Diff: bno055.cpp

Revision:

7:ccb2dcdfac08

Parent:

6:3dcf44b8289a

--- a/bno055.cpp	Thu Jul 11 11:31:55 2019 +0000
+++ b/bno055.cpp	Thu Jul 11 12:10:54 2019 +0000
@@ -215,6 +215,8 @@
 /**
  * @brief Returns the currently used Power Mode
  * 
+ * The data is also accessible through the <em>mode</em>-struct (object.mode.power).
+ * 
  * @return uint8_t Currently used Power Mode
  */
 uint8_t BNO055::getPowerMode(void)
@@ -226,6 +228,31 @@
     return mode.power;
 }
 
+/**
+ * @brief Sets the desired Operation Mode
+ * 
+ * All of the information aren't definitive or could be straight up wrong. It is therefore highly recommended to read the datasheet of the BNO055.
+ * 
+ * <table>
+ * <caption>Operation Modes</caption>
+ * <tr><th>Type                           <th>Description
+ * <tr><td>OPERATION_MODE_CONFIGMODE      <td>Used when configuring the system
+ * <tr><td>OPERATION_MODE_ACCONLY         <td>Enables Accelerometer only
+ * <tr><td>OPERATION_MODE_MAGONLY         <td>Enables Magnetometer only
+ * <tr><td>OPERATION_MODE_GYROONLY        <td>Enables Gyroscope only
+ * <tr><td>OPERATION_MODE_ACCMAG          <td>Enables Accelerometer and Magnetometer only
+ * <tr><td>OPERATION_MODE_ACCGYRO         <td>Enables Accelerometer and Gyroscope only
+ * <tr><td>OPERATION_MODE_MAGGYRO         <td>Enables Magnetometer and Gyroscope only
+ * <tr><td>OPERATION_MODE_AMG             <td>Enables all three sensors
+ * <tr><td>OPERATION_MODE_IMU             <td>Enables Accelerometer & Gyroscope and relative position
+ * <tr><td>OPERATION_MODE_COMPASS         <td>Enables Accelerometer & Magnetometer and absolute position
+ * <tr><td>OPERATION_MODE_M4G             <td>"Magnet for Gyroscope" is similar to <em>IMU</em>, but instead using the gyroscope, it uses the magnetometer
+ * <tr><td>OPERATION_MODE_NDOF_FMC_OFF    <td>"9 degrees of freedom" but without fast magnetometer calibration.
+ * <tr><td>OPERATION_MODE_NDOF            <td>"9 degrees of freedom" - Magnetometer is calibrated very fast and increased data output
+ * </table>
+ * 
+ * @param new_opr_mode 
+ */
 void    BNO055::setOperationMode(bno055_opr_mode_t new_opr_mode)
 {
     //trying to write a mode, that is already being used, doesn't make any sense and can be ignored.
@@ -252,6 +279,13 @@
     }
 }
 
+/**
+ * @brief Returns the current Operation Mode
+ * 
+ * The data is also accessible through the <em>mode</em>-struct (object.mode.operation).
+ * 
+ * @return uint8_t The current Operation Mode
+ */
 uint8_t BNO055::getOperationMode(void)
 {
     mode.operation = m_i2c_master.i2c_read(m_bno055_address, OPR_MODE);
@@ -261,6 +295,15 @@
     return mode.operation;
 }
 
+/**
+ * @brief Set I2C-Registermap Page
+ * 
+ * The BNO055 contains two Register Map pages: Page 0 and Page 1. This function is used to switch between those two.
+ * 
+ * Possible Options are: PAGE_0 & PAGE_1
+ * 
+ * @param new_page Desired new page number
+ */
 void    BNO055::setPage(bno055_page_t new_page)
 {
     page = new_page;
@@ -272,6 +315,13 @@
     m_i2c_master.i2c_write(m_bno055_address, PAGE_ID, page);
 }
 
