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.h@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
kenjiArai 0:86a17116e8be 1 #ifndef BNO055_H
kenjiArai 0:86a17116e8be 2 #define BNO055_H
kenjiArai 0:86a17116e8be 3
kenjiArai 0:86a17116e8be 4 #include "mbed.h"
kenjiArai 0:86a17116e8be 5
trevieze 6:59ad1c98647c 6 #define BNOAddress (0x28 << 1)
trevieze 6:59ad1c98647c 7 //Register definitions
trevieze 6:59ad1c98647c 8 /* Page id register definition */
trevieze 6:59ad1c98647c 9 #define BNO055_PAGE_ID_ADDR 0x07
trevieze 6:59ad1c98647c 10 /* PAGE0 REGISTER DEFINITION START*/
trevieze 6:59ad1c98647c 11 #define BNO055_CHIP_ID_ADDR 0x00
trevieze 6:59ad1c98647c 12 #define BNO055_ACCEL_REV_ID_ADDR 0x01
trevieze 6:59ad1c98647c 13 #define BNO055_MAG_REV_ID_ADDR 0x02
trevieze 6:59ad1c98647c 14 #define BNO055_GYRO_REV_ID_ADDR 0x03
trevieze 6:59ad1c98647c 15 #define BNO055_SW_REV_ID_LSB_ADDR 0x04
trevieze 6:59ad1c98647c 16 #define BNO055_SW_REV_ID_MSB_ADDR 0x05
trevieze 6:59ad1c98647c 17 #define BNO055_BL_REV_ID_ADDR 0x06
trevieze 6:59ad1c98647c 18 /* Accel data register */
trevieze 6:59ad1c98647c 19 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
trevieze 6:59ad1c98647c 20 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
trevieze 6:59ad1c98647c 21 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
trevieze 6:59ad1c98647c 22 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
trevieze 6:59ad1c98647c 23 #define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
trevieze 6:59ad1c98647c 24 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
trevieze 6:59ad1c98647c 25 /* Mag data register */
trevieze 6:59ad1c98647c 26 #define BNO055_MAG_DATA_X_LSB_ADDR 0x0E
trevieze 6:59ad1c98647c 27 #define BNO055_MAG_DATA_X_MSB_ADDR 0x0F
trevieze 6:59ad1c98647c 28 #define BNO055_MAG_DATA_Y_LSB_ADDR 0x10
trevieze 6:59ad1c98647c 29 #define BNO055_MAG_DATA_Y_MSB_ADDR 0x11
trevieze 6:59ad1c98647c 30 #define BNO055_MAG_DATA_Z_LSB_ADDR 0x12
trevieze 6:59ad1c98647c 31 #define BNO055_MAG_DATA_Z_MSB_ADDR 0x13
trevieze 6:59ad1c98647c 32 /* Gyro data registers */
trevieze 6:59ad1c98647c 33 #define BNO055_GYRO_DATA_X_LSB_ADDR 0x14
trevieze 6:59ad1c98647c 34 #define BNO055_GYRO_DATA_X_MSB_ADDR 0x15
trevieze 6:59ad1c98647c 35 #define BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
trevieze 6:59ad1c98647c 36 #define BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
trevieze 6:59ad1c98647c 37 #define BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
trevieze 6:59ad1c98647c 38 #define BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
trevieze 6:59ad1c98647c 39 /* Euler data registers */
trevieze 6:59ad1c98647c 40 #define BNO055_EULER_H_LSB_ADDR 0x1A
trevieze 6:59ad1c98647c 41 #define BNO055_EULER_H_MSB_ADDR 0x1B
trevieze 6:59ad1c98647c 42 #define BNO055_EULER_R_LSB_ADDR 0x1C
trevieze 6:59ad1c98647c 43 #define BNO055_EULER_R_MSB_ADDR 0x1D
trevieze 6:59ad1c98647c 44 #define BNO055_EULER_P_LSB_ADDR 0x1E
