Jeremy Dawkins / Mbed 2 deprecated ES456_Labs

Initial Commit

Dependencies:   mbed

BNO055/BNO055.h@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 #ifndef BNO055_H
jdawkins 1:d56e1d85e6d8 2 #define BNO055_H
jdawkins 1:d56e1d85e6d8 3
jdawkins 1:d56e1d85e6d8 4 #include "mbed.h"
jdawkins 1:d56e1d85e6d8 5 //
jdawkins 1:d56e1d85e6d8 6 #define BNOAddress (0x28 << 1)
jdawkins 1:d56e1d85e6d8 7 //Register definitions
jdawkins 1:d56e1d85e6d8 8 /* Page id register definition */
jdawkins 1:d56e1d85e6d8 9 #define BNO055_PAGE_ID_ADDR 0x07
jdawkins 1:d56e1d85e6d8 10 /* PAGE0 REGISTER DEFINITION START*/
jdawkins 1:d56e1d85e6d8 11 #define BNO055_CHIP_ID_ADDR 0x00
jdawkins 1:d56e1d85e6d8 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
jdawkins 1:d56e1d85e6d8 13 #define BNO055_MAG_REV_ID_ADDR 0x02
jdawkins 1:d56e1d85e6d8 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
jdawkins 1:d56e1d85e6d8 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
jdawkins 1:d56e1d85e6d8 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
jdawkins 1:d56e1d85e6d8 17 #define BNO055_BL_REV_ID_ADDR 0x06
jdawkins 1:d56e1d85e6d8 18 /* Accel data register */
jdawkins 1:d56e1d85e6d8 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
jdawkins 1:d56e1d85e6d8 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
jdawkins 1:d56e1d85e6d8 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
jdawkins 1:d56e1d85e6d8 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
jdawkins 1:d56e1d85e6d8 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
jdawkins 1:d56e1d85e6d8 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
jdawkins 1:d56e1d85e6d8 25 /* Mag data register */
jdawkins 1:d56e1d85e6d8 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
jdawkins 1:d56e1d85e6d8 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
jdawkins 1:d56e1d85e6d8 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
jdawkins 1:d56e1d85e6d8 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
jdawkins 1:d56e1d85e6d8 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
jdawkins 1:d56e1d85e6d8 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
jdawkins 1:d56e1d85e6d8 32 /* Gyro data registers */
jdawkins 1:d56e1d85e6d8 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
jdawkins 1:d56e1d85e6d8 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
jdawkins 1:d56e1d85e6d8 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
jdawkins 1:d56e1d85e6d8 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
jdawkins 1:d56e1d85e6d8 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
jdawkins 1:d56e1d85e6d8 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
jdawkins 1:d56e1d85e6d8 39 /* Euler data registers */
jdawkins 1:d56e1d85e6d8 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
jdawkins 1:d56e1d85e6d8 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
jdawkins 1:d56e1d85e6d8 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
jdawkins 1:d56e1d85e6d8 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
jdawkins 1:d56e1d85e6d8 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
jdawkins 1:d56e1d85e6d8 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
jdawkins 1:d56e1d85e6d8 46 /* Quaternion data registers */
jdawkins 1:d56e1d85e6d8 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
jdawkins 1:d56e1d85e6d8 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
jdawkins 1:d56e1d85e6d8 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
