Joseph Bradshaw / BNO055

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Fork of BNO055 by Dave Turner

Files at this revision

API Documentation at this revision

Revision 7:8a893ab512f4, committed 2016-07-21

Comitter:
jebradshaw
Date:
Thu Jul 21 11:38:53 2016 +0000
Parent:
6:1f722ffec323
Commit message:
Fixed errors in library and added calibration example

Changed in this revision

BNO055.cpp Show annotated file Show diff for this revision Revisions of this file
BNO055.h Show annotated file Show diff for this revision Revisions of this file 
--- a/BNO055.cpp	Tue Sep 22 19:09:45 2015 +0000
+++ b/BNO055.cpp	Thu Jul 21 11:38:53 2016 +0000
@@ -85,7 +85,7 @@
         }
     else {
         rx = rx | units;
-        rate_scale = 1.0f/900.0f;
+        angle_scale = 1.0f/900.0f;
         }
     writechar(BNO055_UNIT_SEL_ADDR,rx);
 }    
@@ -103,11 +103,45 @@
     writechar(BNO055_UNIT_SEL_ADDR,rx);
 }    
 
-void BNO055::set_orientation(char units){
-    readchar(BNO055_UNIT_SEL_ADDR);
-    if (units == WINDOWS) rx = rx &0x7F;
-    else rx = rx | units;
-    writechar(BNO055_UNIT_SEL_ADDR,rx);
+void BNO055::set_orientation(int position){
+    switch(position){
+        case 0:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
+            break;
+        case 1: //(Default)
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
+            break;
+        case 2:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x06);
+            break;  
+        case 3:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);            
+            break;
+        case 4:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);            
+            break;
+        case 5:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);            
+            break;
+        case 6:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);            
+            break;
+        case 7:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);            
+            break;
+        default:
+            writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
+            writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
+            break;                 
+    }
 }        
 
 void BNO055::setmode(char omode){

--- a/BNO055.h	Tue Sep 22 19:09:45 2015 +0000
+++ b/BNO055.h	Thu Jul 21 11:38:53 2016 +0000
@@ -202,7 +202,7 @@
 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
     void set_temp_units(char units);
 /** Set the data output format to either WINDOWS or ANDROID **/    
-    void set_orientation(char units);
+    void set_orientation(int position);
 /** Set the mapping of the exes/directions as per page 25 of datasheet
     range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
     void set_mapping(char orient);