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BNO055
by 
Dave Turner
BNO055 Class Reference
Class for operating Bosch BNO055 sensor over I2C. More...
#include <BNO055.h>
Public Member Functions | |
| BNO055 (PinName SDA, PinName SCL) | |
| Create BNO055 instance. | |
| void | reset () |
| Perform a power-on reset of the BNO055. | |
| bool | check () |
| Check that the BNO055 is connected and download the software details and serial number of chip and store in ID structure. | |
| void | SetExternalCrystal (bool yn) |
| Turn the external timing crystal on/off. | |
| void | setmode (char mode) |
| Set the operation mode of the sensor. | |
| void | setpowermode (char mode) |
| Set the power mode of the sensor. | |
| void | set_accel_units (char units) |
| Set the output units from the accelerometer, either MPERSPERS or MILLIG. | |
| void | set_anglerate_units (char units) |
| Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC. | |
| void | set_angle_units (char units) |
| Set the output units from the IMU, either DEGREES or RADIANS. | |
| void | set_temp_units (char units) |
| Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT. | |
| void | set_orientation (char units) |
| Set the data output format to either WINDOWS or ANDROID. | |
| void | set_mapping (char orient) |
| 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 | get_accel (void) |
| Get the current values from the accelerometer. | |
| void | get_gyro (void) |
| Get the current values from the gyroscope. | |
| void | get_mag (void) |
| Get the current values from the magnetometer. | |
| void | get_lia (void) |
| Get the corrected linear acceleration. | |
| void | get_grv (void) |
| Get the current gravity vector. | |
| void | get_quat (void) |
| Get the output quaternion. | |
| void | get_angles (void) |
| Get the current Euler angles. | |
| void | get_temp (void) |
| Get the current temperature. | |
| void | get_calib (void) |
| Read the calibration status register and store the result in the calib variable. | |
| void | read_calibration_data (void) |
| Read the offset and radius values into the calibration array. | |
| void | write_calibration_data (void) |
| Write the contents of the calibration array into the registers. | |
Data Fields | |
| values | accel |
| Structures containing 3-axis data for acceleration, rate of turn and magnetic field. | |
| angles | euler |
| Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers. | |
| quaternion | quat |
| Quaternion values as w,x,y,z (scaled floating point) and raww etc... | |
| char | calib |
| Current contents of calibration status register. | |
| char | calibration [22] |
| Contents of the 22 registers containing offset and radius values used as calibration by the sensor. | |
| chip | ID |
| Structure containing sensor numbers, software version and chip UID. | |
| int | temperature |
| Current temperature. | |
Detailed Description
Class for operating Bosch BNO055 sensor over I2C.
Definition at line 177 of file BNO055.h.
Constructor & Destructor Documentation
| BNO055 | ( | PinName | SDA, |
| PinName | SCL | ||
| ) |
Create BNO055 instance.
Definition at line 4 of file BNO055.cpp.
Member Function Documentation
| bool check | ( | ) |
Check that the BNO055 is connected and download the software details and serial number of chip and store in ID structure.
Definition at line 23 of file BNO055.cpp.
| void get_accel | ( | void | ) |
Get the current values from the accelerometer.
Definition at line 123 of file BNO055.cpp.
| void get_angles | ( | void | ) |
Get the current Euler angles.
Definition at line 197 of file BNO055.cpp.
| void get_calib | ( | void | ) |
Read the calibration status register and store the result in the calib variable.
Definition at line 215 of file BNO055.cpp.
| void get_grv | ( | void | ) |
Get the current gravity vector.
Definition at line 171 of file BNO055.cpp.
| void get_gyro | ( | void | ) |
Get the current values from the gyroscope.
Definition at line 135 of file BNO055.cpp.
| void get_lia | ( | void | ) |
Get the corrected linear acceleration.
Definition at line 159 of file BNO055.cpp.
| void get_mag | ( | void | ) |
Get the current values from the magnetometer.
Definition at line 147 of file BNO055.cpp.
| void get_quat | ( | void | ) |
Get the output quaternion.
Definition at line 183 of file BNO055.cpp.
| void get_temp | ( | void | ) |
Get the current temperature.
Definition at line 210 of file BNO055.cpp.
| void read_calibration_data | ( | void | ) |
Read the offset and radius values into the calibration array.
Definition at line 220 of file BNO055.cpp.
| void reset | ( | ) |
Perform a power-on reset of the BNO055.
Definition at line 14 of file BNO055.cpp.
| void set_accel_units | ( | char | units ) |
Set the output units from the accelerometer, either MPERSPERS or MILLIG.
Definition at line 54 of file BNO055.cpp.
| void set_angle_units | ( | char | units ) |
Set the output units from the IMU, either DEGREES or RADIANS.
Definition at line 80 of file BNO055.cpp.
| void set_anglerate_units | ( | char | units ) |
Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC.
Definition at line 67 of file BNO055.cpp.
| void set_mapping | ( | char | orient ) |
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)
Definition at line 242 of file BNO055.cpp.
| void set_orientation | ( | char | units ) |
Set the data output format to either WINDOWS or ANDROID.
Definition at line 106 of file BNO055.cpp.
| void set_temp_units | ( | char | units ) |
Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT.
Definition at line 93 of file BNO055.cpp.
| void SetExternalCrystal | ( | bool | yn ) |
Turn the external timing crystal on/off.
Definition at line 46 of file BNO055.cpp.
| void setmode | ( | char | mode ) |
Set the operation mode of the sensor.
Definition at line 113 of file BNO055.cpp.
| void setpowermode | ( | char | mode ) |
Set the power mode of the sensor.
Definition at line 118 of file BNO055.cpp.
| void write_calibration_data | ( | void | ) |
Write the contents of the calibration array into the registers.
Definition at line 231 of file BNO055.cpp.
Field Documentation
| values accel |
| char calib |
| char calibration[22] |
| angles euler |
| chip ID |
| quaternion quat |
| int temperature |
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