Darren Ulrich / BNO055_Adafruit

Found this library on Github and so far it is as complete as the Arduino Adafruit library.

Fork of BNO055_fusion by Darren Ulrich

Major bugs

BNO055.cpp@6:59ad1c98647c, 2017-03-03 (annotated)

Committer:
trevieze
Date:
Fri Mar 03 02:52:03 2017 +0000
Revision:
6:59ad1c98647c
Parent:
5:eae056708af1 
Found this library on Github and so far I find it as complete as the Arduino library. Has getCal and setCal so only need to cal once.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
trevieze 6:59ad1c98647c 1 #include "BNO055.h"
trevieze 6:59ad1c98647c 2 #include "mbed.h"
trevieze 6:59ad1c98647c 3
trevieze 6:59ad1c98647c 4 BNO055::BNO055(PinName SDA, PinName SCL) : _i2c(SDA,SCL)
trevieze 6:59ad1c98647c 5 //BNO055::BNO055 (I2C& p_i2c) :
trevieze 6:59ad1c98647c 6 // _i2c(p_i2c)
trevieze 6:59ad1c98647c 7 {
trevieze 6:59ad1c98647c 8 //Set I2C fast and bring reset line high
trevieze 6:59ad1c98647c 9 _i2c.frequency(400000);
trevieze 6:59ad1c98647c 10 address = BNOAddress;
trevieze 6:59ad1c98647c 11 accel_scale = 0.001f;
trevieze 6:59ad1c98647c 12 rate_scale = 1.0f/16.0f;
trevieze 6:59ad1c98647c 13 angle_scale = 1.0f/16.0f;
trevieze 6:59ad1c98647c 14 temp_scale = 1;
trevieze 6:59ad1c98647c 15 }
trevieze 6:59ad1c98647c 16
trevieze 6:59ad1c98647c 17 void BNO055::reset()
trevieze 6:59ad1c98647c 18 {
trevieze 6:59ad1c98647c 19 //Perform a power-on-reset
trevieze 6:59ad1c98647c 20 readchar(BNO055_SYS_TRIGGER_ADDR);
trevieze 6:59ad1c98647c 21 rx = rx | 0x20;
trevieze 6:59ad1c98647c 22 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
trevieze 6:59ad1c98647c 23 //Wait for the system to come back up again (datasheet says 650ms)
trevieze 6:59ad1c98647c 24 wait_ms(675);
trevieze 6:59ad1c98647c 25 }
trevieze 6:59ad1c98647c 26
trevieze 6:59ad1c98647c 27 bool BNO055::check()
trevieze 6:59ad1c98647c 28 {
trevieze 6:59ad1c98647c 29 //Check we have communication link with the chip
trevieze 6:59ad1c98647c 30 readchar(BNO055_CHIP_ID_ADDR);
trevieze 6:59ad1c98647c 31 if (rx != 0xA0) return false;
trevieze 6:59ad1c98647c 32 //Grab the chip ID and software versions
trevieze 6:59ad1c98647c 33 tx[0] = BNO055_CHIP_ID_ADDR;
trevieze 6:59ad1c98647c 34 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 35 _i2c.read(address+1,rawdata,7,false);
trevieze 6:59ad1c98647c 36 ID.id = rawdata[0];
trevieze 6:59ad1c98647c 37 ID.accel = rawdata[1];
trevieze 6:59ad1c98647c 38 ID.mag = rawdata[2];
trevieze 6:59ad1c98647c 39 ID.gyro = rawdata[3];
trevieze 6:59ad1c98647c 40 ID.sw[0] = rawdata[4];
trevieze 6:59ad1c98647c 41 ID.sw[1] = rawdata[5];
trevieze 6:59ad1c98647c 42 ID.bootload = rawdata[6];
trevieze 6:59ad1c98647c 43 setpage(1);
trevieze 6:59ad1c98647c 44 tx[0] = BNO055_UNIQUE_ID_ADDR;
trevieze 6:59ad1c98647c 45 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 46 _i2c.read(address+1,ID.serial,16,false);
trevieze 6:59ad1c98647c 47 setpage(0);
trevieze 6:59ad1c98647c 48 return true;
trevieze 6:59ad1c98647c 49 }
kenjiArai 0:86a17116e8be 50
trevieze 6:59ad1c98647c 51 void BNO055::SetExternalCrystal(bool yn)
trevieze 6:59ad1c98647c 52 {
trevieze 6:59ad1c98647c 53 // Read the current status from the device
trevieze 6:59ad1c98647c 54 readchar(BNO055_SYS_TRIGGER_ADDR);
trevieze 6:59ad1c98647c 55 if (yn) rx = rx | 0x80;
trevieze 6:59ad1c98647c 56 else rx = rx & 0x7F;
