BNO055.h

00001 /* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.h
00002 */ 
00003 
00004 #ifndef BNO055_H
00005 #define BNO055_H
00006 
00007 #include "mbed.h"
00008 
00009 #define BNO055_MODE_NDOF   0 //used to call the 9 axis orientation of imu
00010 
00011 #define BNO055_ANGLE_UNITS_DEGREE  0  
00012 #define BNO055_ANGLE_UNITS_RADIAN  1
00013 
00014 
00015 class BNO055 {//class for imu
00016     public: 
00017         BNO055(I2C i2c, int addr);//constructor
00018         float readHeading(void);//class methods
00019         float readRoll(void);
00020         float readPitch(void);
00021         char checkID(void); //Check for proper communication with sensor
00022         void setMode(int modeCode); //Set program to NDOF forge mode
00023         int setAngleUnits(int unitsCode); //Select Euler Angles as units
00024     private:
00025         I2C _i2c;
00026         int _addr; 
00027         int _units;
00028 };
00029 
00030 #endif