Jeremy Dawkins / Mbed 2 deprecated ES456_Labs

Initial Commit

Dependencies:   mbed

BNO055/BNO055.cpp@1:d56e1d85e6d8, 2016-07-12 (annotated)

Committer:
jdawkins
Date:
Tue Jul 12 19:16:19 2016 +0000
Revision:
1:d56e1d85e6d8
Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 1:d56e1d85e6d8 1 #include "BNO055.h"
jdawkins 1:d56e1d85e6d8 2 #include "mbed.h"
jdawkins 1:d56e1d85e6d8 3
jdawkins 1:d56e1d85e6d8 4 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL){
jdawkins 1:d56e1d85e6d8 5 //Set I2C fast and bring reset line high
jdawkins 1:d56e1d85e6d8 6 _i2c.frequency(400000);
jdawkins 1:d56e1d85e6d8 7 address = BNOAddress;
jdawkins 1:d56e1d85e6d8 8 accel_scale = 0.001f;
jdawkins 1:d56e1d85e6d8 9 rate_scale = 1.0f/16.0f;
jdawkins 1:d56e1d85e6d8 10 angle_scale = 1.0f/16.0f;
jdawkins 1:d56e1d85e6d8 11 temp_scale = 1;
jdawkins 1:d56e1d85e6d8 12 }
jdawkins 1:d56e1d85e6d8 13
jdawkins 1:d56e1d85e6d8 14 void BNO055::reset(){
jdawkins 1:d56e1d85e6d8 15 //Perform a power-on-reset
jdawkins 1:d56e1d85e6d8 16 readchar(BNO055_SYS_TRIGGER_ADDR);
jdawkins 1:d56e1d85e6d8 17 rx = rx | 0x20;
jdawkins 1:d56e1d85e6d8 18 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
jdawkins 1:d56e1d85e6d8 19 //Wait for the system to come back up again (datasheet says 650ms)
jdawkins 1:d56e1d85e6d8 20 wait_ms(675);
jdawkins 1:d56e1d85e6d8 21 }
jdawkins 1:d56e1d85e6d8 22
jdawkins 1:d56e1d85e6d8 23 bool BNO055::check(){
jdawkins 1:d56e1d85e6d8 24 //Check we have communication link with the chip
jdawkins 1:d56e1d85e6d8 25 readchar(BNO055_CHIP_ID_ADDR);
jdawkins 1:d56e1d85e6d8 26 if (rx != 0xA0) return false;
jdawkins 1:d56e1d85e6d8 27 //Grab the chip ID and software versions
jdawkins 1:d56e1d85e6d8 28 tx[0] = BNO055_CHIP_ID_ADDR;
jdawkins 1:d56e1d85e6d8 29 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 30 _i2c.read(address+1,rawdata,7,false);
jdawkins 1:d56e1d85e6d8 31 ID.id = rawdata[0];
jdawkins 1:d56e1d85e6d8 32 ID.accel = rawdata[1];
jdawkins 1:d56e1d85e6d8 33 ID.mag = rawdata[2];
jdawkins 1:d56e1d85e6d8 34 ID.gyro = rawdata[3];
jdawkins 1:d56e1d85e6d8 35 ID.sw[0] = rawdata[4];
jdawkins 1:d56e1d85e6d8 36 ID.sw[1] = rawdata[5];
jdawkins 1:d56e1d85e6d8 37 ID.bootload = rawdata[6];
jdawkins 1:d56e1d85e6d8 38 setpage(1);
jdawkins 1:d56e1d85e6d8 39 tx[0] = BNO055_UNIQUE_ID_ADDR;
jdawkins 1:d56e1d85e6d8 40 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 41 _i2c.read(address+1,ID.serial,16,false);
jdawkins 1:d56e1d85e6d8 42 setpage(0);
jdawkins 1:d56e1d85e6d8 43 return true;
jdawkins 1:d56e1d85e6d8 44 }
jdawkins 1:d56e1d85e6d8 45
jdawkins 1:d56e1d85e6d8 46 void BNO055::SetExternalCrystal(bool yn){
jdawkins 1:d56e1d85e6d8 47 // Read the current status from the device
jdawkins 1:d56e1d85e6d8 48 readchar(BNO055_SYS_TRIGGER_ADDR);
jdawkins 1:d56e1d85e6d8 49 if (yn) rx = rx | 0x80;
jdawkins 1:d56e1d85e6d8 50 else rx = rx & 0x7F;
jdawkins 1:d56e1d85e6d8 51 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
jdawkins 1:d56e1d85e6d8 52 }
jdawkins 1:d56e1d85e6d8 53
jdawkins 1:d56e1d85e6d8 54 void BNO055::set_accel_units(char units){
jdawkins 1:d56e1d85e6d8 55 readchar(BNO055_UNIT_SEL_ADDR);
jdawkins 1:d56e1d85e6d8 56 if(units == MPERSPERS){
jdawkins 1:d56e1d85e6d8 57 rx = rx & 0xFE;
jdawkins 1:d56e1d85e6d8 58 accel_scale = 0.01f;
jdawkins 1:d56e1d85e6d8 59 }
jdawkins 1:d56e1d85e6d8 60 else {