trevieze 6:59ad1c98647c 45 #define BNO055_EULER_P_MSB_ADDR 0x1F
trevieze 6:59ad1c98647c 46 /* Quaternion data registers */
trevieze 6:59ad1c98647c 47 #define BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
trevieze 6:59ad1c98647c 48 #define BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
trevieze 6:59ad1c98647c 49 #define BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
trevieze 6:59ad1c98647c 50 #define BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
trevieze 6:59ad1c98647c 51 #define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
trevieze 6:59ad1c98647c 52 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
trevieze 6:59ad1c98647c 53 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
trevieze 6:59ad1c98647c 54 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
trevieze 6:59ad1c98647c 55 /* Linear acceleration data registers */
trevieze 6:59ad1c98647c 56 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
trevieze 6:59ad1c98647c 57 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
trevieze 6:59ad1c98647c 58 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
trevieze 6:59ad1c98647c 59 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
trevieze 6:59ad1c98647c 60 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
trevieze 6:59ad1c98647c 61 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
trevieze 6:59ad1c98647c 62 /* Gravity data registers */
trevieze 6:59ad1c98647c 63 #define BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
trevieze 6:59ad1c98647c 64 #define BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
trevieze 6:59ad1c98647c 65 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
trevieze 6:59ad1c98647c 66 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
trevieze 6:59ad1c98647c 67 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
trevieze 6:59ad1c98647c 68 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
trevieze 6:59ad1c98647c 69 /* Temperature data register */
trevieze 6:59ad1c98647c 70 #define BNO055_TEMP_ADDR 0x34
trevieze 6:59ad1c98647c 71 /* Status registers */
trevieze 6:59ad1c98647c 72 #define BNO055_CALIB_STAT_ADDR 0x35
trevieze 6:59ad1c98647c 73 #define BNO055_SELFTEST_RESULT_ADDR 0x36
trevieze 6:59ad1c98647c 74 #define BNO055_INTR_STAT_ADDR 0x37
trevieze 6:59ad1c98647c 75 #define BNO055_SYS_CLK_STAT_ADDR 0x38
trevieze 6:59ad1c98647c 76 #define BNO055_SYS_STAT_ADDR 0x39
trevieze 6:59ad1c98647c 77 #define BNO055_SYS_ERR_ADDR 0x3A
trevieze 6:59ad1c98647c 78 /* Unit selection register */
trevieze 6:59ad1c98647c 79 #define BNO055_UNIT_SEL_ADDR 0x3B
trevieze 6:59ad1c98647c 80 #define BNO055_DATA_SELECT_ADDR 0x3C
trevieze 6:59ad1c98647c 81 /* Mode registers */
trevieze 6:59ad1c98647c 82 #define BNO055_OPR_MODE_ADDR 0x3D
trevieze 6:59ad1c98647c 83 #define BNO055_PWR_MODE_ADDR 0x3E
trevieze 6:59ad1c98647c 84 #define BNO055_SYS_TRIGGER_ADDR 0x3F
trevieze 6:59ad1c98647c 85 #define BNO055_TEMP_SOURCE_ADDR 0x40
