96e953cdb8	991
echo_piyo	0:bf96e953cdb8	992	iface->write(i2c_writeAddr, ary, 2);
echo_piyo	0:bf96e953cdb8	993
echo_piyo	0:bf96e953cdb8	994	return ary[0];
echo_piyo	0:bf96e953cdb8	995	}
echo_piyo	0:bf96e953cdb8	996
echo_piyo	0:bf96e953cdb8	997	/* ==================================================================
echo_piyo	0:bf96e953cdb8	998	* <I2C>
echo_piyo	0:bf96e953cdb8	999	* レジスタ書き込み(複数可)
echo_piyo	0:bf96e953cdb8	1000	*/
echo_piyo	0:bf96e953cdb8	1001	char BNO055_I2C_CTRL::wrc(bool isPage1, char startRegAddr, char *Bytes, char length){
echo_piyo	0:bf96e953cdb8	1002	//書き込みバイト数が1未満
echo_piyo	0:bf96e953cdb8	1003	if(length < 1) return -1;
echo_piyo	0:bf96e953cdb8	1004
echo_piyo	0:bf96e953cdb8	1005	//ページが異なるならページ変更命令を発行
echo_piyo	0:bf96e953cdb8	1006	if(page1 != isPage1){
echo_piyo	0:bf96e953cdb8	1007	ary[0] = BNO055_PAGE_ID;
echo_piyo	0:bf96e953cdb8	1008	ary[1] = (isPage1) ? 1 : 0;
echo_piyo	0:bf96e953cdb8	1009	page1 = isPage1;
echo_piyo	0:bf96e953cdb8	1010	iface->write(i2c_writeAddr, ary, 2);
echo_piyo	0:bf96e953cdb8	1011	}
echo_piyo	0:bf96e953cdb8	1012
echo_piyo	0:bf96e953cdb8	1013	ary[0] = startRegAddr;
echo_piyo	0:bf96e953cdb8	1014	iface->write(i2c_writeAddr, ary, 1, true);
echo_piyo	0:bf96e953cdb8	1015	iface->write(i2c_writeAddr, Bytes, length, false);
echo_piyo	0:bf96e953cdb8	1016
echo_piyo	0:bf96e953cdb8	1017	return Bytes[0];
echo_piyo	0:bf96e953cdb8	1018	}
echo_piyo	0:bf96e953cdb8	1019
echo_piyo	0:bf96e953cdb8	1020	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1021	* <I2C>
echo_piyo	0:bf96e953cdb8	1022	* インターフェース設定を初期化する
echo_piyo	0:bf96e953cdb8	1023	*/
echo_piyo	0:bf96e953cdb8	1024	void BNO055_I2C_CTRL::init(){
echo_piyo	0:bf96e953cdb8	1025	iface->frequency(i2c_freq);
echo_piyo	0:bf96e953cdb8	1026	wait_ms(5);
echo_piyo	0:bf96e953cdb8	1027	}
echo_piyo	0:bf96e953cdb8	1028
echo_piyo	0:bf96e953cdb8	1029
echo_piyo	0:bf96e953cdb8	1030
echo_piyo	0:bf96e953cdb8	1031
echo_piyo	0:bf96e953cdb8	1032
echo_piyo	0:bf96e953cdb8	1033
echo_piyo	0:bf96e953cdb8	1034
echo_piyo	0:bf96e953cdb8	1035
echo_piyo	0:bf96e953cdb8	1036
echo_piyo	0:bf96e953cdb8	1037	//CLASS:BOARDC_BNO055////////////////////////////////////////////////
echo_piyo	0:bf96e953cdb8	1038	/* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1039	* メインクラス
echo_piyo	0:bf96e953cdb8	1040	* BNO055をUARTまたはI2Cで使用するための命令をまとめている
echo_piyo	0:bf96e953cdb8	1041	* 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
echo_piyo	0:bf96e953cdb8	1042	* UARTとI2Cのどちらを使用するか決定する
echo_piyo	0:bf96e953cdb8	1043	*/
echo_piyo	0:bf96e953cdb8	1044
echo_piyo	0:bf96e953cdb8	1045	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1046	* コンストラクタ (オーバーロード+3)
echo_piyo	0:bf96e953cdb8	1047	* UARTで使用する際のコンストラクタ：ピン別名を指定する
echo_piyo	0:bf96e953cdb8	1048	*/
echo_piyo	0:bf96e953cdb8	1049	BOARDC_BNO055::BOARDC_BNO055(PinName tx, PinName rx){
echo_piyo	0:bf96e953cdb8	1050	ctrl = new BNO055_UART_CTRL(new RawSerial(tx, rx));
echo_piyo	0:bf96e953cdb8	1051
echo_piyo	0:bf96e953cdb8	1052	scaleACC = 0.01f; // = 1 / 100
echo_piyo	0:bf96e953cdb8	1053	scaleMAG = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1054	scaleGYRO = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1055	scaleEuler = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1056	scaleTEMP = 1.0f;
echo_piyo	0:bf96e953cdb8	1057	scaleLIA = scaleACC;
echo_piyo	0:bf96e953cdb8	1058	scaleGV = scaleACC;
echo_piyo	0:bf96e953cdb8	1059	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
echo_piyo	0:bf96e953cdb8	1060
echo_piyo	0:bf96e953cdb8	1061	clkExt = false;
echo_piyo	0:bf96e953cdb8	1062	}
echo_piyo	0:bf96e953cdb8	1063
echo_piyo	0:bf96e953cdb8	1064	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1065	* コンストラクタ (オーバーロード+3)
echo_piyo	0:bf96e953cdb8	1066	* 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
echo_piyo	0:bf96e953cdb8	1067	*/
echo_piyo	0:bf96e953cdb8	1068	BOARDC_BNO055::BOARDC_BNO055(RawSerial *uart){
echo_piyo	0:bf96e953cdb8	1069	ctrl = new BNO055_UART_CTRL(uart);
echo_piyo	0:bf96e953cdb8	1070
echo_piyo	0:bf96e953cdb8	1071	scaleACC = 0.01f; // = 1 / 100
echo_piyo	0:bf96e953cdb8	1072	scaleMAG = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1073	scaleGYRO = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1074	scaleEuler = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1075	scaleTEMP = 1.0f;
echo_piyo	0:bf96e953cdb8	1076	scaleLIA = scaleACC;
echo_piyo	0:bf96e953cdb8	1077	scaleGV = scaleACC;
echo_piyo	0:bf96e953cdb8	1078	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
echo_piyo	0:bf96e953cdb8	1079
echo_piyo	0:bf96e953cdb8	1080	clkExt = false;
echo_piyo	0:bf96e953cdb8	1081	}
echo_piyo	0:bf96e953cdb8	1082
echo_piyo	0:bf96e953cdb8	1083	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1084	* コンストラクタ (オーバーロード+3)
echo_piyo	0:bf96e953cdb8	1085	* I2Cで使用する際のコンストラクタ：ピン別名を指定する
echo_piyo	0:bf96e953cdb8	1086	*/
echo_piyo	0:bf96e953cdb8	1087	BOARDC_BNO055::BOARDC_BNO055(PinName sda, PinName scl, char addr, unsigned int freq){
echo_piyo	0:bf96e953cdb8	1088	ctrl = new BNO055_I2C_CTRL(new I2C(sda, scl), addr, freq);
echo_piyo	0:bf96e953cdb8	1089
echo_piyo	0:bf96e953cdb8	1090	scaleACC = 0.01f; // = 1 / 100
echo_piyo	0:bf96e953cdb8	1091	scaleMAG = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1092	scaleGYRO = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1093	scaleEuler = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1094	scaleTEMP = 1.0f;
echo_piyo	0:bf96e953cdb8	1095	scaleLIA = scaleACC;
echo_piyo	0:bf96e953cdb8	1096	scaleGV = scaleACC;
echo_piyo	0:bf96e953cdb8	1097	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
echo_piyo	0:bf96e953cdb8	1098
echo_piyo	0:bf96e953cdb8	1099	clkExt = false;
echo_piyo	0:bf96e953cdb8	1100	}
echo_piyo	0:bf96e953cdb8	1101
echo_piyo	0:bf96e953cdb8	1102	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1103	* コンストラクタ (オーバーロード+3)
echo_piyo	0:bf96e953cdb8	1104	* 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
echo_piyo	0:bf96e953cdb8	1105	*/
echo_piyo	0:bf96e953cdb8	1106	BOARDC_BNO055::BOARDC_BNO055(I2C* iic, char addr, unsigned int freq){
echo_piyo	0:bf96e953cdb8	1107	ctrl = new BNO055_I2C_CTRL(iic, addr, freq);
echo_piyo	0:bf96e953cdb8	1108
echo_piyo	0:bf96e953cdb8	1109	scaleACC = 0.01f; // = 1 / 100
echo_piyo	0:bf96e953cdb8	1110	scaleMAG = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1111	scaleGYRO = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1112	scaleEuler = 0.0625f; // = 1 / 16
echo_piyo	0:bf96e953cdb8	1113	scaleTEMP = 1.0f;
echo_piyo	0:bf96e953cdb8	1114	scaleLIA = scaleACC;
echo_piyo	0:bf96e953cdb8	1115	scaleGV = scaleACC;
echo_piyo	0:bf96e953cdb8	1116	scaleQuaternion = 0.00006103515; // = 1 / (2^14)
echo_piyo	0:bf96e953cdb8	1117
echo_piyo	0:bf96e953cdb8	1118	clkExt = false;
echo_piyo	0:bf96e953cdb8	1119	}
echo_piyo	0:bf96e953cdb8	1120
echo_piyo	0:bf96e953cdb8	1121	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1122	* デストラクタ
echo_piyo	0:bf96e953cdb8	1123	*/
echo_piyo	0:bf96e953cdb8	1124	BOARDC_BNO055::~BOARDC_BNO055(){
echo_piyo	0:bf96e953cdb8	1125	delete ctrl;
echo_piyo	0:bf96e953cdb8	1126	}
echo_piyo	0:bf96e953cdb8	1127
echo_piyo	0:bf96e953cdb8	1128	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1129	* デフォルト設定での初期化
echo_piyo	0:bf96e953cdb8	1130	*/
echo_piyo	0:bf96e953cdb8	1131	char BOARDC_BNO055::initialize(bool resetIface){
echo_piyo	0:bf96e953cdb8	1132	if(resetIface) ctrl->init();
echo_piyo	0:bf96e953cdb8	1133
echo_piyo	0:bf96e953cdb8	1134	//CONFIGモードに設定
echo_piyo	0:bf96e953cdb8	1135	setOperation_CONFIG();
echo_piyo	0:bf96e953cdb8	1136
echo_piyo	0:bf96e953cdb8	1137	//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
echo_piyo	0:bf96e953cdb8	1138	setSysTrigger(0x81);
echo_piyo	0:bf96e953cdb8	1139
echo_piyo	0:bf96e953cdb8	1140	//加速度センサーレンジ設定(+-8G)
echo_piyo	0:bf96e953cdb8	1141	//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
echo_piyo	0:bf96e953cdb8	1142	if(!setAccRange(16)) return -1;
echo_piyo	0:bf96e953cdb8	1143
echo_piyo	0:bf96e953cdb8	1144	//各軸リマップ設定(BNO055の1pinマークが表側右下)
echo_piyo	0:bf96e953cdb8	1145	if(!setAxisRemap_topview_bottomright()) return -2;
echo_piyo	0:bf96e953cdb8	1146
echo_piyo	0:bf96e953cdb8	1147	//単位系セット
echo_piyo	0:bf96e953cdb8	1148	//ORI_Android_Windows : Windows
echo_piyo	0:bf96e953cdb8	1149	//TEMP_Unit : Celcius
echo_piyo	0:bf96e953cdb8	1150	//EUL_Unit : Degree
echo_piyo	0:bf96e953cdb8	1151	//GYR_Unit : deg/s
echo_piyo	0:bf96e953cdb8	1152	//ACC_Unit : m/s^2
echo_piyo	0:bf96e953cdb8	1153	if(!setUNIT_SEL(0x00)) return -3;
echo_piyo	0:bf96e953cdb8	1154
echo_piyo	0:bf96e953cdb8	1155	//動作モード設定(9軸Fusionモード)
echo_piyo	0:bf96e953cdb8	1156	if(!setOperation_Fusion_NDOF()) return -4;
echo_piyo	0:bf96e953cdb8	1157
echo_piyo	0:bf96e953cdb8	1158	return 0;
echo_piyo	0:bf96e953cdb8	1159	}
echo_piyo	0:bf96e953cdb8	1160
echo_piyo	0:bf96e953cdb8	1161	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1162	* 通信で発生した最後のエラー番号を返す
echo_piyo	0:bf96e953cdb8	1163	*/
echo_piyo	0:bf96e953cdb8	1164	char BOARDC_BNO055::getIfaceLastError(){
echo_piyo	0:bf96e953cdb8	1165	return ctrl->getLastError();
echo_piyo	0:bf96e953cdb8	1166	}
echo_piyo	0:bf96e953cdb8	1167
echo_piyo	0:bf96e953cdb8	1168	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1169	* 通信で発生した最後のエラーの通信バイト数を返す
echo_piyo	0:bf96e953cdb8	1170	*/
echo_piyo	0:bf96e953cdb8	1171	char BOARDC_BNO055::getIfaceLastLength(){
echo_piyo	0:bf96e953cdb8	1172	return ctrl->getLastLength();
echo_piyo	0:bf96e953cdb8	1173	}
echo_piyo	0:bf96e953cdb8	1174
echo_piyo	0:bf96e953cdb8	1175	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1176	* ユーザー定義読み取り(1byte)
echo_piyo	0:bf96e953cdb8	1177	* レジスタを指定して値を直接読み取る
echo_piyo	0:bf96e953cdb8	1178	*/
echo_piyo	0:bf96e953cdb8	1179	char BOARDC_BNO055::customRead(bool isPage1, char regAddr){
echo_piyo	0:bf96e953cdb8	1180	return ctrl->rr(isPage1, regAddr);
echo_piyo	0:bf96e953cdb8	1181	}
echo_piyo	0:bf96e953cdb8	1182
echo_piyo	0:bf96e953cdb8	1183	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1184	* ユーザー定義読み取り(連続)
echo_piyo	0:bf96e953cdb8	1185	* レジスタを指定して値を直接読み取る
echo_piyo	0:bf96e953cdb8	1186	*/
echo_piyo	0:bf96e953cdb8	1187	char BOARDC_BNO055::customReadC(bool isPage1, char startRegAddr, char *receiveBytes, unsigned char length){
echo_piyo	0:bf96e953cdb8	1188	return ctrl->rrc(isPage1, startRegAddr, receiveBytes, length);
echo_piyo	0:bf96e953cdb8	1189	}
echo_piyo	0:bf96e953cdb8	1190
echo_piyo	0:bf96e953cdb8	1191	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1192	* ユーザー定義書き込み(1byte)
echo_piyo	0:bf96e953cdb8	1193	* レジスタを指定して値を直接書き込む
echo_piyo	0:bf96e953cdb8	1194	*/
echo_piyo	0:bf96e953cdb8	1195	char BOARDC_BNO055::customWrite(bool isPage1, char regAddr, char wBytes){
echo_piyo	0:bf96e953cdb8	1196	return ctrl->wr(isPage1, regAddr, wBytes);
echo_piyo	0:bf96e953cdb8	1197	}
echo_piyo	0:bf96e953cdb8	1198
echo_piyo	0:bf96e953cdb8	1199	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1200	* ユーザー定義書き込み(連続)
echo_piyo	0:bf96e953cdb8	1201	* レジスタを指定して値を直接書き込む
echo_piyo	0:bf96e953cdb8	1202	*/
echo_piyo	0:bf96e953cdb8	1203	char BOARDC_BNO055::customWriteC(bool isPage1, char startRegAddr, char *Bytes, unsigned char length){
echo_piyo	0:bf96e953cdb8	1204	return ctrl->wrc(isPage1, startRegAddr, Bytes, length);
echo_piyo	0:bf96e953cdb8	1205	}
echo_piyo	0:bf96e953cdb8	1206
echo_piyo	0:bf96e953cdb8	1207	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1208	* レジスタ：ページIDの現在値を読む
echo_piyo	0:bf96e953cdb8	1209	* 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
echo_piyo	0:bf96e953cdb8	1210	*/
echo_piyo	0:bf96e953cdb8	1211	char BOARDC_BNO055::getPage(){
echo_piyo	0:bf96e953cdb8	1212	return ctrl->getNowPage();
echo_piyo	0:bf96e953cdb8	1213	}
echo_piyo	0:bf96e953cdb8	1214
echo_piyo	0:bf96e953cdb8	1215	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1216	* レジスタ：ページIDを変更する
echo_piyo	0:bf96e953cdb8	1217	* ページIDが現在値と同じであれば何もしない
echo_piyo	0:bf96e953cdb8	1218	*/
echo_piyo	0:bf96e953cdb8	1219	void BOARDC_BNO055::setPage(unsigned char pageNo){
echo_piyo	0:bf96e953cdb8	1220	pageNo = (pageNo == 0) ? 0 : 1;
echo_piyo	0:bf96e953cdb8	1221	if(getPage() == pageNo) return;
echo_piyo	0:bf96e953cdb8	1222	ctrl->wr((getPage() == 0) ? true : false, BNO055_PAGE_ID, pageNo);
echo_piyo	0:bf96e953cdb8	1223	}
echo_piyo	0:bf96e953cdb8	1224
echo_piyo	0:bf96e953cdb8	1225	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1226	* レジスタ：チップIDの値を取得する
echo_piyo	0:bf96e953cdb8	1227	*/
echo_piyo	0:bf96e953cdb8	1228	char BOARDC_BNO055::getChipID(){
echo_piyo	0:bf96e953cdb8	1229	return ctrl->rr(0, BNO055P0_CHIP_ID);
echo_piyo	0:bf96e953cdb8	1230	}
echo_piyo	0:bf96e953cdb8	1231
echo_piyo	0:bf96e953cdb8	1232	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1233	* レジスタ：加速度センサーIDの値を取得する
echo_piyo	0:bf96e953cdb8	1234	*/
echo_piyo	0:bf96e953cdb8	1235	char BOARDC_BNO055::getAccChipID(){
echo_piyo	0:bf96e953cdb8	1236	return ctrl->rr(0, BNO055P0_ACC_ID);
echo_piyo	0:bf96e953cdb8	1237	}
echo_piyo	0:bf96e953cdb8	1238
echo_piyo	0:bf96e953cdb8	1239	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1240	* レジスタ：地磁気センサーIDの値を取得する
echo_piyo	0:bf96e953cdb8	1241	*/
echo_piyo	0:bf96e953cdb8	1242	char BOARDC_BNO055::getMagChipID(){
echo_piyo	0:bf96e953cdb8	1243	return ctrl->rr(0, BNO055P0_MAG_ID);
echo_piyo	0:bf96e953cdb8	1244	}
echo_piyo	0:bf96e953cdb8	1245
echo_piyo	0:bf96e953cdb8	1246	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1247	* レジスタ：ジャイロセンサーIDの値を取得する
echo_piyo	0:bf96e953cdb8	1248	*/
echo_piyo	0:bf96e953cdb8	1249	char BOARDC_BNO055::getGyroChipID(){
echo_piyo	0:bf96e953cdb8	1250	return ctrl->rr(0, BNO055P0_GYR_ID);
echo_piyo	0:bf96e953cdb8	1251	}
echo_piyo	0:bf96e953cdb8	1252
echo_piyo	0:bf96e953cdb8	1253	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1254	* レジスタ：内部ソフトウェアリビジョンの値を取得する
echo_piyo	0:bf96e953cdb8	1255	*/
echo_piyo	0:bf96e953cdb8	1256	short BOARDC_BNO055::getRevision(){
echo_piyo	0:bf96e953cdb8	1257	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1258	char rsv[2];
echo_piyo	0:bf96e953cdb8	1259	ctrl->rrc(0, BNO055P0_SW_REV_ID_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1260
echo_piyo	0:bf96e953cdb8	1261	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1262	}
echo_piyo	0:bf96e953cdb8	1263
echo_piyo	0:bf96e953cdb8	1264	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1265	* レジスタ：内部ブートリビジョンの値を取得する
echo_piyo	0:bf96e953cdb8	1266	*/
echo_piyo	0:bf96e953cdb8	1267	char BOARDC_BNO055::getBootRevision(){
echo_piyo	0:bf96e953cdb8	1268	return ctrl->rr(0, BNO055P0_BL_REV_ID);
echo_piyo	0:bf96e953cdb8	1269	}
echo_piyo	0:bf96e953cdb8	1270
echo_piyo	0:bf96e953cdb8	1271	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1272	* 加速度センサーのRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1273	*/
echo_piyo	0:bf96e953cdb8	1274	float BOARDC_BNO055::getAccScale(){
echo_piyo	0:bf96e953cdb8	1275	return scaleACC;
echo_piyo	0:bf96e953cdb8	1276	}
echo_piyo	0:bf96e953cdb8	1277
echo_piyo	0:bf96e953cdb8	1278	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1279	* 地磁気センサーのRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1280	*/
echo_piyo	0:bf96e953cdb8	1281	float BOARDC_BNO055::getMagScale(){
echo_piyo	0:bf96e953cdb8	1282	return scaleMAG;
echo_piyo	0:bf96e953cdb8	1283	}
echo_piyo	0:bf96e953cdb8	1284
echo_piyo	0:bf96e953cdb8	1285	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1286	* 角速度センサーのRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1287	*/
echo_piyo	0:bf96e953cdb8	1288	float BOARDC_BNO055::getGyroScale(){
echo_piyo	0:bf96e953cdb8	1289	return scaleGYRO;
echo_piyo	0:bf96e953cdb8	1290	}
echo_piyo	0:bf96e953cdb8	1291
echo_piyo	0:bf96e953cdb8	1292	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1293	* 温度センサーのRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1294	*/
echo_piyo	0:bf96e953cdb8	1295	float BOARDC_BNO055::getTempScale(){
echo_piyo	0:bf96e953cdb8	1296	return scaleTEMP;
echo_piyo	0:bf96e953cdb8	1297	}
echo_piyo	0:bf96e953cdb8	1298
echo_piyo	0:bf96e953cdb8	1299	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1300	* オイラー角のRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1301	*/
echo_piyo	0:bf96e953cdb8	1302	float BOARDC_BNO055::getEulerScale(){
echo_piyo	0:bf96e953cdb8	1303	return scaleEuler;
echo_piyo	0:bf96e953cdb8	1304	}
echo_piyo	0:bf96e953cdb8	1305
echo_piyo	0:bf96e953cdb8	1306	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1307	* 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
echo_piyo	0:bf96e953cdb8	1308	*/
echo_piyo	0:bf96e953cdb8	1309	float BOARDC_BNO055::getLinearScale(){
echo_piyo	0:bf96e953cdb8	1310	return scaleLIA;
echo_piyo	0:bf96e953cdb8	1311	}
echo_piyo	0:bf96e953cdb8	1312
echo_piyo	0:bf96e953cdb8	1313	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1314	* 重力ベクトルのRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1315	*/
echo_piyo	0:bf96e953cdb8	1316	float BOARDC_BNO055::getGVScale(){
echo_piyo	0:bf96e953cdb8	1317	return scaleGV;
echo_piyo	0:bf96e953cdb8	1318	}
echo_piyo	0:bf96e953cdb8	1319
echo_piyo	0:bf96e953cdb8	1320	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1321	* 四元数のRAW値に乗算する係数を取得する
echo_piyo	0:bf96e953cdb8	1322	*/
echo_piyo	0:bf96e953cdb8	1323	double BOARDC_BNO055::getQuaternionScale(){
echo_piyo	0:bf96e953cdb8	1324	return scaleQuaternion;
echo_piyo	0:bf96e953cdb8	1325	}
echo_piyo	0:bf96e953cdb8	1326
echo_piyo	0:bf96e953cdb8	1327
echo_piyo	0:bf96e953cdb8	1328	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1329	* 加速度センサの値を取得する
echo_piyo	0:bf96e953cdb8	1330	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1331	* &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
echo_piyo	0:bf96e953cdb8	1332	* &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
echo_piyo	0:bf96e953cdb8	1333	* &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
echo_piyo	0:bf96e953cdb8	1334	*/
echo_piyo	0:bf96e953cdb8	1335	void BOARDC_BNO055::getAccDataAll(short &accX, short &accY, short &accZ){
echo_piyo	0:bf96e953cdb8	1336	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1337	char rsv[6];
echo_piyo	0:bf96e953cdb8	1338	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1339
echo_piyo	0:bf96e953cdb8	1340	accX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1341	accY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1342	accZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1343	}
echo_piyo	0:bf96e953cdb8	1344
echo_piyo	0:bf96e953cdb8	1345	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1346	* 加速度センサの値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1347	*/
echo_piyo	0:bf96e953cdb8	1348	short BOARDC_BNO055::getAccDataX(){
echo_piyo	0:bf96e953cdb8	1349	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1350	char rsv[2];
echo_piyo	0:bf96e953cdb8	1351	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1352
echo_piyo	0:bf96e953cdb8	1353	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1354	}
echo_piyo	0:bf96e953cdb8	1355
echo_piyo	0:bf96e953cdb8	1356	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1357	* 加速度センサの値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1358	*/
echo_piyo	0:bf96e953cdb8	1359	short BOARDC_BNO055::getAccDataY(){
echo_piyo	0:bf96e953cdb8	1360	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1361	char rsv[2];
echo_piyo	0:bf96e953cdb8	1362	ctrl->rrc(0, BNO055P0_ACC_DATA_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1363
echo_piyo	0:bf96e953cdb8	1364	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1365	}
echo_piyo	0:bf96e953cdb8	1366
echo_piyo	0:bf96e953cdb8	1367	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1368	* 加速度センサの値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1369	*/
echo_piyo	0:bf96e953cdb8	1370	short BOARDC_BNO055::getAccDataZ(){
echo_piyo	0:bf96e953cdb8	1371	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1372	char rsv[2];
echo_piyo	0:bf96e953cdb8	1373	ctrl->rrc(0, BNO055P0_ACC_DATA_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1374
echo_piyo	0:bf96e953cdb8	1375	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1376	}
echo_piyo	0:bf96e953cdb8	1377
echo_piyo	0:bf96e953cdb8	1378	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1379	* 地磁気センサの値を取得する
echo_piyo	0:bf96e953cdb8	1380	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1381	* &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
echo_piyo	0:bf96e953cdb8	1382	* &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
echo_piyo	0:bf96e953cdb8	1383	* &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
echo_piyo	0:bf96e953cdb8	1384	*/
echo_piyo	0:bf96e953cdb8	1385	void BOARDC_BNO055::getMagDataAll(short &magX, short &magY, short &magZ){
echo_piyo	0:bf96e953cdb8	1386	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1387	char rsv[6];
echo_piyo	0:bf96e953cdb8	1388	ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1389
echo_piyo	0:bf96e953cdb8	1390	magX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1391	magY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1392	magZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1393	}
echo_piyo	0:bf96e953cdb8	1394
echo_piyo	0:bf96e953cdb8	1395	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1396	* 地磁気センサの値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1397	*/
echo_piyo	0:bf96e953cdb8	1398	short BOARDC_BNO055::getMagDataX(){
echo_piyo	0:bf96e953cdb8	1399	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1400	char rsv[2];
echo_piyo	0:bf96e953cdb8	1401	ctrl->rrc(0, BNO055P0_MAG_DATA_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1402
echo_piyo	0:bf96e953cdb8	1403	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1404	}
echo_piyo	0:bf96e953cdb8	1405
echo_piyo	0:bf96e953cdb8	1406	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1407	* 地磁気センサの値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1408	*/
echo_piyo	0:bf96e953cdb8	1409	short BOARDC_BNO055::getMagDataY(){
echo_piyo	0:bf96e953cdb8	1410	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1411	char rsv[2];
echo_piyo	0:bf96e953cdb8	1412	ctrl->rrc(0, BNO055P0_MAG_DATA_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1413
echo_piyo	0:bf96e953cdb8	1414	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1415	}
echo_piyo	0:bf96e953cdb8	1416
echo_piyo	0:bf96e953cdb8	1417	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1418	* 地磁気センサの値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1419	*/
echo_piyo	0:bf96e953cdb8	1420	short BOARDC_BNO055::getMagDataZ(){
