Revision 3b2655dc Adafruit_BNO055.cpp
| Adafruit_BNO055.cpp | ||
|---|---|---|
| 104 | 104 |
@brief Gets the latest system status info |
| 105 | 105 |
*/ |
| 106 | 106 |
/**************************************************************************/ |
| 107 |
void Adafruit_BNO055::getSystemStatus(adafruit_bno055_system_status_t * status)
|
|
| 107 |
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
|
|
| 108 | 108 |
{
|
| 109 |
memset(status, 0, sizeof(adafruit_bno055_system_status_t));
|
|
| 110 |
|
|
| 109 |
write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);
|
|
| 110 |
delay(10); |
|
| 111 | 111 |
/* Read the system status register */ |
| 112 |
status->system_status = read8(BNO055_SYS_STAT_ADDR); |
|
| 113 |
status->self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR); |
|
| 114 |
status->system_error = read8(BNO055_SYS_ERR_ADDR); |
|
| 112 |
if (system_status != 0) |
|
| 113 |
*system_status = read8(BNO055_SYS_STAT_ADDR); |
|
| 114 |
if (self_test_result != 0) |
|
| 115 |
*self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR); |
|
| 116 |
if (system_error != 0) |
|
| 117 |
*system_error = read8(BNO055_SYS_ERR_ADDR); |
|
| 115 | 118 |
} |
| 116 | 119 |
|
| 117 | 120 |
/**************************************************************************/ |
| ... | ... | |
| 121 | 124 |
/**************************************************************************/ |
| 122 | 125 |
void Adafruit_BNO055::displaySystemStatus(void) |
| 123 | 126 |
{
|
| 124 |
adafruit_bno055_system_status_t status;
|
|
| 125 |
getSystemStatus(&status);
|
|
| 127 |
uint8_t system_status, self_test_result, system_error;
|
|
| 128 |
getSystemStatus(&system_status, &self_test_result, &system_error);
|
|
| 126 | 129 |
|
| 127 | 130 |
/* System Status (see section 4.3.58) |
| 128 | 131 |
--------------------------------- |
| ... | ... | |
| 135 | 138 |
6 = System running without fusion algorithms */ |
| 136 | 139 |
|
| 137 | 140 |
Serial.print("System Status: 0x");
|
| 138 |
Serial.println(status.system_status, HEX);
|
|
| 141 |
Serial.println(system_status, HEX); |
|
| 139 | 142 |
|
| 140 | 143 |
/* Self Test Results (see section ) |
| 141 | 144 |
-------------------------------- |
| ... | ... | |
| 149 | 152 |
0x0F = all good! */ |
| 150 | 153 |
|
| 151 | 154 |
Serial.print("Self Test Results: 0x");
|
| 152 |
Serial.println(status.self_test_result, HEX);
|
|
| 155 |
Serial.println(self_test_result, HEX); |
|
| 153 | 156 |
|
| 154 | 157 |
/* System Error (see section 4.3.59) |
| 155 | 158 |
--------------------------------- |
| ... | ... | |
| 166 | 169 |
A = Sensor configuration error */ |
| 167 | 170 |
|
| 168 | 171 |
Serial.print("System Error: 0x");
|
| 169 |
Serial.println(status.system_error, HEX);
|
|
| 172 |
Serial.println(system_error, HEX); |
|
| 170 | 173 |
} |
| 171 | 174 |
|
| 172 | 175 |
/**************************************************************************/ |
Also available in: Unified diff