Revision 55e2f6d1 Adafruit_BNO055.cpp
| Adafruit_BNO055.cpp | ||
|---|---|---|
| 18 | 18 |
***************************************************************************/ |
| 19 | 19 |
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#if ARDUINO >= 100 |
| 21 |
#include "Arduino.h"
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#include "Arduino.h" |
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| 22 | 22 |
#else |
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#include "WProgram.h"
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#include "WProgram.h" |
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#endif |
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#include <math.h> |
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#include <limits.h> |
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#include <math.h> |
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|
| 29 | 29 |
#include "Adafruit_BNO055.h" |
| 30 | 30 |
|
| ... | ... | |
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/**************************************************************************/ |
| 36 | 36 |
/*! |
| 37 | 37 |
@brief Instantiates a new Adafruit_BNO055 class |
| 38 |
@param sensorID |
|
| 39 |
@param address |
|
| 38 | 40 |
*/ |
| 39 | 41 |
/**************************************************************************/ |
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) |
|
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{
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address) {
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| 42 | 43 |
_sensorID = sensorID; |
| 43 | 44 |
_address = address; |
| 44 | 45 |
} |
| ... | ... | |
| 50 | 51 |
/**************************************************************************/ |
| 51 | 52 |
/*! |
| 52 | 53 |
@brief Sets up the HW |
| 54 |
@param mode |
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@return true if process is sucessfull |
|
| 53 | 56 |
*/ |
| 54 | 57 |
/**************************************************************************/ |
| 55 |
bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) |
|
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{
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
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| 57 | 59 |
/* Enable I2C */ |
| 58 | 60 |
Wire.begin(); |
| 59 | 61 |
|
| ... | ... | |
| 64 | 66 |
|
| 65 | 67 |
/* Make sure we have the right device */ |
| 66 | 68 |
uint8_t id = read8(BNO055_CHIP_ID_ADDR); |
| 67 |
if(id != BNO055_ID) |
|
| 68 |
{
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| 69 |
if (id != BNO055_ID) {
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|
| 69 | 70 |
delay(1000); // hold on for boot |
| 70 | 71 |
id = read8(BNO055_CHIP_ID_ADDR); |
| 71 |
if(id != BNO055_ID) {
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return false; // still not? ok bail
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if (id != BNO055_ID) {
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return false; // still not? ok bail |
|
| 73 | 74 |
} |
| 74 | 75 |
} |
| 75 | 76 |
|
| ... | ... | |
| 78 | 79 |
|
| 79 | 80 |
/* Reset */ |
| 80 | 81 |
write8(BNO055_SYS_TRIGGER_ADDR, 0x20); |
| 81 |
while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) |
|
| 82 |
{
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| 82 |
while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
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| 83 | 83 |
delay(10); |
| 84 | 84 |
} |
| 85 | 85 |
delay(50); |
| ... | ... | |
| 120 | 120 |
/**************************************************************************/ |
| 121 | 121 |
/*! |
| 122 | 122 |
@brief Puts the chip in the specified operating mode |
| 123 |
@param mode |
|
| 123 | 124 |
*/ |
| 124 | 125 |
/**************************************************************************/ |
| 125 |
void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) |
|
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{
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode) {
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| 127 | 127 |
_mode = mode; |
| 128 | 128 |
write8(BNO055_OPR_MODE_ADDR, _mode); |
| 129 | 129 |
delay(30); |
| ... | ... | |
| 132 | 132 |
/**************************************************************************/ |
| 133 | 133 |
/*! |
| 134 | 134 |
@brief Changes the chip's axis remap |