echo_piyo	0:bf96e953cdb8	1421	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1422	char rsv[2];
echo_piyo	0:bf96e953cdb8	1423	ctrl->rrc(0, BNO055P0_MAG_DATA_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1424
echo_piyo	0:bf96e953cdb8	1425	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1426	}
echo_piyo	0:bf96e953cdb8	1427
echo_piyo	0:bf96e953cdb8	1428	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1429	* ジャイロセンサの値を取得する
echo_piyo	0:bf96e953cdb8	1430	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1431	* &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
echo_piyo	0:bf96e953cdb8	1432	* &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
echo_piyo	0:bf96e953cdb8	1433	* &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
echo_piyo	0:bf96e953cdb8	1434	*/
echo_piyo	0:bf96e953cdb8	1435	void BOARDC_BNO055::getGyroDataAll(short &gyroX, short &gyroY, short &gyroZ){
echo_piyo	0:bf96e953cdb8	1436	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1437	char rsv[6];
echo_piyo	0:bf96e953cdb8	1438	ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1439
echo_piyo	0:bf96e953cdb8	1440	gyroX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1441	gyroY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1442	gyroZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1443	}
echo_piyo	0:bf96e953cdb8	1444
echo_piyo	0:bf96e953cdb8	1445	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1446	* ジャイロセンサの値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1447	*/
echo_piyo	0:bf96e953cdb8	1448	short BOARDC_BNO055::getGyroDataX(){
echo_piyo	0:bf96e953cdb8	1449	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1450	char rsv[2];
echo_piyo	0:bf96e953cdb8	1451	ctrl->rrc(0, BNO055P0_GYR_DATA_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1452
echo_piyo	0:bf96e953cdb8	1453	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1454	}
echo_piyo	0:bf96e953cdb8	1455
echo_piyo	0:bf96e953cdb8	1456	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1457	* ジャイロセンサの値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1458	*/
echo_piyo	0:bf96e953cdb8	1459	short BOARDC_BNO055::getGyroDataY(){
echo_piyo	0:bf96e953cdb8	1460	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1461	char rsv[2];
echo_piyo	0:bf96e953cdb8	1462	ctrl->rrc(0, BNO055P0_GYR_DATA_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1463
echo_piyo	0:bf96e953cdb8	1464	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1465	}
echo_piyo	0:bf96e953cdb8	1466
echo_piyo	0:bf96e953cdb8	1467	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1468	* ジャイロセンサの値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1469	*/
echo_piyo	0:bf96e953cdb8	1470	short BOARDC_BNO055::getGyroDataZ(){
echo_piyo	0:bf96e953cdb8	1471	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1472	char rsv[2];
echo_piyo	0:bf96e953cdb8	1473	ctrl->rrc(0, BNO055P0_GYR_DATA_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1474
echo_piyo	0:bf96e953cdb8	1475	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1476	}
echo_piyo	0:bf96e953cdb8	1477
echo_piyo	0:bf96e953cdb8	1478	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1479	* FusionSensing:オイラー角の値を取得する
echo_piyo	0:bf96e953cdb8	1480	* 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
echo_piyo	0:bf96e953cdb8	1481	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1482	* &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
echo_piyo	0:bf96e953cdb8	1483	* &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
echo_piyo	0:bf96e953cdb8	1484	* &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
echo_piyo	0:bf96e953cdb8	1485	*/
echo_piyo	0:bf96e953cdb8	1486	void BOARDC_BNO055::getEulerDataAll(short &E_heading, short &E_roll, short &E_pitch){
echo_piyo	0:bf96e953cdb8	1487	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1488	char rsv[6];
echo_piyo	0:bf96e953cdb8	1489	ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1490
echo_piyo	0:bf96e953cdb8	1491	E_heading = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1492	E_roll = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1493	E_pitch = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1494	}
echo_piyo	0:bf96e953cdb8	1495
echo_piyo	0:bf96e953cdb8	1496	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1497	* FusionSensing:オイラー角の値(Yaw軸(heading)のみ)を取得する
echo_piyo	0:bf96e953cdb8	1498	* 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
echo_piyo	0:bf96e953cdb8	1499	*/
echo_piyo	0:bf96e953cdb8	1500	short BOARDC_BNO055::getEulerDataHeading(){
echo_piyo	0:bf96e953cdb8	1501	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1502	char rsv[2];
echo_piyo	0:bf96e953cdb8	1503	ctrl->rrc(0, BNO055P0_EUL_HEADING_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1504
echo_piyo	0:bf96e953cdb8	1505	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1506	}
echo_piyo	0:bf96e953cdb8	1507
echo_piyo	0:bf96e953cdb8	1508	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1509	* getEulerDataHeading()のエイリアス
echo_piyo	0:bf96e953cdb8	1510	* FusionSensing:オイラー角の値(Yaw軸(heading)のみ)を返す
echo_piyo	0:bf96e953cdb8	1511	*/
echo_piyo	0:bf96e953cdb8	1512	short BOARDC_BNO055::getEulerDataYaw(){
echo_piyo	0:bf96e953cdb8	1513	return getEulerDataHeading();
echo_piyo	0:bf96e953cdb8	1514	}
echo_piyo	0:bf96e953cdb8	1515
echo_piyo	0:bf96e953cdb8	1516	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1517	* FusionSensing:オイラー角の値(pitch軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1518	* 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
echo_piyo	0:bf96e953cdb8	1519	*/
echo_piyo	0:bf96e953cdb8	1520	short BOARDC_BNO055::getEulerDataRoll(){
echo_piyo	0:bf96e953cdb8	1521	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1522	char rsv[2];
echo_piyo	0:bf96e953cdb8	1523	ctrl->rrc(0, BNO055P0_EUL_ROLL_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1524
echo_piyo	0:bf96e953cdb8	1525	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1526	}
echo_piyo	0:bf96e953cdb8	1527
echo_piyo	0:bf96e953cdb8	1528	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1529	* FusionSensing:オイラー角の値(pitch軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1530	* 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
echo_piyo	0:bf96e953cdb8	1531	*/
echo_piyo	0:bf96e953cdb8	1532	short BOARDC_BNO055::getEulerDataPitch(){
echo_piyo	0:bf96e953cdb8	1533	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1534	char rsv[2];
echo_piyo	0:bf96e953cdb8	1535	ctrl->rrc(0, BNO055P0_EUL_PITCH_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1536
echo_piyo	0:bf96e953cdb8	1537	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1538	}
echo_piyo	0:bf96e953cdb8	1539
echo_piyo	0:bf96e953cdb8	1540	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1541	* FusionSensing:9軸センサーのすべての値の値を取得する
echo_piyo	0:bf96e953cdb8	1542	*/
echo_piyo	0:bf96e953cdb8	1543	void BOARDC_BNO055::get9Axis(short *box){
echo_piyo	0:bf96e953cdb8	1544	char rsv[18];
echo_piyo	0:bf96e953cdb8	1545	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 18);
echo_piyo	0:bf96e953cdb8	1546
echo_piyo	0:bf96e953cdb8	1547	box[0] = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1548	box[1] = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1549	box[2] = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1550	box[3] = (rsv[7] << 8) \| rsv[6];
echo_piyo	0:bf96e953cdb8	1551	box[4] = (rsv[9] << 8) \| rsv[8];
echo_piyo	0:bf96e953cdb8	1552	box[5] = (rsv[11] << 8) \| rsv[10];
echo_piyo	0:bf96e953cdb8	1553	box[6] = (rsv[13] << 8) \| rsv[12];
echo_piyo	0:bf96e953cdb8	1554	box[7] = (rsv[15] << 8) \| rsv[14];
echo_piyo	0:bf96e953cdb8	1555	box[8] = (rsv[17] << 8) \| rsv[16];
echo_piyo	0:bf96e953cdb8	1556	}
echo_piyo	0:bf96e953cdb8	1557
echo_piyo	0:bf96e953cdb8	1558	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1559	* 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
echo_piyo	0:bf96e953cdb8	1560	* 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
echo_piyo	0:bf96e953cdb8	1561	*/
echo_piyo	0:bf96e953cdb8	1562	void BOARDC_BNO055::get9AxisAndEUL(short *box){
echo_piyo	0:bf96e953cdb8	1563	char rsv[24];
echo_piyo	0:bf96e953cdb8	1564	ctrl->rrc(0, BNO055P0_ACC_DATA_X_LSB, rsv, 24);
echo_piyo	0:bf96e953cdb8	1565
echo_piyo	0:bf96e953cdb8	1566	box[0] = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1567	box[1] = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1568	box[2] = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1569	box[3] = (rsv[7] << 8) \| rsv[6];
echo_piyo	0:bf96e953cdb8	1570	box[4] = (rsv[9] << 8) \| rsv[8];
echo_piyo	0:bf96e953cdb8	1571	box[5] = (rsv[11] << 8) \| rsv[10];
echo_piyo	0:bf96e953cdb8	1572	box[6] = (rsv[13] << 8) \| rsv[12];
echo_piyo	0:bf96e953cdb8	1573	box[7] = (rsv[15] << 8) \| rsv[14];
echo_piyo	0:bf96e953cdb8	1574	box[8] = (rsv[17] << 8) \| rsv[16];
echo_piyo	0:bf96e953cdb8	1575	box[9] = (rsv[19] << 8) \| rsv[18];
echo_piyo	0:bf96e953cdb8	1576	box[10] = (rsv[21] << 8) \| rsv[20];
echo_piyo	0:bf96e953cdb8	1577	box[11] = (rsv[23] << 8) \| rsv[22];
echo_piyo	0:bf96e953cdb8	1578	}
echo_piyo	0:bf96e953cdb8	1579
echo_piyo	0:bf96e953cdb8	1580	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1581	* FusionSensing:四元数(Quaternion)を取得する
echo_piyo	0:bf96e953cdb8	1582	* 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
echo_piyo	0:bf96e953cdb8	1583	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1584	* &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
echo_piyo	0:bf96e953cdb8	1585	*/
echo_piyo	0:bf96e953cdb8	1586	void BOARDC_BNO055::getQuaternion(short &q1, short &q2, short &q3, short &q4){
echo_piyo	0:bf96e953cdb8	1587	//連続8byte読み取り
echo_piyo	0:bf96e953cdb8	1588	char rsv[8];
echo_piyo	0:bf96e953cdb8	1589	ctrl->rrc(0, BNO055P0_QUA_DATA_W_LSB, rsv, 8);
echo_piyo	0:bf96e953cdb8	1590
echo_piyo	0:bf96e953cdb8	1591	q1 = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1592	q2 = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1593	q3 = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1594	q4 = (rsv[7] << 8) \| rsv[6];
echo_piyo	0:bf96e953cdb8	1595	}
echo_piyo	0:bf96e953cdb8	1596
echo_piyo	0:bf96e953cdb8	1597	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1598	* 線形加速度(LinearAcceleration)での加速度センサの値を取得する
echo_piyo	0:bf96e953cdb8	1599	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1600	* &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
echo_piyo	0:bf96e953cdb8	1601	* &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
echo_piyo	0:bf96e953cdb8	1602	* &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
echo_piyo	0:bf96e953cdb8	1603	*/
echo_piyo	0:bf96e953cdb8	1604	void BOARDC_BNO055::getLinearAccDataAll(short &L_accX, short &L_accY, short &L_accZ){
echo_piyo	0:bf96e953cdb8	1605	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1606	char rsv[6];
echo_piyo	0:bf96e953cdb8	1607	ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1608
echo_piyo	0:bf96e953cdb8	1609	L_accX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1610	L_accY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1611	L_accZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1612	}
echo_piyo	0:bf96e953cdb8	1613
echo_piyo	0:bf96e953cdb8	1614	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1615	* 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
echo_piyo	0:bf96e953cdb8	1616	*/
echo_piyo	0:bf96e953cdb8	1617	short BOARDC_BNO055::getLinearAccDataX(){
echo_piyo	0:bf96e953cdb8	1618	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1619	char rsv[2];
echo_piyo	0:bf96e953cdb8	1620	ctrl->rrc(0, BNO055P0_LIA_DATA_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1621
echo_piyo	0:bf96e953cdb8	1622	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1623	}
echo_piyo	0:bf96e953cdb8	1624
echo_piyo	0:bf96e953cdb8	1625	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1626	* 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
echo_piyo	0:bf96e953cdb8	1627	*/
echo_piyo	0:bf96e953cdb8	1628	short BOARDC_BNO055::getLinearAccDataY(){
echo_piyo	0:bf96e953cdb8	1629	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1630	char rsv[2];
echo_piyo	0:bf96e953cdb8	1631	ctrl->rrc(0, BNO055P0_LIA_DATA_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1632
echo_piyo	0:bf96e953cdb8	1633	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1634	}
echo_piyo	0:bf96e953cdb8	1635
echo_piyo	0:bf96e953cdb8	1636	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1637	* 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
echo_piyo	0:bf96e953cdb8	1638	*/
echo_piyo	0:bf96e953cdb8	1639	short BOARDC_BNO055::getLinearAccDataZ(){
echo_piyo	0:bf96e953cdb8	1640	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1641	char rsv[2];
echo_piyo	0:bf96e953cdb8	1642	ctrl->rrc(0, BNO055P0_LIA_DATA_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1643
echo_piyo	0:bf96e953cdb8	1644	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1645	}
echo_piyo	0:bf96e953cdb8	1646
echo_piyo	0:bf96e953cdb8	1647	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1648	* 重力ベクトル情報を取得する
echo_piyo	0:bf96e953cdb8	1649	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1650	* &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
echo_piyo	0:bf96e953cdb8	1651	* &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
echo_piyo	0:bf96e953cdb8	1652	* &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
echo_piyo	0:bf96e953cdb8	1653	*/
echo_piyo	0:bf96e953cdb8	1654	void BOARDC_BNO055::getGVectorDataAll(short &gvX, short &gvY, short &gvZ){
echo_piyo	0:bf96e953cdb8	1655	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	1656	char rsv[6];
echo_piyo	0:bf96e953cdb8	1657	ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	1658
echo_piyo	0:bf96e953cdb8	1659	gvX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1660	gvY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	1661	gvZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	1662	}
echo_piyo	0:bf96e953cdb8	1663
echo_piyo	0:bf96e953cdb8	1664	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1665	* 重力ベクトル情報(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1666	*/
echo_piyo	0:bf96e953cdb8	1667	short BOARDC_BNO055::getGVectorDataX(){
echo_piyo	0:bf96e953cdb8	1668	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1669	char rsv[2];
echo_piyo	0:bf96e953cdb8	1670	ctrl->rrc(0, BNO055P0_GRV_DATA_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1671
echo_piyo	0:bf96e953cdb8	1672	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1673	}
echo_piyo	0:bf96e953cdb8	1674
echo_piyo	0:bf96e953cdb8	1675	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1676	* 重力ベクトル情報(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1677	*/
echo_piyo	0:bf96e953cdb8	1678	short BOARDC_BNO055::getGVectorDataY(){
echo_piyo	0:bf96e953cdb8	1679	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1680	char rsv[2];
echo_piyo	0:bf96e953cdb8	1681	ctrl->rrc(0, BNO055P0_GRV_DATA_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1682
echo_piyo	0:bf96e953cdb8	1683	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1684	}
echo_piyo	0:bf96e953cdb8	1685
echo_piyo	0:bf96e953cdb8	1686	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1687	* 重力ベクトル情報(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	1688	*/
echo_piyo	0:bf96e953cdb8	1689	short BOARDC_BNO055::getGVectorDataZ(){
echo_piyo	0:bf96e953cdb8	1690	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	1691	char rsv[2];
echo_piyo	0:bf96e953cdb8	1692	ctrl->rrc(0, BNO055P0_GRV_DATA_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	1693
echo_piyo	0:bf96e953cdb8	1694	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	1695	}
echo_piyo	0:bf96e953cdb8	1696
echo_piyo	0:bf96e953cdb8	1697	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1698	* センサー内部温度情報を取得する
echo_piyo	0:bf96e953cdb8	1699	* 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
echo_piyo	0:bf96e953cdb8	1700	* (設定レジスタTEMP_SOURCEにて選択可)
echo_piyo	0:bf96e953cdb8	1701	* (setTempSource(bool)にて選択可)
echo_piyo	0:bf96e953cdb8	1702	*/
echo_piyo	0:bf96e953cdb8	1703	char BOARDC_BNO055::getTemperature(){
echo_piyo	0:bf96e953cdb8	1704	return ctrl->rr(0, BNO055P0_TEMP);
echo_piyo	0:bf96e953cdb8	1705	}
echo_piyo	0:bf96e953cdb8	1706
echo_piyo	0:bf96e953cdb8	1707	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1708	* キャリブレーション(補正)の状態を取得する
echo_piyo	0:bf96e953cdb8	1709	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1710	* &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
echo_piyo	0:bf96e953cdb8	1711	* &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
echo_piyo	0:bf96e953cdb8	1712	* &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
echo_piyo	0:bf96e953cdb8	1713	* &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
echo_piyo	0:bf96e953cdb8	1714	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1715	* 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
echo_piyo	0:bf96e953cdb8	1716	* 値は0[%],32[%],66[%],100[%]のいずれか
echo_piyo	0:bf96e953cdb8	1717	*/
echo_piyo	0:bf96e953cdb8	1718	void BOARDC_BNO055::getCalibStatusAll(char &sys, char &acc, char &mag, char &gyro){
echo_piyo	0:bf96e953cdb8	1719	char rv = ctrl->rr(0, BNO055P0_CALIB_STAT);
echo_piyo	0:bf96e953cdb8	1720	sys = (((rv & 0xC0) >> 6) * 34);
echo_piyo	0:bf96e953cdb8	1721	gyro = (((rv & 0x30) >> 4) * 34);
echo_piyo	0:bf96e953cdb8	1722	acc = (((rv & 0x0C) >> 2) * 34);
echo_piyo	0:bf96e953cdb8	1723	mag = ((rv & 0x03) * 34);
echo_piyo	0:bf96e953cdb8	1724	sys -= (sys == 0) ? 0 : 2;
echo_piyo	0:bf96e953cdb8	1725	gyro -= (gyro == 0) ? 0 : 2;
echo_piyo	0:bf96e953cdb8	1726	acc -= (acc == 0) ? 0 : 2;
echo_piyo	0:bf96e953cdb8	1727	mag -= (mag == 0) ? 0 : 2;
echo_piyo	0:bf96e953cdb8	1728	}
echo_piyo	0:bf96e953cdb8	1729
echo_piyo	0:bf96e953cdb8	1730	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1731	* キャリブレーション(補正)の状態(systemのみ)を取得する
echo_piyo	0:bf96e953cdb8	1732	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1733	* 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
echo_piyo	0:bf96e953cdb8	1734	* 値は0[%],32[%],66[%],100[%]のいずれか
echo_piyo	0:bf96e953cdb8	1735	*/
echo_piyo	0:bf96e953cdb8	1736	char BOARDC_BNO055::getCalibStatusSys(){
echo_piyo	0:bf96e953cdb8	1737	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0xC0) >> 6) * 34) - 2;
echo_piyo	0:bf96e953cdb8	1738	return (ret < 0) ? 0 : ret;
echo_piyo	0:bf96e953cdb8	1739	}
echo_piyo	0:bf96e953cdb8	1740
echo_piyo	0:bf96e953cdb8	1741	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1742	* 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
echo_piyo	0:bf96e953cdb8	1743	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1744	* 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
echo_piyo	0:bf96e953cdb8	1745	* 値は0[%],32[%],66[%],100[%]のいずれか
echo_piyo	0:bf96e953cdb8	1746	*/
echo_piyo	0:bf96e953cdb8	1747	char BOARDC_BNO055::getCalibStatusAcc(){
echo_piyo	0:bf96e953cdb8	1748	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x0C) >> 2) * 34) - 2;
echo_piyo	0:bf96e953cdb8	1749	return (ret < 0) ? 0 : ret;
echo_piyo	0:bf96e953cdb8	1750	}
echo_piyo	0:bf96e953cdb8	1751
echo_piyo	0:bf96e953cdb8	1752	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1753	* 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
echo_piyo	0:bf96e953cdb8	1754	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1755	* 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
echo_piyo	0:bf96e953cdb8	1756	* 値は0[%],32[%],66[%],100[%]のいずれか
echo_piyo	0:bf96e953cdb8	1757	*/
echo_piyo	0:bf96e953cdb8	1758	char BOARDC_BNO055::getCalibStatusMag(){
echo_piyo	0:bf96e953cdb8	1759	char ret = ((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x03) * 34) - 2;
echo_piyo	0:bf96e953cdb8	1760	return (ret < 0) ? 0 : ret;
echo_piyo	0:bf96e953cdb8	1761	}
echo_piyo	0:bf96e953cdb8	1762
echo_piyo	0:bf96e953cdb8	1763	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1764	* 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
echo_piyo	0:bf96e953cdb8	1765	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1766	* 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
echo_piyo	0:bf96e953cdb8	1767	* 値は0[%],32[%],66[%],100[%]のいずれか
echo_piyo	0:bf96e953cdb8	1768	*/
echo_piyo	0:bf96e953cdb8	1769	char BOARDC_BNO055::getCalibStatusGyro(){
echo_piyo	0:bf96e953cdb8	1770	char ret = (((ctrl->rr(0, BNO055P0_CALIB_STAT) & 0x30) >> 4) * 34) - 2;
echo_piyo	0:bf96e953cdb8	1771	return (ret < 0) ? 0 : ret;
echo_piyo	0:bf96e953cdb8	1772	}
echo_piyo	0:bf96e953cdb8	1773
echo_piyo	0:bf96e953cdb8	1774	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1775	* 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
echo_piyo	0:bf96e953cdb8	1776	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1777	* returns:
echo_piyo	0:bf96e953cdb8	1778	* 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))
echo_piyo	0:bf96e953cdb8	1779	* 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))
echo_piyo	0:bf96e953cdb8	1780	* 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))
echo_piyo	0:bf96e953cdb8	1781	* 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))
echo_piyo	0:bf96e953cdb8	1782	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1783	* 例:戻り値 0x0D (0b00001101)
echo_piyo	0:bf96e953cdb8	1784	* >>加速度センサー:正常(1)
echo_piyo	0:bf96e953cdb8	1785	* >>地磁気センサー:異常(0)
echo_piyo	0:bf96e953cdb8	1786	* >>角速度センサー：正常(1)
echo_piyo	0:bf96e953cdb8	1787	* >>内部マイコン:正常(1)
echo_piyo	0:bf96e953cdb8	1788	*/
echo_piyo	0:bf96e953cdb8	1789	char BOARDC_BNO055::getSelfTestResultAll(){
echo_piyo	0:bf96e953cdb8	1790	return ctrl->rr(0, BNO055P0_ST_RESULT);
echo_piyo	0:bf96e953cdb8	1791	}
echo_piyo	0:bf96e953cdb8	1792
echo_piyo	0:bf96e953cdb8	1793	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1794	* 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
echo_piyo	0:bf96e953cdb8	1795	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1796	* returns:
echo_piyo	0:bf96e953cdb8	1797	* false:failed(異常)
echo_piyo	0:bf96e953cdb8	1798	* true:passed(正常)
echo_piyo	0:bf96e953cdb8	1799	*/
echo_piyo	0:bf96e953cdb8	1800	bool BOARDC_BNO055::getSelfTestResultMCU(){
echo_piyo	0:bf96e953cdb8	1801	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x08) >> 3) == 1);
echo_piyo	0:bf96e953cdb8	1802	}
echo_piyo	0:bf96e953cdb8	1803
echo_piyo	0:bf96e953cdb8	1804	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1805	* 加速度センサーのセルフテストの実行結果を取得する
echo_piyo	0:bf96e953cdb8	1806	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1807	* returns:
echo_piyo	0:bf96e953cdb8	1808	* false:failed(異常)
echo_piyo	0:bf96e953cdb8	1809	* true:passed(正常)
echo_piyo	0:bf96e953cdb8	1810	*/
echo_piyo	0:bf96e953cdb8	1811	bool BOARDC_BNO055::getSelfTestResultAcc(){
echo_piyo	0:bf96e953cdb8	1812	return ((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x01) == 1);
echo_piyo	0:bf96e953cdb8	1813	}
echo_piyo	0:bf96e953cdb8	1814
echo_piyo	0:bf96e953cdb8	1815	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1816	* 地磁気センサーのセルフテストの実行結果を取得する
echo_piyo	0:bf96e953cdb8	1817	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1818	* returns:
echo_piyo	0:bf96e953cdb8	1819	* false:failed(異常)
echo_piyo	0:bf96e953cdb8	1820	* true:passed(正常)
echo_piyo	0:bf96e953cdb8	1821	*/
echo_piyo	0:bf96e953cdb8	1822	bool BOARDC_BNO055::getSelfTestResultMag(){
echo_piyo	0:bf96e953cdb8	1823	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x02) >> 1) == 1);
echo_piyo	0:bf96e953cdb8	1824	}
echo_piyo	0:bf96e953cdb8	1825
echo_piyo	0:bf96e953cdb8	1826	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1827	* 地磁気センサーのセルフテストの実行結果を取得する
echo_piyo	0:bf96e953cdb8	1828	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1829	* returns:
echo_piyo	0:bf96e953cdb8	1830	* false:failed(異常)
echo_piyo	0:bf96e953cdb8	1831	* true:passed(正常)
echo_piyo	0:bf96e953cdb8	1832	*/
echo_piyo	0:bf96e953cdb8	1833	bool BOARDC_BNO055::getSelfTestResultGyro(){
echo_piyo	0:bf96e953cdb8	1834	return (((ctrl->rr(0, BNO055P0_ST_RESULT) & 0x04) >> 2) == 1);
echo_piyo	0:bf96e953cdb8	1835	}
echo_piyo	0:bf96e953cdb8	1836
echo_piyo	0:bf96e953cdb8	1837	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1838	* 発生している割り込みステータス情報を取得する
echo_piyo	0:bf96e953cdb8	1839	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1840	* returns:
echo_piyo	0:bf96e953cdb8	1841	* 3bit目:GYRO_AM(角速度AnyMotion発生)(1:発生中, 0:なし)
echo_piyo	0:bf96e953cdb8	1842	* 4bit目:GYR_HIGH_RATE(角速度ハイレート発生)(1:発生中, 0:なし)
echo_piyo	0:bf96e953cdb8	1843	* 6bit目:ACC_HIGH_G(加速度急加速発生)(1:発生中, 0:なし)
echo_piyo	0:bf96e953cdb8	1844	* 7bit目:ACC_AM(角速度AnyMotion発生)(1:発生中, 0:なし)
echo_piyo	0:bf96e953cdb8	1845	* 8bit目:ACC_NM(角速度NoMotion発生)(1:発生中, 0:なし)
echo_piyo	0:bf96e953cdb8	1846	*/
echo_piyo	0:bf96e953cdb8	1847	char BOARDC_BNO055::triggeredIntALL(){
echo_piyo	0:bf96e953cdb8	1848	return ctrl->rr(0, BNO055P0_INT_STA);
echo_piyo	0:bf96e953cdb8	1849	}
echo_piyo	0:bf96e953cdb8	1850
echo_piyo	0:bf96e953cdb8	1851	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1852	* 発生している割り込みステータス情報(ACC_NM)を取得する
echo_piyo	0:bf96e953cdb8	1853	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1854	* returns:
echo_piyo	0:bf96e953cdb8	1855	* true:ACC_NMトリガー発生中
echo_piyo	0:bf96e953cdb8	1856	* false:ACC_NMトリガーなし
echo_piyo	0:bf96e953cdb8	1857	*/
echo_piyo	0:bf96e953cdb8	1858	bool BOARDC_BNO055::triggeredACC_NM(){
echo_piyo	0:bf96e953cdb8	1859	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x80) >> 7) == 1);
echo_piyo	0:bf96e953cdb8	1860	}
echo_piyo	0:bf96e953cdb8	1861
echo_piyo	0:bf96e953cdb8	1862	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1863	* 発生している割り込みステータス情報(ACC_AM)を取得する
echo_piyo	0:bf96e953cdb8	1864	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1865	* returns:
echo_piyo	0:bf96e953cdb8	1866	* true:ACC_AMトリガー発生中
echo_piyo	0:bf96e953cdb8	1867	* false:ACC_AMトリガーなし
echo_piyo	0:bf96e953cdb8	1868	*/
echo_piyo	0:bf96e953cdb8	1869	bool BOARDC_BNO055::triggeredACC_AM(){
echo_piyo	0:bf96e953cdb8	1870	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x40) >> 6) == 1);
echo_piyo	0:bf96e953cdb8	1871	}
echo_piyo	0:bf96e953cdb8	1872
echo_piyo	0:bf96e953cdb8	1873	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1874	* 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
echo_piyo	0:bf96e953cdb8	1875	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1876	* returns:
echo_piyo	0:bf96e953cdb8	1877	* true:ACC_HIGH_Gトリガー発生中
echo_piyo	0:bf96e953cdb8	1878	* false:ACC_HIGH_Gトリガーなし
echo_piyo	0:bf96e953cdb8	1879	*/
echo_piyo	0:bf96e953cdb8	1880	bool BOARDC_BNO055::triggeredACC_HIGH_G(){
echo_piyo	0:bf96e953cdb8	1881	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x20) >> 5) == 1);
echo_piyo	0:bf96e953cdb8	1882	}
echo_piyo	0:bf96e953cdb8	1883
echo_piyo	0:bf96e953cdb8	1884	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1885	* 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
echo_piyo	0:bf96e953cdb8	1886	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1887	* returns:
echo_piyo	0:bf96e953cdb8	1888	* true:GYR_HIGH_RATEトリガー発生中
echo_piyo	0:bf96e953cdb8	1889	* false:GYR_HIGH_RATEトリガーなし
echo_piyo	0:bf96e953cdb8	1890	*/
echo_piyo	0:bf96e953cdb8	1891	bool BOARDC_BNO055::triggeredGYR_HIGH_RATE(){
echo_piyo	0:bf96e953cdb8	1892	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x08) >> 3) == 1);
echo_piyo	0:bf96e953cdb8	1893	}
echo_piyo	0:bf96e953cdb8	1894
echo_piyo	0:bf96e953cdb8	1895	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1896	* 発生している割り込みステータス情報(GYRO_AM)を取得する
echo_piyo	0:bf96e953cdb8	1897	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1898	* returns:
echo_piyo	0:bf96e953cdb8	1899	* true:GYRO_AMトリガー発生中
echo_piyo	0:bf96e953cdb8	1900	* false:GYRO_AMトリガーなし
echo_piyo	0:bf96e953cdb8	1901	*/
echo_piyo	0:bf96e953cdb8	1902	bool BOARDC_BNO055::triggeredGYRO_AM(){
echo_piyo	0:bf96e953cdb8	1903	return (((ctrl->rr(0, BNO055P0_INT_STA) & 0x04) >> 2) == 1);
echo_piyo	0:bf96e953cdb8	1904	}
echo_piyo	0:bf96e953cdb8	1905
echo_piyo	0:bf96e953cdb8	1906	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1907	* BNO055のシステムクロック固定情報を取得する
echo_piyo	0:bf96e953cdb8	1908	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1909	* returns:
echo_piyo	0:bf96e953cdb8	1910	* true:設定によって固定されている(SYS_TRIGGEレジスタのCLK_SEL)
echo_piyo	0:bf96e953cdb8	1911	* false:設定されていない(内部か外部選択可)
echo_piyo	0:bf96e953cdb8	1912	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1913	* setSys_ExternalCrystal(bool)で設定可
echo_piyo	0:bf96e953cdb8	1914	*/
echo_piyo	0:bf96e953cdb8	1915	bool BOARDC_BNO055::isSystemClockFixed(){
echo_piyo	0:bf96e953cdb8	1916	return (ctrl->rr(0, BNO055P0_SYS_CLK_STATUS) == 1);
echo_piyo	0:bf96e953cdb8	1917	}
echo_piyo	0:bf96e953cdb8	1918
echo_piyo	0:bf96e953cdb8	1919	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1920	* BNO055のシステムステータスを取得する
echo_piyo	0:bf96e953cdb8	1921	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1922	* returns:
echo_piyo	0:bf96e953cdb8	1923	* 0: システム待機状態
echo_piyo	0:bf96e953cdb8	1924	* 1: システムエラー
echo_piyo	0:bf96e953cdb8	1925	* 2: ペリフェラル初期化中
echo_piyo	0:bf96e953cdb8	1926	* 3: システム初期化中
echo_piyo	0:bf96e953cdb8	1927	* 4: セルフテスト実行中
echo_piyo	0:bf96e953cdb8	1928	* 5: 起動中(Fusionアルゴリズム起動中)
echo_piyo	0:bf96e953cdb8	1929	* 6: 起動中(Fusionアルゴリズムなし)
echo_piyo	0:bf96e953cdb8	1930	*/
echo_piyo	0:bf96e953cdb8	1931	char BOARDC_BNO055::getSystemStatus(){
echo_piyo	0:bf96e953cdb8	1932	return ctrl->rr(0, BNO055P0_SYS_STATUS);
echo_piyo	0:bf96e953cdb8	1933	}
echo_piyo	0:bf96e953cdb8	1934
echo_piyo	0:bf96e953cdb8	1935	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1936	* BNO055のシステムエラー情報を取得する
echo_piyo	0:bf96e953cdb8	1937	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1938	* returns:
echo_piyo	0:bf96e953cdb8	1939	* 0: エラーなし
echo_piyo	0:bf96e953cdb8	1940	* 1: ペリフェラル初期化エラー
echo_piyo	0:bf96e953cdb8	1941	* 2: システム初期化エラー
echo_piyo	0:bf96e953cdb8	1942	* 3: セルフテスト結果不調
echo_piyo	0:bf96e953cdb8	1943	* 4: レジスタマップエラー(値の範囲外)
echo_piyo	0:bf96e953cdb8	1944	* 5: レジスタマップエラー(アドレスの範囲外)
echo_piyo	0:bf96e953cdb8	1945	* 6: レジスタマップエラー(書き込み不能)
echo_piyo	0:bf96e953cdb8	1946	* 7: BNO005LowPowerモードにつき指定モード実行不可
echo_piyo	0:bf96e953cdb8	1947	* 8: 加速度センサーPowerMode実行不可
echo_piyo	0:bf96e953cdb8	1948	* 9: Fusionアルゴリズム設定エラー
echo_piyo	0:bf96e953cdb8	1949	* 10: 各センサー設定エラー
echo_piyo	0:bf96e953cdb8	1950	*/
echo_piyo	0:bf96e953cdb8	1951	char BOARDC_BNO055::getSystemError(){
echo_piyo	0:bf96e953cdb8	1952	return ctrl->rr(0, BNO055P0_SYS_ERR);
echo_piyo	0:bf96e953cdb8	1953	}
echo_piyo	0:bf96e953cdb8	1954
echo_piyo	0:bf96e953cdb8	1955	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1956	* システムの設定単位系を取得する
echo_piyo	0:bf96e953cdb8	1957	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1958	* returns:
echo_piyo	0:bf96e953cdb8	1959	* 1bit目: 加速度センサー単位系(0:m/s^2, 1:mg)
echo_piyo	0:bf96e953cdb8	1960	* 2bit目: 角速度センサー単位系(0:deg/s, 1:rad/s)
echo_piyo	0:bf96e953cdb8	1961	* 3bit目: オイラー角単位系(0:deg, 1:rad)
echo_piyo	0:bf96e953cdb8	1962	* 5bit目: 温度単位系(0:摂氏, 1:華氏)
echo_piyo	0:bf96e953cdb8	1963	* 7bit目: 出力設定(0:Windows, 1:Android)
echo_piyo	0:bf96e953cdb8	1964	*/
echo_piyo	0:bf96e953cdb8	1965	char BOARDC_BNO055::getUNIT_SEL(){
echo_piyo	0:bf96e953cdb8	1966	return ctrl->rr(0, BNO055P0_UNIT_SEL);
echo_piyo	0:bf96e953cdb8	1967	}
echo_piyo	0:bf96e953cdb8	1968
echo_piyo	0:bf96e953cdb8	1969	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1970	* システムの設定単位系を設定する
echo_piyo	0:bf96e953cdb8	1971	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1972	* 引数selectValue:
echo_piyo	0:bf96e953cdb8	1973	* 1bit目: 加速度センサー単位系(0:m/s^2, 1:mg)
echo_piyo	0:bf96e953cdb8	1974	* 2bit目: 角速度センサー単位系(0:deg/s, 1:rad/s)
echo_piyo	0:bf96e953cdb8	1975	* 3bit目: オイラー角単位系(0:deg, 1:rad)
echo_piyo	0:bf96e953cdb8	1976	* 5bit目: 温度単位系(0:摂氏, 1:華氏)
echo_piyo	0:bf96e953cdb8	1977	* 7bit目: 出力設定(0:Windows, 1:Android)
echo_piyo	0:bf96e953cdb8	1978	* returns:
echo_piyo	0:bf96e953cdb8	1979	* -1 失敗
echo_piyo	0:bf96e953cdb8	1980	* 1 成功
echo_piyo	0:bf96e953cdb8	1981	*/
echo_piyo	0:bf96e953cdb8	1982	char BOARDC_BNO055::setUNIT_SEL(char selectValue){
echo_piyo	0:bf96e953cdb8	1983	if(ctrl->wr(0, BNO055P0_UNIT_SEL, selectValue) == -1) return -1;
echo_piyo	0:bf96e953cdb8	1984
echo_piyo	0:bf96e953cdb8	1985	scaleACC = ((selectValue & 0x01) == 0) ? 0.01f : 1.0f;
echo_piyo	0:bf96e953cdb8	1986	scaleGYRO = ((selectValue & 0x02) == 0) ? 0.0625f : 0.001111111111f;
echo_piyo	0:bf96e953cdb8	1987	scaleEuler = ((selectValue & 0x04) == 0) ? 0.0625f : 0.001111111111f;
echo_piyo	0:bf96e953cdb8	1988	scaleTEMP = ((selectValue & 0x10) == 0) ? 1.0f : 2.0f;
echo_piyo	0:bf96e953cdb8	1989	scaleLIA = scaleACC;
echo_piyo	0:bf96e953cdb8	1990	scaleGV = scaleACC;
echo_piyo	0:bf96e953cdb8	1991
echo_piyo	0:bf96e953cdb8	1992	return 1;
echo_piyo	0:bf96e953cdb8	1993	}
echo_piyo	0:bf96e953cdb8	1994
echo_piyo	0:bf96e953cdb8	1995	/* ==================================================================
echo_piyo	0:bf96e953cdb8	1996	* システムの設定単位系(加速度センサー)を設定する
echo_piyo	0:bf96e953cdb8	1997	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	1998	* 引数isMeterPerSec2:
echo_piyo	0:bf96e953cdb8	1999	* true: m/s^2
echo_piyo	0:bf96e953cdb8	2000	* false: mg
echo_piyo	0:bf96e953cdb8	2001	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2002	* returns:
echo_piyo	0:bf96e953cdb8	2003	* -1 失敗
echo_piyo	0:bf96e953cdb8	2004	* 1 成功
echo_piyo	0:bf96e953cdb8	2005	*/
echo_piyo	0:bf96e953cdb8	2006	char BOARDC_BNO055::setUNIT_AccUnit(bool isMeterPerSec2){
echo_piyo	0:bf96e953cdb8	2007	char val = getUNIT_SEL() & 0xFE;
echo_piyo	0:bf96e953cdb8	2008	if(!isMeterPerSec2) val += 1;
echo_piyo	0:bf96e953cdb8	2009	return setUNIT_SEL(val);
echo_piyo	0:bf96e953cdb8	2010	}
echo_piyo	0:bf96e953cdb8	2011
echo_piyo	0:bf96e953cdb8	2012	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2013	* システムの設定単位系(角速度センサー)を設定する
echo_piyo	0:bf96e953cdb8	2014	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2015	* 引数isDps:
echo_piyo	0:bf96e953cdb8	2016	* true: dps(Degrees/s)
echo_piyo	0:bf96e953cdb8	2017	* false: rps(Radians/s)
echo_piyo	0:bf96e953cdb8	2018	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2019	* returns:
echo_piyo	0:bf96e953cdb8	2020	* -1 失敗
echo_piyo	0:bf96e953cdb8	2021	* 1 成功
echo_piyo	0:bf96e953cdb8	2022	*/
echo_piyo	0:bf96e953cdb8	2023	char BOARDC_BNO055::setUNIT_GyroUnit(bool isDps){
echo_piyo	0:bf96e953cdb8	2024	char val = getUNIT_SEL() & 0xFD;
echo_piyo	0:bf96e953cdb8	2025	if(!isDps) val += 2;
echo_piyo	0:bf96e953cdb8	2026	return setUNIT_SEL(val);
echo_piyo	0:bf96e953cdb8	2027	}
echo_piyo	0:bf96e953cdb8	2028
echo_piyo	0:bf96e953cdb8	2029	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2030	* システムの設定単位系(オイラー角)を設定する
echo_piyo	0:bf96e953cdb8	2031	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2032	* 引数isDegrees:
echo_piyo	0:bf96e953cdb8	2033	* true: Degrees
echo_piyo	0:bf96e953cdb8	2034	* false: Radians
echo_piyo	0:bf96e953cdb8	2035	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2036	* returns:
echo_piyo	0:bf96e953cdb8	2037	* -1 失敗
echo_piyo	0:bf96e953cdb8	2038	* 1 成功
echo_piyo	0:bf96e953cdb8	2039	*/
echo_piyo	0:bf96e953cdb8	2040	char BOARDC_BNO055::setUNIT_EulerUnit(bool isDegrees){
echo_piyo	0:bf96e953cdb8	2041	char val = getUNIT_SEL() & 0xFB;
echo_piyo	0:bf96e953cdb8	2042	if(!isDegrees) val += 4;
echo_piyo	0:bf96e953cdb8	2043	return setUNIT_SEL(val);
echo_piyo	0:bf96e953cdb8	2044	}
echo_piyo	0:bf96e953cdb8	2045
echo_piyo	0:bf96e953cdb8	2046	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2047	* システムの設定単位系(温度)を設定する
echo_piyo	0:bf96e953cdb8	2048	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2049	* 引数isCelsius:
echo_piyo	0:bf96e953cdb8	2050	* true: 摂氏(Celsius)
echo_piyo	0:bf96e953cdb8	2051	* false: 華氏(Fahrenheit)
echo_piyo	0:bf96e953cdb8	2052	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2053	* returns:
echo_piyo	0:bf96e953cdb8	2054	* -1 失敗
echo_piyo	0:bf96e953cdb8	2055	* 1 成功
echo_piyo	0:bf96e953cdb8	2056	*/
echo_piyo	0:bf96e953cdb8	2057	char BOARDC_BNO055::setUNIT_Temperature(bool isCelsius){
echo_piyo	0:bf96e953cdb8	2058	char val = getUNIT_SEL() & 0xEF;
echo_piyo	0:bf96e953cdb8	2059	if(!isCelsius) val += 16;
echo_piyo	0:bf96e953cdb8	2060	return setUNIT_SEL(val);
echo_piyo	0:bf96e953cdb8	2061	}
echo_piyo	0:bf96e953cdb8	2062
echo_piyo	0:bf96e953cdb8	2063	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2064	* システムの設定単位系(出力設定)を設定する
echo_piyo	0:bf96e953cdb8	2065	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2066	* 引数ori_Android:
echo_piyo	0:bf96e953cdb8	2067	* true: Android用(Pitch角:+180 to -180 反時計回り＋)
echo_piyo	0:bf96e953cdb8	2068	* false: Windows用(Pitch角:-180 to +180 時計回り＋)
echo_piyo	0:bf96e953cdb8	2069	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2070	* returns:
echo_piyo	0:bf96e953cdb8	2071	* -1 失敗
echo_piyo	0:bf96e953cdb8	2072	* 1 成功
echo_piyo	0:bf96e953cdb8	2073	*/
echo_piyo	0:bf96e953cdb8	2074	char BOARDC_BNO055::setUNIT_OrientationMode(bool ori_Android){
echo_piyo	0:bf96e953cdb8	2075	char val = getUNIT_SEL() & 0xBF;
echo_piyo	0:bf96e953cdb8	2076	if(!ori_Android) val += 64;
echo_piyo	0:bf96e953cdb8	2077	return setUNIT_SEL(val);
echo_piyo	0:bf96e953cdb8	2078	}
echo_piyo	0:bf96e953cdb8	2079
echo_piyo	0:bf96e953cdb8	2080	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2081	* システムの動作モードを取得する
echo_piyo	0:bf96e953cdb8	2082	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2083	* returns:
echo_piyo	0:bf96e953cdb8	2084	* 1 ACCONLY(NO FUSION)加速度のみ
echo_piyo	0:bf96e953cdb8	2085	* 2 MAGONLY(NO FUSION)地磁気のみ
echo_piyo	0:bf96e953cdb8	2086	* 3 GYROONLY(NO FUSION)角速度のみ
echo_piyo	0:bf96e953cdb8	2087	* 4 ACCMAG(NO FUSION)加速度と地磁気
echo_piyo	0:bf96e953cdb8	2088	* 5 ACCGYRO(NO FUSION)加速度と角速度
echo_piyo	0:bf96e953cdb8	2089	* 6 MAGGYRO(NO FUSION)地磁気と角速度
echo_piyo	0:bf96e953cdb8	2090	* 7 AMG(NO FUSION)加速度、地磁気、角速度
echo_piyo	0:bf96e953cdb8	2091	* 8 IMU
echo_piyo	0:bf96e953cdb8	2092	* 9 COMPASS
echo_piyo	0:bf96e953cdb8	2093	* 10 M4G
echo_piyo	0:bf96e953cdb8	2094	* 11 NDOF_FMC_OFF
echo_piyo	0:bf96e953cdb8	2095	* 12 NDOF
echo_piyo	0:bf96e953cdb8	2096	*/
echo_piyo	0:bf96e953cdb8	2097	char BOARDC_BNO055::getOperationMode(){
echo_piyo	0:bf96e953cdb8	2098	return ctrl->rr(0, BNO055P0_OPR_MODE);
echo_piyo	0:bf96e953cdb8	2099	}
echo_piyo	0:bf96e953cdb8	2100
echo_piyo	0:bf96e953cdb8	2101	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2102	* システムの動作モードを設定する
echo_piyo	0:bf96e953cdb8	2103	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2104	* 引数modeValue:
echo_piyo	0:bf96e953cdb8	2105	* 1 ACCONLY(NO FUSION)加速度のみ
echo_piyo	0:bf96e953cdb8	2106	* 2 MAGONLY(NO FUSION)地磁気のみ
echo_piyo	0:bf96e953cdb8	2107	* 3 GYROONLY(NO FUSION)角速度のみ
echo_piyo	0:bf96e953cdb8	2108	* 4 ACCMAG(NO FUSION)加速度と地磁気
echo_piyo	0:bf96e953cdb8	2109	* 5 ACCGYRO(NO FUSION)加速度と角速度
echo_piyo	0:bf96e953cdb8	2110	* 6 MAGGYRO(NO FUSION)地磁気と角速度
echo_piyo	0:bf96e953cdb8	2111	* 7 AMG(NO FUSION)加速度、地磁気、角速度
echo_piyo	0:bf96e953cdb8	2112	* 8 IMU
echo_piyo	0:bf96e953cdb8	2113	* 9 COMPASS
echo_piyo	0:bf96e953cdb8	2114	* 10 M4G
echo_piyo	0:bf96e953cdb8	2115	* 11 NDOF_FMC_OFF
echo_piyo	0:bf96e953cdb8	2116	* 12 NDOF
echo_piyo	0:bf96e953cdb8	2117	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2118	* returns:
echo_piyo	0:bf96e953cdb8	2119	* -1 失敗
echo_piyo	0:bf96e953cdb8	2120	* 1 成功
echo_piyo	0:bf96e953cdb8	2121	*/
echo_piyo	0:bf96e953cdb8	2122	char BOARDC_BNO055::setOperationMode(char modeValue){
echo_piyo	0:bf96e953cdb8	2123	if(modeValue < 0 \|\| modeValue > 12) modeValue = 7;
echo_piyo	0:bf96e953cdb8	2124	return ctrl->wr(0, BNO055P0_OPR_MODE, modeValue);
echo_piyo	0:bf96e953cdb8	2125	}
echo_piyo	0:bf96e953cdb8	2126
echo_piyo	0:bf96e953cdb8	2127	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2128	* システムの動作モードを設定モードに設定する
echo_piyo	0:bf96e953cdb8	2129	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2130	* returns:
echo_piyo	0:bf96e953cdb8	2131	* -1 失敗
echo_piyo	0:bf96e953cdb8	2132	* 1 成功
echo_piyo	0:bf96e953cdb8	2133	*/
echo_piyo	0:bf96e953cdb8	2134	char BOARDC_BNO055::setOperation_CONFIG(){
echo_piyo	0:bf96e953cdb8	2135	return ctrl->wr(0, BNO055P0_OPR_MODE, 0);
echo_piyo	0:bf96e953cdb8	2136	}
echo_piyo	0:bf96e953cdb8	2137
echo_piyo	0:bf96e953cdb8	2138	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2139	* システムの動作モードを加速度モードに設定する
echo_piyo	0:bf96e953cdb8	2140	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2141	* returns:
echo_piyo	0:bf96e953cdb8	2142	* -1 失敗
echo_piyo	0:bf96e953cdb8	2143	* 1 成功
echo_piyo	0:bf96e953cdb8	2144	*/
echo_piyo	0:bf96e953cdb8	2145	char BOARDC_BNO055::setOperation_ACCONRY(){
echo_piyo	0:bf96e953cdb8	2146	return ctrl->wr(0, BNO055P0_OPR_MODE, 1);
echo_piyo	0:bf96e953cdb8	2147	}
echo_piyo	0:bf96e953cdb8	2148
echo_piyo	0:bf96e953cdb8	2149	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2150	* システムの動作モードを地磁気モードに設定する
echo_piyo	0:bf96e953cdb8	2151	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2152	* returns:
echo_piyo	0:bf96e953cdb8	2153	* -1 失敗
echo_piyo	0:bf96e953cdb8	2154	* 1 成功
echo_piyo	0:bf96e953cdb8	2155	*/
echo_piyo	0:bf96e953cdb8	2156	char BOARDC_BNO055::setOperation_MAGONRY(){
echo_piyo	0:bf96e953cdb8	2157	return ctrl->wr(0, BNO055P0_OPR_MODE, 2);
echo_piyo	0:bf96e953cdb8	2158	}
echo_piyo	0:bf96e953cdb8	2159
echo_piyo	0:bf96e953cdb8	2160	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2161	* システムの動作モードを角速度モードに設定する
echo_piyo	0:bf96e953cdb8	2162	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2163	* returns:
echo_piyo	0:bf96e953cdb8	2164	* -1 失敗
echo_piyo	0:bf96e953cdb8	2165	* 1 成功
echo_piyo	0:bf96e953cdb8	2166	*/
echo_piyo	0:bf96e953cdb8	2167	char BOARDC_BNO055::setOperation_GYROONRY(){
echo_piyo	0:bf96e953cdb8	2168	return ctrl->wr(0, BNO055P0_OPR_MODE, 3);
echo_piyo	0:bf96e953cdb8	2169	}
echo_piyo	0:bf96e953cdb8	2170
echo_piyo	0:bf96e953cdb8	2171	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2172	* 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
echo_piyo	0:bf96e953cdb8	2173	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2174	* returns:
echo_piyo	0:bf96e953cdb8	2175	* -1 失敗
echo_piyo	0:bf96e953cdb8	2176	* 1 成功
echo_piyo	0:bf96e953cdb8	2177	*/
echo_piyo	0:bf96e953cdb8	2178	char BOARDC_BNO055::setOperation_ACCMAG(){
echo_piyo	0:bf96e953cdb8	2179	return ctrl->wr(0, BNO055P0_OPR_MODE, 4);
echo_piyo	0:bf96e953cdb8	2180	}
echo_piyo	0:bf96e953cdb8	2181
echo_piyo	0:bf96e953cdb8	2182	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2183	* 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
echo_piyo	0:bf96e953cdb8	2184	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2185	* returns:
echo_piyo	0:bf96e953cdb8	2186	* -1 失敗
echo_piyo	0:bf96e953cdb8	2187	* 1 成功
echo_piyo	0:bf96e953cdb8	2188	*/
echo_piyo	0:bf96e953cdb8	2189	char BOARDC_BNO055::setOperation_ACCGYRO(){
echo_piyo	0:bf96e953cdb8	2190	return ctrl->wr(0, BNO055P0_OPR_MODE, 5);
echo_piyo	0:bf96e953cdb8	2191	}
echo_piyo	0:bf96e953cdb8	2192
echo_piyo	0:bf96e953cdb8	2193	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2194	* 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
echo_piyo	0:bf96e953cdb8	2195	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2196	* returns:
echo_piyo	0:bf96e953cdb8	2197	* -1 失敗
echo_piyo	0:bf96e953cdb8	2198	* 1 成功
echo_piyo	0:bf96e953cdb8	2199	*/
echo_piyo	0:bf96e953cdb8	2200	char BOARDC_BNO055::setOperation_MAGGYRO(){
echo_piyo	0:bf96e953cdb8	2201	return ctrl->wr(0, BNO055P0_OPR_MODE, 6);
echo_piyo	0:bf96e953cdb8	2202	}
echo_piyo	0:bf96e953cdb8	2203
echo_piyo	0:bf96e953cdb8	2204	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2205	* システムの動作モードをFusionなし9軸モードに設定する
echo_piyo	0:bf96e953cdb8	2206	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2207	* returns:
echo_piyo	0:bf96e953cdb8	2208	* -1 失敗
echo_piyo	0:bf96e953cdb8	2209	* 1 成功
echo_piyo	0:bf96e953cdb8	2210	*/
echo_piyo	0:bf96e953cdb8	2211	char BOARDC_BNO055::setOperation_AMG(){
echo_piyo	0:bf96e953cdb8	2212	return ctrl->wr(0, BNO055P0_OPR_MODE, 7);
echo_piyo	0:bf96e953cdb8	2213	}
echo_piyo	0:bf96e953cdb8	2214
echo_piyo	0:bf96e953cdb8	2215	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2216	* 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
echo_piyo	0:bf96e953cdb8	2217	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2218	* returns:
echo_piyo	0:bf96e953cdb8	2219	* -1 失敗
echo_piyo	0:bf96e953cdb8	2220	* 1 成功
echo_piyo	0:bf96e953cdb8	2221	*/
echo_piyo	0:bf96e953cdb8	2222	char BOARDC_BNO055::setOperation_Fusion_IMU(){
echo_piyo	0:bf96e953cdb8	2223	return ctrl->wr(0, BNO055P0_OPR_MODE, 8);
echo_piyo	0:bf96e953cdb8	2224	}
echo_piyo	0:bf96e953cdb8	2225
echo_piyo	0:bf96e953cdb8	2226	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2227	* 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
echo_piyo	0:bf96e953cdb8	2228	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2229	* returns:
echo_piyo	0:bf96e953cdb8	2230	* -1 失敗
echo_piyo	0:bf96e953cdb8	2231	* 1 成功
echo_piyo	0:bf96e953cdb8	2232	*/
echo_piyo	0:bf96e953cdb8	2233	char BOARDC_BNO055::setOperation_Fusion_COMPASS(){
echo_piyo	0:bf96e953cdb8	2234	return ctrl->wr(0, BNO055P0_OPR_MODE, 9);
echo_piyo	0:bf96e953cdb8	2235	}
echo_piyo	0:bf96e953cdb8	2236
echo_piyo	0:bf96e953cdb8	2237	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2238	* 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
echo_piyo	0:bf96e953cdb8	2239	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2240	* returns:
echo_piyo	0:bf96e953cdb8	2241	* -1 失敗
echo_piyo	0:bf96e953cdb8	2242	* 1 成功
echo_piyo	0:bf96e953cdb8	2243	*/
echo_piyo	0:bf96e953cdb8	2244	char BOARDC_BNO055::setOperation_Fusion_M4G(){
echo_piyo	0:bf96e953cdb8	2245	return ctrl->wr(0, BNO055P0_OPR_MODE, 10);
echo_piyo	0:bf96e953cdb8	2246	}
echo_piyo	0:bf96e953cdb8	2247
echo_piyo	0:bf96e953cdb8	2248	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2249	* 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
echo_piyo	0:bf96e953cdb8	2250	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2251	* returns:
echo_piyo	0:bf96e953cdb8	2252	* -1 失敗
echo_piyo	0:bf96e953cdb8	2253	* 1 成功
echo_piyo	0:bf96e953cdb8	2254	*/
echo_piyo	0:bf96e953cdb8	2255	char BOARDC_BNO055::setOperation_Fusion_NDOF_FMC_OFF(){
echo_piyo	0:bf96e953cdb8	2256	return ctrl->wr(0, BNO055P0_OPR_MODE, 11);
echo_piyo	0:bf96e953cdb8	2257	}
echo_piyo	0:bf96e953cdb8	2258
echo_piyo	0:bf96e953cdb8	2259	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2260	* システムの動作モードをNDOFモードに設定する
echo_piyo	0:bf96e953cdb8	2261	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2262	* returns:
echo_piyo	0:bf96e953cdb8	2263	* -1 失敗
echo_piyo	0:bf96e953cdb8	2264	* 1 成功
echo_piyo	0:bf96e953cdb8	2265	*/
echo_piyo	0:bf96e953cdb8	2266	char BOARDC_BNO055::setOperation_Fusion_NDOF(){
echo_piyo	0:bf96e953cdb8	2267	return ctrl->wr(0, BNO055P0_OPR_MODE, 12);
echo_piyo	0:bf96e953cdb8	2268	}
echo_piyo	0:bf96e953cdb8	2269
echo_piyo	0:bf96e953cdb8	2270	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2271	* システムの電源モードを取得する
echo_piyo	0:bf96e953cdb8	2272	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2273	* returns:
echo_piyo	0:bf96e953cdb8	2274	* 0: Normal
echo_piyo	0:bf96e953cdb8	2275	* 1: LowPower
echo_piyo	0:bf96e953cdb8	2276	* 2: Suspend
echo_piyo	0:bf96e953cdb8	2277	*/
echo_piyo	0:bf96e953cdb8	2278	char BOARDC_BNO055::getPowerMode(){
echo_piyo	0:bf96e953cdb8	2279	return ctrl->rr(0, BNO055P0_PWR_MODE);
echo_piyo	0:bf96e953cdb8	2280	}
echo_piyo	0:bf96e953cdb8	2281
echo_piyo	0:bf96e953cdb8	2282	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2283	* システムの電源モードを設定する
echo_piyo	0:bf96e953cdb8	2284	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2285	* modeValue:
echo_piyo	0:bf96e953cdb8	2286	* 0: Normal
echo_piyo	0:bf96e953cdb8	2287	* 1: LowPower
echo_piyo	0:bf96e953cdb8	2288	* 2: Suspend
echo_piyo	0:bf96e953cdb8	2289	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2290	* returns:
echo_piyo	0:bf96e953cdb8	2291	* -1 失敗
echo_piyo	0:bf96e953cdb8	2292	* 1 成功
echo_piyo	0:bf96e953cdb8	2293	*/
echo_piyo	0:bf96e953cdb8	2294	char BOARDC_BNO055::setPowerMode(unsigned char modeValue){
echo_piyo	0:bf96e953cdb8	2295	if(modeValue > 2) return -1;
echo_piyo	0:bf96e953cdb8	2296	return ctrl->wr(0, BNO055P0_PWR_MODE, modeValue);
echo_piyo	0:bf96e953cdb8	2297	}
echo_piyo	0:bf96e953cdb8	2298
echo_piyo	0:bf96e953cdb8	2299	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2300	* システムの電源モードを通常モードに設定する
echo_piyo	0:bf96e953cdb8	2301	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2302	* returns:
echo_piyo	0:bf96e953cdb8	2303	* -1 失敗
echo_piyo	0:bf96e953cdb8	2304	* 1 成功
echo_piyo	0:bf96e953cdb8	2305	*/
echo_piyo	0:bf96e953cdb8	2306	char BOARDC_BNO055::setPowerMode_Normal(){
echo_piyo	0:bf96e953cdb8	2307	return ctrl->wr(0, BNO055P0_PWR_MODE, 0);
echo_piyo	0:bf96e953cdb8	2308	}
echo_piyo	0:bf96e953cdb8	2309
echo_piyo	0:bf96e953cdb8	2310	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2311	* システムの電源モードを低消費電力モードに設定する
echo_piyo	0:bf96e953cdb8	2312	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2313	* returns:
echo_piyo	0:bf96e953cdb8	2314	* -1 失敗
echo_piyo	0:bf96e953cdb8	2315	* 1 成功
echo_piyo	0:bf96e953cdb8	2316	*/
echo_piyo	0:bf96e953cdb8	2317	char BOARDC_BNO055::setPowerMode_LowPower(){
echo_piyo	0:bf96e953cdb8	2318	return ctrl->wr(0, BNO055P0_PWR_MODE, 1);
echo_piyo	0:bf96e953cdb8	2319	}
echo_piyo	0:bf96e953cdb8	2320
echo_piyo	0:bf96e953cdb8	2321	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2322	* システムの電源モードをスリープモードに設定する
echo_piyo	0:bf96e953cdb8	2323	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2324	* returns:
echo_piyo	0:bf96e953cdb8	2325	* -1 失敗
echo_piyo	0:bf96e953cdb8	2326	* 1 成功
echo_piyo	0:bf96e953cdb8	2327	*/
echo_piyo	0:bf96e953cdb8	2328	char BOARDC_BNO055::setPowerMode_Suspend(){
echo_piyo	0:bf96e953cdb8	2329	return ctrl->wr(0, BNO055P0_PWR_MODE, 2);
echo_piyo	0:bf96e953cdb8	2330	}
echo_piyo	0:bf96e953cdb8	2331
echo_piyo	0:bf96e953cdb8	2332	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2333	* システムのトリガー設定を変更する
echo_piyo	0:bf96e953cdb8	2334	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2335	* returns:
echo_piyo	0:bf96e953cdb8	2336	* -1 失敗
echo_piyo	0:bf96e953cdb8	2337	* 0 変更なし
echo_piyo	0:bf96e953cdb8	2338	* 1 成功
echo_piyo	0:bf96e953cdb8	2339	*/
echo_piyo	0:bf96e953cdb8	2340	char BOARDC_BNO055::setSysTrigger(char regVal){
echo_piyo	0:bf96e953cdb8	2341	clkExt = regVal >> 7;
echo_piyo	0:bf96e953cdb8	2342	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, regVal & 0xE1);
echo_piyo	0:bf96e953cdb8	2343	}
echo_piyo	0:bf96e953cdb8	2344
echo_piyo	0:bf96e953cdb8	2345	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2346	* システムのクロック発振元を設定する
echo_piyo	0:bf96e953cdb8	2347	* 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
echo_piyo	0:bf96e953cdb8	2348	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2349	* returns:
echo_piyo	0:bf96e953cdb8	2350	* -1 失敗
echo_piyo	0:bf96e953cdb8	2351	* 0 変更なし
echo_piyo	0:bf96e953cdb8	2352	* 1 成功
echo_piyo	0:bf96e953cdb8	2353	*/
echo_piyo	0:bf96e953cdb8	2354	char BOARDC_BNO055::setSys_ExternalCrystal(bool isExternal){
echo_piyo	0:bf96e953cdb8	2355	if(clkExt == isExternal) return 0;
echo_piyo	0:bf96e953cdb8	2356
echo_piyo	0:bf96e953cdb8	2357	clkExt = isExternal;
echo_piyo	0:bf96e953cdb8	2358	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, (clkExt) ? 0x80 : 0x00);
echo_piyo	0:bf96e953cdb8	2359	}
echo_piyo	0:bf96e953cdb8	2360
echo_piyo	0:bf96e953cdb8	2361	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2362	* システムの割り込み発生をすべてリセットする
echo_piyo	0:bf96e953cdb8	2363	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2364	* returns:
echo_piyo	0:bf96e953cdb8	2365	* -1 失敗
echo_piyo	0:bf96e953cdb8	2366	* 1 成功
echo_piyo	0:bf96e953cdb8	2367	*/
echo_piyo	0:bf96e953cdb8	2368	char BOARDC_BNO055::resetInterrupt(){
echo_piyo	0:bf96e953cdb8	2369	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x40);
echo_piyo	0:bf96e953cdb8	2370	}
echo_piyo	0:bf96e953cdb8	2371
echo_piyo	0:bf96e953cdb8	2372	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2373	* システムをリセットする
echo_piyo	0:bf96e953cdb8	2374	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2375	* returns:
echo_piyo	0:bf96e953cdb8	2376	* -1 失敗
echo_piyo	0:bf96e953cdb8	2377	* 1 成功
echo_piyo	0:bf96e953cdb8	2378	*/
echo_piyo	0:bf96e953cdb8	2379	char BOARDC_BNO055::soft_reset(){
echo_piyo	0:bf96e953cdb8	2380	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x20);
echo_piyo	0:bf96e953cdb8	2381	}
echo_piyo	0:bf96e953cdb8	2382
echo_piyo	0:bf96e953cdb8	2383	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2384	* セルフテストを実行する
echo_piyo	0:bf96e953cdb8	2385	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2386	* returns:
echo_piyo	0:bf96e953cdb8	2387	* -1 失敗
echo_piyo	0:bf96e953cdb8	2388	* 1 成功
echo_piyo	0:bf96e953cdb8	2389	*/
echo_piyo	0:bf96e953cdb8	2390	char BOARDC_BNO055::execSelfTest(){
echo_piyo	0:bf96e953cdb8	2391	return ctrl->wr(0, BNO055P0_SYS_TRIGGER, ((clkExt) ? 0x80 : 0x00) \| 0x01);
echo_piyo	0:bf96e953cdb8	2392	}
echo_piyo	0:bf96e953cdb8	2393
echo_piyo	0:bf96e953cdb8	2394	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2395	* システムの温度計測に使用するセンサーを取得する
echo_piyo	0:bf96e953cdb8	2396	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2397	* returns:
echo_piyo	0:bf96e953cdb8	2398	* 0 温度計測に加速度センサーを使用している
echo_piyo	0:bf96e953cdb8	2399	* 1 温度計測に角速度センサーを使用している
echo_piyo	0:bf96e953cdb8	2400	*/
echo_piyo	0:bf96e953cdb8	2401	char BOARDC_BNO055::getTempSource(){
echo_piyo	0:bf96e953cdb8	2402	return ctrl->rr(0, BNO055P0_TEMP_SOURCE);
echo_piyo	0:bf96e953cdb8	2403	}
echo_piyo	0:bf96e953cdb8	2404
echo_piyo	0:bf96e953cdb8	2405	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2406	* システムの温度計測に使用するセンサーを選択する
echo_piyo	0:bf96e953cdb8	2407	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2408	* 引数Accelerometer:
echo_piyo	0:bf96e953cdb8	2409	* true:加速度センサーを温度計測に使用する
echo_piyo	0:bf96e953cdb8	2410	* false:角速度センサーを温度計測に使用する
echo_piyo	0:bf96e953cdb8	2411	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2412	* returns:
echo_piyo	0:bf96e953cdb8	2413	* -1 失敗
echo_piyo	0:bf96e953cdb8	2414	* 1 成功
echo_piyo	0:bf96e953cdb8	2415	*/
echo_piyo	0:bf96e953cdb8	2416	char BOARDC_BNO055::setTempSource(bool Accelerometer){
echo_piyo	0:bf96e953cdb8	2417	return ctrl->wr(0, BNO055P0_TEMP_SOURCE, (Accelerometer) ? 0 : 1);
echo_piyo	0:bf96e953cdb8	2418	}
echo_piyo	0:bf96e953cdb8	2419
echo_piyo	0:bf96e953cdb8	2420	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2421	* センサー出力軸交換情報の取得
echo_piyo	0:bf96e953cdb8	2422	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2423	* returns:
echo_piyo	0:bf96e953cdb8	2424	* AXIS_MAP_CONFIGの設定情報:BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2425	*/
echo_piyo	0:bf96e953cdb8	2426	char BOARDC_BNO055::getAxisMapConfig(){
echo_piyo	0:bf96e953cdb8	2427	char ret = ctrl->rr(0, BNO055P0_AXIS_MAP_CONFIG);
echo_piyo	0:bf96e953cdb8	2428	if(axisRemap != ret) axisRemap = ret;
echo_piyo	0:bf96e953cdb8	2429	return axisRemap;
echo_piyo	0:bf96e953cdb8	2430	}
echo_piyo	0:bf96e953cdb8	2431
echo_piyo	0:bf96e953cdb8	2432	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2433	* センサー出力軸交換の設定
echo_piyo	0:bf96e953cdb8	2434	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2435	* 引数val:
echo_piyo	0:bf96e953cdb8	2436	* X,Y,Zの出力交換の情報
echo_piyo	0:bf96e953cdb8	2437	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2438	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2439	* returns:
echo_piyo	0:bf96e953cdb8	2440	* -1 失敗
echo_piyo	0:bf96e953cdb8	2441	* 0 変更なし
echo_piyo	0:bf96e953cdb8	2442	* 1 成功
echo_piyo	0:bf96e953cdb8	2443	*/
echo_piyo	0:bf96e953cdb8	2444	char BOARDC_BNO055::setAxisMapConfig(char val){
echo_piyo	0:bf96e953cdb8	2445	if(axisRemap == (val & 0x3F)) return 0;
echo_piyo	0:bf96e953cdb8	2446	else axisRemap = (val & 0x3F);
echo_piyo	0:bf96e953cdb8	2447	return ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2448	}
echo_piyo	0:bf96e953cdb8	2449
echo_piyo	0:bf96e953cdb8	2450	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2451	* センサー出力軸符号情報の取得
echo_piyo	0:bf96e953cdb8	2452	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2453	* returns:
echo_piyo	0:bf96e953cdb8	2454	* AXIS_MAP_SIGNの設定情報:BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2455	*/
echo_piyo	0:bf96e953cdb8	2456	char BOARDC_BNO055::getAxisMapSign(){
echo_piyo	0:bf96e953cdb8	2457	char ret = ctrl->rr(0, BNO055P0_AXIS_MAP_SIGN);
echo_piyo	0:bf96e953cdb8	2458	if(axisSign != ret) axisSign = ret;
echo_piyo	0:bf96e953cdb8	2459	return axisSign;
echo_piyo	0:bf96e953cdb8	2460	}
echo_piyo	0:bf96e953cdb8	2461
echo_piyo	0:bf96e953cdb8	2462	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2463	* センサー出力軸符号の設定
echo_piyo	0:bf96e953cdb8	2464	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2465	* 引数val:
echo_piyo	0:bf96e953cdb8	2466	* X,Y,Zの出力符号の情報
echo_piyo	0:bf96e953cdb8	2467	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2468	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2469	* returns:
echo_piyo	0:bf96e953cdb8	2470	* -1 失敗
echo_piyo	0:bf96e953cdb8	2471	* 0 変更なし
echo_piyo	0:bf96e953cdb8	2472	* 1 成功
echo_piyo	0:bf96e953cdb8	2473	*/
echo_piyo	0:bf96e953cdb8	2474	char BOARDC_BNO055::setAxisMapSign(char val){
echo_piyo	0:bf96e953cdb8	2475	if(axisSign == (val & 0x07)) return 0;
echo_piyo	0:bf96e953cdb8	2476	else axisSign = (val & 0x07);
echo_piyo	0:bf96e953cdb8	2477	return ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2478	}
echo_piyo	0:bf96e953cdb8	2479
echo_piyo	0:bf96e953cdb8	2480	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2481	* 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]
echo_piyo	0:bf96e953cdb8	2482	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2483	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2484	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2485	* returns:
echo_piyo	0:bf96e953cdb8	2486	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2487	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2488	* 1 成功
echo_piyo	0:bf96e953cdb8	2489	*/
echo_piyo	0:bf96e953cdb8	2490	char BOARDC_BNO055::setAxisRemap_topview_topleft(){
echo_piyo	0:bf96e953cdb8	2491	axisRemap = 0x21;
echo_piyo	0:bf96e953cdb8	2492	axisSign = 0x04;
echo_piyo	0:bf96e953cdb8	2493	char ret = 0;
echo_piyo	0:bf96e953cdb8	2494	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2495	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2496	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2497	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2498	return 1;
echo_piyo	0:bf96e953cdb8	2499	}
echo_piyo	0:bf96e953cdb8	2500
echo_piyo	0:bf96e953cdb8	2501	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2502	* 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]
echo_piyo	0:bf96e953cdb8	2503	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2504	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2505	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2506	* returns:
echo_piyo	0:bf96e953cdb8	2507	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2508	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2509	* 1 成功
echo_piyo	0:bf96e953cdb8	2510	*/
echo_piyo	0:bf96e953cdb8	2511	char BOARDC_BNO055::setAxisRemap_topview_topright(){
echo_piyo	0:bf96e953cdb8	2512	axisRemap = 0x24;
echo_piyo	0:bf96e953cdb8	2513	axisSign = 0x00;
echo_piyo	0:bf96e953cdb8	2514	char ret = 0;
echo_piyo	0:bf96e953cdb8	2515	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2516	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2517	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2518	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2519	return 1;
echo_piyo	0:bf96e953cdb8	2520	}
echo_piyo	0:bf96e953cdb8	2521
echo_piyo	0:bf96e953cdb8	2522	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2523	* 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]
echo_piyo	0:bf96e953cdb8	2524	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2525	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2526	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2527	* returns:
echo_piyo	0:bf96e953cdb8	2528	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2529	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2530	* 1 成功
echo_piyo	0:bf96e953cdb8	2531	*/
echo_piyo	0:bf96e953cdb8	2532	char BOARDC_BNO055::setAxisRemap_topview_bottomleft(){
echo_piyo	0:bf96e953cdb8	2533	axisRemap = 0x24;
echo_piyo	0:bf96e953cdb8	2534	axisSign = 0x06;
echo_piyo	0:bf96e953cdb8	2535	char ret = 0;
echo_piyo	0:bf96e953cdb8	2536	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2537	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2538	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2539	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2540	return 1;
echo_piyo	0:bf96e953cdb8	2541	}
echo_piyo	0:bf96e953cdb8	2542
echo_piyo	0:bf96e953cdb8	2543	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2544	* 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]
echo_piyo	0:bf96e953cdb8	2545	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2546	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2547	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2548	* returns:
echo_piyo	0:bf96e953cdb8	2549	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2550	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2551	* 1 成功
echo_piyo	0:bf96e953cdb8	2552	*/
echo_piyo	0:bf96e953cdb8	2553	char BOARDC_BNO055::setAxisRemap_topview_bottomright(){
echo_piyo	0:bf96e953cdb8	2554	axisRemap = 0x21;
echo_piyo	0:bf96e953cdb8	2555	axisSign = 0x02;
echo_piyo	0:bf96e953cdb8	2556	char ret = 0;
echo_piyo	0:bf96e953cdb8	2557	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2558	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2559	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2560	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2561	return 1;
echo_piyo	0:bf96e953cdb8	2562	}
echo_piyo	0:bf96e953cdb8	2563
echo_piyo	0:bf96e953cdb8	2564	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2565	* 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]
echo_piyo	0:bf96e953cdb8	2566	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2567	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2568	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2569	* returns:
echo_piyo	0:bf96e953cdb8	2570	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2571	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2572	* 1 成功
echo_piyo	0:bf96e953cdb8	2573	*/
echo_piyo	0:bf96e953cdb8	2574	char BOARDC_BNO055::setAxisRemap_bottomview_topleft(){
echo_piyo	0:bf96e953cdb8	2575	axisRemap = 0x24;
echo_piyo	0:bf96e953cdb8	2576	axisSign = 0x03;
echo_piyo	0:bf96e953cdb8	2577	char ret = 0;
echo_piyo	0:bf96e953cdb8	2578	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2579	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2580	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2581	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2582	return 1;
echo_piyo	0:bf96e953cdb8	2583	}
echo_piyo	0:bf96e953cdb8	2584
echo_piyo	0:bf96e953cdb8	2585	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2586	* 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]
echo_piyo	0:bf96e953cdb8	2587	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2588	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2589	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2590	* returns:
echo_piyo	0:bf96e953cdb8	2591	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2592	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2593	* 1 成功
echo_piyo	0:bf96e953cdb8	2594	*/
echo_piyo	0:bf96e953cdb8	2595	char BOARDC_BNO055::setAxisRemap_bottomview_topright(){
echo_piyo	0:bf96e953cdb8	2596	axisRemap = 0x21;
echo_piyo	0:bf96e953cdb8	2597	axisSign = 0x01;
echo_piyo	0:bf96e953cdb8	2598	char ret = 0;
echo_piyo	0:bf96e953cdb8	2599	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2600	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2601	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2602	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2603	return 1;
echo_piyo	0:bf96e953cdb8	2604	}
echo_piyo	0:bf96e953cdb8	2605
echo_piyo	0:bf96e953cdb8	2606	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2607	* 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]
echo_piyo	0:bf96e953cdb8	2608	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2609	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2610	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2611	* returns:
echo_piyo	0:bf96e953cdb8	2612	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2613	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2614	* 1 成功
echo_piyo	0:bf96e953cdb8	2615	*/
echo_piyo	0:bf96e953cdb8	2616	char BOARDC_BNO055::setAxisRemap_bottomview_bottomleft(){
echo_piyo	0:bf96e953cdb8	2617	axisRemap = 0x21;
echo_piyo	0:bf96e953cdb8	2618	axisSign = 0x07;
echo_piyo	0:bf96e953cdb8	2619	char ret = 0;
echo_piyo	0:bf96e953cdb8	2620	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2621	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2622	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2623	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2624	return 1;
echo_piyo	0:bf96e953cdb8	2625	}
echo_piyo	0:bf96e953cdb8	2626
echo_piyo	0:bf96e953cdb8	2627	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2628	* 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]
echo_piyo	0:bf96e953cdb8	2629	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2630	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2631	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2632	* returns:
echo_piyo	0:bf96e953cdb8	2633	* -1 AXIS_MAP_CONFIG設定の失敗
echo_piyo	0:bf96e953cdb8	2634	* -2 AXIS_MAP_SIGN設定の失敗
echo_piyo	0:bf96e953cdb8	2635	* 1 成功
echo_piyo	0:bf96e953cdb8	2636	*/
echo_piyo	0:bf96e953cdb8	2637	char BOARDC_BNO055::setAxisRemap_bottomview_bottomright(){
echo_piyo	0:bf96e953cdb8	2638	axisRemap = 0x24;
echo_piyo	0:bf96e953cdb8	2639	axisSign = 0x05;
echo_piyo	0:bf96e953cdb8	2640	char ret = 0;
echo_piyo	0:bf96e953cdb8	2641	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_CONFIG, axisRemap);
echo_piyo	0:bf96e953cdb8	2642	if(ret == -1) return -1;
echo_piyo	0:bf96e953cdb8	2643	ret = ctrl->wr(0, BNO055P0_AXIS_MAP_SIGN, axisSign);
echo_piyo	0:bf96e953cdb8	2644	if(ret == -1) return -2;
echo_piyo	0:bf96e953cdb8	2645	return 1;
echo_piyo	0:bf96e953cdb8	2646	}
echo_piyo	0:bf96e953cdb8	2647
echo_piyo	0:bf96e953cdb8	2648	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2649	* 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
echo_piyo	0:bf96e953cdb8	2650	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2651	* (BNO055データシート [3.4 Axis remap] を参照
echo_piyo	0:bf96e953cdb8	2652	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2653	* returns:
echo_piyo	0:bf96e953cdb8	2654	* 0 [P0]表側から見たとき、BNO055の1pinが表側左上にある状態
echo_piyo	0:bf96e953cdb8	2655	* 1 [P1]表側から見たとき、BNO055の1pinが表側右上にある状態
echo_piyo	0:bf96e953cdb8	2656	* 2 [P2]表側から見たとき、BNO055の1pinが表側左下にある状態
echo_piyo	0:bf96e953cdb8	2657	* 3 [P3]表側から見たとき、BNO055の1pinが表側右下にある状態
echo_piyo	0:bf96e953cdb8	2658	* 4 [P4]表側から見たとき、BNO055の1pinが裏側左上にある状態