trevieze 6:59ad1c98647c 57 writechar(BNO055_SYS_TRIGGER_ADDR,rx);
trevieze 6:59ad1c98647c 58 }
trevieze 6:59ad1c98647c 59
trevieze 6:59ad1c98647c 60 void BNO055::set_accel_units(char units)
trevieze 6:59ad1c98647c 61 {
trevieze 6:59ad1c98647c 62 readchar(BNO055_UNIT_SEL_ADDR);
trevieze 6:59ad1c98647c 63 if (units == MPERSPERS)
trevieze 6:59ad1c98647c 64 {
trevieze 6:59ad1c98647c 65 rx = rx & 0xFE;
trevieze 6:59ad1c98647c 66 accel_scale = 0.01f;
trevieze 6:59ad1c98647c 67 }
trevieze 6:59ad1c98647c 68 else
trevieze 6:59ad1c98647c 69 {
trevieze 6:59ad1c98647c 70 rx = rx | units;
trevieze 6:59ad1c98647c 71 accel_scale = 0.001f;
trevieze 6:59ad1c98647c 72 }
trevieze 6:59ad1c98647c 73 writechar(BNO055_UNIT_SEL_ADDR,rx);
trevieze 6:59ad1c98647c 74 }
kenjiArai 0:86a17116e8be 75
trevieze 6:59ad1c98647c 76 void BNO055::set_anglerate_units(char units)
kenjiArai 0:86a17116e8be 77 {
trevieze 6:59ad1c98647c 78 readchar(BNO055_UNIT_SEL_ADDR);
trevieze 6:59ad1c98647c 79 if (units == DEG_PER_SEC)
trevieze 6:59ad1c98647c 80 {
trevieze 6:59ad1c98647c 81 rx = rx & 0xFD;
trevieze 6:59ad1c98647c 82 rate_scale = 1.0f/16.0f;
trevieze 6:59ad1c98647c 83 }
trevieze 6:59ad1c98647c 84 else
trevieze 6:59ad1c98647c 85 {
trevieze 6:59ad1c98647c 86 rx = rx | units;
trevieze 6:59ad1c98647c 87 rate_scale = 1.0f/900.0f;
trevieze 6:59ad1c98647c 88 }
trevieze 6:59ad1c98647c 89 writechar(BNO055_UNIT_SEL_ADDR,rx);
trevieze 6:59ad1c98647c 90 }
trevieze 6:59ad1c98647c 91
trevieze 6:59ad1c98647c 92 void BNO055::set_angle_units(char units)
trevieze 6:59ad1c98647c 93 {
trevieze 6:59ad1c98647c 94 readchar(BNO055_UNIT_SEL_ADDR);
trevieze 6:59ad1c98647c 95 if (units == DEGREES)
trevieze 6:59ad1c98647c 96 {
trevieze 6:59ad1c98647c 97 rx = rx & 0xFB;
trevieze 6:59ad1c98647c 98 angle_scale = 1.0f/16.0f;
trevieze 6:59ad1c98647c 99 }
trevieze 6:59ad1c98647c 100 else
trevieze 6:59ad1c98647c 101 {
trevieze 6:59ad1c98647c 102 rx = rx | units;
trevieze 6:59ad1c98647c 103 rate_scale = 1.0f/900.0f;
trevieze 6:59ad1c98647c 104 }
trevieze 6:59ad1c98647c 105 writechar(BNO055_UNIT_SEL_ADDR,rx);
kenjiArai 0:86a17116e8be 106 }
kenjiArai 0:86a17116e8be 107
trevieze 6:59ad1c98647c 108 void BNO055::set_temp_units(char units)
trevieze 6:59ad1c98647c 109 {
trevieze 6:59ad1c98647c 110 readchar(BNO055_UNIT_SEL_ADDR);
trevieze 6:59ad1c98647c 111 if (units == CENTIGRADE)
trevieze 6:59ad1c98647c 112 {
trevieze 6:59ad1c98647c 113 rx = rx & 0xEF;
trevieze 6:59ad1c98647c 114 temp_scale = 1;
trevieze 6:59ad1c98647c 115 }
trevieze 6:59ad1c98647c 116 else
trevieze 6:59ad1c98647c 117 {
trevieze 6:59ad1c98647c 118 rx = rx | units;
trevieze 6:59ad1c98647c 119 temp_scale = 2;
trevieze 6:59ad1c98647c 120 }
trevieze 6:59ad1c98647c 121 writechar(BNO055_UNIT_SEL_ADDR,rx);
trevieze 6:59ad1c98647c 122 }
trevieze 6:59ad1c98647c 123
trevieze 6:59ad1c98647c 124 void BNO055::set_orientation(char units)
trevieze 6:59ad1c98647c 125 {
trevieze 6:59ad1c98647c 126 readchar(BNO055_UNIT_SEL_ADDR);
trevieze 6:59ad1c98647c 127 if (units == WINDOWS) rx = rx &0x7F;
trevieze 6:59ad1c98647c 128 else rx = rx | units;
trevieze 6:59ad1c98647c 129 writechar(BNO055_UNIT_SEL_ADDR,rx);
trevieze 6:59ad1c98647c 130 }
trevieze 6:59ad1c98647c 131
trevieze 6:59ad1c98647c 132 void BNO055::setmode(char omode)
kenjiArai 0:86a17116e8be 133 {
trevieze 6:59ad1c98647c 134 writechar(BNO055_OPR_MODE_ADDR,omode);
trevieze 6:59ad1c98647c 135 op_mode = omode;
