Diff: BNO055.h

Revision:

5:6a08a4c5b1e1

Parent:

4:9e6fead1e93e

--- a/BNO055.h	Thu Apr 16 10:47:40 2015 +0000
+++ b/BNO055.h	Mon Jan 16 16:51:39 2017 +0000
@@ -62,6 +62,9 @@
 #define I_AM_BNO055_MAG         0x32    // MAG ID
 #define I_AM_BNO055_GYR         0x0f    // GYR ID
 
+
+
+
 ////////////// DATA TYPE DEFINITION ///////////////////////
 typedef struct {
     uint8_t  chip_id;
@@ -102,6 +105,21 @@
     int8_t gyr_chip;
 } BNO055_TEMPERATURE_TypeDef;
 
+typedef struct {
+    uint8_t Gscale;
+    uint8_t Gbw;
+    uint8_t GPwrMode;
+    
+    uint8_t Ascale;
+    uint8_t Abw;
+    uint8_t APwrMode;
+    
+    uint8_t MOpMode;
+    uint8_t MPwrMode;
+    uint8_t Modr;
+   
+} BNO055_CONFIG_TypeDef;
+
 enum {MT_P0 = 0, MT_P1, MT_P2, MT_P3, MT_P4, MT_P5, MT_P6, MT_P7};
 
 /** Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor
@@ -258,7 +276,16 @@
       * @return register data
       */
     uint8_t write_reg1(uint8_t addr, uint8_t data);
-
+    
+    /** Calculate acceleration in Earth frame
+      * @param Linear acceleration structure
+    */
+    void get_abs_accel(BNO055_LIN_ACC_TypeDef *la);
+    
+    void get_quaternion_float(float *Q);
+    
+    void configure_accelerometer_range(uint8_t range);
+    
 protected:
     void initialize(void);
     void check_id(void);
@@ -283,6 +310,8 @@
     uint8_t  gyr_id;
     uint8_t  bootldr_rev_id;
     uint16_t sw_rev_id;
+    
+    
 
 };
 
@@ -465,6 +494,9 @@
 #define GYRO_ANY_MOTION_THRES   0x1e
 #define GYRO_ANY_MOTION_SET     0x1f
 
+
+
+
 //---------------------------------------------------------
 //----- Calibration example -------------------------------
 //---------------------------------------------------------