trevieze 6:59ad1c98647c 86 /* Axis remap registers */
trevieze 6:59ad1c98647c 87 #define BNO055_AXIS_MAP_CONFIG_ADDR 0x41
trevieze 6:59ad1c98647c 88 #define BNO055_AXIS_MAP_SIGN_ADDR 0x42
trevieze 6:59ad1c98647c 89 /* Accelerometer Offset registers */
trevieze 6:59ad1c98647c 90 #define ACCEL_OFFSET_X_LSB_ADDR 0x55
trevieze 6:59ad1c98647c 91 #define ACCEL_OFFSET_X_MSB_ADDR 0x56
trevieze 6:59ad1c98647c 92 #define ACCEL_OFFSET_Y_LSB_ADDR 0x57
trevieze 6:59ad1c98647c 93 #define ACCEL_OFFSET_Y_MSB_ADDR 0x58
trevieze 6:59ad1c98647c 94 #define ACCEL_OFFSET_Z_LSB_ADDR 0x59
trevieze 6:59ad1c98647c 95 #define ACCEL_OFFSET_Z_MSB_ADDR 0x5A
trevieze 6:59ad1c98647c 96 /* Magnetometer Offset registers */
trevieze 6:59ad1c98647c 97 #define MAG_OFFSET_X_LSB_ADDR 0x5B
trevieze 6:59ad1c98647c 98 #define MAG_OFFSET_X_MSB_ADDR 0x5C
trevieze 6:59ad1c98647c 99 #define MAG_OFFSET_Y_LSB_ADDR 0x5D
trevieze 6:59ad1c98647c 100 #define MAG_OFFSET_Y_MSB_ADDR 0x5E
trevieze 6:59ad1c98647c 101 #define MAG_OFFSET_Z_LSB_ADDR 0x5F
trevieze 6:59ad1c98647c 102 #define MAG_OFFSET_Z_MSB_ADDR 0x60
trevieze 6:59ad1c98647c 103 /* Gyroscope Offset registers*/
trevieze 6:59ad1c98647c 104 #define GYRO_OFFSET_X_LSB_ADDR 0x61
trevieze 6:59ad1c98647c 105 #define GYRO_OFFSET_X_MSB_ADDR 0x62
trevieze 6:59ad1c98647c 106 #define GYRO_OFFSET_Y_LSB_ADDR 0x63
trevieze 6:59ad1c98647c 107 #define GYRO_OFFSET_Y_MSB_ADDR 0x64
trevieze 6:59ad1c98647c 108 #define GYRO_OFFSET_Z_LSB_ADDR 0x65
trevieze 6:59ad1c98647c 109 #define GYRO_OFFSET_Z_MSB_ADDR 0x66
trevieze 6:59ad1c98647c 110 /* Radius registers */
trevieze 6:59ad1c98647c 111 #define ACCEL_RADIUS_LSB_ADDR 0x67
trevieze 6:59ad1c98647c 112 #define ACCEL_RADIUS_MSB_ADDR 0x68
trevieze 6:59ad1c98647c 113 #define MAG_RADIUS_LSB_ADDR 0x69
trevieze 6:59ad1c98647c 114 #define MAG_RADIUS_MSB_ADDR 0x6A
kenjiArai 0:86a17116e8be 115
trevieze 6:59ad1c98647c 116 /* Page 1 registers */
trevieze 6:59ad1c98647c 117 #define BNO055_UNIQUE_ID_ADDR 0x50
kenjiArai 0:86a17116e8be 118
trevieze 6:59ad1c98647c 119 //Definitions for unit selection
trevieze 6:59ad1c98647c 120 #define MPERSPERS 0x00
trevieze 6:59ad1c98647c 121 #define MILLIG 0x01
trevieze 6:59ad1c98647c 122 #define DEG_PER_SEC 0x00
trevieze 6:59ad1c98647c 123 #define RAD_PER_SEC 0x02
trevieze 6:59ad1c98647c 124 #define DEGREES 0x00
trevieze 6:59ad1c98647c 125 #define RADIANS 0x04
trevieze 6:59ad1c98647c 126 #define CENTIGRADE 0x00
trevieze 6:59ad1c98647c 127 #define FAHRENHEIT 0x10
trevieze 6:59ad1c98647c 128 #define WINDOWS 0x00
trevieze 6:59ad1c98647c 129 #define ANDROID 0x80
kenjiArai 0:86a17116e8be 130
trevieze 6:59ad1c98647c 131 //Definitions for power mode
trevieze 6:59ad1c98647c 132 #define POWER_MODE_NORMAL 0x00
trevieze 6:59ad1c98647c 133 #define POWER_MODE_LOWPOWER 0x01
trevieze 6:59ad1c98647c 134 #define POWER_MODE_SUSPEND 0x02
kenjiArai 0:86a17116e8be 135
trevieze 6:59ad1c98647c 136 //Definitions for operating mode
trevieze 6:59ad1c98647c 137 #define OPERATION_MODE_CONFIG 0x00