trevieze 6:59ad1c98647c 136 }
trevieze 6:59ad1c98647c 137
trevieze 6:59ad1c98647c 138 void BNO055::setpowermode(char pmode)
trevieze 6:59ad1c98647c 139 {
trevieze 6:59ad1c98647c 140 writechar(BNO055_PWR_MODE_ADDR,pmode);
trevieze 6:59ad1c98647c 141 pwr_mode = pmode;
trevieze 6:59ad1c98647c 142 }
trevieze 6:59ad1c98647c 143
trevieze 6:59ad1c98647c 144 void BNO055::get_accel(void)
trevieze 6:59ad1c98647c 145 {
trevieze 6:59ad1c98647c 146 tx[0] = BNO055_ACCEL_DATA_X_LSB_ADDR;
trevieze 6:59ad1c98647c 147 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 148 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 149 accel.rawx = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 150 accel.rawy = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 151 accel.rawz = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 152 accel.x = float(accel.rawx)*accel_scale;
trevieze 6:59ad1c98647c 153 accel.y = float(accel.rawy)*accel_scale;
trevieze 6:59ad1c98647c 154 accel.z = float(accel.rawz)*accel_scale;
trevieze 6:59ad1c98647c 155 }
trevieze 6:59ad1c98647c 156
trevieze 6:59ad1c98647c 157 void BNO055::get_gyro(void)
trevieze 6:59ad1c98647c 158 {
trevieze 6:59ad1c98647c 159 tx[0] = BNO055_GYRO_DATA_X_LSB_ADDR;
trevieze 6:59ad1c98647c 160 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 161 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 162 gyro.rawx = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 163 gyro.rawy = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 164 gyro.rawz = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 165 gyro.x = float(gyro.rawx)*rate_scale;
trevieze 6:59ad1c98647c 166 gyro.y = float(gyro.rawy)*rate_scale;
trevieze 6:59ad1c98647c 167 gyro.z = float(gyro.rawz)*rate_scale;
kenjiArai 0:86a17116e8be 168 }
kenjiArai 0:86a17116e8be 169
trevieze 6:59ad1c98647c 170 void BNO055::get_mag(void)
kenjiArai 0:86a17116e8be 171 {
trevieze 6:59ad1c98647c 172 tx[0] = BNO055_MAG_DATA_X_LSB_ADDR;
trevieze 6:59ad1c98647c 173 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 174 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 175 mag.rawx = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 176 mag.rawy = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 177 mag.rawz = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 178 mag.x = float(mag.rawx);
trevieze 6:59ad1c98647c 179 mag.y = float(mag.rawy);
trevieze 6:59ad1c98647c 180 mag.z = float(mag.rawz);
trevieze 6:59ad1c98647c 181 }
trevieze 6:59ad1c98647c 182
trevieze 6:59ad1c98647c 183 void BNO055::get_lia(void)
trevieze 6:59ad1c98647c 184 {
trevieze 6:59ad1c98647c 185 tx[0] = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
trevieze 6:59ad1c98647c 186 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 187 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 188 lia.rawx = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 189 lia.rawy = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 190 lia.rawz = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 191 lia.x = float(lia.rawx)*accel_scale;
trevieze 6:59ad1c98647c 192 lia.y = float(lia.rawy)*accel_scale;
trevieze 6:59ad1c98647c 193 lia.z = float(lia.rawz)*accel_scale;
kenjiArai 0:86a17116e8be 194 }
kenjiArai 0:86a17116e8be 195
trevieze 6:59ad1c98647c 196 void BNO055::get_grv(void)
trevieze 6:59ad1c98647c 197 {