jdawkins 1:d56e1d85e6d8 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
jdawkins 1:d56e1d85e6d8 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
jdawkins 1:d56e1d85e6d8 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
jdawkins 1:d56e1d85e6d8 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
jdawkins 1:d56e1d85e6d8 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
jdawkins 1:d56e1d85e6d8 55 /* Linear acceleration data registers */
jdawkins 1:d56e1d85e6d8 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
jdawkins 1:d56e1d85e6d8 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
jdawkins 1:d56e1d85e6d8 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
jdawkins 1:d56e1d85e6d8 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
jdawkins 1:d56e1d85e6d8 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
jdawkins 1:d56e1d85e6d8 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
jdawkins 1:d56e1d85e6d8 62 /* Gravity data registers */
jdawkins 1:d56e1d85e6d8 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
jdawkins 1:d56e1d85e6d8 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
jdawkins 1:d56e1d85e6d8 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
jdawkins 1:d56e1d85e6d8 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
jdawkins 1:d56e1d85e6d8 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
jdawkins 1:d56e1d85e6d8 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
jdawkins 1:d56e1d85e6d8 69 /* Temperature data register */
jdawkins 1:d56e1d85e6d8 70 #define BNO055_TEMP_ADDR 0x34
jdawkins 1:d56e1d85e6d8 71 /* Status registers */
jdawkins 1:d56e1d85e6d8 72 #define BNO055_CALIB_STAT_ADDR 0x35
jdawkins 1:d56e1d85e6d8 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
jdawkins 1:d56e1d85e6d8 74 #define BNO055_INTR_STAT_ADDR 0x37
jdawkins 1:d56e1d85e6d8 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
jdawkins 1:d56e1d85e6d8 76 #define BNO055_SYS_STAT_ADDR 0x39
jdawkins 1:d56e1d85e6d8 77 #define BNO055_SYS_ERR_ADDR 0x3A
jdawkins 1:d56e1d85e6d8 78 /* Unit selection register */
jdawkins 1:d56e1d85e6d8 79 #define BNO055_UNIT_SEL_ADDR 0x3B
jdawkins 1:d56e1d85e6d8 80 #define BNO055_DATA_SELECT_ADDR 0x3C
jdawkins 1:d56e1d85e6d8 81 /* Mode registers */
jdawkins 1:d56e1d85e6d8 82 #define BNO055_OPR_MODE_ADDR 0x3D
jdawkins 1:d56e1d85e6d8 83 #define BNO055_PWR_MODE_ADDR 0x3E
jdawkins 1:d56e1d85e6d8 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
jdawkins 1:d56e1d85e6d8 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
jdawkins 1:d56e1d85e6d8 86 /* Axis remap registers */
jdawkins 1:d56e1d85e6d8 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
jdawkins 1:d56e1d85e6d8 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
jdawkins 1:d56e1d85e6d8 89 /* Accelerometer Offset registers */
jdawkins 1:d56e1d85e6d8 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
jdawkins 1:d56e1d85e6d8 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
jdawkins 1:d56e1d85e6d8 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
jdawkins 1:d56e1d85e6d8 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
jdawkins 1:d56e1d85e6d8 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
jdawkins 1:d56e1d85e6d8 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
jdawkins 1:d56e1d85e6d8 96 /* Magnetometer Offset registers */
jdawkins 1:d56e1d85e6d8 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