+/**
+ * @brief Returns the current Registermap-Page
+ * 
+ * The data is also accessible through the <em>page</em>-struct (object.page).
+ * 
+ * @return uint8_t The Current Page
+ */
 uint8_t BNO055::getPage(void)
 {
     page = m_i2c_master.i2c_read(m_bno055_address, PAGE_ID);
@@ -283,6 +333,13 @@
     return page;
 }
 
+/**
+ * @brief Returns the System Status
+ * 
+ * The data is also accessible through the <em>system</em>-struct (object.system.status).
+ * 
+ * @return uint8_t System Status
+ */
 uint8_t BNO055::getSystemStatus(void)
 {
     system.status = m_i2c_master.i2c_read(m_bno055_address, SYS_STATUS);
@@ -292,6 +349,13 @@
     return system.status;
 }
 
+/**
+ * @brief Returns the System Error
+ * 
+ * The data is also accessible through the <em>system</em>-struct (object.system.error).
+ * 
+ * @return uint8_t System Error
+ */
 uint8_t BNO055::getSystemError(void)
 {
     system.error = m_i2c_master.i2c_read(m_bno055_address, SYS_ERR);
@@ -301,6 +365,13 @@
     return system.error;
 }
 
+/**
+ * @brief Configure External Oscillator Input
+ * 
+ * The external oscillator increases data accuracy.
+ * 
+ * @param enabled <strong>TRUE</strong> enables external oscillator input, <strong>FALSE</strong> disabled input
+ */
 void    BNO055::useExternalOscillator(bool enabled)
 {
     char data = static_cast<char>(enabled) << 7;
@@ -317,6 +388,9 @@
     m_i2c_master.i2c_writeBits(m_bno055_address, SYS_TRIGGER, data, MASK_EXT_CLOCK);
 }
 
+/**
+ * @brief Resets the System via Software
+ */
 void    BNO055::resetSW(void)
 {
     #ifdef DEBUGGING_ENABLED  
@@ -336,6 +410,11 @@
     m_i2c_master.i2c_writeBits(m_bno055_address, SYS_TRIGGER, 0x00, MASK_SYSTEM_RESET);
 }
 
+/**
+ * @brief Resets the System via Reset-Pin
+ * 
+ * Resets the System with the referenced Reset-Pin during object-construction
+ */
 void    BNO055::resetHW(void)
 {
     #ifdef DEBUGGING_ENABLED  
@@ -351,6 +430,13 @@
 
 }
 
+/**
+ * @brief Remaps the three Axes to respect the new Orientation
+ * 
+ * use <code>REMAP_OPTION_PX</code> with X defining one of the 8 orientation options (see datasheet)
+ * 
+ * @param orientation_placement Orientation of the IC
+ */
 void    BNO055::setOrientation(bno055_remap_options_t orientation_placement)
 {
     axis.map = (orientation_placement >> SHIFT_1BYTE) & 0xFF;
@@ -365,6 +451,11 @@
     m_i2c_master.i2c_writeBits(m_bno055_address, AXIS_MAP_SIGN, axis.sign, MASK_SIGN_AXIS);
 }
 
+/**
+ * @brief Returns the current Orientation
+ * 
+ * The data is accessible through the <em>axis</em>-struct (object.axis.map & object.axis.sign).
+ */
 void    BNO055::getOrientation(void)
 {
     m_i2c_master.i2c_readSeries(m_bno055_address, AXIS_MAP_CONFIG,register_data,LENGTH_2_BYTES);
@@ -378,6 +469,17 @@
     axis.sign   = register_data[1];    
 }
 
+/**
+ * @brief Assign Axis to different Axes
+ * 
+ * But it's not possible to map the two axes on the same axis. It will not return anything, even if it's correct.
+ * 
+ * Possible values are: <code>X_AXIS, Y_AXIS, Z_AXIS</code>
+ * 
+ * @param x_axis New Axis which will be applied to the X-Axis
+ * @param y_axis New Axis which will be applied to the Y-Axis
+ * @param z_axis New Axis which will be applied to the Z-Axis
+ */
 void    BNO055::assignAxis(bno055_axis_t x_axis, bno055_axis_t y_axis, bno055_axis_t z_axis)
 {
     //check if multiple axis have the same remap-axis. If true, then this part can be skipped, as
@@ -399,6 +501,15 @@
     }
 }
 