trevieze 6:59ad1c98647c 198 tx[0] = BNO055_GRAVITY_DATA_X_LSB_ADDR;
trevieze 6:59ad1c98647c 199 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 200 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 201 gravity.rawx = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 202 gravity.rawy = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 203 gravity.rawz = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 204 gravity.x = float(gravity.rawx)*accel_scale;
trevieze 6:59ad1c98647c 205 gravity.y = float(gravity.rawy)*accel_scale;
trevieze 6:59ad1c98647c 206 gravity.z = float(gravity.rawz)*accel_scale;
trevieze 6:59ad1c98647c 207 }
trevieze 6:59ad1c98647c 208
trevieze 6:59ad1c98647c 209 void BNO055::get_quat(void)
kenjiArai 0:86a17116e8be 210 {
trevieze 6:59ad1c98647c 211 tx[0] = BNO055_QUATERNION_DATA_W_LSB_ADDR;
trevieze 6:59ad1c98647c 212 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 213 _i2c.read(address+1,rawdata,8,0);
trevieze 6:59ad1c98647c 214 quat.raww = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 215 quat.rawx = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 216 quat.rawy = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 217 quat.rawz = (rawdata[7] << 8 | rawdata[6]);
trevieze 6:59ad1c98647c 218 quat.w = float(quat.raww)/16384.0f;
trevieze 6:59ad1c98647c 219 quat.x = float(quat.rawx)/16384.0f;
trevieze 6:59ad1c98647c 220 quat.y = float(quat.rawy)/16384.0f;
trevieze 6:59ad1c98647c 221 quat.z = float(quat.rawz)/16384.0f;
trevieze 6:59ad1c98647c 222 }
trevieze 6:59ad1c98647c 223
trevieze 6:59ad1c98647c 224 void BNO055::get_angles(void)
trevieze 6:59ad1c98647c 225 {
trevieze 6:59ad1c98647c 226 tx[0] = BNO055_EULER_H_LSB_ADDR;
trevieze 6:59ad1c98647c 227 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 228 _i2c.read(address+1,rawdata,6,0);
trevieze 6:59ad1c98647c 229 euler.rawyaw = (rawdata[1] << 8 | rawdata[0]);
trevieze 6:59ad1c98647c 230 euler.rawroll = (rawdata[3] << 8 | rawdata[2]);
trevieze 6:59ad1c98647c 231 euler.rawpitch = (rawdata[5] << 8 | rawdata[4]);
trevieze 6:59ad1c98647c 232 euler.yaw = float(euler.rawyaw)*angle_scale;
trevieze 6:59ad1c98647c 233 euler.roll = float(euler.rawroll)*angle_scale;
trevieze 6:59ad1c98647c 234 euler.pitch = float(euler.rawpitch)*angle_scale;
kenjiArai 0:86a17116e8be 235 }
kenjiArai 0:86a17116e8be 236
trevieze 5:eae056708af1 237
trevieze 6:59ad1c98647c 238 void BNO055::get_temp(void)
kenjiArai 0:86a17116e8be 239 {
trevieze 6:59ad1c98647c 240 readchar(BNO055_TEMP_ADDR);
trevieze 6:59ad1c98647c 241 temperature = rx / temp_scale;
kenjiArai 0:86a17116e8be 242 }
kenjiArai 0:86a17116e8be 243
trevieze 6:59ad1c98647c 244 void BNO055::get_calib(void)
kenjiArai 0:86a17116e8be 245 {
trevieze 6:59ad1c98647c 246 readchar(BNO055_CALIB_STAT_ADDR);
kenjiArai 0:86a17116e8be 247
trevieze 6:59ad1c98647c 248 cal.raw = rx;
trevieze 6:59ad1c98647c 249 cal.mag = (rx & ((1 << 1) | (1 << 0))) >> 0;
trevieze 6:59ad1c98647c 250 cal.accel = (rx & ((1 << 3) | (1 << 2))) >> 2;
trevieze 6:59ad1c98647c 251 cal.gyro = (rx & ((1 << 5) | (1 << 4))) >> 4;
trevieze 6:59ad1c98647c 252 cal.system = (rx & ((1 << 7) | (1 << 6))) >> 6;
kenjiArai 0:86a17116e8be 253 }
kenjiArai 0:86a17116e8be 254
trevieze 6:59ad1c98647c 255 void BNO055::read_calibration_data(void)
kenjiArai 0:86a17116e8be 256 {
trevieze 6:59ad1c98647c 257 char tempmode = op_mode;
