Revision 2:695c6e5d239a, committed 2015-05-30

Comitter:

StressedDave

Date:

Sat May 30 19:08:59 2015 +0000

Parent:

1:2c3322a8d417

Child:

3:1db1628eb8b2

Commit message:

Added initial documentation. Added function to read Euler angles

Changed in this revision

--- a/BNO055.cpp	Sat May 30 18:36:36 2015 +0000
+++ b/BNO055.cpp	Sat May 30 19:08:59 2015 +0000
@@ -194,6 +194,19 @@
     quat.z = float(quat.rawz)/16384.0f;
 }
 
+void BNO055::get_angles(void){
+    tx[0] = BNO055_EULER_H_LSB_ADDR;
+    _i2c.write(address,tx,1,true);  
+    _i2c.read(address+1,rawdata,6,0); 
+    angles.rawyaw = (rawdata[1] << 8 | rawdata[0]);
+    angles.rawroll = (rawdata[3] << 8 | rawdata[2]);
+    angles.rawpitch = (rawdata[5] << 8 | rawdata[4]);
+    angles.yaw = float(angles.rawyaw)*angle_scale;
+    angles.roll = float(angles.rawroll)*angle_scale;
+    angles.pitch = float(angles.rawpitch)*angle_scale;
+}
+
+
 void BNO055::get_temp(void){
     readchar(BNO055_TEMP_ADDR);
     temperature = rx / temp_scale;

--- a/BNO055.h	Sat May 30 18:36:36 2015 +0000
+++ b/BNO055.h	Sat May 30 19:08:59 2015 +0000
@@ -173,44 +173,82 @@
     char serial[16];
     }chip;
 
+/** Class for operating Bosch BNO055 sensor over I2C **/
 class BNO055 
 { 
 public: 
 
+/** Create BNO055 instance **/
     BNO055(PinName SDA, PinName SCL); 
+    
+/** Perform a power-on reset of the BNO055 **/
     void reset();
+/** 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 **/    
     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 **/
     void set_anglerate_units(char units);
+/** Set the output units from the IMU, either DEGREES or RADIANS **/
     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 **/    
     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 **/
     void get_gyro(void);
+/** Get the current values from the magnetometer **/
     void get_mag(void);
+/** Get the corrected linear acceleration **/
     void get_lia(void);
+/** Get the current gravity vector **/
     void get_grv(void);
+/** Get the output quaternion **/
     void get_quat(void);
+/** Get the current Euler angles **/
+    void get_angles(void);
+/** Get the current temperature **/
     void get_temp(void);
 
+/** Read the calibration status register and store the result in the calib variable **/
     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 **/    
     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 **/
     values accel,gyro,mag,lia,gravity;
+/** 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 **/
     angles euler;
+/** Quaternion values as w,x,y,z (scaled floating point) and raww etc... as int16_t loaded from the
+    registers **/    
     quaternion quat;
+
+/** Current contents of calibration status register **/
     char calib;
-    char status;
+/** Contents of the 22 registers containing offset and radius values used as calibration by the sensor **/
     char calibration[22];
+/** Structure containing sensor numbers, software version and chip UID
     chip ID;
+/** Current temperature **/
     int temperature;
     
     private: