BRIX5

 ***************************************************************************/

 #include "Arduino.h"

 #include "WProgram.h"

    @brief  Instantiates a new Adafruit_BNO055 class

*/

  _sensorID = sensorID;

  _address = address;

    @brief  Sets up the HW

*/

  /* Enable I2C */

  Wire.begin();

  /* Make sure we have the right device */

  uint8_t id = read8(BNO055_CHIP_ID_ADDR);

  if(id != BNO055_ID)

  {

    delay(1000); // hold on for boot

    id = read8(BNO055_CHIP_ID_ADDR);

    if(id != BNO055_ID) {

      return false;  // still not? ok bail

    }

  }

  /* Switch to config mode (just in case since this is the default) */

  setMode(OPERATION_MODE_CONFIG);

  /* Reset */

  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);

  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)

  {

    delay(10);

  }

  delay(50);

  /* Set to normal power mode */

  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);

  delay(10);

  write8(BNO055_PAGE_ID_ADDR, 0);

  /* Set the output units */

  /*

  uint8_t unitsel = (0 << 7) | // Orientation = Android

                    (0 << 4) | // Temperature = Celsius

                    (0 << 2) | // Euler = Degrees

                    (1 << 1) | // Gyro = Rads

                    (0 << 0);  // Accelerometer = m/s^2

  write8(BNO055_UNIT_SEL_ADDR, unitsel);

  */

  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);

  delay(10);

  /* Set the requested operating mode (see section 3.3) */

  setMode(mode);

  delay(20);

  return true;

    @brief  Puts the chip in the specified operating mode

*/

  _mode = mode;

  write8(BNO055_OPR_MODE_ADDR, _mode);

  delay(30);

    @brief  Use the external 32.768KHz crystal

*/

  adafruit_bno055_opmode_t modeback = _mode;

  /* Switch to config mode (just in case since this is the default) */

  setMode(OPERATION_MODE_CONFIG);

  delay(25);

  write8(BNO055_PAGE_ID_ADDR, 0);

  if (usextal) {

    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);

  } else {

    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);

  }

  delay(10);

  /* Set the requested operating mode (see section 3.3) */

  setMode(modeback);

  delay(20);

    @brief  Gets the latest system status info

*/

  write8(BNO055_PAGE_ID_ADDR, 0);

  /* System Status (see section 4.3.58)

     ---------------------------------

     0 = Idle

     1 = System Error

     2 = Initializing Peripherals

     3 = System Iniitalization

     4 = Executing Self-Test

     5 = Sensor fusio algorithm running

     6 = System running without fusion algorithms */

  if (system_status != 0)

    *system_status    = read8(BNO055_SYS_STAT_ADDR);

  /* Self Test Results (see section )

     --------------------------------

     1 = test passed, 0 = test failed

     Bit 0 = Accelerometer self test

     Bit 1 = Magnetometer self test

     Bit 2 = Gyroscope self test

     Bit 3 = MCU self test

     0x0F = all good! */

  if (self_test_result != 0)

    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);

  /* System Error (see section 4.3.59)

     ---------------------------------

     0 = No error

     1 = Peripheral initialization error

     2 = System initialization error

     3 = Self test result failed

     4 = Register map value out of range

     5 = Register map address out of range

     6 = Register map write error

     7 = BNO low power mode not available for selected operat ion mode

     8 = Accelerometer power mode not available

     9 = Fusion algorithm configuration error

     A = Sensor configuration error */

  if (system_error != 0)

    *system_error     = read8(BNO055_SYS_ERR_ADDR);

  delay(200);

    @brief  Gets the chip revision numbers

*/

  uint8_t a, b;

  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));

  /* Check the accelerometer revision */

  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);

  /* Check the magnetometer revision */

  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);

  /* Check the gyroscope revision */

  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);

  /* Check the SW revision */

  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);

  a = read8(BNO055_SW_REV_ID_LSB_ADDR);

  b = read8(BNO055_SW_REV_ID_MSB_ADDR);

  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);

    @brief  Gets current calibration state.  Each value should be a uint8_t

            pointer and it will be set to 0 if not calibrated and 3 if

            fully calibrated.

*/

  uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);

  if (sys != NULL) {

    *sys = (calData >> 6) & 0x03;

  }

  if (gyro != NULL) {

    *gyro = (calData >> 4) & 0x03;

  }

  if (accel != NULL) {

    *accel = (calData >> 2) & 0x03;

  }

  if (mag != NULL) {

    *mag = calData & 0x03;

  }

    @brief  Gets the temperature in degrees celsius

*/

  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));

  return temp;

    @brief  Gets a vector reading from the specified source

*/

  imu::Vector<3> xyz;

  uint8_t buffer[6];

  memset (buffer, 0, 6);

  int16_t x, y, z;

  x = y = z = 0;

  /* Read vector data (6 bytes) */

  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);

  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);

  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);

  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);

  /* Convert the value to an appropriate range (section 3.6.4) */

  /* and assign the value to the Vector type */

  switch(vector_type)

  {

    case VECTOR_MAGNETOMETER:

      /* 1uT = 16 LSB */

      xyz[0] = ((double)x)/16.0;

      xyz[1] = ((double)y)/16.0;

      xyz[2] = ((double)z)/16.0;

      break;

    case VECTOR_GYROSCOPE:

      /* 1rps = 900 LSB */

      xyz[0] = ((double)x)/900.0;

      xyz[1] = ((double)y)/900.0;

      xyz[2] = ((double)z)/900.0;

      break;

    case VECTOR_EULER:

      /* 1 degree = 16 LSB */

      xyz[0] = ((double)x)/16.0;

      xyz[1] = ((double)y)/16.0;

      xyz[2] = ((double)z)/16.0;

      break;

    case VECTOR_ACCELEROMETER:

    case VECTOR_LINEARACCEL:

    case VECTOR_GRAVITY:

      /* 1m/s^2 = 100 LSB */

      xyz[0] = ((double)x)/100.0;

      xyz[1] = ((double)y)/100.0;

      xyz[2] = ((double)z)/100.0;

      break;

  }