trevieze 6:59ad1c98647c 258 setmode(OPERATION_MODE_CONFIG);
trevieze 6:59ad1c98647c 259 wait_ms(20);
trevieze 6:59ad1c98647c 260 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
trevieze 6:59ad1c98647c 261 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 262 _i2c.read(address,calibration,22,false);
trevieze 6:59ad1c98647c 263 setmode(tempmode);
trevieze 6:59ad1c98647c 264 wait_ms(10);
kenjiArai 0:86a17116e8be 265 }
kenjiArai 0:86a17116e8be 266
trevieze 6:59ad1c98647c 267 void BNO055::write_calibration_data(void)
kenjiArai 0:86a17116e8be 268 {
trevieze 6:59ad1c98647c 269 char tempmode = op_mode;
trevieze 6:59ad1c98647c 270 setmode(OPERATION_MODE_CONFIG);
trevieze 6:59ad1c98647c 271 wait_ms(20);
trevieze 6:59ad1c98647c 272 tx[0] = ACCEL_OFFSET_X_LSB_ADDR;
trevieze 6:59ad1c98647c 273 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 274 _i2c.write(address,calibration,22,false);
trevieze 6:59ad1c98647c 275 setmode(tempmode);
trevieze 6:59ad1c98647c 276 wait_ms(10);
kenjiArai 1:cb7e19c0a702 277 }
kenjiArai 1:cb7e19c0a702 278
trevieze 6:59ad1c98647c 279 void BNO055::set_mapping(char orient)
kenjiArai 0:86a17116e8be 280 {
trevieze 6:59ad1c98647c 281 switch (orient)
trevieze 6:59ad1c98647c 282 {
trevieze 6:59ad1c98647c 283 case 0:
trevieze 6:59ad1c98647c 284 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
trevieze 6:59ad1c98647c 285 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x04);
trevieze 6:59ad1c98647c 286 break;
trevieze 6:59ad1c98647c 287 case 1:
trevieze 6:59ad1c98647c 288 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
trevieze 6:59ad1c98647c 289 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
trevieze 6:59ad1c98647c 290 break;
trevieze 6:59ad1c98647c 291 case 2:
trevieze 6:59ad1c98647c 292 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
trevieze 6:59ad1c98647c 293 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
trevieze 6:59ad1c98647c 294 break;
trevieze 6:59ad1c98647c 295 case 3:
trevieze 6:59ad1c98647c 296 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
trevieze 6:59ad1c98647c 297 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x02);
trevieze 6:59ad1c98647c 298 break;
trevieze 6:59ad1c98647c 299 case 4:
trevieze 6:59ad1c98647c 300 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
trevieze 6:59ad1c98647c 301 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x03);
trevieze 6:59ad1c98647c 302 break;
trevieze 6:59ad1c98647c 303 case 5:
trevieze 6:59ad1c98647c 304 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
trevieze 6:59ad1c98647c 305 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x01);
trevieze 6:59ad1c98647c 306 break;
trevieze 6:59ad1c98647c 307 case 6:
trevieze 6:59ad1c98647c 308 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x21);
trevieze 6:59ad1c98647c 309 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x07);
trevieze 6:59ad1c98647c 310 break;
trevieze 6:59ad1c98647c 311 case 7:
trevieze 6:59ad1c98647c 312 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
trevieze 6:59ad1c98647c 313 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x05);
trevieze 6:59ad1c98647c 314 break;
trevieze 6:59ad1c98647c 315 default:
trevieze 6:59ad1c98647c 316 writechar(BNO055_AXIS_MAP_CONFIG_ADDR,0x24);
trevieze 6:59ad1c98647c 317 writechar(BNO055_AXIS_MAP_SIGN_ADDR,0x00);
trevieze 6:59ad1c98647c 318 }
kenjiArai 0:86a17116e8be 319 }