trevieze 6:59ad1c98647c 138 #define OPERATION_MODE_ACCONLY 0x01
trevieze 6:59ad1c98647c 139 #define OPERATION_MODE_MAGONLY 0x02
trevieze 6:59ad1c98647c 140 #define OPERATION_MODE_GYRONLY 0x03
trevieze 6:59ad1c98647c 141 #define OPERATION_MODE_ACCMAG 0x04
trevieze 6:59ad1c98647c 142 #define OPERATION_MODE_ACCGYRO 0x05
trevieze 6:59ad1c98647c 143 #define OPERATION_MODE_MAGGYRO 0x06
trevieze 6:59ad1c98647c 144 #define OPERATION_MODE_AMG 0x07
trevieze 6:59ad1c98647c 145 #define OPERATION_MODE_IMUPLUS 0x08
trevieze 6:59ad1c98647c 146 #define OPERATION_MODE_COMPASS 0x09
trevieze 6:59ad1c98647c 147 #define OPERATION_MODE_M4G 0x0A
trevieze 6:59ad1c98647c 148 #define OPERATION_MODE_NDOF_FMC_OFF 0x0B
trevieze 6:59ad1c98647c 149 #define OPERATION_MODE_NDOF 0x0C
kenjiArai 0:86a17116e8be 150
trevieze 6:59ad1c98647c 151 typedef struct values
trevieze 6:59ad1c98647c 152 {
trevieze 6:59ad1c98647c 153 int16_t rawx,rawy,rawz;
trevieze 6:59ad1c98647c 154 float x,y,z;
trevieze 6:59ad1c98647c 155 } values;
trevieze 6:59ad1c98647c 156
trevieze 6:59ad1c98647c 157 typedef struct angles
trevieze 6:59ad1c98647c 158 {
trevieze 6:59ad1c98647c 159 int16_t rawroll,rawpitch,rawyaw;
trevieze 6:59ad1c98647c 160 float roll, pitch, yaw;
trevieze 6:59ad1c98647c 161 } angles;
trevieze 6:59ad1c98647c 162
trevieze 6:59ad1c98647c 163 typedef struct quaternion
trevieze 6:59ad1c98647c 164 {
trevieze 6:59ad1c98647c 165 int16_t raww,rawx,rawy,rawz;
trevieze 6:59ad1c98647c 166 float w,x,y,z;
trevieze 6:59ad1c98647c 167 } quaternion;
kenjiArai 0:86a17116e8be 168
trevieze 6:59ad1c98647c 169 typedef struct calstatus
trevieze 6:59ad1c98647c 170 {
trevieze 6:59ad1c98647c 171 char raw; // Raw byte from calibration register
trevieze 6:59ad1c98647c 172 int mag; // Bits 0,1
trevieze 6:59ad1c98647c 173 int accel; // Bits 2,3
trevieze 6:59ad1c98647c 174 int gyro; // Bits 4,5
trevieze 6:59ad1c98647c 175 int system; // Bits 6,7
trevieze 6:59ad1c98647c 176 } calstatus;
trevieze 6:59ad1c98647c 177
trevieze 6:59ad1c98647c 178 typedef struct chip
trevieze 6:59ad1c98647c 179 {
trevieze 6:59ad1c98647c 180 char id;
trevieze 6:59ad1c98647c 181 char accel;
trevieze 6:59ad1c98647c 182 char gyro;
trevieze 6:59ad1c98647c 183 char mag;
trevieze 6:59ad1c98647c 184 char sw[2];
trevieze 6:59ad1c98647c 185 char bootload;
trevieze 6:59ad1c98647c 186 char serial[16];
trevieze 6:59ad1c98647c 187 } chip;
trevieze 6:59ad1c98647c 188
trevieze 6:59ad1c98647c 189 /** Class for operating Bosch BNO055 sensor over I2C **/
kenjiArai 0:86a17116e8be 190 class BNO055
kenjiArai 0:86a17116e8be 191 {
kenjiArai 0:86a17116e8be 192 public:
kenjiArai 0:86a17116e8be 193
trevieze 6:59ad1c98647c 194 /** Create BNO055 instance **/
trevieze 6:59ad1c98647c 195 BNO055(PinName SDA, PinName SCL);
trevieze 6:59ad1c98647c 196 //BNO055(I2C& p_i2c);
kenjiArai 0:86a17116e8be 197
trevieze 6:59ad1c98647c 198 /** Perform a power-on reset of the BNO055 **/
trevieze 6:59ad1c98647c 199 void reset();
