Diff: BNO055.h

Revision:

7:f5880506defe

Parent:

3:1db1628eb8b2

--- a/BNO055.h	Tue Sep 22 19:09:45 2015 +0000
+++ b/BNO055.h	Wed May 10 12:12:13 2017 +0000
@@ -5,45 +5,45 @@
 //
 #define BNOAddress (0x28 << 1)
 //Register definitions
-/* Page id register definition */ 
+/* Page id register definition */
 #define BNO055_PAGE_ID_ADDR          0x07
-/* PAGE0 REGISTER DEFINITION START*/ 
-#define BNO055_CHIP_ID_ADDR          0x00 
+/* PAGE0 REGISTER DEFINITION START*/
+#define BNO055_CHIP_ID_ADDR          0x00
 #define BNO055_ACCEL_REV_ID_ADDR     0x01
 #define BNO055_MAG_REV_ID_ADDR       0x02
 #define BNO055_GYRO_REV_ID_ADDR      0x03
 #define BNO055_SW_REV_ID_LSB_ADDR    0x04
 #define BNO055_SW_REV_ID_MSB_ADDR    0x05
 #define BNO055_BL_REV_ID_ADDR        0x06
-/* Accel data register */ 
+/* Accel data register */
 #define BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
 #define BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
 #define BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
 #define BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
-#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C 
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
 #define BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
-/* Mag data register */ 
+/* Mag data register */
 #define BNO055_MAG_DATA_X_LSB_ADDR   0x0E
 #define BNO055_MAG_DATA_X_MSB_ADDR   0x0F
 #define BNO055_MAG_DATA_Y_LSB_ADDR   0x10
 #define BNO055_MAG_DATA_Y_MSB_ADDR   0x11
 #define BNO055_MAG_DATA_Z_LSB_ADDR   0x12
 #define BNO055_MAG_DATA_Z_MSB_ADDR   0x13
-/* Gyro data registers */ 
+/* Gyro data registers */
 #define BNO055_GYRO_DATA_X_LSB_ADDR  0x14
 #define BNO055_GYRO_DATA_X_MSB_ADDR  0x15
 #define BNO055_GYRO_DATA_Y_LSB_ADDR  0x16
 #define BNO055_GYRO_DATA_Y_MSB_ADDR  0x17
 #define BNO055_GYRO_DATA_Z_LSB_ADDR  0x18
 #define BNO055_GYRO_DATA_Z_MSB_ADDR  0x19
-/* Euler data registers */ 
+/* Euler data registers */
 #define BNO055_EULER_H_LSB_ADDR      0x1A
 #define BNO055_EULER_H_MSB_ADDR      0x1B
 #define BNO055_EULER_R_LSB_ADDR      0x1C
 #define BNO055_EULER_R_MSB_ADDR      0x1D
 #define BNO055_EULER_P_LSB_ADDR      0x1E
 #define BNO055_EULER_P_MSB_ADDR      0x1F
-/* Quaternion data registers */ 
+/* Quaternion data registers */
 #define BNO055_QUATERNION_DATA_W_LSB_ADDR  0x20
 #define BNO055_QUATERNION_DATA_W_MSB_ADDR  0x21
 #define BNO055_QUATERNION_DATA_X_LSB_ADDR  0x22
@@ -52,66 +52,66 @@
 #define BNO055_QUATERNION_DATA_Y_MSB_ADDR  0x25
 #define BNO055_QUATERNION_DATA_Z_LSB_ADDR  0x26
 #define BNO055_QUATERNION_DATA_Z_MSB_ADDR  0x27
-/* Linear acceleration data registers */ 
+/* Linear acceleration data registers */
 #define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
 #define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
 #define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
 #define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
 #define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
 #define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
-/* Gravity data registers */ 
+/* Gravity data registers */
 #define BNO055_GRAVITY_DATA_X_LSB_ADDR      0x2E
 #define BNO055_GRAVITY_DATA_X_MSB_ADDR      0x2F
 #define BNO055_GRAVITY_DATA_Y_LSB_ADDR      0x30
 #define BNO055_GRAVITY_DATA_Y_MSB_ADDR      0x31
 #define BNO055_GRAVITY_DATA_Z_LSB_ADDR      0x32
 #define BNO055_GRAVITY_DATA_Z_MSB_ADDR      0x33
-/* Temperature data register */ 
-#define BNO055_TEMP_ADDR                    0x34 
-/* Status registers */ 