+/**
+ * @brief Inverts the Axis
+ * 
+ * Possible values are: <code>POSITIVE & NEGATIVE</code> 
+ * 
+ * @param x_sign New Sign for the X-Axis
+ * @param y_sign New Sign for the Y-Axis
+ * @param z_sign New Sign for the Z-Axis
+ */
 void    BNO055::setAxisSign(bno055_axis_sign_t x_sign, bno055_axis_sign_t y_sign, bno055_axis_sign_t z_sign)
 {
     axis.sign = x_sign + (y_sign << 1) + (z_sign << 2);
@@ -408,6 +519,12 @@
     m_i2c_master.i2c_writeBits(m_bno055_address, AXIS_MAP_SIGN, axis.sign, MASK_SIGN_AXIS);
 }
 
+/**
+ * @brief Gets the System's Calibration Status
+ * 
+ * The data is accessible through the <em>calibration</em>-struct (object.calibration.status, object.calibration.system, object.calibration.gyro, object.calibration.acceleration, object.calibration.magneto)
+ * 
+ */
 void    BNO055::getCalibrationStatus(void)
 {
     calibration.status          = m_i2c_master.i2c_read(m_bno055_address, CALIB_STAT);
@@ -426,6 +543,11 @@
     #endif
 }
 
+/**
+ * @brief Gets the Interrupt-flags
+ * 
+ * The data is accessible through the <em>interrupt</em>-struct (object.interrupt.xxx)
+ */
 void    BNO055::getInterruptFlag(void)
 {
     setPage(PAGE_1);
@@ -451,6 +573,11 @@
     setPage(PAGE_0);
 }
 
+/**
+ * @brief Returns the enabled Interrupt
+ *
+ * @return uint8_t The value containing the enabled interrupts (see datasheet)
+ */
 uint8_t    BNO055::getEnabledInterrupts(void)
 {
     setPage(PAGE_1);
@@ -464,6 +591,15 @@
     return data_interrupt_enable;
 }
 
+/**
+ * @brief Configure the Interrupts
+ * 
+ * @param accel_no_motion   <code>ENABLE</code> to enable interrupt, <code>DISABLE</code> to disable interrupt
+ * @param accel_any_motion  <code>ENABLE</code> to enable interrupt, <code>DISABLE</code> to disable interrupt
+ * @param accel_high_g      <code>ENABLE</code> to enable interrupt, <code>DISABLE</code> to disable interrupt
+ * @param gyro_high_rate    <code>ENABLE</code> to enable interrupt, <code>DISABLE</code> to disable interrupt
+ * @param gyro_any_motion   <code>ENABLE</code> to enable interrupt, <code>DISABLE</code> to disable interrupt
+ */
 void    BNO055::setEnableInterrupts(bno055_enable_t accel_no_motion,
                                     bno055_enable_t accel_any_motion,
                                     bno055_enable_t accel_high_g,
@@ -482,8 +618,17 @@
     setPage(PAGE_0);
 }
 
-
-
+/**
+ * @brief Sets the Interrupt Mask
+ * 
+ * This function enables or disabled the changing of the Interrupt-pin.
+ * 
+ * @param accel_no_motion   <code>ENABLE</code> to enable interrupt-calling, <code>DISABLE</code> to disable it
+ * @param accel_any_motion  <code>ENABLE</code> to enable interrupt-calling, <code>DISABLE</code> to disable it
+ * @param accel_high_g      <code>ENABLE</code> to enable interrupt-calling, <code>DISABLE</code> to disable it
+ * @param gyro_high_rate    <code>ENABLE</code> to enable interrupt-calling, <code>DISABLE</code> to disable it
+ * @param gyro_any_motion   <code>ENABLE</code> to enable interrupt-calling, <code>DISABLE</code> to disable it
+ */
 void    BNO055::setInterruptMask(bno055_enable_t accel_no_motion,
                                  bno055_enable_t accel_any_motion,
                                  bno055_enable_t accel_high_g,
@@ -502,6 +647,11 @@
     setPage(PAGE_0);
 }
 