jdawkins 1:d56e1d85e6d8 61 rx = rx | units;
jdawkins 1:d56e1d85e6d8 62 accel_scale = 0.001f;
jdawkins 1:d56e1d85e6d8 63 }
jdawkins 1:d56e1d85e6d8 64 writechar(BNO055_UNIT_SEL_ADDR,rx);
jdawkins 1:d56e1d85e6d8 65 }
jdawkins 1:d56e1d85e6d8 66
jdawkins 1:d56e1d85e6d8 67 void BNO055::set_anglerate_units(char units){
jdawkins 1:d56e1d85e6d8 68 readchar(BNO055_UNIT_SEL_ADDR);
jdawkins 1:d56e1d85e6d8 69 if (units == DEG_PER_SEC){
jdawkins 1:d56e1d85e6d8 70 rx = rx & 0xFD;
jdawkins 1:d56e1d85e6d8 71 rate_scale = 1.0f/16.0f;
jdawkins 1:d56e1d85e6d8 72 }
jdawkins 1:d56e1d85e6d8 73 else {
jdawkins 1:d56e1d85e6d8 74 rx = rx | units;
jdawkins 1:d56e1d85e6d8 75 rate_scale = 1.0f/900.0f;
jdawkins 1:d56e1d85e6d8 76 }
jdawkins 1:d56e1d85e6d8 77 writechar(BNO055_UNIT_SEL_ADDR,rx);
jdawkins 1:d56e1d85e6d8 78 }
jdawkins 1:d56e1d85e6d8 79
jdawkins 1:d56e1d85e6d8 80 void BNO055::set_angle_units(char units){
jdawkins 1:d56e1d85e6d8 81 readchar(BNO055_UNIT_SEL_ADDR);
jdawkins 1:d56e1d85e6d8 82 if (units == DEGREES){
jdawkins 1:d56e1d85e6d8 83 rx = rx & 0xFB;
jdawkins 1:d56e1d85e6d8 84 angle_scale = 1.0f/16.0f;
jdawkins 1:d56e1d85e6d8 85 }
jdawkins 1:d56e1d85e6d8 86 else {
jdawkins 1:d56e1d85e6d8 87 rx = rx | units;
jdawkins 1:d56e1d85e6d8 88 angle_scale = 1.0f/900.0f;
jdawkins 1:d56e1d85e6d8 89 }
jdawkins 1:d56e1d85e6d8 90 writechar(BNO055_UNIT_SEL_ADDR,rx);
jdawkins 1:d56e1d85e6d8 91 }
jdawkins 1:d56e1d85e6d8 92
jdawkins 1:d56e1d85e6d8 93 void BNO055::set_temp_units(char units){
jdawkins 1:d56e1d85e6d8 94 readchar(BNO055_UNIT_SEL_ADDR);
jdawkins 1:d56e1d85e6d8 95 if (units == CENTIGRADE){
jdawkins 1:d56e1d85e6d8 96 rx = rx & 0xEF;
jdawkins 1:d56e1d85e6d8 97 temp_scale = 1;
jdawkins 1:d56e1d85e6d8 98 }
jdawkins 1:d56e1d85e6d8 99 else {
jdawkins 1:d56e1d85e6d8 100 rx = rx | units;
jdawkins 1:d56e1d85e6d8 101 temp_scale = 2;
jdawkins 1:d56e1d85e6d8 102 }
jdawkins 1:d56e1d85e6d8 103 writechar(BNO055_UNIT_SEL_ADDR,rx);
jdawkins 1:d56e1d85e6d8 104 }
jdawkins 1:d56e1d85e6d8 105
jdawkins 1:d56e1d85e6d8 106 void BNO055::set_orientation(int position){
jdawkins 1:d56e1d85e6d8 107 switch(position){
jdawkins 1:d56e1d85e6d8 108 case 0:
jdawkins 1:d56e1d85e6d8 109 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 110 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
jdawkins 1:d56e1d85e6d8 111 break;
jdawkins 1:d56e1d85e6d8 112 case 1: //(Default)
jdawkins 1:d56e1d85e6d8 113 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 114 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
jdawkins 1:d56e1d85e6d8 115 break;
jdawkins 1:d56e1d85e6d8 116 case 2:
jdawkins 1:d56e1d85e6d8 117 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 118 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x06);
jdawkins 1:d56e1d85e6d8 119 break;
jdawkins 1:d56e1d85e6d8 120 case 3:
jdawkins 1:d56e1d85e6d8 121 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 122 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
jdawkins 1:d56e1d85e6d8 123 break;
jdawkins 1:d56e1d85e6d8 124 case 4:
jdawkins 1:d56e1d85e6d8 125 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 126 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
jdawkins 1:d56e1d85e6d8 127 break;
jdawkins 1:d56e1d85e6d8 128 case 5:
jdawkins 1:d56e1d85e6d8 129 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 130 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