jdawkins 1:d56e1d85e6d8 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
jdawkins 1:d56e1d85e6d8 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
jdawkins 1:d56e1d85e6d8 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
jdawkins 1:d56e1d85e6d8 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
jdawkins 1:d56e1d85e6d8 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
jdawkins 1:d56e1d85e6d8 103 /* Gyroscope Offset registers*/
jdawkins 1:d56e1d85e6d8 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
jdawkins 1:d56e1d85e6d8 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
jdawkins 1:d56e1d85e6d8 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
jdawkins 1:d56e1d85e6d8 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
jdawkins 1:d56e1d85e6d8 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
jdawkins 1:d56e1d85e6d8 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
jdawkins 1:d56e1d85e6d8 110 /* Radius registers */
jdawkins 1:d56e1d85e6d8 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
jdawkins 1:d56e1d85e6d8 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
jdawkins 1:d56e1d85e6d8 113 #define MAG_RADIUS_LSB_ADDR 0x69
jdawkins 1:d56e1d85e6d8 114 #define MAG_RADIUS_MSB_ADDR 0x6A
jdawkins 1:d56e1d85e6d8 115
jdawkins 1:d56e1d85e6d8 116 /* Page 1 registers */
jdawkins 1:d56e1d85e6d8 117 #define BNO055_UNIQUE_ID_ADDR 0x50
jdawkins 1:d56e1d85e6d8 118
jdawkins 1:d56e1d85e6d8 119 //Definitions for unit selection
jdawkins 1:d56e1d85e6d8 120 #define MPERSPERS 0x00
jdawkins 1:d56e1d85e6d8 121 #define MILLIG 0x01
jdawkins 1:d56e1d85e6d8 122 #define DEG_PER_SEC 0x00
jdawkins 1:d56e1d85e6d8 123 #define RAD_PER_SEC 0x02
jdawkins 1:d56e1d85e6d8 124 #define DEGREES 0x00
jdawkins 1:d56e1d85e6d8 125 #define RADIANS 0x04
jdawkins 1:d56e1d85e6d8 126 #define CENTIGRADE 0x00
jdawkins 1:d56e1d85e6d8 127 #define FAHRENHEIT 0x10
jdawkins 1:d56e1d85e6d8 128 #define WINDOWS 0x00
jdawkins 1:d56e1d85e6d8 129 #define ANDROID 0x80
jdawkins 1:d56e1d85e6d8 130
jdawkins 1:d56e1d85e6d8 131 //Definitions for power mode
jdawkins 1:d56e1d85e6d8 132 #define POWER_MODE_NORMAL 0x00
jdawkins 1:d56e1d85e6d8 133 #define POWER_MODE_LOWPOWER 0x01
jdawkins 1:d56e1d85e6d8 134 #define POWER_MODE_SUSPEND 0x02
jdawkins 1:d56e1d85e6d8 135
jdawkins 1:d56e1d85e6d8 136 //Definitions for operating mode
jdawkins 1:d56e1d85e6d8 137 #define OPERATION_MODE_CONFIG 0x00
jdawkins 1:d56e1d85e6d8 138 #define OPERATION_MODE_ACCONLY 0x01
jdawkins 1:d56e1d85e6d8 139 #define OPERATION_MODE_MAGONLY 0x02
jdawkins 1:d56e1d85e6d8 140 #define OPERATION_MODE_GYRONLY 0x03
jdawkins 1:d56e1d85e6d8 141 #define OPERATION_MODE_ACCMAG 0x04
jdawkins 1:d56e1d85e6d8 142 #define OPERATION_MODE_ACCGYRO 0x05
jdawkins 1:d56e1d85e6d8 143 #define OPERATION_MODE_MAGGYRO 0x06
jdawkins 1:d56e1d85e6d8 144 #define OPERATION_MODE_AMG 0x07
jdawkins 1:d56e1d85e6d8 145 #define OPERATION_MODE_IMUPLUS 0x08
jdawkins 1:d56e1d85e6d8 146 #define OPERATION_MODE_COMPASS 0x09
jdawkins 1:d56e1d85e6d8 147 #define OPERATION_MODE_M4G 0x0A
jdawkins 1:d56e1d85e6d8 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
jdawkins 1:d56e1d85e6d8 149 #define OPERATION_MODE_NDOF 0x0C
jdawkins 1:d56e1d85e6d8 150
jdawkins 1:d56e1d85e6d8 151 typedef struct values{
jdawkins 1:d56e1d85e6d8 152 int16_t rawx,rawy,rawz;
jdawkins 1:d56e1d85e6d8 153 float x,y,z;
jdawkins 1:d56e1d85e6d8 154 }values;
jdawkins 1:d56e1d85e6d8 155
jdawkins 1:d56e1d85e6d8 156 typedef struct angles{
