File content as of revision 6:acefbf83ffe1:

/*************************************************
[使い方]
1.  #include "bno005_lib.h"     //BNO055 本家ライブラリ
    #include "bno005_use.h"     //BNO055 データ取得用Class
    を読み込ませる
2.  bno055_use.hの#defineでI2Cピン指定をする
3.  main()内での初期設定を行う
        wait(1);        //センサの位置取得待ち時間
        .begin();       //センサ起動処理
        wait(1);        //センサの位置取得待ち時間
        .firstRead();   //初期値設定
        
[Function] 
    .begin()        //センサ起動処理
    .firstRead()    //初期値設定(センサ正面を0度設定)
    .getYaw()       //Yawセンサ取得生値              値取得   (返り値 float)
    .getYawRad()    //Yawセンサ値(回転角上限なし)  値取得   (返り値 float)
    .getYaw180()    //Yaw(-180~0~180)           値取得   (返り値 float)
    .getYaw360()    //Yaw(0~360)(時計回り)       値取得   (返り値 float)
    .getYaw360Rev() //Yaw(0~360)(反時計回り)     値取得   (返り値 float)
    
**************************************************/
//p28 p27 or p9 p10

#define BNO005_SDA p9
#define BNO005_SCL p10
#define timer_dt 0.010
#define ifaceI2C_frequency 200000

I2C ifaceI2C(BNO005_SDA,BNO005_SCL);//BNO055用 I2C宣言
BOARDC_BNO055 sensor1(&ifaceI2C);   //BNO055用 ライブラリ使用宣言

class Bno055 {
public  :
        Bno055(){
            shortdata_yaw = 0;
            count = 0;
            data_scEUL = 0;
            data_yaw = 0;
            data_firstYaw = 0;
            data_yaw180 = 0;
            data_yaw360 = 0;
            data_yaw360Rev = 0;
            data_yawRad = 0;
        }
        
        void begin(){
            cal_timer.attach(this, &Bno055::getData, timer_dt);
            ifaceI2C.frequency(ifaceI2C_frequency);
            sensor1.initialize(true);
            yaw_state = 1;
            shortdata_yaw = 0;
            count = 0;
            data_scEUL = 0;
            data_yaw = 0;
            data_firstYaw = 0;
            data_yaw180 = 0;
            data_yaw360 = 0;
            data_yaw360Rev = 0;
            data_yawRad = 0;
        }
        
        void firstRead(){
            data_scEUL = sensor1.getEulerScale();
            shortdata_yaw = sensor1.getEulerDataHeading();
            data_firstYaw = (float)shortdata_yaw * data_scEUL;
        }
        
        float getYaw(){
            return data_yaw;
        }
        
        float getFirstYaw(){
            return data_firstYaw;
        }
        
        float getscEUL(){
            return data_scEUL;
        }
        
        float getYaw180(){
            //正面0基準変換
            if(data_yaw < data_firstYaw){
                data_yaw180 = 360.0 + data_yaw - data_firstYaw;   
            }else{
                data_yaw180 = data_yaw - data_firstYaw;
            }
            //-180~0~180に変換
            if(data_yaw180 >= 180){
                data_yaw180 = (360 - data_yaw180) * -1;
            }
            return data_yaw180;
        }
        
        float getYaw360(){
            //正面0基準変換
            if(data_yaw < data_firstYaw){
                data_yaw360 = 360.0 + data_yaw - data_firstYaw;   
            }else{
                data_yaw360 = data_yaw - data_firstYaw;
            }
            return data_yaw360;
        }
        
        float getYaw360Rev(){
            //正面0基準変換
            if(data_yaw < data_firstYaw){
                data_yaw360Rev = 360.0 + data_yaw - data_firstYaw;   
            }else{
                data_yaw360Rev = data_yaw - data_firstYaw;
            }
            //反時計周りに増加
            data_yaw360Rev = 360 - data_yaw360Rev;
            return data_yaw360Rev;
        }
        
        float getYawRad(){
            return data_yawRad;
        }
        
        int getYawState(){
            return yaw_state;
        }
        
        void calc_yawRad(){
            switch(yaw_state){
                
                case 1:
                    if(data_yaw180 >= 90){
                        yaw_state = 2;
                    }else if(data_yaw180 <= -90){
                        yaw_state = 3;
                    }
                    data_yawRad = 360.0 * count + data_yaw180;
                    break;
                
                case 2:
                    if(data_yaw360 > 270){
                        yaw_state = 1;
                        count++;
                    }else if(data_yaw360 < 90){
                        yaw_state = 1;
                    }
                    data_yawRad = 360.0 * count + data_yaw360;
                    break;
                    
                case 3:
                    if(data_yaw360 < 90){
                        yaw_state = 1;
                        count--;
                    }else if(data_yaw360 > 270){
                        yaw_state = 1;
                    }
                    data_yawRad = 360.0 * count - data_yaw360Rev;
                    break;
            }
        }
        
        int getCount(){
            return count;
        }
        
        int getYaw_state(){
            return yaw_state;    
        }
        
        
private :
    Ticker cal_timer;
    
    short BNO055_dataBox[12];
    short shortdata_yaw;
    int   count;
    int   yaw_state;
    float data_scAcc, data_scMag, data_scGyro, data_scEUL, data_scTemp;
    float data_ax, data_ay, data_az,
          data_mx, data_my, data_mz,
          data_gx, data_gy, data_gz,
          data_yaw, data_roll, data_pitch,
          data_temp,
          data_firstYaw, data_yaw180, data_yaw360, data_yaw360Rev
          ,data_yawRad;
        
    void getData(){
        shortdata_yaw = sensor1.getEulerDataHeading();
        data_yaw = (float)shortdata_yaw * data_scEUL;
        getYaw180();
        getYaw360();
        getYaw360Rev();
        calc_yawRad();
    }
};