trevieze 6:59ad1c98647c 200 /** Check that the BNO055 is connected and download the software details
trevieze 6:59ad1c98647c 201 and serial number of chip and store in ID structure **/
trevieze 6:59ad1c98647c 202 bool check();
trevieze 6:59ad1c98647c 203 /** Turn the external timing crystal on/off **/
trevieze 6:59ad1c98647c 204 void SetExternalCrystal(bool yn);
trevieze 6:59ad1c98647c 205 /** Set the operation mode of the sensor **/
trevieze 6:59ad1c98647c 206 void setmode(char mode);
trevieze 6:59ad1c98647c 207 /** Set the power mode of the sensor **/
trevieze 6:59ad1c98647c 208 void setpowermode(char mode);
kenjiArai 0:86a17116e8be 209
trevieze 6:59ad1c98647c 210 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
trevieze 6:59ad1c98647c 211 void set_accel_units(char units);
trevieze 6:59ad1c98647c 212 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
trevieze 6:59ad1c98647c 213 void set_anglerate_units(char units);
trevieze 6:59ad1c98647c 214 /** Set the output units from the IMU, either DEGREES or RADIANS **/
trevieze 6:59ad1c98647c 215 void set_angle_units(char units);
trevieze 6:59ad1c98647c 216 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
trevieze 6:59ad1c98647c 217 void set_temp_units(char units);
trevieze 6:59ad1c98647c 218 /** Set the data output format to either WINDOWS or ANDROID **/
trevieze 6:59ad1c98647c 219 void set_orientation(char units);
trevieze 6:59ad1c98647c 220 /** Set the mapping of the exes/directions as per page 25 of datasheet
trevieze 6:59ad1c98647c 221 range 0-7, any value outside this will set the orientation to P1 (default at power up) **/
trevieze 6:59ad1c98647c 222 void set_mapping(char orient);
kenjiArai 0:86a17116e8be 223
trevieze 6:59ad1c98647c 224 /** Get the current values from the accelerometer **/
trevieze 6:59ad1c98647c 225 void get_accel(void);
trevieze 6:59ad1c98647c 226 /** Get the current values from the gyroscope **/
trevieze 6:59ad1c98647c 227 void get_gyro(void);
trevieze 6:59ad1c98647c 228 /** Get the current values from the magnetometer **/
trevieze 6:59ad1c98647c 229 void get_mag(void);
trevieze 6:59ad1c98647c 230 /** Get the corrected linear acceleration **/
trevieze 6:59ad1c98647c 231 void get_lia(void);
trevieze 6:59ad1c98647c 232 /** Get the current gravity vector **/
trevieze 6:59ad1c98647c 233 void get_grv(void);
trevieze 6:59ad1c98647c 234 /** Get the output quaternion **/
trevieze 6:59ad1c98647c 235 void get_quat(void);
trevieze 6:59ad1c98647c 236 /** Get the current Euler angles **/
trevieze 6:59ad1c98647c 237 void get_angles(void);
trevieze 6:59ad1c98647c 238 /** Get the current temperature **/
trevieze 6:59ad1c98647c 239 void get_temp(void);
kenjiArai 0:86a17116e8be 240
trevieze 6:59ad1c98647c 241 /** Read the calibration status register and store the result in the calib variable **/
trevieze 6:59ad1c98647c 242 void get_calib(void);
kenjiArai 0:86a17116e8be 243
trevieze 6:59ad1c98647c 244 /** Read the offset and radius values into the calibration array**/