echo_piyo	0:bf96e953cdb8	2659	* 5 [P5]表側から見たとき、BNO055の1pinが裏側右上にある状態
echo_piyo	0:bf96e953cdb8	2660	* 6 [P6]表側から見たとき、BNO055の1pinが裏側左下にある状態
echo_piyo	0:bf96e953cdb8	2661	* 7 [P7]表側から見たとき、BNO055の1pinが裏側右下にある状態
echo_piyo	0:bf96e953cdb8	2662	* -1 それ以外の設定
echo_piyo	0:bf96e953cdb8	2663	*/
echo_piyo	0:bf96e953cdb8	2664	char BOARDC_BNO055::getAxisRemap_type(){
echo_piyo	0:bf96e953cdb8	2665	getAxisMapConfig(); //axisRemapに最新の値を格納
echo_piyo	0:bf96e953cdb8	2666	getAxisMapSign(); //axisSignに最新の値を格納
echo_piyo	0:bf96e953cdb8	2667
echo_piyo	0:bf96e953cdb8	2668	if(axisRemap == 0x21){
echo_piyo	0:bf96e953cdb8	2669	switch(axisSign){
echo_piyo	0:bf96e953cdb8	2670	case 0x04:
echo_piyo	0:bf96e953cdb8	2671	return 0;
echo_piyo	0:bf96e953cdb8	2672	case 0x02:
echo_piyo	0:bf96e953cdb8	2673	return 3;
echo_piyo	0:bf96e953cdb8	2674	case 0x01:
echo_piyo	0:bf96e953cdb8	2675	return 5;
echo_piyo	0:bf96e953cdb8	2676	case 0x07:
echo_piyo	0:bf96e953cdb8	2677	return 6;
echo_piyo	0:bf96e953cdb8	2678	}
echo_piyo	0:bf96e953cdb8	2679	}else if(axisRemap == 0x24){
echo_piyo	0:bf96e953cdb8	2680	switch(axisSign){
echo_piyo	0:bf96e953cdb8	2681	case 0x00:
echo_piyo	0:bf96e953cdb8	2682	return 1;
echo_piyo	0:bf96e953cdb8	2683	case 0x06:
echo_piyo	0:bf96e953cdb8	2684	return 2;
echo_piyo	0:bf96e953cdb8	2685	case 0x03:
echo_piyo	0:bf96e953cdb8	2686	return 4;
echo_piyo	0:bf96e953cdb8	2687	case 0x05:
echo_piyo	0:bf96e953cdb8	2688	return 7;
echo_piyo	0:bf96e953cdb8	2689	}
echo_piyo	0:bf96e953cdb8	2690	}
echo_piyo	0:bf96e953cdb8	2691
echo_piyo	0:bf96e953cdb8	2692	return -1;
echo_piyo	0:bf96e953cdb8	2693	}
echo_piyo	0:bf96e953cdb8	2694
echo_piyo	0:bf96e953cdb8	2695	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2696	* 加速度センサーの補正値を取得する
echo_piyo	0:bf96e953cdb8	2697	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2698	* &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
echo_piyo	0:bf96e953cdb8	2699	* &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
echo_piyo	0:bf96e953cdb8	2700	* &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
echo_piyo	0:bf96e953cdb8	2701	*/
echo_piyo	0:bf96e953cdb8	2702	void BOARDC_BNO055::getAccOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
echo_piyo	0:bf96e953cdb8	2703	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	2704	char rsv[6];
echo_piyo	0:bf96e953cdb8	2705	ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	2706
echo_piyo	0:bf96e953cdb8	2707	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2708	short offY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	2709	short offZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	2710	offsetX = (1.0f * offX) * scaleACC;
echo_piyo	0:bf96e953cdb8	2711	offsetY = (1.0f * offY) * scaleACC;
echo_piyo	0:bf96e953cdb8	2712	offsetZ = (1.0f * offZ) * scaleACC;
echo_piyo	0:bf96e953cdb8	2713	}
echo_piyo	0:bf96e953cdb8	2714
echo_piyo	0:bf96e953cdb8	2715	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2716	* 加速度センサーの補正値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2717	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2718	* returns:
echo_piyo	0:bf96e953cdb8	2719	* X軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2720	*/
echo_piyo	0:bf96e953cdb8	2721	float BOARDC_BNO055::getAccOffsetX(){
echo_piyo	0:bf96e953cdb8	2722	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2723	char rsv[2];
echo_piyo	0:bf96e953cdb8	2724	ctrl->rrc(0, BNO055P0_ACC_OFFSET_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2725
echo_piyo	0:bf96e953cdb8	2726	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2727	return (1.0f * offX) * scaleACC;
echo_piyo	0:bf96e953cdb8	2728	}
echo_piyo	0:bf96e953cdb8	2729
echo_piyo	0:bf96e953cdb8	2730	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2731	* 加速度センサーの補正値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2732	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2733	* returns:
echo_piyo	0:bf96e953cdb8	2734	* Y軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2735	*/
echo_piyo	0:bf96e953cdb8	2736	float BOARDC_BNO055::getAccOffsetY(){
echo_piyo	0:bf96e953cdb8	2737	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2738	char rsv[2];
echo_piyo	0:bf96e953cdb8	2739	ctrl->rrc(0, BNO055P0_ACC_OFFSET_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2740
echo_piyo	0:bf96e953cdb8	2741	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2742	return (1.0f * offX) * scaleACC;
echo_piyo	0:bf96e953cdb8	2743	}
echo_piyo	0:bf96e953cdb8	2744
echo_piyo	0:bf96e953cdb8	2745	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2746	* 加速度センサーの補正値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2747	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2748	* returns:
echo_piyo	0:bf96e953cdb8	2749	* Z軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2750	*/
echo_piyo	0:bf96e953cdb8	2751	float BOARDC_BNO055::getAccOffsetZ(){
echo_piyo	0:bf96e953cdb8	2752	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2753	char rsv[2];
echo_piyo	0:bf96e953cdb8	2754	ctrl->rrc(0, BNO055P0_ACC_OFFSET_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2755
echo_piyo	0:bf96e953cdb8	2756	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2757	return (1.0f * offX) * scaleACC;
echo_piyo	0:bf96e953cdb8	2758	}
echo_piyo	0:bf96e953cdb8	2759
echo_piyo	0:bf96e953cdb8	2760	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2761	* 加速度センサーの補正値を設定する
echo_piyo	0:bf96e953cdb8	2762	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2763	* offsetX: スケール乗算済みのX軸の補正値
echo_piyo	0:bf96e953cdb8	2764	* offsetY: スケール乗算済みのY軸の補正値
echo_piyo	0:bf96e953cdb8	2765	* offsetZ: スケール乗算済みのZ軸の補正値
echo_piyo	0:bf96e953cdb8	2766	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2767	* returns:
echo_piyo	0:bf96e953cdb8	2768	* -1 失敗
echo_piyo	0:bf96e953cdb8	2769	* 1 成功
echo_piyo	0:bf96e953cdb8	2770	*/
echo_piyo	0:bf96e953cdb8	2771	char BOARDC_BNO055::setAccOffsetAll(float offsetX, float offsetY, float offsetZ){
echo_piyo	0:bf96e953cdb8	2772	short offX = (short)((offsetX / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2773	short offY = (short)((offsetY / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2774	short offZ = (short)((offsetZ / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2775	char msg[6];
echo_piyo	0:bf96e953cdb8	2776	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	2777	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	2778	msg[2] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	2779	msg[3] = offY >> 8;
echo_piyo	0:bf96e953cdb8	2780	msg[4] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	2781	msg[5] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	2782
echo_piyo	0:bf96e953cdb8	2783	//連続6byte書き込み
echo_piyo	0:bf96e953cdb8	2784	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_X_LSB, msg, 6);
echo_piyo	0:bf96e953cdb8	2785	}
echo_piyo	0:bf96e953cdb8	2786
echo_piyo	0:bf96e953cdb8	2787	char BOARDC_BNO055::setAccOffsetX(float offset){
echo_piyo	0:bf96e953cdb8	2788	short offX = (short)((offset / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2789	char msg[2];
echo_piyo	0:bf96e953cdb8	2790	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	2791	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	2792
echo_piyo	0:bf96e953cdb8	2793	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2794	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_X_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2795	}
echo_piyo	0:bf96e953cdb8	2796
echo_piyo	0:bf96e953cdb8	2797	char BOARDC_BNO055::setAccOffsetY(float offset){
echo_piyo	0:bf96e953cdb8	2798	short offY = (short)((offset / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2799	char msg[2];
echo_piyo	0:bf96e953cdb8	2800	msg[0] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	2801	msg[1] = offY >> 8;
echo_piyo	0:bf96e953cdb8	2802
echo_piyo	0:bf96e953cdb8	2803	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2804	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_Y_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2805	}
echo_piyo	0:bf96e953cdb8	2806
echo_piyo	0:bf96e953cdb8	2807	char BOARDC_BNO055::setAccOffsetZ(float offset){
echo_piyo	0:bf96e953cdb8	2808	short offZ = (short)((offset / scaleACC) + 0.5f);
echo_piyo	0:bf96e953cdb8	2809	char msg[2];
echo_piyo	0:bf96e953cdb8	2810	msg[0] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	2811	msg[1] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	2812
echo_piyo	0:bf96e953cdb8	2813	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2814	return ctrl->wrc(0, BNO055P0_ACC_OFFSET_Z_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2815	}
echo_piyo	0:bf96e953cdb8	2816
echo_piyo	0:bf96e953cdb8	2817	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2818	* 地磁気センサーの補正値を取得する
echo_piyo	0:bf96e953cdb8	2819	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2820	* &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
echo_piyo	0:bf96e953cdb8	2821	* &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
echo_piyo	0:bf96e953cdb8	2822	* &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
echo_piyo	0:bf96e953cdb8	2823	*/
echo_piyo	0:bf96e953cdb8	2824	void BOARDC_BNO055::getMagOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
echo_piyo	0:bf96e953cdb8	2825	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	2826	char rsv[6];
echo_piyo	0:bf96e953cdb8	2827	ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	2828
echo_piyo	0:bf96e953cdb8	2829	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2830	short offY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	2831	short offZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	2832	offsetX = (1.0f * offX) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2833	offsetY = (1.0f * offY) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2834	offsetZ = (1.0f * offZ) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2835	}
echo_piyo	0:bf96e953cdb8	2836
echo_piyo	0:bf96e953cdb8	2837	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2838	* 地磁気センサーの補正値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2839	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2840	* returns:
echo_piyo	0:bf96e953cdb8	2841	* X軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2842	*/
echo_piyo	0:bf96e953cdb8	2843	float BOARDC_BNO055::getMagOffsetX(){
echo_piyo	0:bf96e953cdb8	2844	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2845	char rsv[2];
echo_piyo	0:bf96e953cdb8	2846	ctrl->rrc(0, BNO055P0_MAG_OFFSET_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2847
echo_piyo	0:bf96e953cdb8	2848	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2849	return (1.0f * offX) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2850	}
echo_piyo	0:bf96e953cdb8	2851
echo_piyo	0:bf96e953cdb8	2852	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2853	* 地磁気センサーの補正値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2854	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2855	* returns:
echo_piyo	0:bf96e953cdb8	2856	* Y軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2857	*/
echo_piyo	0:bf96e953cdb8	2858	float BOARDC_BNO055::getMagOffsetY(){
echo_piyo	0:bf96e953cdb8	2859	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2860	char rsv[2];
echo_piyo	0:bf96e953cdb8	2861	ctrl->rrc(0, BNO055P0_MAG_OFFSET_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2862
echo_piyo	0:bf96e953cdb8	2863	short offY = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2864	return (1.0f * offY) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2865	}
echo_piyo	0:bf96e953cdb8	2866
echo_piyo	0:bf96e953cdb8	2867	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2868	* 地磁気センサーの補正値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2869	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2870	* returns:
echo_piyo	0:bf96e953cdb8	2871	* Z軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2872	*/
echo_piyo	0:bf96e953cdb8	2873	float BOARDC_BNO055::getMagOffsetZ(){
echo_piyo	0:bf96e953cdb8	2874	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2875	char rsv[2];
echo_piyo	0:bf96e953cdb8	2876	ctrl->rrc(0, BNO055P0_MAG_OFFSET_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2877
echo_piyo	0:bf96e953cdb8	2878	short offZ = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2879	return (1.0f * offZ) * scaleMAG;
echo_piyo	0:bf96e953cdb8	2880	}
echo_piyo	0:bf96e953cdb8	2881
echo_piyo	0:bf96e953cdb8	2882	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2883	* 地磁気センサーの補正値を設定する
echo_piyo	0:bf96e953cdb8	2884	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2885	* offsetX: スケール乗算済みのX軸の補正値
echo_piyo	0:bf96e953cdb8	2886	* offsetY: スケール乗算済みのY軸の補正値
echo_piyo	0:bf96e953cdb8	2887	* offsetZ: スケール乗算済みのZ軸の補正値
echo_piyo	0:bf96e953cdb8	2888	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2889	* returns:
echo_piyo	0:bf96e953cdb8	2890	* -1 失敗
echo_piyo	0:bf96e953cdb8	2891	* 1 成功
echo_piyo	0:bf96e953cdb8	2892	*/
echo_piyo	0:bf96e953cdb8	2893	char BOARDC_BNO055::setMagOffsetAll(float offsetX, float offsetY, float offsetZ){
echo_piyo	0:bf96e953cdb8	2894	short offX = (short)((offsetX / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2895	short offY = (short)((offsetY / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2896	short offZ = (short)((offsetZ / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2897	char msg[6];
echo_piyo	0:bf96e953cdb8	2898	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	2899	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	2900	msg[2] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	2901	msg[3] = offY >> 8;
echo_piyo	0:bf96e953cdb8	2902	msg[4] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	2903	msg[5] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	2904
echo_piyo	0:bf96e953cdb8	2905	//連続6byte書き込み
echo_piyo	0:bf96e953cdb8	2906	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_X_LSB, msg, 6);
echo_piyo	0:bf96e953cdb8	2907	}
echo_piyo	0:bf96e953cdb8	2908
echo_piyo	0:bf96e953cdb8	2909	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2910	* 地磁気センサーの補正値(X軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	2911	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2912	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	2913	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2914	* returns:
echo_piyo	0:bf96e953cdb8	2915	* -1 失敗
echo_piyo	0:bf96e953cdb8	2916	* 1 成功
echo_piyo	0:bf96e953cdb8	2917	*/
echo_piyo	0:bf96e953cdb8	2918	char BOARDC_BNO055::setMagOffsetX(float offset){
echo_piyo	0:bf96e953cdb8	2919	short offX = (short)((offset / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2920	char msg[2];
echo_piyo	0:bf96e953cdb8	2921	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	2922	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	2923
echo_piyo	0:bf96e953cdb8	2924	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2925	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_X_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2926	}
echo_piyo	0:bf96e953cdb8	2927
echo_piyo	0:bf96e953cdb8	2928	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2929	* 地磁気センサーの補正値(Y軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	2930	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2931	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	2932	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2933	* returns:
echo_piyo	0:bf96e953cdb8	2934	* -1 失敗
echo_piyo	0:bf96e953cdb8	2935	* 1 成功
echo_piyo	0:bf96e953cdb8	2936	*/
echo_piyo	0:bf96e953cdb8	2937	char BOARDC_BNO055::setMagOffsetY(float offset){
echo_piyo	0:bf96e953cdb8	2938	short offY = (short)((offset / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2939	char msg[2];
echo_piyo	0:bf96e953cdb8	2940	msg[0] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	2941	msg[1] = offY >> 8;
echo_piyo	0:bf96e953cdb8	2942
echo_piyo	0:bf96e953cdb8	2943	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2944	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_Y_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2945	}
echo_piyo	0:bf96e953cdb8	2946
echo_piyo	0:bf96e953cdb8	2947	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2948	* 地磁気センサーの補正値(Z軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	2949	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2950	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	2951	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2952	* returns:
echo_piyo	0:bf96e953cdb8	2953	* -1 失敗
echo_piyo	0:bf96e953cdb8	2954	* 1 成功
echo_piyo	0:bf96e953cdb8	2955	*/
echo_piyo	0:bf96e953cdb8	2956	char BOARDC_BNO055::setMagOffsetZ(float offset){
echo_piyo	0:bf96e953cdb8	2957	short offZ = (short)((offset / scaleMAG) + 0.5f);
echo_piyo	0:bf96e953cdb8	2958	char msg[2];
echo_piyo	0:bf96e953cdb8	2959	msg[0] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	2960	msg[1] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	2961
echo_piyo	0:bf96e953cdb8	2962	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	2963	return ctrl->wrc(0, BNO055P0_MAG_OFFSET_Z_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	2964	}
echo_piyo	0:bf96e953cdb8	2965
echo_piyo	0:bf96e953cdb8	2966	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2967	* 角速度センサーの補正値を取得する
echo_piyo	0:bf96e953cdb8	2968	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2969	* &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
echo_piyo	0:bf96e953cdb8	2970	* &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
echo_piyo	0:bf96e953cdb8	2971	* &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
echo_piyo	0:bf96e953cdb8	2972	*/
echo_piyo	0:bf96e953cdb8	2973	void BOARDC_BNO055::getGyroOffsetAll(float &offsetX, float &offsetY, float &offsetZ){
echo_piyo	0:bf96e953cdb8	2974	//連続6byte読み取り
echo_piyo	0:bf96e953cdb8	2975	char rsv[6];
echo_piyo	0:bf96e953cdb8	2976	ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 6);
echo_piyo	0:bf96e953cdb8	2977
echo_piyo	0:bf96e953cdb8	2978	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2979	short offY = (rsv[3] << 8) \| rsv[2];
echo_piyo	0:bf96e953cdb8	2980	short offZ = (rsv[5] << 8) \| rsv[4];
echo_piyo	0:bf96e953cdb8	2981	offsetX = (1.0f * offX) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	2982	offsetY = (1.0f * offY) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	2983	offsetZ = (1.0f * offZ) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	2984	}
echo_piyo	0:bf96e953cdb8	2985
echo_piyo	0:bf96e953cdb8	2986	/* ==================================================================
echo_piyo	0:bf96e953cdb8	2987	* 角速度センサーの補正値(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	2988	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	2989	* returns:
echo_piyo	0:bf96e953cdb8	2990	* X軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	2991	*/
echo_piyo	0:bf96e953cdb8	2992	float BOARDC_BNO055::getGyroOffsetX(){
echo_piyo	0:bf96e953cdb8	2993	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	2994	char rsv[2];
echo_piyo	0:bf96e953cdb8	2995	ctrl->rrc(0, BNO055P0_GYR_OFFSET_X_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	2996
echo_piyo	0:bf96e953cdb8	2997	short offX = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	2998	return (1.0f * offX) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	2999	}
echo_piyo	0:bf96e953cdb8	3000
echo_piyo	0:bf96e953cdb8	3001	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3002	* 角速度センサーの補正値(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	3003	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3004	* returns:
echo_piyo	0:bf96e953cdb8	3005	* Y軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	3006	*/
echo_piyo	0:bf96e953cdb8	3007	float BOARDC_BNO055::getGyroOffsetY(){
echo_piyo	0:bf96e953cdb8	3008	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	3009	char rsv[2];
echo_piyo	0:bf96e953cdb8	3010	ctrl->rrc(0, BNO055P0_GYR_OFFSET_Y_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	3011
echo_piyo	0:bf96e953cdb8	3012	short offY = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	3013	return (1.0f * offY) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	3014	}
echo_piyo	0:bf96e953cdb8	3015
echo_piyo	0:bf96e953cdb8	3016	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3017	* 角速度センサーの補正値(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	3018	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3019	* returns:
echo_piyo	0:bf96e953cdb8	3020	* Z軸補正値(スケール乗算済み)
echo_piyo	0:bf96e953cdb8	3021	*/
echo_piyo	0:bf96e953cdb8	3022	float BOARDC_BNO055::getGyroOffsetZ(){
echo_piyo	0:bf96e953cdb8	3023	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	3024	char rsv[2];
echo_piyo	0:bf96e953cdb8	3025	ctrl->rrc(0, BNO055P0_GYR_OFFSET_Z_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	3026
echo_piyo	0:bf96e953cdb8	3027	short offZ = (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	3028	return (1.0f * offZ) * scaleGYRO;
echo_piyo	0:bf96e953cdb8	3029	}
echo_piyo	0:bf96e953cdb8	3030
echo_piyo	0:bf96e953cdb8	3031	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3032	* 角速度センサーの補正値を設定する
echo_piyo	0:bf96e953cdb8	3033	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3034	* offsetX: スケール乗算済みのX軸の補正値
echo_piyo	0:bf96e953cdb8	3035	* offsetY: スケール乗算済みのY軸の補正値
echo_piyo	0:bf96e953cdb8	3036	* offsetZ: スケール乗算済みのZ軸の補正値
echo_piyo	0:bf96e953cdb8	3037	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3038	* returns:
echo_piyo	0:bf96e953cdb8	3039	* -1 失敗
echo_piyo	0:bf96e953cdb8	3040	* 1 成功
echo_piyo	0:bf96e953cdb8	3041	*/
echo_piyo	0:bf96e953cdb8	3042	char BOARDC_BNO055::setGyroOffsetAll(float offsetX, float offsetY, float offsetZ){
echo_piyo	0:bf96e953cdb8	3043	short offX = (short)((offsetX / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3044	short offY = (short)((offsetY / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3045	short offZ = (short)((offsetZ / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3046	char msg[6];
echo_piyo	0:bf96e953cdb8	3047	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	3048	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	3049	msg[2] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	3050	msg[3] = offY >> 8;
echo_piyo	0:bf96e953cdb8	3051	msg[4] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	3052	msg[5] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	3053
echo_piyo	0:bf96e953cdb8	3054	//連続6byte書き込み