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@param remapcode |
|
| 135 | 136 |
*/ |
| 136 | 137 |
/**************************************************************************/ |
| 137 |
void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )
|
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{
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void Adafruit_BNO055::setAxisRemap( |
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adafruit_bno055_axis_remap_config_t remapcode) {
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| 139 | 140 |
adafruit_bno055_opmode_t modeback = _mode; |
| 140 | 141 |
|
| 141 | 142 |
setMode(OPERATION_MODE_CONFIG); |
| ... | ... | |
| 150 | 151 |
/**************************************************************************/ |
| 151 | 152 |
/*! |
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@brief Changes the chip's axis signs |
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@param remapsign |
|
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*/ |
| 154 | 156 |
/**************************************************************************/ |
| 155 |
void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign ) |
|
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{
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void Adafruit_BNO055::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
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| 157 | 158 |
adafruit_bno055_opmode_t modeback = _mode; |
| 158 | 159 |
|
| 159 | 160 |
setMode(OPERATION_MODE_CONFIG); |
| ... | ... | |
| 165 | 166 |
delay(20); |
| 166 | 167 |
} |
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/**************************************************************************/ |
| 170 | 170 |
/*! |
| 171 | 171 |
@brief Use the external 32.768KHz crystal |
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@param usextal boolean |
|
| 172 | 173 |
*/ |
| 173 | 174 |
/**************************************************************************/ |
| 174 |
void Adafruit_BNO055::setExtCrystalUse(boolean usextal) |
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{
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| 175 |
void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
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| 176 | 176 |
adafruit_bno055_opmode_t modeback = _mode; |
| 177 | 177 |
|
| 178 | 178 |
/* Switch to config mode (just in case since this is the default) */ |
| ... | ... | |
| 190 | 190 |
delay(20); |
| 191 | 191 |
} |
| 192 | 192 |
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/**************************************************************************/ |
| 195 | 194 |
/*! |
| 196 | 195 |
@brief Gets the latest system status info |
| 196 |
@param system_status |
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@param self_test_result |
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@param system_error |
|
| 197 | 199 |
*/ |
| 198 | 200 |
/**************************************************************************/ |
| 199 |
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error) |
|
| 200 |
{
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| 201 |
void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, |
|
| 202 |
uint8_t *self_test_result, |
|
| 203 |
uint8_t *system_error) {
|
|
| 201 | 204 |
write8(BNO055_PAGE_ID_ADDR, 0); |
| 202 | 205 |
|
| 203 | 206 |
/* System Status (see section 4.3.58) |
| ... | ... | |
| 211 | 214 |
6 = System running without fusion algorithms */ |
| 212 | 215 |
|
| 213 | 216 |
if (system_status != 0) |
| 214 |
*system_status = read8(BNO055_SYS_STAT_ADDR);
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|
| 217 |
*system_status = read8(BNO055_SYS_STAT_ADDR); |
|
| 215 | 218 |
|
| 216 | 219 |
/* Self Test Results (see section ) |
| 217 | 220 |
-------------------------------- |
| ... | ... | |
| 242 | 245 |
A = Sensor configuration error */ |
| 243 | 246 |
|
| 244 | 247 |
if (system_error != 0) |
| 245 |
*system_error = read8(BNO055_SYS_ERR_ADDR);
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| 248 |
*system_error = read8(BNO055_SYS_ERR_ADDR); |
|
| 246 | 249 |
|
| 247 | 250 |
delay(200); |
| 248 | 251 |
} |
| ... | ... | |
| 252 | 255 |
@brief Gets the chip revision numbers |
| 253 | 256 |
*/ |
| 254 | 257 |
/**************************************************************************/ |
| 255 |