+/**
+ * @brief Returns current Interrupt Mask
+ * 
+ * @return uint8_t Current Interrupt Mask (see datasheet)
+ */
 uint8_t BNO055::getInterruptMask(void)
 {
     setPage(PAGE_1);
@@ -516,6 +666,7 @@
     return data_interrupt_mask;
 }
 
+
 void    BNO055::configAccelerationInterrupt(bno055_config_int_axis_t    high_axis,
                                             bno055_config_int_axis_t    am_nm_axis,
                                             bno055_any_motion_sample_t  am_dur
@@ -550,7 +701,11 @@
 }
 
 //ACCELERATION
-
+/**
+ * @brief Returns Acceleration Data
+ * 
+ * Data is accessible through the <em>accel</em>-struct (object.accel.x, object.accel.y, object.accel.z), after calling this function
+ */
 void    BNO055::getAcceleration(void)
 {    
     if(format.acceleration == ACCELERATION)
@@ -568,7 +723,11 @@
 }
 
 //MAGNETOMETER
-
+/**
+ * @brief Returns Magnetometer Data
+ * 
+ * Data is accessible through the <em>magneto</em>-struct (object.magneto.x, object.magneto.y, object.magneto.z), after calling this function
+ */
 void    BNO055::getMagnetometer(void)
 {
     get(MAG_DATA_VECTOR, magneto, MICRO_TESLA_FORMAT, false);
@@ -579,7 +738,11 @@
 }
 
 //GYROSCOPE
-
+/**
+ * @brief Returns Gyroscope Data
+ * 
+ * Data is accessible through the <em>gyro</em>-struct (object.gyro.x, object.gyro.y, object.gyro.z), after calling this function
+ */
 void    BNO055::getGyroscope(void)
 {
     if(format.gyroscope == DEGREE_PER_SEC)
@@ -596,7 +759,11 @@
 }
 
 //EULER-DEGREES
-
+/**
+ * @brief Returns Euler Degree Data
+ * 
+ * Data is accessible through the <em>euler</em>-struct (object.euler.x, object.euler.y, object.euler.z), after calling this function
+ */
 void    BNO055::getEulerDegrees(void)
 {
     if(format.euler == DEGREES)
@@ -613,7 +780,11 @@
 }
 
 //QUATERNION
-
+/**
+ * @brief Returns Quaternion Data
+ * 
+ * Data is accessible through the <em>quaternion</em>-struct (object.quaternion.x, object.quaternion.y, object.quaternion.z), after calling this function
+ */
 void    BNO055::getQuaternion(void)
 {
     get(QUA_DATA_VECTOR, quaternion, QUATERNION_FORMAT);
@@ -624,7 +795,11 @@
 }
 
 //LINEAR ACCELERATION
-
+/**
+ * @brief Returns Linear Acceleration Data
+ * 
+ * Data is accessible through the <em>linear_accel</em>-struct (object.linear_accel.x, object.linear_accel.y, object.linear_accel.z), after calling this function
+ */
 void    BNO055::getLinearAcceleration(void)
 {
     if(format.acceleration == ACCELERATION)
@@ -641,7 +816,11 @@
 }
 
 //GRAVITY VECTOR
-
+/**
+ * @brief Returns Gravity Vector Data
+ * 
+ * Data is accessible through the <em>gravity_vector</em>-struct (object.gravity_vector.x, object.gravity_vector.y, object.gravity_vector.z), after calling this function
+ */
 void    BNO055::getGravityVector(void)
 {
     if(format.acceleration == ACCELERATION)
@@ -658,7 +837,11 @@
 }
 
 //TEMPERATURE
-
+/**
+ * @brief Returns Temperature Data
+ * 
+ * Data is accessible through the <em>temperature</em>-struct (object.temperature), after calling this function
+ */
 void    BNO055::getTemperature(void)
 {
     m_i2c_master.i2c_readSeries(m_bno055_address, TEMP, register_data, LENGTH_1_BYTES);