echo_piyo	0:bf96e953cdb8	3055	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_X_LSB, msg, 6);
echo_piyo	0:bf96e953cdb8	3056	}
echo_piyo	0:bf96e953cdb8	3057
echo_piyo	0:bf96e953cdb8	3058	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3059	* 角速度センサーの補正値(X軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	3060	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3061	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	3062	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3063	* returns:
echo_piyo	0:bf96e953cdb8	3064	* -1 失敗
echo_piyo	0:bf96e953cdb8	3065	* 1 成功
echo_piyo	0:bf96e953cdb8	3066	*/
echo_piyo	0:bf96e953cdb8	3067	char BOARDC_BNO055::setGyroOffsetX(float offset){
echo_piyo	0:bf96e953cdb8	3068	short offX = (short)((offset / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3069	char msg[2];
echo_piyo	0:bf96e953cdb8	3070	msg[0] = offX & 0xFF;
echo_piyo	0:bf96e953cdb8	3071	msg[1] = offX >> 8;
echo_piyo	0:bf96e953cdb8	3072
echo_piyo	0:bf96e953cdb8	3073	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	3074	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_X_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	3075	}
echo_piyo	0:bf96e953cdb8	3076
echo_piyo	0:bf96e953cdb8	3077	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3078	* 角速度センサーの補正値(Y軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	3079	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3080	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	3081	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3082	* returns:
echo_piyo	0:bf96e953cdb8	3083	* -1 失敗
echo_piyo	0:bf96e953cdb8	3084	* 1 成功
echo_piyo	0:bf96e953cdb8	3085	*/
echo_piyo	0:bf96e953cdb8	3086	char BOARDC_BNO055::setGyroOffsetY(float offset){
echo_piyo	0:bf96e953cdb8	3087	short offY = (short)((offset / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3088	char msg[2];
echo_piyo	0:bf96e953cdb8	3089	msg[0] = offY & 0xFF;
echo_piyo	0:bf96e953cdb8	3090	msg[1] = offY >> 8;
echo_piyo	0:bf96e953cdb8	3091
echo_piyo	0:bf96e953cdb8	3092	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	3093	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_Y_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	3094	}
echo_piyo	0:bf96e953cdb8	3095
echo_piyo	0:bf96e953cdb8	3096	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3097	* 角速度センサーの補正値(Z軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	3098	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3099	* offset: スケール乗算済みの補正値
echo_piyo	0:bf96e953cdb8	3100	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3101	* returns:
echo_piyo	0:bf96e953cdb8	3102	* -1 失敗
echo_piyo	0:bf96e953cdb8	3103	* 1 成功
echo_piyo	0:bf96e953cdb8	3104	*/
echo_piyo	0:bf96e953cdb8	3105	char BOARDC_BNO055::setGyroOffsetZ(float offset){
echo_piyo	0:bf96e953cdb8	3106	short offZ = (short)((offset / scaleGYRO) + 0.5f);
echo_piyo	0:bf96e953cdb8	3107	char msg[2];
echo_piyo	0:bf96e953cdb8	3108	msg[0] = offZ & 0xFF;
echo_piyo	0:bf96e953cdb8	3109	msg[1] = offZ >> 8;
echo_piyo	0:bf96e953cdb8	3110
echo_piyo	0:bf96e953cdb8	3111	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	3112	return ctrl->wrc(0, BNO055P0_GYR_OFFSET_Z_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	3113	}
echo_piyo	0:bf96e953cdb8	3114
echo_piyo	0:bf96e953cdb8	3115	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3116	* 加速度センサーのデータ出力範囲[単位:LSB]を取得する
echo_piyo	0:bf96e953cdb8	3117	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3118	* returns:
echo_piyo	0:bf96e953cdb8	3119	* +-データ計測範囲[単位:LSB]
echo_piyo	0:bf96e953cdb8	3120	*/
echo_piyo	0:bf96e953cdb8	3121	short BOARDC_BNO055::getAccRadius(){
echo_piyo	0:bf96e953cdb8	3122	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	3123	char rsv[2];
echo_piyo	0:bf96e953cdb8	3124	ctrl->rrc(0, BNO055P0_ACC_RADIUS_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	3125
echo_piyo	0:bf96e953cdb8	3126	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	3127	}
echo_piyo	0:bf96e953cdb8	3128
echo_piyo	0:bf96e953cdb8	3129	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3130	* 加速度センサーのデータ出力範囲[単位:LSB]を設定する
echo_piyo	0:bf96e953cdb8	3131	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3132	* 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)
echo_piyo	0:bf96e953cdb8	3133	* 最大値は1000[LSB]
echo_piyo	0:bf96e953cdb8	3134	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3135	* returns:
echo_piyo	0:bf96e953cdb8	3136	* -1 失敗
echo_piyo	0:bf96e953cdb8	3137	* 1 成功
echo_piyo	0:bf96e953cdb8	3138	*/
echo_piyo	0:bf96e953cdb8	3139	char BOARDC_BNO055::setAccRadius(short LSB){
echo_piyo	0:bf96e953cdb8	3140	if(LSB > 1000) LSB = 1000;
echo_piyo	0:bf96e953cdb8	3141
echo_piyo	0:bf96e953cdb8	3142	char msg[2];
echo_piyo	0:bf96e953cdb8	3143	msg[0] = LSB & 0xFF;
echo_piyo	0:bf96e953cdb8	3144	msg[1] = LSB >> 8;
echo_piyo	0:bf96e953cdb8	3145
echo_piyo	0:bf96e953cdb8	3146	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	3147	return ctrl->wrc(0, BNO055P0_ACC_RADIUS_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	3148	}
echo_piyo	0:bf96e953cdb8	3149
echo_piyo	0:bf96e953cdb8	3150	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3151	* 地磁気センサーのデータ出力範囲[単位:LSB]を取得する
echo_piyo	0:bf96e953cdb8	3152	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3153	* returns:
echo_piyo	0:bf96e953cdb8	3154	* +-データ計測範囲
echo_piyo	0:bf96e953cdb8	3155	*/
echo_piyo	0:bf96e953cdb8	3156	short BOARDC_BNO055::getMagRadius(){
echo_piyo	0:bf96e953cdb8	3157	//連続2byte読み取り
echo_piyo	0:bf96e953cdb8	3158	char rsv[2];
echo_piyo	0:bf96e953cdb8	3159	ctrl->rrc(0, BNO055P0_MAG_RADIUS_LSB, rsv, 2);
echo_piyo	0:bf96e953cdb8	3160
echo_piyo	0:bf96e953cdb8	3161	return (rsv[1] << 8) \| rsv[0];
echo_piyo	0:bf96e953cdb8	3162	}
echo_piyo	0:bf96e953cdb8	3163
echo_piyo	0:bf96e953cdb8	3164	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3165	* 加速度センサーのデータ出力範囲[単位:LSB]を設定する
echo_piyo	0:bf96e953cdb8	3166	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3167	* 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)
echo_piyo	0:bf96e953cdb8	3168	* 最大値は960[LSB]
echo_piyo	0:bf96e953cdb8	3169	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3170	* returns:
echo_piyo	0:bf96e953cdb8	3171	* -1 失敗
echo_piyo	0:bf96e953cdb8	3172	* 1 成功
echo_piyo	0:bf96e953cdb8	3173	*/
echo_piyo	0:bf96e953cdb8	3174	char BOARDC_BNO055::setMagRadius(short LSB){
echo_piyo	0:bf96e953cdb8	3175	if(LSB > 960) LSB = 960;
echo_piyo	0:bf96e953cdb8	3176
echo_piyo	0:bf96e953cdb8	3177	char msg[2];
echo_piyo	0:bf96e953cdb8	3178	msg[0] = LSB & 0xFF;
echo_piyo	0:bf96e953cdb8	3179	msg[1] = LSB >> 8;
echo_piyo	0:bf96e953cdb8	3180
echo_piyo	0:bf96e953cdb8	3181	//連続2byte書き込み
echo_piyo	0:bf96e953cdb8	3182	return ctrl->wrc(0, BNO055P0_MAG_RADIUS_LSB, msg, 2);
echo_piyo	0:bf96e953cdb8	3183	}
echo_piyo	0:bf96e953cdb8	3184
echo_piyo	0:bf96e953cdb8	3185	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3186	* 加速度センサー設定のレジスタ値を取得する
echo_piyo	0:bf96e953cdb8	3187	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3188	* returns:
echo_piyo	0:bf96e953cdb8	3189	* 加速度センサー設定のレジスタ値
echo_piyo	0:bf96e953cdb8	3190	*/
echo_piyo	0:bf96e953cdb8	3191	char BOARDC_BNO055::getAccConfig(){
echo_piyo	0:bf96e953cdb8	3192	return ctrl->rr(1, BNO055P1_ACC_CONFIG);
echo_piyo	0:bf96e953cdb8	3193	}
echo_piyo	0:bf96e953cdb8	3194
echo_piyo	0:bf96e953cdb8	3195	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3196	* 加速度センサー設定のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3197	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3198	* 引数regVal: 加速度センサー設定のレジスタ値
echo_piyo	0:bf96e953cdb8	3199	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3200	* returns:
echo_piyo	0:bf96e953cdb8	3201	* -1 失敗
echo_piyo	0:bf96e953cdb8	3202	* 1 成功
echo_piyo	0:bf96e953cdb8	3203	*/
echo_piyo	0:bf96e953cdb8	3204	char BOARDC_BNO055::setAccConfig(char regVal){
echo_piyo	0:bf96e953cdb8	3205	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3206	}
echo_piyo	0:bf96e953cdb8	3207
echo_piyo	0:bf96e953cdb8	3208	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3209	* 加速度センサー設定のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3210	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3211	* 引数gRange: 加速度センサーの計測範囲
echo_piyo	0:bf96e953cdb8	3212	* 引数bandWidth: 加速度センサー出力レート(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3213	* 引数powMode: 加速度センサー電源設定(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3214	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3215	* returns:
echo_piyo	0:bf96e953cdb8	3216	* -1 失敗
echo_piyo	0:bf96e953cdb8	3217	* 1 成功
echo_piyo	0:bf96e953cdb8	3218	*/
echo_piyo	0:bf96e953cdb8	3219	char BOARDC_BNO055::setAccConfig(char gRange, char bandWidth, char powMode){
echo_piyo	0:bf96e953cdb8	3220	char regVal = (powMode << 5) \| (bandWidth << 2) \| gRange;
echo_piyo	0:bf96e953cdb8	3221	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3222	}
echo_piyo	0:bf96e953cdb8	3223
echo_piyo	0:bf96e953cdb8	3224	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3225	* 加速度センサーの計測範囲を設定する
echo_piyo	0:bf96e953cdb8	3226	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3227	* 引数G: 加速度センサーの計測範囲(+-2, 4, 8, 16Gのいずれか)
echo_piyo	0:bf96e953cdb8	3228	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3229	* returns:
echo_piyo	0:bf96e953cdb8	3230	* -1 失敗
echo_piyo	0:bf96e953cdb8	3231	* 1 成功
echo_piyo	0:bf96e953cdb8	3232	*/
echo_piyo	0:bf96e953cdb8	3233	char BOARDC_BNO055::setAccRange(unsigned char G){
echo_piyo	0:bf96e953cdb8	3234	char val = 0;
echo_piyo	0:bf96e953cdb8	3235	switch(G){
echo_piyo	0:bf96e953cdb8	3236	case 2:
echo_piyo	0:bf96e953cdb8	3237	val = 0x00;
echo_piyo	0:bf96e953cdb8	3238	break;
echo_piyo	0:bf96e953cdb8	3239	case 4:
echo_piyo	0:bf96e953cdb8	3240	val = 0x01;
echo_piyo	0:bf96e953cdb8	3241	break;
echo_piyo	0:bf96e953cdb8	3242	case 8:
echo_piyo	0:bf96e953cdb8	3243	val = 0x02;
echo_piyo	0:bf96e953cdb8	3244	break;
echo_piyo	0:bf96e953cdb8	3245	case 16:
echo_piyo	0:bf96e953cdb8	3246	val = 0x03;
echo_piyo	0:bf96e953cdb8	3247	break;
echo_piyo	0:bf96e953cdb8	3248	default:
echo_piyo	0:bf96e953cdb8	3249	val = 0x02;
echo_piyo	0:bf96e953cdb8	3250	}
echo_piyo	0:bf96e953cdb8	3251
echo_piyo	0:bf96e953cdb8	3252	char regVal = ctrl->rr(1, BNO055P1_ACC_CONFIG);
echo_piyo	0:bf96e953cdb8	3253	regVal = (regVal & 0xFC) \| val;
echo_piyo	0:bf96e953cdb8	3254
echo_piyo	0:bf96e953cdb8	3255	return ctrl->wr(1, BNO055P1_ACC_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3256	}
echo_piyo	0:bf96e953cdb8	3257
echo_piyo	0:bf96e953cdb8	3258	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3259	* 地磁気センサー設定のレジスタ値を取得する
echo_piyo	0:bf96e953cdb8	3260	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3261	* returns:
echo_piyo	0:bf96e953cdb8	3262	* 地磁気センサー設定のレジスタ値
echo_piyo	0:bf96e953cdb8	3263	*/
echo_piyo	0:bf96e953cdb8	3264	char BOARDC_BNO055::getMagConfig(){
echo_piyo	0:bf96e953cdb8	3265	return ctrl->rr(1, BNO055P1_MAG_CONFIG);
echo_piyo	0:bf96e953cdb8	3266	}
echo_piyo	0:bf96e953cdb8	3267
echo_piyo	0:bf96e953cdb8	3268	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3269	* 地磁気センサー設定のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3270	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3271	* 引数regVal: 地磁気センサー設定のレジスタ値
echo_piyo	0:bf96e953cdb8	3272	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3273	* returns:
echo_piyo	0:bf96e953cdb8	3274	* -1 失敗
echo_piyo	0:bf96e953cdb8	3275	* 1 成功
echo_piyo	0:bf96e953cdb8	3276	*/
echo_piyo	0:bf96e953cdb8	3277	char BOARDC_BNO055::setMagConfig(char regVal){
echo_piyo	0:bf96e953cdb8	3278	return ctrl->wr(1, BNO055P1_MAG_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3279	}
echo_piyo	0:bf96e953cdb8	3280
echo_piyo	0:bf96e953cdb8	3281	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3282	* 地磁気センサー設定のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3283	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3284	* 引数rate: 地磁気センサー出力レート(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3285	* 引数oprMode: 地磁気センサー出力モード(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3286	* 引数powMode: 地磁気センサー電源設定(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3287	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3288	* returns:
echo_piyo	0:bf96e953cdb8	3289	* -1 失敗
echo_piyo	0:bf96e953cdb8	3290	* 1 成功
echo_piyo	0:bf96e953cdb8	3291	*/
echo_piyo	0:bf96e953cdb8	3292	char BOARDC_BNO055::setMagConfig(char rate, char oprMode, char powMode){
echo_piyo	0:bf96e953cdb8	3293	char regVal = powMode << 5 \| oprMode << 3 \| rate;
echo_piyo	0:bf96e953cdb8	3294	return ctrl->wr(1, BNO055P1_MAG_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3295	}
echo_piyo	0:bf96e953cdb8	3296
echo_piyo	0:bf96e953cdb8	3297	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3298	* 角速度センサー設定(0)のレジスタ値を取得する
echo_piyo	0:bf96e953cdb8	3299	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3300	* returns:
echo_piyo	0:bf96e953cdb8	3301	* 角速度センサー設定(0)のレジスタ値
echo_piyo	0:bf96e953cdb8	3302	*/
echo_piyo	0:bf96e953cdb8	3303	char BOARDC_BNO055::getGyroConfig_0(){
echo_piyo	0:bf96e953cdb8	3304	return ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
echo_piyo	0:bf96e953cdb8	3305	}
echo_piyo	0:bf96e953cdb8	3306
echo_piyo	0:bf96e953cdb8	3307	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3308	* 角速度センサー設定(0)のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3309	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3310	* 引数regVal: 角速度センサー設定(0)のレジスタ値
echo_piyo	0:bf96e953cdb8	3311	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3312	* returns:
echo_piyo	0:bf96e953cdb8	3313	* -1 失敗
echo_piyo	0:bf96e953cdb8	3314	* 1 成功
echo_piyo	0:bf96e953cdb8	3315	*/
echo_piyo	0:bf96e953cdb8	3316	char BOARDC_BNO055::setGyroConfig_0(char regVal){
echo_piyo	0:bf96e953cdb8	3317	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
echo_piyo	0:bf96e953cdb8	3318	}
echo_piyo	0:bf96e953cdb8	3319
echo_piyo	0:bf96e953cdb8	3320	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3321	* 角速度センサー設定(0)のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3322	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3323	* 引数range: 角速度センサーの計測範囲(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3324	* 引数bandWidth: 角速度センサー出力レート(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3325	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3326	* returns:
echo_piyo	0:bf96e953cdb8	3327	* -1 失敗
echo_piyo	0:bf96e953cdb8	3328	* 1 成功
echo_piyo	0:bf96e953cdb8	3329	*/
echo_piyo	0:bf96e953cdb8	3330	char BOARDC_BNO055::setGyroConfig_0(char range, char bandWidth){
echo_piyo	0:bf96e953cdb8	3331	char regVal = bandWidth << 3 \| range;
echo_piyo	0:bf96e953cdb8	3332	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
echo_piyo	0:bf96e953cdb8	3333	}
echo_piyo	0:bf96e953cdb8	3334
echo_piyo	0:bf96e953cdb8	3335	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3336	* 角速度センサー設定(1)のレジスタ値を取得する
echo_piyo	0:bf96e953cdb8	3337	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3338	* returns:
echo_piyo	0:bf96e953cdb8	3339	* 角速度センサー設定(1)のレジスタ値
echo_piyo	0:bf96e953cdb8	3340	*/
echo_piyo	0:bf96e953cdb8	3341	char BOARDC_BNO055::getGyroConfig_1(){
echo_piyo	0:bf96e953cdb8	3342	return ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
echo_piyo	0:bf96e953cdb8	3343	}
echo_piyo	0:bf96e953cdb8	3344
echo_piyo	0:bf96e953cdb8	3345	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3346	* 角速度センサー設定(1)のレジスタ値を設定する
echo_piyo	0:bf96e953cdb8	3347	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3348	* 引数powMode: 角速度センサーの電源設定(Fusion時は自動設定)
echo_piyo	0:bf96e953cdb8	3349	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3350	* returns:
echo_piyo	0:bf96e953cdb8	3351	* -1 失敗
echo_piyo	0:bf96e953cdb8	3352	* 1 成功
echo_piyo	0:bf96e953cdb8	3353	*/
echo_piyo	0:bf96e953cdb8	3354	char BOARDC_BNO055::setGyroConfig_1(char powMode){
echo_piyo	0:bf96e953cdb8	3355	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, powMode & 0x07);
echo_piyo	0:bf96e953cdb8	3356	}
echo_piyo	0:bf96e953cdb8	3357
echo_piyo	0:bf96e953cdb8	3358	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3359	* 角速度センサーの計測範囲を設定する
echo_piyo	0:bf96e953cdb8	3360	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3361	* 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)
echo_piyo	0:bf96e953cdb8	3362	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3363	* returns:
echo_piyo	0:bf96e953cdb8	3364	* -1 失敗
echo_piyo	0:bf96e953cdb8	3365	* 1 成功
echo_piyo	0:bf96e953cdb8	3366	*/
echo_piyo	0:bf96e953cdb8	3367	char BOARDC_BNO055::setGyroRange(unsigned short dps){
echo_piyo	0:bf96e953cdb8	3368	char val = 0;
echo_piyo	0:bf96e953cdb8	3369	switch(dps){
echo_piyo	0:bf96e953cdb8	3370	case 2000:
echo_piyo	0:bf96e953cdb8	3371	val = 0;
echo_piyo	0:bf96e953cdb8	3372	break;
echo_piyo	0:bf96e953cdb8	3373	case 1000:
echo_piyo	0:bf96e953cdb8	3374	val = 1;
echo_piyo	0:bf96e953cdb8	3375	break;
echo_piyo	0:bf96e953cdb8	3376	case 500:
echo_piyo	0:bf96e953cdb8	3377	val = 2;
echo_piyo	0:bf96e953cdb8	3378	break;
echo_piyo	0:bf96e953cdb8	3379	case 250:
echo_piyo	0:bf96e953cdb8	3380	val = 3;
echo_piyo	0:bf96e953cdb8	3381	break;
echo_piyo	0:bf96e953cdb8	3382	case 125:
echo_piyo	0:bf96e953cdb8	3383	val = 4;
echo_piyo	0:bf96e953cdb8	3384	break;
echo_piyo	0:bf96e953cdb8	3385	default:
echo_piyo	0:bf96e953cdb8	3386	val = 1;
echo_piyo	0:bf96e953cdb8	3387	}
echo_piyo	0:bf96e953cdb8	3388
echo_piyo	0:bf96e953cdb8	3389	char regVal = ctrl->rr(1, BNO055P1_GYR_CONFIG_0);
echo_piyo	0:bf96e953cdb8	3390	regVal = (regVal & 0xF8) + val;
echo_piyo	0:bf96e953cdb8	3391
echo_piyo	0:bf96e953cdb8	3392	return ctrl->wr(1, BNO055P1_GYR_CONFIG_0, regVal);
echo_piyo	0:bf96e953cdb8	3393	}
echo_piyo	0:bf96e953cdb8	3394
echo_piyo	0:bf96e953cdb8	3395	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3396	* 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
echo_piyo	0:bf96e953cdb8	3397	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3398	* returns:
echo_piyo	0:bf96e953cdb8	3399	* 加速度センサーのスリープモードのレジスタ値
echo_piyo	0:bf96e953cdb8	3400	*/
echo_piyo	0:bf96e953cdb8	3401	char BOARDC_BNO055::getAccSleepConfig(){
echo_piyo	0:bf96e953cdb8	3402	return ctrl->rr(1, BNO055P1_ACC_SLEEP_CONFIG);
echo_piyo	0:bf96e953cdb8	3403	}
echo_piyo	0:bf96e953cdb8	3404
echo_piyo	0:bf96e953cdb8	3405	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3406	* 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
echo_piyo	0:bf96e953cdb8	3407	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3408	* 引数regVal: 加速度センサーのスリープモードのレジスタ値
echo_piyo	0:bf96e953cdb8	3409	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3410	* returns:
echo_piyo	0:bf96e953cdb8	3411	* -1 失敗
echo_piyo	0:bf96e953cdb8	3412	* 1 成功
echo_piyo	0:bf96e953cdb8	3413	*/
echo_piyo	0:bf96e953cdb8	3414	char BOARDC_BNO055::setAccSleepConfig(char regVal){
echo_piyo	0:bf96e953cdb8	3415	return ctrl->wr(1, BNO055P1_ACC_SLEEP_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3416	}
echo_piyo	0:bf96e953cdb8	3417
echo_piyo	0:bf96e953cdb8	3418	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3419	* 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
echo_piyo	0:bf96e953cdb8	3420	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3421	* 引数duration: 加速度センサーのスリープモードの持続閾値
echo_piyo	0:bf96e953cdb8	3422	* 引数mode: 加速度センサーのスリープモード選択
echo_piyo	0:bf96e953cdb8	3423	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3424	* returns:
echo_piyo	0:bf96e953cdb8	3425	* -1 失敗
echo_piyo	0:bf96e953cdb8	3426	* 1 成功
echo_piyo	0:bf96e953cdb8	3427	*/
echo_piyo	0:bf96e953cdb8	3428	char BOARDC_BNO055::setAccSleepConfig(char duration, char mode){
echo_piyo	0:bf96e953cdb8	3429	char regVal = duration << 1 \| mode;
echo_piyo	0:bf96e953cdb8	3430	return ctrl->wr(1, BNO055P1_ACC_SLEEP_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3431	}
echo_piyo	0:bf96e953cdb8	3432
echo_piyo	0:bf96e953cdb8	3433	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3434	* 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
echo_piyo	0:bf96e953cdb8	3435	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3436	* returns:
echo_piyo	0:bf96e953cdb8	3437	* 角速度センサーのスリープモードのレジスタ値
echo_piyo	0:bf96e953cdb8	3438	*/
echo_piyo	0:bf96e953cdb8	3439	char BOARDC_BNO055::getGyroSleepConfig(){
echo_piyo	0:bf96e953cdb8	3440	return ctrl->rr(1, BNO055P1_GYR_SLEEP_CONFIG);
echo_piyo	0:bf96e953cdb8	3441	}
echo_piyo	0:bf96e953cdb8	3442
echo_piyo	0:bf96e953cdb8	3443	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3444	* 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
echo_piyo	0:bf96e953cdb8	3445	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3446	* 引数regVal: 角速度センサーのスリープモードのレジスタ値
echo_piyo	0:bf96e953cdb8	3447	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3448	* returns:
echo_piyo	0:bf96e953cdb8	3449	* -1 失敗
echo_piyo	0:bf96e953cdb8	3450	* 1 成功
echo_piyo	0:bf96e953cdb8	3451	*/
echo_piyo	0:bf96e953cdb8	3452	char BOARDC_BNO055::setGyroSleepConfig(char regVal){
echo_piyo	0:bf96e953cdb8	3453	return ctrl->wr(1, BNO055P1_GYR_SLEEP_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3454	}
echo_piyo	0:bf96e953cdb8	3455
echo_piyo	0:bf96e953cdb8	3456	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3457	* 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
echo_piyo	0:bf96e953cdb8	3458	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3459	* 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
echo_piyo	0:bf96e953cdb8	3460	* 引数mode: 角速度センサーのスリープモードの持続閾値
echo_piyo	0:bf96e953cdb8	3461	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3462	* returns:
echo_piyo	0:bf96e953cdb8	3463	* -1 失敗
echo_piyo	0:bf96e953cdb8	3464	* 1 成功
echo_piyo	0:bf96e953cdb8	3465	*/
echo_piyo	0:bf96e953cdb8	3466	char BOARDC_BNO055::setGyroSleepConfig(char autoSleepDuration, char duration){
echo_piyo	0:bf96e953cdb8	3467	char regVal = autoSleepDuration << 3 \| duration;
echo_piyo	0:bf96e953cdb8	3468	return ctrl->wr(1, BNO055P1_GYR_SLEEP_CONFIG, regVal);
echo_piyo	0:bf96e953cdb8	3469	}
echo_piyo	0:bf96e953cdb8	3470
echo_piyo	0:bf96e953cdb8	3471	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3472	* 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
echo_piyo	0:bf96e953cdb8	3473	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3474	* returns:
echo_piyo	0:bf96e953cdb8	3475	* 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