jdawkins 1:d56e1d85e6d8 157 int16_t rawroll,rawpitch,rawyaw;
jdawkins 1:d56e1d85e6d8 158 float roll, pitch, yaw;
jdawkins 1:d56e1d85e6d8 159 } angles;
jdawkins 1:d56e1d85e6d8 160
jdawkins 1:d56e1d85e6d8 161 typedef struct quaternion{
jdawkins 1:d56e1d85e6d8 162 int16_t raww,rawx,rawy,rawz;
jdawkins 1:d56e1d85e6d8 163 float w,x,y,z;
jdawkins 1:d56e1d85e6d8 164 }quaternion;
jdawkins 1:d56e1d85e6d8 165
jdawkins 1:d56e1d85e6d8 166 typedef struct chip{
jdawkins 1:d56e1d85e6d8 167 char id;
jdawkins 1:d56e1d85e6d8 168 char accel;
jdawkins 1:d56e1d85e6d8 169 char gyro;
jdawkins 1:d56e1d85e6d8 170 char mag;
jdawkins 1:d56e1d85e6d8 171 char sw[2];
jdawkins 1:d56e1d85e6d8 172 char bootload;
jdawkins 1:d56e1d85e6d8 173 char serial[16];
jdawkins 1:d56e1d85e6d8 174 }chip;
jdawkins 1:d56e1d85e6d8 175
jdawkins 1:d56e1d85e6d8 176 /** Class for operating Bosch BNO055 sensor over I2C **/
jdawkins 1:d56e1d85e6d8 177 class BNO055
jdawkins 1:d56e1d85e6d8 178 {
jdawkins 1:d56e1d85e6d8 179 public:
jdawkins 1:d56e1d85e6d8 180
jdawkins 1:d56e1d85e6d8 181 /** Create BNO055 instance **/
jdawkins 1:d56e1d85e6d8 182 BNO055(PinName SDA, PinName SCL);
jdawkins 1:d56e1d85e6d8 183
jdawkins 1:d56e1d85e6d8 184 /** Perform a power-on reset of the BNO055 **/
jdawkins 1:d56e1d85e6d8 185 void reset();
jdawkins 1:d56e1d85e6d8 186 /** Check that the BNO055 is connected and download the software details
jdawkins 1:d56e1d85e6d8 187 and serial number of chip and store in ID structure **/
jdawkins 1:d56e1d85e6d8 188 bool check();
jdawkins 1:d56e1d85e6d8 189 /** Turn the external timing crystal on/off **/
jdawkins 1:d56e1d85e6d8 190 void SetExternalCrystal(bool yn);
jdawkins 1:d56e1d85e6d8 191 /** Set the operation mode of the sensor **/
jdawkins 1:d56e1d85e6d8 192 void setmode(char mode);
jdawkins 1:d56e1d85e6d8 193 /** Set the power mode of the sensor **/
jdawkins 1:d56e1d85e6d8 194 void setpowermode(char mode);
jdawkins 1:d56e1d85e6d8 195
jdawkins 1:d56e1d85e6d8 196 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
jdawkins 1:d56e1d85e6d8 197 void set_accel_units(char units);
jdawkins 1:d56e1d85e6d8 198 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
jdawkins 1:d56e1d85e6d8 199 void set_anglerate_units(char units);
jdawkins 1:d56e1d85e6d8 200 /** Set the output units from the IMU, either DEGREES or RADIANS **/
jdawkins 1:d56e1d85e6d8 201 void set_angle_units(char units);
jdawkins 1:d56e1d85e6d8 202 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
jdawkins 1:d56e1d85e6d8 203 void set_temp_units(char units);
jdawkins 1:d56e1d85e6d8 204 /** Set the data output format to either WINDOWS or ANDROID **/
jdawkins 1:d56e1d85e6d8 205 void set_orientation(int position);
jdawkins 1:d56e1d85e6d8 206 /** Set the mapping of the exes/directions as per page 25 of datasheet
jdawkins 1:d56e1d85e6d8 207 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
jdawkins 1:d56e1d85e6d8 208 void set_mapping(char orient);
jdawkins 1:d56e1d85e6d8 209
jdawkins 1:d56e1d85e6d8 210 /** Get the current values from the accelerometer **/
jdawkins 1:d56e1d85e6d8 211 void get_accel(void);
jdawkins 1:d56e1d85e6d8 212 /** Get the current values from the gyroscope **/
jdawkins 1:d56e1d85e6d8 213 void get_gyro(void);
jdawkins 1:d56e1d85e6d8 214 /** Get the current values from the magnetometer **/
jdawkins 1:d56e1d85e6d8 215 void get_mag(void);
jdawkins 1:d56e1d85e6d8 216 /** Get the corrected linear acceleration **/
jdawkins 1:d56e1d85e6d8 217 void get_lia(void);