jdawkins 1:d56e1d85e6d8 131 break;
jdawkins 1:d56e1d85e6d8 132 case 6:
jdawkins 1:d56e1d85e6d8 133 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 134 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
jdawkins 1:d56e1d85e6d8 135 break;
jdawkins 1:d56e1d85e6d8 136 case 7:
jdawkins 1:d56e1d85e6d8 137 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 138 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
jdawkins 1:d56e1d85e6d8 139 break;
jdawkins 1:d56e1d85e6d8 140 default:
jdawkins 1:d56e1d85e6d8 141 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 142 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
jdawkins 1:d56e1d85e6d8 143 break;
jdawkins 1:d56e1d85e6d8 144 }
jdawkins 1:d56e1d85e6d8 145 }
jdawkins 1:d56e1d85e6d8 146
jdawkins 1:d56e1d85e6d8 147 void BNO055::setmode(char omode){
jdawkins 1:d56e1d85e6d8 148 writechar(BNO055_OPR_MODE_ADDR,omode);
jdawkins 1:d56e1d85e6d8 149 op_mode = omode;
jdawkins 1:d56e1d85e6d8 150 }
jdawkins 1:d56e1d85e6d8 151
jdawkins 1:d56e1d85e6d8 152 void BNO055::setpowermode(char pmode){
jdawkins 1:d56e1d85e6d8 153 writechar(BNO055_PWR_MODE_ADDR,pmode);
jdawkins 1:d56e1d85e6d8 154 pwr_mode = pmode;
jdawkins 1:d56e1d85e6d8 155 }
jdawkins 1:d56e1d85e6d8 156
jdawkins 1:d56e1d85e6d8 157 void BNO055::get_accel(void){
jdawkins 1:d56e1d85e6d8 158 tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 159 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 160 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 161 accel.rawx = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 162 accel.rawy = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 163 accel.rawz = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 164 accel.x = float(accel.rawx)*accel_scale;
jdawkins 1:d56e1d85e6d8 165 accel.y = float(accel.rawy)*accel_scale;
jdawkins 1:d56e1d85e6d8 166 accel.z = float(accel.rawz)*accel_scale;
jdawkins 1:d56e1d85e6d8 167 }
jdawkins 1:d56e1d85e6d8 168
jdawkins 1:d56e1d85e6d8 169 void BNO055::get_gyro(void){
jdawkins 1:d56e1d85e6d8 170 tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 171 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 172 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 173 gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 174 gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 175 gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 176 gyro.x = float(gyro.rawx)*rate_scale;
jdawkins 1:d56e1d85e6d8 177 gyro.y = float(gyro.rawy)*rate_scale;
jdawkins 1:d56e1d85e6d8 178 gyro.z = float(gyro.rawz)*rate_scale;
jdawkins 1:d56e1d85e6d8 179 }
jdawkins 1:d56e1d85e6d8 180
jdawkins 1:d56e1d85e6d8 181 void BNO055::get_mag(void){
jdawkins 1:d56e1d85e6d8 182 tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 183 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 184 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 185 mag.rawx = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 186 mag.rawy = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 187 mag.rawz = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 188 mag.x = float(mag.rawx);
jdawkins 1:d56e1d85e6d8 189 mag.y = float(mag.rawy);
jdawkins 1:d56e1d85e6d8 190 mag.z = float(mag.rawz);
jdawkins 1:d56e1d85e6d8 191 }
jdawkins 1:d56e1d85e6d8 192
jdawkins 1:d56e1d85e6d8 193 void BNO055::get_lia(void){