echo_piyo	0:bf96e953cdb8	3476	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3477	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3478	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3479	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3480	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3481	*/
echo_piyo	0:bf96e953cdb8	3482	char BOARDC_BNO055::getInterruptMask(){
echo_piyo	0:bf96e953cdb8	3483	return ctrl->rr(1, BNO055P1_INT_MSK);
echo_piyo	0:bf96e953cdb8	3484	}
echo_piyo	0:bf96e953cdb8	3485
echo_piyo	0:bf96e953cdb8	3486	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3487	* 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
echo_piyo	0:bf96e953cdb8	3488	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3489	* 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
echo_piyo	0:bf96e953cdb8	3490	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3491	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3492	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3493	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3494	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:許可)
echo_piyo	0:bf96e953cdb8	3495	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3496	* returns:
echo_piyo	0:bf96e953cdb8	3497	* -1 失敗
echo_piyo	0:bf96e953cdb8	3498	* 1 成功
echo_piyo	0:bf96e953cdb8	3499	*/
echo_piyo	0:bf96e953cdb8	3500	char BOARDC_BNO055::setInterruptMask(char mask){
echo_piyo	0:bf96e953cdb8	3501	return ctrl->wr(1, BNO055P1_INT_MSK, mask);
echo_piyo	0:bf96e953cdb8	3502	}
echo_piyo	0:bf96e953cdb8	3503
echo_piyo	0:bf96e953cdb8	3504	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3505	* 各センサーの割り込みフラグ有効無効設定を取得する
echo_piyo	0:bf96e953cdb8	3506	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3507	* returns:
echo_piyo	0:bf96e953cdb8	3508	* 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
echo_piyo	0:bf96e953cdb8	3509	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3510	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3511	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3512	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3513	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3514	*/
echo_piyo	0:bf96e953cdb8	3515	char BOARDC_BNO055::getInterruptEnable(){
echo_piyo	0:bf96e953cdb8	3516	return ctrl->rr(1, BNO055P1_INT_EN);
echo_piyo	0:bf96e953cdb8	3517	}
echo_piyo	0:bf96e953cdb8	3518
echo_piyo	0:bf96e953cdb8	3519	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3520	* 各センサーの割り込みフラグ有効無効設定を設定する
echo_piyo	0:bf96e953cdb8	3521	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3522	* 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
echo_piyo	0:bf96e953cdb8	3523	* 2bit目角速度センサーAnyMotion割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3524	* 3bit目角速度センサーHighRate割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3525	* 5bit目加速度センサーHIGH_G割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3526	* 6bit目加速度センサーAnyMotion割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3527	* 7bit目加速度センサーNoMotion(SloMo)割り込み(0:無効, 1:有効)
echo_piyo	0:bf96e953cdb8	3528	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3529	* returns:
echo_piyo	0:bf96e953cdb8	3530	* -1 失敗
echo_piyo	0:bf96e953cdb8	3531	* 1 成功
echo_piyo	0:bf96e953cdb8	3532	*/
echo_piyo	0:bf96e953cdb8	3533	char BOARDC_BNO055::setInterruptEnable(char mask){
echo_piyo	0:bf96e953cdb8	3534	return ctrl->wr(1, BNO055P1_INT_EN, mask);
echo_piyo	0:bf96e953cdb8	3535	}
echo_piyo	0:bf96e953cdb8	3536
echo_piyo	0:bf96e953cdb8	3537	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3538	* 加速度センサーのAnyMotion割り込み発生閾値を取得する
echo_piyo	0:bf96e953cdb8	3539	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3540	* 引数ismg: 出力する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3541	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3542	* returns:
echo_piyo	0:bf96e953cdb8	3543	* 加速度センサーのAnyMotion割り込み発生閾値
echo_piyo	0:bf96e953cdb8	3544	*/
echo_piyo	0:bf96e953cdb8	3545	float BOARDC_BNO055::getAccAnyMotionThreashold(bool ismg){
echo_piyo	0:bf96e953cdb8	3546	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3547	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3548
echo_piyo	0:bf96e953cdb8	3549	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3550	case 0:
echo_piyo	0:bf96e953cdb8	3551	scale = 3.91;
echo_piyo	0:bf96e953cdb8	3552	break;
echo_piyo	0:bf96e953cdb8	3553	case 1:
echo_piyo	0:bf96e953cdb8	3554	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3555	break;
echo_piyo	0:bf96e953cdb8	3556	case 2:
echo_piyo	0:bf96e953cdb8	3557	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3558	break;
echo_piyo	0:bf96e953cdb8	3559	case 3:
echo_piyo	0:bf96e953cdb8	3560	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3561	break;
echo_piyo	0:bf96e953cdb8	3562	}
echo_piyo	0:bf96e953cdb8	3563
echo_piyo	0:bf96e953cdb8	3564	scale *= (ismg) ? 1.0 : 9.80665;
echo_piyo	0:bf96e953cdb8	3565
echo_piyo	0:bf96e953cdb8	3566	return (1.0 * ctrl->rr(1, BNO055P1_ACC_AM_THRES)) * scale;
echo_piyo	0:bf96e953cdb8	3567	}
echo_piyo	0:bf96e953cdb8	3568
echo_piyo	0:bf96e953cdb8	3569	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3570	* 加速度センサーのAnyMotion割り込み発生閾値を設定する
echo_piyo	0:bf96e953cdb8	3571	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3572	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3573	* 引数threashold: 単位変換済みの閾値
echo_piyo	0:bf96e953cdb8	3574	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3575	* returns:
echo_piyo	0:bf96e953cdb8	3576	* -1 失敗
echo_piyo	0:bf96e953cdb8	3577	* 1 成功
echo_piyo	0:bf96e953cdb8	3578	*/
echo_piyo	0:bf96e953cdb8	3579	char BOARDC_BNO055::setAccAnyMotionThreashold(bool ismg, float threashold){
echo_piyo	0:bf96e953cdb8	3580	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3581	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3582
echo_piyo	0:bf96e953cdb8	3583	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3584	case 0:
echo_piyo	0:bf96e953cdb8	3585	scale = 3.91;
echo_piyo	0:bf96e953cdb8	3586	break;
echo_piyo	0:bf96e953cdb8	3587	case 1:
echo_piyo	0:bf96e953cdb8	3588	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3589	break;
echo_piyo	0:bf96e953cdb8	3590	case 2:
echo_piyo	0:bf96e953cdb8	3591	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3592	break;
echo_piyo	0:bf96e953cdb8	3593	case 3:
echo_piyo	0:bf96e953cdb8	3594	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3595	break;
echo_piyo	0:bf96e953cdb8	3596	}
echo_piyo	0:bf96e953cdb8	3597
echo_piyo	0:bf96e953cdb8	3598	scale *= (ismg) ? 1.0 : 9.8;
echo_piyo	0:bf96e953cdb8	3599
echo_piyo	0:bf96e953cdb8	3600	char cTh = (char)((threashold / scale) + 0.5);
echo_piyo	0:bf96e953cdb8	3601
echo_piyo	0:bf96e953cdb8	3602	return ctrl->wr(1, BNO055P1_ACC_AM_THRES, cTh);
echo_piyo	0:bf96e953cdb8	3603	}
echo_piyo	0:bf96e953cdb8	3604
echo_piyo	0:bf96e953cdb8	3605	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3606	* 加速度センサーの割り込み使用設定を取得する
echo_piyo	0:bf96e953cdb8	3607	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3608	* returns:
echo_piyo	0:bf96e953cdb8	3609	* 0bit目,1bit目連続発生閾値([1bit目+0bit目+1]回の発生でフラグON)
echo_piyo	0:bf96e953cdb8	3610	* 2bit目 AM/NM_X_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3611	* 3bit目 AM/NM_Y_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3612	* 4bit目 AM/NM_Z_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3613	* 5bit目 HG_X_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3614	* 6bit目 HG_Y_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3615	* 7bit目 HG_Z_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3616	*/
echo_piyo	0:bf96e953cdb8	3617	char BOARDC_BNO055::getAccInterruptSettings(){
echo_piyo	0:bf96e953cdb8	3618	return ctrl->rr(1, BNO055P1_ACC_INT_SETTINGS);
echo_piyo	0:bf96e953cdb8	3619	}
echo_piyo	0:bf96e953cdb8	3620
echo_piyo	0:bf96e953cdb8	3621	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3622	* 加速度センサーの割り込み使用設定を設定する
echo_piyo	0:bf96e953cdb8	3623	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3624	* 引数settings:
echo_piyo	0:bf96e953cdb8	3625	* 0bit目,1bit目連続発生閾値([1bit目+0bit目+1]回の発生でフラグON)
echo_piyo	0:bf96e953cdb8	3626	* 2bit目 AM/NM_X_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3627	* 3bit目 AM/NM_Y_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3628	* 4bit目 AM/NM_Z_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3629	* 5bit目 HG_X_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3630	* 6bit目 HG_Y_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3631	* 7bit目 HG_Z_AXISトリガー使用(0:使用しない, 1:使用する)
echo_piyo	0:bf96e953cdb8	3632	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3633	* returns:
echo_piyo	0:bf96e953cdb8	3634	* -1 失敗
echo_piyo	0:bf96e953cdb8	3635	* 1 成功
echo_piyo	0:bf96e953cdb8	3636	*/
echo_piyo	0:bf96e953cdb8	3637	char BOARDC_BNO055::setAccInterruptSettings(char settings){
echo_piyo	0:bf96e953cdb8	3638	return ctrl->wr(1, BNO055P1_ACC_INT_SETTINGS, settings);
echo_piyo	0:bf96e953cdb8	3639	}
echo_piyo	0:bf96e953cdb8	3640
echo_piyo	0:bf96e953cdb8	3641	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3642	* 加速度センサーのHighG割り込み閾値を取得する
echo_piyo	0:bf96e953cdb8	3643	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3644	* returns:
echo_piyo	0:bf96e953cdb8	3645	* HighG割り込み発生閾値[単位:ミリ秒](2ms - 512ms)
echo_piyo	0:bf96e953cdb8	3646	*/
echo_piyo	0:bf96e953cdb8	3647	unsigned short BOARDC_BNO055::getAccHighGduration(){
echo_piyo	0:bf96e953cdb8	3648	return (ctrl->rr(1, BNO055P1_ACC_HG_DURATION) + 1) << 1;
echo_piyo	0:bf96e953cdb8	3649	}
echo_piyo	0:bf96e953cdb8	3650
echo_piyo	0:bf96e953cdb8	3651	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3652	* 加速度センサーのHighG割り込み継続発生閾値を設定する
echo_piyo	0:bf96e953cdb8	3653	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3654	* 引数ms: HighG割り込み継続発生閾値[単位:ミリ秒](2ms - 512ms)
echo_piyo	0:bf96e953cdb8	3655	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3656	* returns:
echo_piyo	0:bf96e953cdb8	3657	* -1 失敗
echo_piyo	0:bf96e953cdb8	3658	* 1 成功
echo_piyo	0:bf96e953cdb8	3659	*/
echo_piyo	0:bf96e953cdb8	3660	char BOARDC_BNO055::setAccHighGduration(short ms){
echo_piyo	0:bf96e953cdb8	3661	if(ms > 512 \|\| ms < 2) return -1;
echo_piyo	0:bf96e953cdb8	3662
echo_piyo	0:bf96e953cdb8	3663	ms = (ms >> 1) - 1;
echo_piyo	0:bf96e953cdb8	3664
echo_piyo	0:bf96e953cdb8	3665	return ctrl->wr(1, BNO055P1_ACC_HG_DURATION, ms & 0xFF);
echo_piyo	0:bf96e953cdb8	3666	}
echo_piyo	0:bf96e953cdb8	3667
echo_piyo	0:bf96e953cdb8	3668	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3669	* 加速度センサーのHighG割り込み発生閾値を取得する
echo_piyo	0:bf96e953cdb8	3670	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3671	* 引数ismg: 出力する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3672	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3673	* returns:
echo_piyo	0:bf96e953cdb8	3674	* HighG割り込み発生閾値
echo_piyo	0:bf96e953cdb8	3675	*/
echo_piyo	0:bf96e953cdb8	3676	float BOARDC_BNO055::getAccHighGThreashold(bool ismg){
echo_piyo	0:bf96e953cdb8	3677	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3678	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3679
echo_piyo	0:bf96e953cdb8	3680	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3681	case 0:
echo_piyo	0:bf96e953cdb8	3682	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3683	break;
echo_piyo	0:bf96e953cdb8	3684	case 1:
echo_piyo	0:bf96e953cdb8	3685	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3686	break;
echo_piyo	0:bf96e953cdb8	3687	case 2:
echo_piyo	0:bf96e953cdb8	3688	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3689	break;
echo_piyo	0:bf96e953cdb8	3690	case 3:
echo_piyo	0:bf96e953cdb8	3691	scale = 62.5;
echo_piyo	0:bf96e953cdb8	3692	break;
echo_piyo	0:bf96e953cdb8	3693	}
echo_piyo	0:bf96e953cdb8	3694
echo_piyo	0:bf96e953cdb8	3695	scale *= (ismg) ? 1.0 : 9.8;
echo_piyo	0:bf96e953cdb8	3696
echo_piyo	0:bf96e953cdb8	3697	return (1.0 * ctrl->rr(1, BNO055P1_ACC_HG_THRES)) * scale;
echo_piyo	0:bf96e953cdb8	3698	}
echo_piyo	0:bf96e953cdb8	3699
echo_piyo	0:bf96e953cdb8	3700	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3701	* 加速度センサーのHighG割り込み発生閾値を設定する
echo_piyo	0:bf96e953cdb8	3702	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3703	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3704	* 引数threashold: 単位変換済みの閾値
echo_piyo	0:bf96e953cdb8	3705	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3706	* returns:
echo_piyo	0:bf96e953cdb8	3707	* -1 失敗
echo_piyo	0:bf96e953cdb8	3708	* 1 成功
echo_piyo	0:bf96e953cdb8	3709	*/
echo_piyo	0:bf96e953cdb8	3710	char BOARDC_BNO055::setAccHighGThreashold(bool ismg, float threashold){
echo_piyo	0:bf96e953cdb8	3711	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3712	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3713
echo_piyo	0:bf96e953cdb8	3714	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3715	case 0:
echo_piyo	0:bf96e953cdb8	3716	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3717	break;
echo_piyo	0:bf96e953cdb8	3718	case 1:
echo_piyo	0:bf96e953cdb8	3719	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3720	break;
echo_piyo	0:bf96e953cdb8	3721	case 2:
echo_piyo	0:bf96e953cdb8	3722	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3723	break;
echo_piyo	0:bf96e953cdb8	3724	case 3:
echo_piyo	0:bf96e953cdb8	3725	scale = 62.5;
echo_piyo	0:bf96e953cdb8	3726	break;
echo_piyo	0:bf96e953cdb8	3727	}
echo_piyo	0:bf96e953cdb8	3728
echo_piyo	0:bf96e953cdb8	3729	scale *= (ismg) ? 1.0 : 9.8;
echo_piyo	0:bf96e953cdb8	3730
echo_piyo	0:bf96e953cdb8	3731	char cTh = (char)((threashold / scale) + 0.5);
echo_piyo	0:bf96e953cdb8	3732
echo_piyo	0:bf96e953cdb8	3733	return ctrl->wr(1, BNO055P1_ACC_HG_THRES, cTh);
echo_piyo	0:bf96e953cdb8	3734	}
echo_piyo	0:bf96e953cdb8	3735
echo_piyo	0:bf96e953cdb8	3736	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3737	* 加速度センサーのNoMotion割り込み発生閾値を取得する
echo_piyo	0:bf96e953cdb8	3738	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3739	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3740	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3741	* returns:
echo_piyo	0:bf96e953cdb8	3742	* NoMotion割り込み発生閾値
echo_piyo	0:bf96e953cdb8	3743	*/
echo_piyo	0:bf96e953cdb8	3744	float BOARDC_BNO055::getAccNMThreashold(bool ismg){
echo_piyo	0:bf96e953cdb8	3745	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3746	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3747
echo_piyo	0:bf96e953cdb8	3748	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3749	case 0:
echo_piyo	0:bf96e953cdb8	3750	scale = 3.91;
echo_piyo	0:bf96e953cdb8	3751	break;
echo_piyo	0:bf96e953cdb8	3752	case 1:
echo_piyo	0:bf96e953cdb8	3753	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3754	break;
echo_piyo	0:bf96e953cdb8	3755	case 2:
echo_piyo	0:bf96e953cdb8	3756	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3757	break;
echo_piyo	0:bf96e953cdb8	3758	case 3:
echo_piyo	0:bf96e953cdb8	3759	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3760	break;
echo_piyo	0:bf96e953cdb8	3761	}
echo_piyo	0:bf96e953cdb8	3762
echo_piyo	0:bf96e953cdb8	3763	scale *= (ismg) ? 1.0 : 9.8;
echo_piyo	0:bf96e953cdb8	3764
echo_piyo	0:bf96e953cdb8	3765	return (1.0 * ctrl->rr(1, BNO055P1_ACC_NM_THRES)) * scale;
echo_piyo	0:bf96e953cdb8	3766	}
echo_piyo	0:bf96e953cdb8	3767
echo_piyo	0:bf96e953cdb8	3768	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3769	* 加速度センサーのNoMotion割り込み発生閾値を設定する
echo_piyo	0:bf96e953cdb8	3770	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3771	* 引数ismg: 設定する値の単位の選択(true: mG, false: mm/s^2)
echo_piyo	0:bf96e953cdb8	3772	* 引数threashold: 単位変換済みの閾値
echo_piyo	0:bf96e953cdb8	3773	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3774	* returns:
echo_piyo	0:bf96e953cdb8	3775	* -1 失敗
echo_piyo	0:bf96e953cdb8	3776	* 1 成功
echo_piyo	0:bf96e953cdb8	3777	*/
echo_piyo	0:bf96e953cdb8	3778	char BOARDC_BNO055::setAccNMThreashold(bool ismg, float threashold){
echo_piyo	0:bf96e953cdb8	3779	char rc = getAccConfig();
echo_piyo	0:bf96e953cdb8	3780	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	3781
echo_piyo	0:bf96e953cdb8	3782	switch(rc & 0x03){
echo_piyo	0:bf96e953cdb8	3783	case 0:
echo_piyo	0:bf96e953cdb8	3784	scale = 3.91;
echo_piyo	0:bf96e953cdb8	3785	break;
echo_piyo	0:bf96e953cdb8	3786	case 1:
echo_piyo	0:bf96e953cdb8	3787	scale = 7.81;
echo_piyo	0:bf96e953cdb8	3788	break;
echo_piyo	0:bf96e953cdb8	3789	case 2:
echo_piyo	0:bf96e953cdb8	3790	scale = 15.63;
echo_piyo	0:bf96e953cdb8	3791	break;
echo_piyo	0:bf96e953cdb8	3792	case 3:
echo_piyo	0:bf96e953cdb8	3793	scale = 31.25;
echo_piyo	0:bf96e953cdb8	3794	break;
echo_piyo	0:bf96e953cdb8	3795	}
echo_piyo	0:bf96e953cdb8	3796
echo_piyo	0:bf96e953cdb8	3797	scale *= (ismg) ? 1.0 : 9.8;
echo_piyo	0:bf96e953cdb8	3798
echo_piyo	0:bf96e953cdb8	3799	char cTh = (char)((threashold / scale) + 0.5);
echo_piyo	0:bf96e953cdb8	3800
echo_piyo	0:bf96e953cdb8	3801	return ctrl->wr(1, BNO055P1_ACC_NM_THRES, cTh);
echo_piyo	0:bf96e953cdb8	3802	}
echo_piyo	0:bf96e953cdb8	3803
echo_piyo	0:bf96e953cdb8	3804	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3805	* 加速度センサーのNoMotion割り込み設定を取得する
echo_piyo	0:bf96e953cdb8	3806	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3807	* returns:
echo_piyo	0:bf96e953cdb8	3808	* NoMotion割り込み設定値
echo_piyo	0:bf96e953cdb8	3809	* 1bit目: スローモーション、ノーモーション選択(0:NoMotion, 1:SlowMotion)
echo_piyo	0:bf96e953cdb8	3810	* 2 - 7bit目: slo_no_mot _dur設定値(データシート参照)
echo_piyo	0:bf96e953cdb8	3811	*/
echo_piyo	0:bf96e953cdb8	3812	char BOARDC_BNO055::getAccNMsetting(){
echo_piyo	0:bf96e953cdb8	3813	return ctrl->rr(1, BNO055P1_ACC_NM_SET);
echo_piyo	0:bf96e953cdb8	3814	}
echo_piyo	0:bf96e953cdb8	3815
echo_piyo	0:bf96e953cdb8	3816	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3817	* 加速度センサーのNoMotion割り込み設定を設定する
echo_piyo	0:bf96e953cdb8	3818	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3819	* 引数setting: NoMotion割り込み設定値
echo_piyo	0:bf96e953cdb8	3820	* 1bit目: スローモーション、ノーモーション選択(0:NoMotion, 1:SlowMotion)
echo_piyo	0:bf96e953cdb8	3821	* 2 - 7bit目: slo_no_mot _dur設定値(データシート参照)
echo_piyo	0:bf96e953cdb8	3822	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3823	* returns:
echo_piyo	0:bf96e953cdb8	3824	* -1 失敗
echo_piyo	0:bf96e953cdb8	3825	* 1 成功
echo_piyo	0:bf96e953cdb8	3826	*/
echo_piyo	0:bf96e953cdb8	3827	char BOARDC_BNO055::setAccNMsetting(char setting){
echo_piyo	0:bf96e953cdb8	3828	return ctrl->wr(1, BNO055P1_ACC_NM_SET, setting);
echo_piyo	0:bf96e953cdb8	3829	}
echo_piyo	0:bf96e953cdb8	3830
echo_piyo	0:bf96e953cdb8	3831	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3832	* 角速度センサーの割り込み設定を取得する
echo_piyo	0:bf96e953cdb8	3833	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3834	* returns:
echo_piyo	0:bf96e953cdb8	3835	* 角速度センサーの割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	3836	*/
echo_piyo	0:bf96e953cdb8	3837	char BOARDC_BNO055::getGyroInterruptSettings(){
echo_piyo	0:bf96e953cdb8	3838	return ctrl->rr(1, BNO055P1_GYR_INT_SETING);
echo_piyo	0:bf96e953cdb8	3839	}
echo_piyo	0:bf96e953cdb8	3840
echo_piyo	0:bf96e953cdb8	3841	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3842	* 角速度センサーの割り込み設定を設定する
echo_piyo	0:bf96e953cdb8	3843	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3844	* 引数setting: 角速度センサーの割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	3845	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3846	* returns:
echo_piyo	0:bf96e953cdb8	3847	* -1 失敗
echo_piyo	0:bf96e953cdb8	3848	* 1 成功
echo_piyo	0:bf96e953cdb8	3849	*/
echo_piyo	0:bf96e953cdb8	3850	char BOARDC_BNO055::setGyroInterruptSettings(char settings){
echo_piyo	0:bf96e953cdb8	3851	return ctrl->wr(1, BNO055P1_GYR_INT_SETING, settings);
echo_piyo	0:bf96e953cdb8	3852	}
echo_piyo	0:bf96e953cdb8	3853
echo_piyo	0:bf96e953cdb8	3854	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3855	* 角速度センサーのHighRate割り込み設定(X軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	3856	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3857	* 引数setting: 角速度センサーの割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	3858	*/
echo_piyo	0:bf96e953cdb8	3859	char BOARDC_BNO055::getGyroHighRateXsetting(){
echo_piyo	0:bf96e953cdb8	3860	return ctrl->rr(1, BNO055P1_GYR_HR_X_SET);
echo_piyo	0:bf96e953cdb8	3861	}
echo_piyo	0:bf96e953cdb8	3862
echo_piyo	0:bf96e953cdb8	3863	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3864	* 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
echo_piyo	0:bf96e953cdb8	3865	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3866	* 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
echo_piyo	0:bf96e953cdb8	3867	* 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
echo_piyo	0:bf96e953cdb8	3868	*/
echo_piyo	0:bf96e953cdb8	3869	void BOARDC_BNO055::getGyroHighRateXsetting_dps(float &hyst, float &thres){
echo_piyo	0:bf96e953cdb8	3870	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	3871	hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	3872	thres = 0.0f;
echo_piyo	0:bf96e953cdb8	3873
echo_piyo	0:bf96e953cdb8	3874	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	3875	case 0:
echo_piyo	0:bf96e953cdb8	3876	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	3877	thres = 62.5;
echo_piyo	0:bf96e953cdb8	3878	break;
echo_piyo	0:bf96e953cdb8	3879	case 1:
echo_piyo	0:bf96e953cdb8	3880	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	3881	thres = 31.25;
echo_piyo	0:bf96e953cdb8	3882	break;
echo_piyo	0:bf96e953cdb8	3883	case 2:
echo_piyo	0:bf96e953cdb8	3884	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	3885	thres = 15.62;
echo_piyo	0:bf96e953cdb8	3886	break;
echo_piyo	0:bf96e953cdb8	3887	case 3:
echo_piyo	0:bf96e953cdb8	3888	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	3889	thres = 7.81;
echo_piyo	0:bf96e953cdb8	3890	break;
echo_piyo	0:bf96e953cdb8	3891	case 4:
echo_piyo	0:bf96e953cdb8	3892	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	3893	thres = 3.90;
echo_piyo	0:bf96e953cdb8	3894	break;
echo_piyo	0:bf96e953cdb8	3895	}
echo_piyo	0:bf96e953cdb8	3896
echo_piyo	0:bf96e953cdb8	3897	char val = ctrl->rr(1, BNO055P1_GYR_HR_X_SET);
echo_piyo	0:bf96e953cdb8	3898
echo_piyo	0:bf96e953cdb8	3899	hyst = (float)((val & 0x60) 1.0);
echo_piyo	0:bf96e953cdb8	3900	thres = (float)((val & 0x1F) 1.0);
echo_piyo	0:bf96e953cdb8	3901	}
echo_piyo	0:bf96e953cdb8	3902
