Revision 3b2655dc

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Adafruit_BNO055.cpp
104 104 
    @brief  Gets the latest system status info
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getSystemStatus(adafruit_bno055_system_status_t * status)
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void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
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{
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  memset(status, 0, sizeof(adafruit_bno055_system_status_t));
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  write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);
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  delay(10);
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  /* Read the system status register */
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  status->system_status    = read8(BNO055_SYS_STAT_ADDR);
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  status->self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
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  status->system_error     = read8(BNO055_SYS_ERR_ADDR);
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  if (system_status != 0)
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    *system_status    = read8(BNO055_SYS_STAT_ADDR);
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  if (self_test_result != 0)
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    *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
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  if (system_error != 0)
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    *system_error     = read8(BNO055_SYS_ERR_ADDR);
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}
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/**************************************************************************/


  		




  ......




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


  		




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void Adafruit_BNO055::displaySystemStatus(void)


  		




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{


  		




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  adafruit_bno055_system_status_t status;


  		




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  getSystemStatus(&status);


  		




  
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  uint8_t system_status, self_test_result, system_error;


  		




  
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  getSystemStatus(&system_status, &self_test_result, &system_error);


  		




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  /* System Status (see section 4.3.58)


  		




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


  		




  ......




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     6 = System running without fusion algorithms */


  		




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  Serial.print("System Status:          0x");


  		




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  Serial.println(status.system_status, HEX);


  		




  
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  Serial.println(system_status, HEX);


  		




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  /* Self Test Results (see section )


  		




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


  		




  ......




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     0x0F = all good! */


  		




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  Serial.print("Self Test Results:      0x");


  		




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  Serial.println(status.self_test_result, HEX);


  		




  
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  Serial.println(self_test_result, HEX);


  		




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  /* System Error (see section 4.3.59)


  		




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


  		




  ......




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     A = Sensor configuration error */


  		




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  Serial.print("System Error:           0x");


  		




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  Serial.println(status.system_error, HEX);


  		




  
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  Serial.println(system_error, HEX);


  		




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}


  		




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


  		












  

    
      Adafruit_BNO055.h
    
  





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      uint8_t  bl_rev;


  		




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    } adafruit_bno055_rev_info_t;


  		




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    typedef struct


  		




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    {


  		




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      uint8_t system_status;      


  		




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      uint8_t self_test_result;


  		




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      uint8_t system_error;


  		




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    } adafruit_bno055_system_status_t;


  		




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    typedef enum


  		




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    {


  		




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      VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,


  		




  ......




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    void  setMode             ( adafruit_bno055_opmode_t mode );


  		




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    void  getRevInfo          ( adafruit_bno055_rev_info_t* );


  		




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    void  displayRevInfo      ( void );


  		




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    void  getSystemStatus     ( adafruit_bno055_system_status_t* );


  		




  
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    //    void  getSystemStatus     ( adafruit_bno055_system_status_t* );


  		




  
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    void  getSystemStatus     ( uint8_t *system_status, 


  		




  
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				uint8_t *self_test_result, 


  		




  
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				uint8_t *system_error);


  		




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    void  displaySystemStatus ( void );


  		




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    void  printDouble         ( double val, unsigned int precision );


  		




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