jdawkins 1:d56e1d85e6d8 194 tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 195 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 196 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 197 lia.rawx = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 198 lia.rawy = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 199 lia.rawz = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 200 lia.x = float(lia.rawx)*accel_scale;
jdawkins 1:d56e1d85e6d8 201 lia.y = float(lia.rawy)*accel_scale;
jdawkins 1:d56e1d85e6d8 202 lia.z = float(lia.rawz)*accel_scale;
jdawkins 1:d56e1d85e6d8 203 }
jdawkins 1:d56e1d85e6d8 204
jdawkins 1:d56e1d85e6d8 205 void BNO055::get_grv(void){
jdawkins 1:d56e1d85e6d8 206 tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 207 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 208 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 209 gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 210 gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 211 gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 212 gravity.x = float(gravity.rawx)*accel_scale;
jdawkins 1:d56e1d85e6d8 213 gravity.y = float(gravity.rawy)*accel_scale;
jdawkins 1:d56e1d85e6d8 214 gravity.z = float(gravity.rawz)*accel_scale;
jdawkins 1:d56e1d85e6d8 215 }
jdawkins 1:d56e1d85e6d8 216
jdawkins 1:d56e1d85e6d8 217 void BNO055::get_quat(void){
jdawkins 1:d56e1d85e6d8 218 tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 219 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 220 _i2c.read(address+1,rawdata,8,0);
jdawkins 1:d56e1d85e6d8 221 quat.raww = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 222 quat.rawx = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 223 quat.rawy = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 224 quat.rawz = (rawdata[7] << 8 | rawdata[6]);
jdawkins 1:d56e1d85e6d8 225 quat.w = float(quat.raww)/16384.0f;
jdawkins 1:d56e1d85e6d8 226 quat.x = float(quat.rawx)/16384.0f;
jdawkins 1:d56e1d85e6d8 227 quat.y = float(quat.rawy)/16384.0f;
jdawkins 1:d56e1d85e6d8 228 quat.z = float(quat.rawz)/16384.0f;
jdawkins 1:d56e1d85e6d8 229 }
jdawkins 1:d56e1d85e6d8 230
jdawkins 1:d56e1d85e6d8 231 void BNO055::get_angles(void){
jdawkins 1:d56e1d85e6d8 232 tx[0] = BNO055_EULER_H_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 233 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 234 _i2c.read(address+1,rawdata,6,0);
jdawkins 1:d56e1d85e6d8 235 euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
jdawkins 1:d56e1d85e6d8 236 euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
jdawkins 1:d56e1d85e6d8 237 euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
jdawkins 1:d56e1d85e6d8 238 euler.yaw = float(euler.rawyaw)*angle_scale;
jdawkins 1:d56e1d85e6d8 239 euler.roll = float(euler.rawroll)*angle_scale;
jdawkins 1:d56e1d85e6d8 240 euler.pitch = float(euler.rawpitch)*angle_scale;
jdawkins 1:d56e1d85e6d8 241 }
jdawkins 1:d56e1d85e6d8 242
jdawkins 1:d56e1d85e6d8 243
jdawkins 1:d56e1d85e6d8 244 void BNO055::get_temp(void){
jdawkins 1:d56e1d85e6d8 245 readchar(BNO055_TEMP_ADDR);
jdawkins 1:d56e1d85e6d8 246 temperature = rx / temp_scale;
jdawkins 1:d56e1d85e6d8 247 }
jdawkins 1:d56e1d85e6d8 248
jdawkins 1:d56e1d85e6d8 249 void BNO055::get_calib(void){
jdawkins 1:d56e1d85e6d8 250 readchar(BNO055_CALIB_STAT_ADDR);