trevieze 6:59ad1c98647c 245 void read_calibration_data(void);
trevieze 6:59ad1c98647c 246 /** Write the contents of the calibration array into the registers **/
trevieze 6:59ad1c98647c 247 void write_calibration_data(void);
kenjiArai 0:86a17116e8be 248
trevieze 6:59ad1c98647c 249 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
trevieze 6:59ad1c98647c 250 x,y,z are the scale floating point values and
trevieze 6:59ad1c98647c 251 rawx, rawy, rawz are the int16_t values read from the sensors **/
trevieze 6:59ad1c98647c 252 values accel,gyro,mag,lia,gravity;
trevieze 6:59ad1c98647c 253
trevieze 6:59ad1c98647c 254 /** Stucture containing the Euler angles as yaw, pitch, roll as scaled floating point
trevieze 6:59ad1c98647c 255 and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
trevieze 6:59ad1c98647c 256 angles euler;
kenjiArai 0:86a17116e8be 257
trevieze 6:59ad1c98647c 258 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
trevieze 6:59ad1c98647c 259 registers **/
trevieze 6:59ad1c98647c 260 quaternion quat;
trevieze 6:59ad1c98647c 261
trevieze 6:59ad1c98647c 262 /** Current contents of calibration status register **/
trevieze 6:59ad1c98647c 263 calstatus cal;
kenjiArai 0:86a17116e8be 264
trevieze 6:59ad1c98647c 265 /** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
trevieze 6:59ad1c98647c 266 char calibration[22];
trevieze 6:59ad1c98647c 267 /** Structure containing sensor numbers, software version and chip UID **/
trevieze 6:59ad1c98647c 268 chip ID;
trevieze 6:59ad1c98647c 269 /** Current temperature **/
trevieze 6:59ad1c98647c 270 int temperature;
kenjiArai 0:86a17116e8be 271
kenjiArai 0:86a17116e8be 272 private:
kenjiArai 0:86a17116e8be 273
trevieze 6:59ad1c98647c 274 I2C _i2c;
trevieze 6:59ad1c98647c 275 char rx,tx[2],address; //I2C variables
trevieze 6:59ad1c98647c 276 char rawdata[22]; //Temporary array for input data values
trevieze 6:59ad1c98647c 277 char op_mode;
trevieze 6:59ad1c98647c 278 char pwr_mode;
trevieze 6:59ad1c98647c 279 float accel_scale,rate_scale,angle_scale;
trevieze 6:59ad1c98647c 280 int temp_scale;
kenjiArai 0:86a17116e8be 281
trevieze 6:59ad1c98647c 282 void readchar(char location)
trevieze 6:59ad1c98647c 283 {
trevieze 6:59ad1c98647c 284 tx[0] = location;
trevieze 6:59ad1c98647c 285 _i2c.write(address,tx,1,true);
trevieze 6:59ad1c98647c 286 _i2c.read(address,&rx,1,false);
trevieze 6:59ad1c98647c 287 }
kenjiArai 0:86a17116e8be 288
trevieze 6:59ad1c98647c 289 void writechar(char location, char value)
trevieze 6:59ad1c98647c 290 {
trevieze 6:59ad1c98647c 291 tx[0] = location;
trevieze 6:59ad1c98647c 292 tx[1] = value;
trevieze 6:59ad1c98647c 293 _i2c.write(address,tx,2);
trevieze 6:59ad1c98647c 294 }
kenjiArai 3:0ad6f85b178f 295
trevieze 6:59ad1c98647c 296 void setpage(char value)
trevieze 6:59ad1c98647c 297 {
trevieze 6:59ad1c98647c 298 writechar(BNO055_PAGE_ID_ADDR,value);
trevieze 6:59ad1c98647c 299 }
trevieze 6:59ad1c98647c 300 };
kenjiArai 3:0ad6f85b178f 301 #endif