-#define BNO055_CALIB_STAT_ADDR              0x35 
-#define BNO055_SELFTEST_RESULT_ADDR         0x36 
-#define BNO055_INTR_STAT_ADDR               0x37 
-#define BNO055_SYS_CLK_STAT_ADDR            0x38 
-#define BNO055_SYS_STAT_ADDR                0x39 
-#define BNO055_SYS_ERR_ADDR                 0x3A 
-/* Unit selection register */ 
-#define BNO055_UNIT_SEL_ADDR                0x3B 
-#define BNO055_DATA_SELECT_ADDR             0x3C 
-/* Mode registers */ 
-#define BNO055_OPR_MODE_ADDR                0x3D 
-#define BNO055_PWR_MODE_ADDR                0x3E 
-#define BNO055_SYS_TRIGGER_ADDR             0x3F 
-#define BNO055_TEMP_SOURCE_ADDR             0x40 
-/* Axis remap registers */ 
-#define BNO055_AXIS_MAP_CONFIG_ADDR         0x41 
-#define BNO055_AXIS_MAP_SIGN_ADDR           0x42 
-/* Accelerometer Offset registers */ 
-#define ACCEL_OFFSET_X_LSB_ADDR             0x55 
-#define ACCEL_OFFSET_X_MSB_ADDR             0x56 
+/* Temperature data register */
+#define BNO055_TEMP_ADDR                    0x34
+/* Status registers */
+#define BNO055_CALIB_STAT_ADDR              0x35
+#define BNO055_SELFTEST_RESULT_ADDR         0x36
+#define BNO055_INTR_STAT_ADDR               0x37
+#define BNO055_SYS_CLK_STAT_ADDR            0x38
+#define BNO055_SYS_STAT_ADDR                0x39
+#define BNO055_SYS_ERR_ADDR                 0x3A
+/* Unit selection register */
+#define BNO055_UNIT_SEL_ADDR                0x3B
+#define BNO055_DATA_SELECT_ADDR             0x3C
+/* Mode registers */
+#define BNO055_OPR_MODE_ADDR                0x3D
+#define BNO055_PWR_MODE_ADDR                0x3E
+#define BNO055_SYS_TRIGGER_ADDR             0x3F
+#define BNO055_TEMP_SOURCE_ADDR             0x40
+/* Axis remap registers */
+#define BNO055_AXIS_MAP_CONFIG_ADDR         0x41
+#define BNO055_AXIS_MAP_SIGN_ADDR           0x42
+/* Accelerometer Offset registers */
+#define ACCEL_OFFSET_X_LSB_ADDR             0x55
+#define ACCEL_OFFSET_X_MSB_ADDR             0x56
 #define ACCEL_OFFSET_Y_LSB_ADDR             0x57
-#define ACCEL_OFFSET_Y_MSB_ADDR             0x58 
-#define ACCEL_OFFSET_Z_LSB_ADDR             0x59 
-#define ACCEL_OFFSET_Z_MSB_ADDR             0x5A 
-/* Magnetometer Offset registers */ 
+#define ACCEL_OFFSET_Y_MSB_ADDR             0x58
+#define ACCEL_OFFSET_Z_LSB_ADDR             0x59
+#define ACCEL_OFFSET_Z_MSB_ADDR             0x5A
+/* Magnetometer Offset registers */
 #define MAG_OFFSET_X_LSB_ADDR               0x5B
 #define MAG_OFFSET_X_MSB_ADDR               0x5C
 #define MAG_OFFSET_Y_LSB_ADDR               0x5D
 #define MAG_OFFSET_Y_MSB_ADDR               0x5E
 #define MAG_OFFSET_Z_LSB_ADDR               0x5F
 #define MAG_OFFSET_Z_MSB_ADDR               0x60
-/* Gyroscope Offset registers*/ 
+/* Gyroscope Offset registers*/
 #define GYRO_OFFSET_X_LSB_ADDR              0x61
 #define GYRO_OFFSET_X_MSB_ADDR              0x62
 #define GYRO_OFFSET_Y_LSB_ADDR              0x63
 #define GYRO_OFFSET_Y_MSB_ADDR              0x64
 #define GYRO_OFFSET_Z_LSB_ADDR              0x65
 #define GYRO_OFFSET_Z_MSB_ADDR              0x66
-/* Radius registers */ 
-#define ACCEL_RADIUS_LSB_ADDR               0x67 
-#define ACCEL_RADIUS_MSB_ADDR               0x68 
-#define MAG_RADIUS_LSB_ADDR                 0x69 
-#define MAG_RADIUS_MSB_ADDR                 0x6A 
+/* Radius registers */
+#define ACCEL_RADIUS_LSB_ADDR               0x67
+#define ACCEL_RADIUS_MSB_ADDR               0x68
+#define MAG_RADIUS_LSB_ADDR                 0x69
+#define MAG_RADIUS_MSB_ADDR                 0x6A
 