echo_piyo	0:bf96e953cdb8	3903	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3904	* 角速度センサーのHighRate割り込み設定(X軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	3905	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3906	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	3907	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3908	* returns:
echo_piyo	0:bf96e953cdb8	3909	* -1 失敗
echo_piyo	0:bf96e953cdb8	3910	* 1 成功
echo_piyo	0:bf96e953cdb8	3911	*/
echo_piyo	0:bf96e953cdb8	3912	char BOARDC_BNO055::setGyroHighRateXsetting(char setting){
echo_piyo	0:bf96e953cdb8	3913	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, setting);
echo_piyo	0:bf96e953cdb8	3914	}
echo_piyo	0:bf96e953cdb8	3915
echo_piyo	0:bf96e953cdb8	3916	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3917	* 角速度センサーのHighRate割り込み設定(X軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	3918	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3919	* 引数hystVal: ヒステリシス
echo_piyo	0:bf96e953cdb8	3920	* 引数thresVal: スレッショルド
echo_piyo	0:bf96e953cdb8	3921	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3922	* returns:
echo_piyo	0:bf96e953cdb8	3923	* -1 失敗
echo_piyo	0:bf96e953cdb8	3924	* 1 成功
echo_piyo	0:bf96e953cdb8	3925	*/
echo_piyo	0:bf96e953cdb8	3926	char BOARDC_BNO055::setGyroHighRateXsetting_dps(float hystVal, float thresVal){
echo_piyo	0:bf96e953cdb8	3927	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	3928	float hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	3929	float thres = 0.0f;
echo_piyo	0:bf96e953cdb8	3930
echo_piyo	0:bf96e953cdb8	3931	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	3932	case 0:
echo_piyo	0:bf96e953cdb8	3933	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	3934	thres = 62.5;
echo_piyo	0:bf96e953cdb8	3935	break;
echo_piyo	0:bf96e953cdb8	3936	case 1:
echo_piyo	0:bf96e953cdb8	3937	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	3938	thres = 31.25;
echo_piyo	0:bf96e953cdb8	3939	break;
echo_piyo	0:bf96e953cdb8	3940	case 2:
echo_piyo	0:bf96e953cdb8	3941	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	3942	thres = 15.62;
echo_piyo	0:bf96e953cdb8	3943	break;
echo_piyo	0:bf96e953cdb8	3944	case 3:
echo_piyo	0:bf96e953cdb8	3945	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	3946	thres = 7.81;
echo_piyo	0:bf96e953cdb8	3947	break;
echo_piyo	0:bf96e953cdb8	3948	case 4:
echo_piyo	0:bf96e953cdb8	3949	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	3950	thres = 3.90;
echo_piyo	0:bf96e953cdb8	3951	break;
echo_piyo	0:bf96e953cdb8	3952	}
echo_piyo	0:bf96e953cdb8	3953
echo_piyo	0:bf96e953cdb8	3954	char hystChar = (char)((hystVal / hyst) + 0.5);
echo_piyo	0:bf96e953cdb8	3955	char thresChar = (char)((thresVal / thres) + 0.5);
echo_piyo	0:bf96e953cdb8	3956
echo_piyo	0:bf96e953cdb8	3957	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, ((hystChar << 5) \| thresChar));
echo_piyo	0:bf96e953cdb8	3958	}
echo_piyo	0:bf96e953cdb8	3959
echo_piyo	0:bf96e953cdb8	3960	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3961	* 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
echo_piyo	0:bf96e953cdb8	3962	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3963	* returns:
echo_piyo	0:bf96e953cdb8	3964	* HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	3965	*/
echo_piyo	0:bf96e953cdb8	3966	float BOARDC_BNO055::getGyroHighRateXduration(){
echo_piyo	0:bf96e953cdb8	3967	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_X)) * 2.5;
echo_piyo	0:bf96e953cdb8	3968	}
echo_piyo	0:bf96e953cdb8	3969
echo_piyo	0:bf96e953cdb8	3970	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3971	* 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
echo_piyo	0:bf96e953cdb8	3972	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3973	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	3974	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3975	* returns:
echo_piyo	0:bf96e953cdb8	3976	* -1 失敗
echo_piyo	0:bf96e953cdb8	3977	* 1 成功
echo_piyo	0:bf96e953cdb8	3978	*/
echo_piyo	0:bf96e953cdb8	3979	char BOARDC_BNO055::setGyroHighRateXduration(float duration){
echo_piyo	0:bf96e953cdb8	3980	return ctrl->wr(1, BNO055P1_GYR_HR_X_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
echo_piyo	0:bf96e953cdb8	3981	}
echo_piyo	0:bf96e953cdb8	3982
echo_piyo	0:bf96e953cdb8	3983	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3984	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	3985	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3986	* returns:
echo_piyo	0:bf96e953cdb8	3987	* 角速度センサーのHighRate割り込み設定
echo_piyo	0:bf96e953cdb8	3988	*/
echo_piyo	0:bf96e953cdb8	3989	char BOARDC_BNO055::getGyroHighRateYsetting(){
echo_piyo	0:bf96e953cdb8	3990	return ctrl->rr(1, BNO055P1_GYR_HR_Y_SET);
echo_piyo	0:bf96e953cdb8	3991	}
echo_piyo	0:bf96e953cdb8	3992
echo_piyo	0:bf96e953cdb8	3993	/* ==================================================================
echo_piyo	0:bf96e953cdb8	3994	* 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
echo_piyo	0:bf96e953cdb8	3995	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	3996	* 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
echo_piyo	0:bf96e953cdb8	3997	* 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
echo_piyo	0:bf96e953cdb8	3998	*/
echo_piyo	0:bf96e953cdb8	3999	void BOARDC_BNO055::getGyroHighRateYsetting_dps(float &hyst, float &thres){
echo_piyo	0:bf96e953cdb8	4000	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4001	hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	4002	thres = 0.0f;
echo_piyo	0:bf96e953cdb8	4003
echo_piyo	0:bf96e953cdb8	4004	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4005	case 0:
echo_piyo	0:bf96e953cdb8	4006	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	4007	thres = 62.5;
echo_piyo	0:bf96e953cdb8	4008	break;
echo_piyo	0:bf96e953cdb8	4009	case 1:
echo_piyo	0:bf96e953cdb8	4010	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	4011	thres = 31.25;
echo_piyo	0:bf96e953cdb8	4012	break;
echo_piyo	0:bf96e953cdb8	4013	case 2:
echo_piyo	0:bf96e953cdb8	4014	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	4015	thres = 15.62;
echo_piyo	0:bf96e953cdb8	4016	break;
echo_piyo	0:bf96e953cdb8	4017	case 3:
echo_piyo	0:bf96e953cdb8	4018	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	4019	thres = 7.81;
echo_piyo	0:bf96e953cdb8	4020	break;
echo_piyo	0:bf96e953cdb8	4021	case 4:
echo_piyo	0:bf96e953cdb8	4022	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	4023	thres = 3.90;
echo_piyo	0:bf96e953cdb8	4024	break;
echo_piyo	0:bf96e953cdb8	4025	}
echo_piyo	0:bf96e953cdb8	4026
echo_piyo	0:bf96e953cdb8	4027	char val = ctrl->rr(1, BNO055P1_GYR_HR_Y_SET);
echo_piyo	0:bf96e953cdb8	4028
echo_piyo	0:bf96e953cdb8	4029	hyst = (float)((val & 0x60) 1.0);
echo_piyo	0:bf96e953cdb8	4030	thres = (float)((val & 0x1F) 1.0);
echo_piyo	0:bf96e953cdb8	4031	}
echo_piyo	0:bf96e953cdb8	4032
echo_piyo	0:bf96e953cdb8	4033	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4034	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	4035	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4036	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	4037	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4038	* returns:
echo_piyo	0:bf96e953cdb8	4039	* -1 失敗
echo_piyo	0:bf96e953cdb8	4040	* 1 成功
echo_piyo	0:bf96e953cdb8	4041	*/
echo_piyo	0:bf96e953cdb8	4042	char BOARDC_BNO055::setGyroHighRateYsetting(char setting){
echo_piyo	0:bf96e953cdb8	4043	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, setting);
echo_piyo	0:bf96e953cdb8	4044	}
echo_piyo	0:bf96e953cdb8	4045
echo_piyo	0:bf96e953cdb8	4046	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4047	* 角速度センサーのHighRate割り込み設定(Y軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	4048	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4049	* 引数hystVal: ヒステリシス
echo_piyo	0:bf96e953cdb8	4050	* 引数thresVal: スレッショルド
echo_piyo	0:bf96e953cdb8	4051	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4052	* returns:
echo_piyo	0:bf96e953cdb8	4053	* -1 失敗
echo_piyo	0:bf96e953cdb8	4054	* 1 成功
echo_piyo	0:bf96e953cdb8	4055	*/
echo_piyo	0:bf96e953cdb8	4056	char BOARDC_BNO055::setGyroHighRateYsetting_dps(float hystVal, float thresVal){
echo_piyo	0:bf96e953cdb8	4057	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4058	float hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	4059	float thres = 0.0f;
echo_piyo	0:bf96e953cdb8	4060
echo_piyo	0:bf96e953cdb8	4061	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4062	case 0:
echo_piyo	0:bf96e953cdb8	4063	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	4064	thres = 62.5;
echo_piyo	0:bf96e953cdb8	4065	break;
echo_piyo	0:bf96e953cdb8	4066	case 1:
echo_piyo	0:bf96e953cdb8	4067	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	4068	thres = 31.25;
echo_piyo	0:bf96e953cdb8	4069	break;
echo_piyo	0:bf96e953cdb8	4070	case 2:
echo_piyo	0:bf96e953cdb8	4071	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	4072	thres = 15.62;
echo_piyo	0:bf96e953cdb8	4073	break;
echo_piyo	0:bf96e953cdb8	4074	case 3:
echo_piyo	0:bf96e953cdb8	4075	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	4076	thres = 7.81;
echo_piyo	0:bf96e953cdb8	4077	break;
echo_piyo	0:bf96e953cdb8	4078	case 4:
echo_piyo	0:bf96e953cdb8	4079	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	4080	thres = 3.90;
echo_piyo	0:bf96e953cdb8	4081	break;
echo_piyo	0:bf96e953cdb8	4082	}
echo_piyo	0:bf96e953cdb8	4083
echo_piyo	0:bf96e953cdb8	4084	char hystChar = (char)((hystVal / hyst) + 0.5);
echo_piyo	0:bf96e953cdb8	4085	char thresChar = (char)((thresVal / thres) + 0.5);
echo_piyo	0:bf96e953cdb8	4086
echo_piyo	0:bf96e953cdb8	4087	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, ((hystChar << 5) \| thresChar));
echo_piyo	0:bf96e953cdb8	4088	}
echo_piyo	0:bf96e953cdb8	4089
echo_piyo	0:bf96e953cdb8	4090	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4091	* 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
echo_piyo	0:bf96e953cdb8	4092	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4093	* returns:
echo_piyo	0:bf96e953cdb8	4094	* HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	4095	*/
echo_piyo	0:bf96e953cdb8	4096	float BOARDC_BNO055::getGyroHighRateYduration(){
echo_piyo	0:bf96e953cdb8	4097	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_Y)) * 2.5;
echo_piyo	0:bf96e953cdb8	4098	}
echo_piyo	0:bf96e953cdb8	4099
echo_piyo	0:bf96e953cdb8	4100	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4101	* 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
echo_piyo	0:bf96e953cdb8	4102	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4103	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	4104	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4105	* returns:
echo_piyo	0:bf96e953cdb8	4106	* -1 失敗
echo_piyo	0:bf96e953cdb8	4107	* 1 成功
echo_piyo	0:bf96e953cdb8	4108	*/
echo_piyo	0:bf96e953cdb8	4109	char BOARDC_BNO055::setGyroHighRateYduration(float duration){
echo_piyo	0:bf96e953cdb8	4110	return ctrl->wr(1, BNO055P1_GYR_HR_Y_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
echo_piyo	0:bf96e953cdb8	4111	}
echo_piyo	0:bf96e953cdb8	4112
echo_piyo	0:bf96e953cdb8	4113	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4114	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を取得する
echo_piyo	0:bf96e953cdb8	4115	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4116	* returns:
echo_piyo	0:bf96e953cdb8	4117	* 角速度センサーのHighRate割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	4118	*/
echo_piyo	0:bf96e953cdb8	4119	char BOARDC_BNO055::getGyroHighRateZsetting(){
echo_piyo	0:bf96e953cdb8	4120	return ctrl->rr(1, BNO055P1_GYR_HR_Z_SET);
echo_piyo	0:bf96e953cdb8	4121	}
echo_piyo	0:bf96e953cdb8	4122
echo_piyo	0:bf96e953cdb8	4123	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4124	* 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
echo_piyo	0:bf96e953cdb8	4125	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4126	* 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
echo_piyo	0:bf96e953cdb8	4127	* 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
echo_piyo	0:bf96e953cdb8	4128	*/
echo_piyo	0:bf96e953cdb8	4129	void BOARDC_BNO055::getGyroHighRateZsetting_dps(float &hyst, float &thres){
echo_piyo	0:bf96e953cdb8	4130	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4131	hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	4132	thres = 0.0f;
echo_piyo	0:bf96e953cdb8	4133
echo_piyo	0:bf96e953cdb8	4134	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4135	case 0:
echo_piyo	0:bf96e953cdb8	4136	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	4137	thres = 62.5;
echo_piyo	0:bf96e953cdb8	4138	break;
echo_piyo	0:bf96e953cdb8	4139	case 1:
echo_piyo	0:bf96e953cdb8	4140	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	4141	thres = 31.25;
echo_piyo	0:bf96e953cdb8	4142	break;
echo_piyo	0:bf96e953cdb8	4143	case 2:
echo_piyo	0:bf96e953cdb8	4144	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	4145	thres = 15.62;
echo_piyo	0:bf96e953cdb8	4146	break;
echo_piyo	0:bf96e953cdb8	4147	case 3:
echo_piyo	0:bf96e953cdb8	4148	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	4149	thres = 7.81;
echo_piyo	0:bf96e953cdb8	4150	break;
echo_piyo	0:bf96e953cdb8	4151	case 4:
echo_piyo	0:bf96e953cdb8	4152	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	4153	thres = 3.90;
echo_piyo	0:bf96e953cdb8	4154	break;
echo_piyo	0:bf96e953cdb8	4155	}
echo_piyo	0:bf96e953cdb8	4156
echo_piyo	0:bf96e953cdb8	4157	char val = ctrl->rr(1, BNO055P1_GYR_HR_Z_SET);
echo_piyo	0:bf96e953cdb8	4158
echo_piyo	0:bf96e953cdb8	4159	hyst = (float)((val & 0x60) 1.0);
echo_piyo	0:bf96e953cdb8	4160	thres = (float)((val & 0x1F) 1.0);
echo_piyo	0:bf96e953cdb8	4161	}
echo_piyo	0:bf96e953cdb8	4162
echo_piyo	0:bf96e953cdb8	4163	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4164	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	4165	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4166	* 引数setting: 角速度センサーのHighRate割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	4167	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4168	* returns:
echo_piyo	0:bf96e953cdb8	4169	* -1 失敗
echo_piyo	0:bf96e953cdb8	4170	* 1 成功
echo_piyo	0:bf96e953cdb8	4171	*/
echo_piyo	0:bf96e953cdb8	4172	char BOARDC_BNO055::setGyroHighRateZsetting(char setting){
echo_piyo	0:bf96e953cdb8	4173	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, setting);
echo_piyo	0:bf96e953cdb8	4174	}
echo_piyo	0:bf96e953cdb8	4175
echo_piyo	0:bf96e953cdb8	4176	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4177	* 角速度センサーのHighRate割り込み設定(Z軸のみ)を設定する
echo_piyo	0:bf96e953cdb8	4178	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4179	* 引数hystVal: ヒステリシス
echo_piyo	0:bf96e953cdb8	4180	* 引数thresVal: スレッショルド
echo_piyo	0:bf96e953cdb8	4181	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4182	* returns:
echo_piyo	0:bf96e953cdb8	4183	* -1 失敗
echo_piyo	0:bf96e953cdb8	4184	* 1 成功
echo_piyo	0:bf96e953cdb8	4185	*/
echo_piyo	0:bf96e953cdb8	4186	char BOARDC_BNO055::setGyroHighRateZsetting_dps(float hystVal, float thresVal){
echo_piyo	0:bf96e953cdb8	4187	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4188	float hyst = 0.0f;
echo_piyo	0:bf96e953cdb8	4189	float thres = 0.0f;
echo_piyo	0:bf96e953cdb8	4190
echo_piyo	0:bf96e953cdb8	4191	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4192	case 0:
echo_piyo	0:bf96e953cdb8	4193	hyst = 62.26;
echo_piyo	0:bf96e953cdb8	4194	thres = 62.5;
echo_piyo	0:bf96e953cdb8	4195	break;
echo_piyo	0:bf96e953cdb8	4196	case 1:
echo_piyo	0:bf96e953cdb8	4197	hyst = 31.13;
echo_piyo	0:bf96e953cdb8	4198	thres = 31.25;
echo_piyo	0:bf96e953cdb8	4199	break;
echo_piyo	0:bf96e953cdb8	4200	case 2:
echo_piyo	0:bf96e953cdb8	4201	hyst = 15.56;
echo_piyo	0:bf96e953cdb8	4202	thres = 15.62;
echo_piyo	0:bf96e953cdb8	4203	break;
echo_piyo	0:bf96e953cdb8	4204	case 3:
echo_piyo	0:bf96e953cdb8	4205	hyst = 7.78;
echo_piyo	0:bf96e953cdb8	4206	thres = 7.81;
echo_piyo	0:bf96e953cdb8	4207	break;
echo_piyo	0:bf96e953cdb8	4208	case 4:
echo_piyo	0:bf96e953cdb8	4209	hyst = 3.89;
echo_piyo	0:bf96e953cdb8	4210	thres = 3.90;
echo_piyo	0:bf96e953cdb8	4211	break;
echo_piyo	0:bf96e953cdb8	4212	}
echo_piyo	0:bf96e953cdb8	4213
echo_piyo	0:bf96e953cdb8	4214	char hystChar = (char)((hystVal / hyst) + 0.5);
echo_piyo	0:bf96e953cdb8	4215	char thresChar = (char)((thresVal / thres) + 0.5);
echo_piyo	0:bf96e953cdb8	4216
echo_piyo	0:bf96e953cdb8	4217	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, ((hystChar << 5) \| thresChar));
echo_piyo	0:bf96e953cdb8	4218	}
echo_piyo	0:bf96e953cdb8	4219
echo_piyo	0:bf96e953cdb8	4220	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4221	* 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
echo_piyo	0:bf96e953cdb8	4222	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4223	* returns:
echo_piyo	0:bf96e953cdb8	4224	* HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	4225	*/
echo_piyo	0:bf96e953cdb8	4226	float BOARDC_BNO055::getGyroHighRateZduration(){
echo_piyo	0:bf96e953cdb8	4227	return (float)(1 + ctrl->rr(1, BNO055P1_GYR_DUR_Z)) * 2.5;
echo_piyo	0:bf96e953cdb8	4228	}
echo_piyo	0:bf96e953cdb8	4229
echo_piyo	0:bf96e953cdb8	4230	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4231	* 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
echo_piyo	0:bf96e953cdb8	4232	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4233	* 引数duration: HighRate割り込み継続発生閾値[単位:ミリ秒]
echo_piyo	0:bf96e953cdb8	4234	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4235	* returns:
echo_piyo	0:bf96e953cdb8	4236	* -1 失敗
echo_piyo	0:bf96e953cdb8	4237	* 1 成功
echo_piyo	0:bf96e953cdb8	4238	*/
echo_piyo	0:bf96e953cdb8	4239	char BOARDC_BNO055::setGyroHighRateZduration(float duration){
echo_piyo	0:bf96e953cdb8	4240	return ctrl->wr(1, BNO055P1_GYR_HR_Z_SET, (char)(((duration / 2.5) - 1.0) + 0.5));
echo_piyo	0:bf96e953cdb8	4241	}
echo_piyo	0:bf96e953cdb8	4242
echo_piyo	0:bf96e953cdb8	4243	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4244	* 角速度センサーのAnyMotion割り込み閾値を取得する
echo_piyo	0:bf96e953cdb8	4245	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4246	* returns:
echo_piyo	0:bf96e953cdb8	4247	* AnyMotion割り込み閾値[単位:dps]
echo_piyo	0:bf96e953cdb8	4248	*/
echo_piyo	0:bf96e953cdb8	4249	float BOARDC_BNO055::getGyroAnyMotionThreashold(){
echo_piyo	0:bf96e953cdb8	4250	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4251	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	4252
echo_piyo	0:bf96e953cdb8	4253	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4254	case 0:
echo_piyo	0:bf96e953cdb8	4255	scale = 1.0f;
echo_piyo	0:bf96e953cdb8	4256	break;
echo_piyo	0:bf96e953cdb8	4257	case 1:
echo_piyo	0:bf96e953cdb8	4258	scale = 0.5;
echo_piyo	0:bf96e953cdb8	4259	break;
echo_piyo	0:bf96e953cdb8	4260	case 2:
echo_piyo	0:bf96e953cdb8	4261	scale = 0.25;
echo_piyo	0:bf96e953cdb8	4262	break;
echo_piyo	0:bf96e953cdb8	4263	case 3:
echo_piyo	0:bf96e953cdb8	4264	scale = 0.125;
echo_piyo	0:bf96e953cdb8	4265	break;
echo_piyo	0:bf96e953cdb8	4266	case 4:
echo_piyo	0:bf96e953cdb8	4267	scale = 0.0625;
echo_piyo	0:bf96e953cdb8	4268	break;
echo_piyo	0:bf96e953cdb8	4269	}
echo_piyo	0:bf96e953cdb8	4270
echo_piyo	0:bf96e953cdb8	4271	return (1.0f * ctrl->rr(1, BNO055P1_GYR_AM_THRES)) * scale;
echo_piyo	0:bf96e953cdb8	4272	}
echo_piyo	0:bf96e953cdb8	4273
echo_piyo	0:bf96e953cdb8	4274	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4275	* 角速度センサーのAnyMotion割り込み閾値を設定する
echo_piyo	0:bf96e953cdb8	4276	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4277	* 引数threashold: AnyMotion割り込み閾値[単位:dps]
echo_piyo	0:bf96e953cdb8	4278	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4279	* returns:
echo_piyo	0:bf96e953cdb8	4280	* -1 失敗
echo_piyo	0:bf96e953cdb8	4281	* 1 成功
echo_piyo	0:bf96e953cdb8	4282	*/
echo_piyo	0:bf96e953cdb8	4283	char BOARDC_BNO055::setGyroAnyMotionThreashold(float threashold){
echo_piyo	0:bf96e953cdb8	4284	char r = getGyroConfig_0();
echo_piyo	0:bf96e953cdb8	4285	float scale = 0.0f;
echo_piyo	0:bf96e953cdb8	4286
echo_piyo	0:bf96e953cdb8	4287	switch(r & 0x07){
echo_piyo	0:bf96e953cdb8	4288	case 0:
echo_piyo	0:bf96e953cdb8	4289	scale = 1.0f;
echo_piyo	0:bf96e953cdb8	4290	break;
echo_piyo	0:bf96e953cdb8	4291	case 1:
echo_piyo	0:bf96e953cdb8	4292	scale = 0.5;
echo_piyo	0:bf96e953cdb8	4293	break;
echo_piyo	0:bf96e953cdb8	4294	case 2:
echo_piyo	0:bf96e953cdb8	4295	scale = 0.25;
echo_piyo	0:bf96e953cdb8	4296	break;
echo_piyo	0:bf96e953cdb8	4297	case 3:
echo_piyo	0:bf96e953cdb8	4298	scale = 0.125;
echo_piyo	0:bf96e953cdb8	4299	break;
echo_piyo	0:bf96e953cdb8	4300	case 4:
echo_piyo	0:bf96e953cdb8	4301	scale = 0.0625;
echo_piyo	0:bf96e953cdb8	4302	break;
echo_piyo	0:bf96e953cdb8	4303	}
echo_piyo	0:bf96e953cdb8	4304
echo_piyo	0:bf96e953cdb8	4305	return ctrl->wr(1, BNO055P1_GYR_AM_THRES, (char)((threashold / scale) + 0.5));
echo_piyo	0:bf96e953cdb8	4306	}
echo_piyo	0:bf96e953cdb8	4307
echo_piyo	0:bf96e953cdb8	4308	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4309	* 加速度センサーのAnyMotion割り込み閾値を取得する
echo_piyo	0:bf96e953cdb8	4310	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4311	* returns:
echo_piyo	0:bf96e953cdb8	4312	* AnyMotion割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	4313	*/
echo_piyo	0:bf96e953cdb8	4314	char BOARDC_BNO055::getAccAnyMotionSetting(){
echo_piyo	0:bf96e953cdb8	4315	return ctrl->rr(1, BNO055P1_GYR_AM_SET);
echo_piyo	0:bf96e953cdb8	4316	}
echo_piyo	0:bf96e953cdb8	4317
echo_piyo	0:bf96e953cdb8	4318	/* ==================================================================
echo_piyo	0:bf96e953cdb8	4319	* 加速度センサーのAnyMotion割り込み閾値を設定する
echo_piyo	0:bf96e953cdb8	4320	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4321	* 引数setting: AnyMotion割り込み設定レジスタ値
echo_piyo	0:bf96e953cdb8	4322	* ------------------------------------------------------------------
echo_piyo	0:bf96e953cdb8	4323	* returns:
echo_piyo	0:bf96e953cdb8	4324	* -1 失敗
echo_piyo	0:bf96e953cdb8	4325	* 1 成功
echo_piyo	0:bf96e953cdb8	4326	*/
echo_piyo	0:bf96e953cdb8	4327	char BOARDC_BNO055::setAccAnyMotionSetting(char setting){
echo_piyo	0:bf96e953cdb8	4328	return ctrl->wr(1, BNO055P1_GYR_AM_SET, setting);
echo_piyo	0:bf96e953cdb8	4329	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	24 Sep 2017
Imports:	4
Forks:	1
Commits:	78
Dependents:	0
Dependencies:	16
Followers:	1

bno055_lib.h@0:bf96e953cdb8, 2017-06-26 (annotated)

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