jdawkins 1:d56e1d85e6d8 218 /** Get the current gravity vector **/
jdawkins 1:d56e1d85e6d8 219 void get_grv(void);
jdawkins 1:d56e1d85e6d8 220 /** Get the output quaternion **/
jdawkins 1:d56e1d85e6d8 221 void get_quat(void);
jdawkins 1:d56e1d85e6d8 222 /** Get the current Euler angles **/
jdawkins 1:d56e1d85e6d8 223 void get_angles(void);
jdawkins 1:d56e1d85e6d8 224 /** Get the current temperature **/
jdawkins 1:d56e1d85e6d8 225 void get_temp(void);
jdawkins 1:d56e1d85e6d8 226
jdawkins 1:d56e1d85e6d8 227 /** Read the calibration status register and store the result in the calib variable **/
jdawkins 1:d56e1d85e6d8 228 void get_calib(void);
jdawkins 1:d56e1d85e6d8 229 /** Read the offset and radius values into the calibration array**/
jdawkins 1:d56e1d85e6d8 230 void read_calibration_data(void);
jdawkins 1:d56e1d85e6d8 231 /** Write the contents of the calibration array into the registers **/
jdawkins 1:d56e1d85e6d8 232 void write_calibration_data(void);
jdawkins 1:d56e1d85e6d8 233
jdawkins 1:d56e1d85e6d8 234 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
jdawkins 1:d56e1d85e6d8 235 x,y,z are the scale floating point values and
jdawkins 1:d56e1d85e6d8 236 rawx, rawy, rawz are the int16_t values read from the sensors **/
jdawkins 1:d56e1d85e6d8 237 values accel,gyro,mag,lia,gravity;
jdawkins 1:d56e1d85e6d8 238 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
jdawkins 1:d56e1d85e6d8 239 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
jdawkins 1:d56e1d85e6d8 240 angles euler;
jdawkins 1:d56e1d85e6d8 241 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
jdawkins 1:d56e1d85e6d8 242 registers **/
jdawkins 1:d56e1d85e6d8 243 quaternion quat;
jdawkins 1:d56e1d85e6d8 244
jdawkins 1:d56e1d85e6d8 245 /** Current contents of calibration status register **/
jdawkins 1:d56e1d85e6d8 246 char calib;
jdawkins 1:d56e1d85e6d8 247 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
jdawkins 1:d56e1d85e6d8 248 char calibration[22];
jdawkins 1:d56e1d85e6d8 249 /** Structure containing sensor numbers, software version and chip UID **/
jdawkins 1:d56e1d85e6d8 250 chip ID;
jdawkins 1:d56e1d85e6d8 251 /** Current temperature **/
jdawkins 1:d56e1d85e6d8 252 int temperature;
jdawkins 1:d56e1d85e6d8 253
jdawkins 1:d56e1d85e6d8 254 private:
jdawkins 1:d56e1d85e6d8 255
jdawkins 1:d56e1d85e6d8 256 I2C _i2c;
jdawkins 1:d56e1d85e6d8 257 char rx,tx[2],address; //I2C variables
jdawkins 1:d56e1d85e6d8 258 char rawdata[22]; //Temporary array for input data values
jdawkins 1:d56e1d85e6d8 259 char op_mode;
jdawkins 1:d56e1d85e6d8 260 char pwr_mode;
jdawkins 1:d56e1d85e6d8 261 float accel_scale,rate_scale,angle_scale;
jdawkins 1:d56e1d85e6d8 262 int temp_scale;
jdawkins 1:d56e1d85e6d8 263
jdawkins 1:d56e1d85e6d8 264 void readchar(char location){
jdawkins 1:d56e1d85e6d8 265 tx[0] = location;
jdawkins 1:d56e1d85e6d8 266 _i2c.write(address,tx,1,true);
jdawkins 1:d56e1d85e6d8 267 _i2c.read(address,&rx,1,false);
jdawkins 1:d56e1d85e6d8 268 }
jdawkins 1:d56e1d85e6d8 269
jdawkins 1:d56e1d85e6d8 270 void writechar(char location, char value){
jdawkins 1:d56e1d85e6d8 271 tx[0] = location;
jdawkins 1:d56e1d85e6d8 272 tx[1] = value;
jdawkins 1:d56e1d85e6d8 273 _i2c.write(address,tx,2);
jdawkins 1:d56e1d85e6d8 274 }
jdawkins 1:d56e1d85e6d8 275
jdawkins 1:d56e1d85e6d8 276 void setpage(char value){
jdawkins 1:d56e1d85e6d8 277 writechar(BNO055_PAGE_ID_ADDR,value);
jdawkins 1:d56e1d85e6d8 278 }
jdawkins 1:d56e1d85e6d8 279 };
jdawkins 1:d56e1d85e6d8 280 #endif