jdawkins 1:d56e1d85e6d8 251 calib = rx;
jdawkins 1:d56e1d85e6d8 252 }
jdawkins 1:d56e1d85e6d8 253
jdawkins 1:d56e1d85e6d8 254 void BNO055::read_calibration_data(void){
jdawkins 1:d56e1d85e6d8 255 char tempmode = op_mode;
jdawkins 1:d56e1d85e6d8 256 setmode(OPERATION_MODE_CONFIG);
jdawkins 1:d56e1d85e6d8 257 wait_ms(20);
jdawkins 1:d56e1d85e6d8 258 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 259 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 260 _i2c.read(address,calibration,22,false);
jdawkins 1:d56e1d85e6d8 261 setmode(tempmode);
jdawkins 1:d56e1d85e6d8 262 wait_ms(10);
jdawkins 1:d56e1d85e6d8 263 }
jdawkins 1:d56e1d85e6d8 264
jdawkins 1:d56e1d85e6d8 265 void BNO055::write_calibration_data(void){
jdawkins 1:d56e1d85e6d8 266 char tempmode = op_mode;
jdawkins 1:d56e1d85e6d8 267 setmode(OPERATION_MODE_CONFIG);
jdawkins 1:d56e1d85e6d8 268 wait_ms(20);
jdawkins 1:d56e1d85e6d8 269 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
jdawkins 1:d56e1d85e6d8 270 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 271 _i2c.write(address,calibration,22,false);
jdawkins 1:d56e1d85e6d8 272 setmode(tempmode);
jdawkins 1:d56e1d85e6d8 273 wait_ms(10);
jdawkins 1:d56e1d85e6d8 274 }
jdawkins 1:d56e1d85e6d8 275
jdawkins 1:d56e1d85e6d8 276 void BNO055::set_mapping(char orient){
jdawkins 1:d56e1d85e6d8 277 switch (orient){
jdawkins 1:d56e1d85e6d8 278 case 0:
jdawkins 1:d56e1d85e6d8 279 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 280 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
jdawkins 1:d56e1d85e6d8 281 break;
jdawkins 1:d56e1d85e6d8 282 case 1:
jdawkins 1:d56e1d85e6d8 283 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 284 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
jdawkins 1:d56e1d85e6d8 285 break;
jdawkins 1:d56e1d85e6d8 286 case 2:
jdawkins 1:d56e1d85e6d8 287 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 288 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
jdawkins 1:d56e1d85e6d8 289 break;
jdawkins 1:d56e1d85e6d8 290 case 3:
jdawkins 1:d56e1d85e6d8 291 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 292 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
jdawkins 1:d56e1d85e6d8 293 break;
jdawkins 1:d56e1d85e6d8 294 case 4:
jdawkins 1:d56e1d85e6d8 295 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 296 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
jdawkins 1:d56e1d85e6d8 297 break;
jdawkins 1:d56e1d85e6d8 298 case 5:
jdawkins 1:d56e1d85e6d8 299 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 300 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
jdawkins 1:d56e1d85e6d8 301 break;
jdawkins 1:d56e1d85e6d8 302 case 6:
jdawkins 1:d56e1d85e6d8 303 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
jdawkins 1:d56e1d85e6d8 304 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
jdawkins 1:d56e1d85e6d8 305 break;
jdawkins 1:d56e1d85e6d8 306 case 7:
jdawkins 1:d56e1d85e6d8 307 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 308 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
jdawkins 1:d56e1d85e6d8 309 break;
jdawkins 1:d56e1d85e6d8 310 default:
jdawkins 1:d56e1d85e6d8 311 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
jdawkins 1:d56e1d85e6d8 312 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
jdawkins 1:d56e1d85e6d8 313 }
jdawkins 1:d56e1d85e6d8 314 }