 /* Page 1 registers */
 #define BNO055_UNIQUE_ID_ADDR               0x50
@@ -129,35 +129,35 @@
 #define ANDROID     0x80
 
 //Definitions for power mode
-#define POWER_MODE_NORMAL   0x00 
-#define POWER_MODE_LOWPOWER 0x01 
-#define POWER_MODE_SUSPEND  0x02 
+#define POWER_MODE_NORMAL   0x00
+#define POWER_MODE_LOWPOWER 0x01
+#define POWER_MODE_SUSPEND  0x02
 
 //Definitions for operating mode
-#define OPERATION_MODE_CONFIG        0x00 
-#define OPERATION_MODE_ACCONLY       0x01 
-#define OPERATION_MODE_MAGONLY       0x02 
-#define OPERATION_MODE_GYRONLY       0x03 
-#define OPERATION_MODE_ACCMAG        0x04 
-#define OPERATION_MODE_ACCGYRO       0x05 
-#define OPERATION_MODE_MAGGYRO       0x06 
-#define OPERATION_MODE_AMG           0x07 
-#define OPERATION_MODE_IMUPLUS       0x08 
-#define OPERATION_MODE_COMPASS       0x09 
-#define OPERATION_MODE_M4G           0x0A 
-#define OPERATION_MODE_NDOF_FMC_OFF  0x0B 
-#define OPERATION_MODE_NDOF          0x0C 
+#define OPERATION_MODE_CONFIG        0x00
+#define OPERATION_MODE_ACCONLY       0x01
+#define OPERATION_MODE_MAGONLY       0x02
+#define OPERATION_MODE_GYRONLY       0x03
+#define OPERATION_MODE_ACCMAG        0x04
+#define OPERATION_MODE_ACCGYRO       0x05
+#define OPERATION_MODE_MAGGYRO       0x06
+#define OPERATION_MODE_AMG           0x07
+#define OPERATION_MODE_IMUPLUS       0x08
+#define OPERATION_MODE_COMPASS       0x09
+#define OPERATION_MODE_M4G           0x0A
+#define OPERATION_MODE_NDOF_FMC_OFF  0x0B
+#define OPERATION_MODE_NDOF          0x0C
 
 typedef struct values{
     int16_t rawx,rawy,rawz;
     float x,y,z;
     }values;
-    
+
 typedef struct angles{
     int16_t rawroll,rawpitch,rawyaw;
     float roll, pitch, yaw;
     } angles;
-    
+
 typedef struct quaternion{
     int16_t raww,rawx,rawy,rawz;
     float w,x,y,z;
@@ -174,25 +174,28 @@
     }chip;
 
 /** Class for operating Bosch BNO055 sensor over I2C **/
-class BNO055 
-{ 
-public: 
+class BNO055
+{
+public:
 
 /** Create BNO055 instance **/
-    BNO055(PinName SDA, PinName SCL); 
-    
+    BNO055(PinName SDA, PinName SCL, char i2cAddress = BNOAddress);
+
+    /** Create BNO055 instance **/
+    BNO055(I2C &i2c, char i2cAddress = BNOAddress);
+
 /** Perform a power-on reset of the BNO055 **/
     void reset();
-/** Check that the BNO055 is connected and download the software details 
+/** Check that the BNO055 is connected and download the software details
 and serial number of chip and store in ID structure **/
     bool check();
 /** Turn the external timing crystal on/off **/
     void SetExternalCrystal(bool yn);
-/** Set the operation mode of the sensor **/    
+/** Set the operation mode of the sensor **/
     void setmode(char mode);
 /** Set the power mode of the sensor **/
     void setpowermode(char mode);
-    
+
 /** Set the output units from the accelerometer, either MPERSPERS or MILLIG **/
     void set_accel_units(char units);
 /** Set the output units from the gyroscope, either DEG_PER_SEC or RAD_PER_SEC **/
@@ -201,12 +204,12 @@
     void set_angle_units(char units);
 /** Set the output units from the temperature sensor, either CENTIGRADE or FAHRENHEIT **/
     void set_temp_units(char units);
-/** Set the data output format to either WINDOWS or ANDROID **/    
+/** Set the data output format to either WINDOWS or ANDROID **/
     void set_orientation(char units);
 /** 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 set_mapping(char orient);
-    
+
 /** Get the current values from the accelerometer **/
     void get_accel(void);
 /** Get the current values from the gyroscope **/
@@ -228,9 +231,9 @@
     void get_calib(void);
 /** Read the offset and radius values into the calibration array**/
     void read_calibration_data(void);
-/** Write the contents of the calibration array into the registers **/    
+/** Write the contents of the calibration array into the registers **/
     void write_calibration_data(void);
-    
+
 /** Structures containing 3-axis data for acceleration, rate of turn and magnetic field.
     x,y,z are the scale floating point values and
     rawx, rawy, rawz are the int16_t values read from the sensors **/
@@ -239,7 +242,7 @@
     and rawyaw, rawroll & rollpitch as the int16_t values loaded from the registers **/
     angles euler;
 /** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
-    registers **/    
+    registers **/
     quaternion quat;
 
 /** Current contents of calibration status register **/
@@ -250,9 +253,9 @@
     chip ID;
 /** Current temperature **/
     int temperature;
-    
+
     private:
-    
+
         I2C _i2c;
         char rx,tx[2],address;  //I2C variables
         char rawdata[22]; //Temporary array for input data values
@@ -260,7 +263,7 @@
         char pwr_mode;
         float accel_scale,rate_scale,angle_scale;
         int temp_scale;
-        
+
 void readchar(char location){
     tx[0] = location;
     _i2c.write(address,tx,1,true);
@@ -277,4 +280,4 @@
     writechar(BNO055_PAGE_ID_ADDR,value);
 }
     };
-#endif
\ No newline at end of file
+#endif