void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info) |
|
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{
|
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| 258 |
void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t *info) {
|
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| 257 | 259 |
uint8_t a, b; |
| 258 | 260 |
|
| 259 | 261 |
memset(info, 0, sizeof(adafruit_bno055_rev_info_t)); |
| ... | ... | |
| 262 | 264 |
info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR); |
| 263 | 265 |
|
| 264 | 266 |
/* Check the magnetometer revision */ |
| 265 |
info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR);
|
|
| 267 |
info->mag_rev = read8(BNO055_MAG_REV_ID_ADDR); |
|
| 266 | 268 |
|
| 267 | 269 |
/* Check the gyroscope revision */ |
| 268 |
info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR);
|
|
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info->gyro_rev = read8(BNO055_GYRO_REV_ID_ADDR); |
|
| 269 | 271 |
|
| 270 | 272 |
/* Check the SW revision */ |
| 271 |
info->bl_rev = read8(BNO055_BL_REV_ID_ADDR);
|
|
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info->bl_rev = read8(BNO055_BL_REV_ID_ADDR); |
|
| 272 | 274 |
|
| 273 | 275 |
a = read8(BNO055_SW_REV_ID_LSB_ADDR); |
| 274 | 276 |
b = read8(BNO055_SW_REV_ID_MSB_ADDR); |
| ... | ... | |
| 280 | 282 |
@brief Gets current calibration state. Each value should be a uint8_t |
| 281 | 283 |
pointer and it will be set to 0 if not calibrated and 3 if |
| 282 | 284 |
fully calibrated. |
| 285 |
@param sys |
|
| 286 |
@param gyro |
|
| 287 |
@param accel |
|
| 288 |
@param mag |
|
| 283 | 289 |
*/ |
| 284 | 290 |
/**************************************************************************/ |
| 285 |
void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
|
|
| 291 |
void Adafruit_BNO055::getCalibration(uint8_t *sys, uint8_t *gyro, |
|
| 292 |
uint8_t *accel, uint8_t *mag) {
|
|
| 286 | 293 |
uint8_t calData = read8(BNO055_CALIB_STAT_ADDR); |
| 287 | 294 |
if (sys != NULL) {
|
| 288 | 295 |
*sys = (calData >> 6) & 0x03; |
| ... | ... | |
| 301 | 308 |
/**************************************************************************/ |
| 302 | 309 |
/*! |
| 303 | 310 |
@brief Gets the temperature in degrees celsius |
| 311 |
@return temperature in degrees celsius |
|
| 304 | 312 |
*/ |
| 305 | 313 |
/**************************************************************************/ |
| 306 |
int8_t Adafruit_BNO055::getTemp(void) |
|
| 307 |
{
|
|
| 314 |
int8_t Adafruit_BNO055::getTemp() {
|
|
| 308 | 315 |
int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR)); |
| 309 | 316 |
return temp; |
| 310 | 317 |
} |
| 311 | 318 |
|
| 312 | 319 |
/**************************************************************************/ |
| 313 | 320 |
/*! |
| 314 |
@brief Gets a vector reading from the specified source |
|
| 321 |
@brief Gets a vector reading from the specified source |
|
| 322 |
@param vector_type |
|
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@return vector from specified source |
|
| 315 | 324 |
*/ |
| 316 | 325 |
/**************************************************************************/ |
| 317 |
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) |
|
| 318 |
{
|
|
| 326 |
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
|
|
| 319 | 327 |
imu::Vector<3> xyz; |
| 320 | 328 |
uint8_t buffer[6]; |
| 321 |
memset (buffer, 0, 6);
|
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memset(buffer, 0, 6); |
|
| 322 | 330 |
|
| 323 | 331 |
int16_t x, y, z; |
| 324 | 332 |
x = y = z = 0; |
| ... | ... | |
| 332 | 340 |
|
| 333 | 341 |
/* Convert the value to an appropriate range (section 3.6.4) */ |
| 334 | 342 |
/* and assign the value to the Vector type */ |
| 335 |
switch(vector_type) |
|
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{
|
|
| 337 |
case VECTOR_MAGNETOMETER: |
|
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/* 1uT = 16 LSB */ |
|
| 339 |
xyz[0] = ((double)x)/16.0; |
|
| 340 |
xyz[1] = ((double)y)/16.0; |
|
| 341 |
xyz[2] = ((double)z)/16.0; |
|
| 342 |
break; |
|
| 343 |
case VECTOR_GYROSCOPE: |
|
| 344 |
/* 1dps = 16 LSB */ |
|
| 345 |
xyz[0] = ((double)x)/16.0; |
|
| 346 |
xyz[1] = ((double)y)/16.0; |
|
| 347 |
xyz[2] = ((double)z)/16.0; |
|
| 348 |
break; |
|
| 349 |
case VECTOR_EULER: |
|
| 350 |
/* 1 degree = 16 LSB */ |
|
| 351 |
xyz[0] = ((double)x)/16.0; |
|
| 352 |
xyz[1] = ((double)y)/16.0; |
|
| 353 |
xyz[2] = ((double)z)/16.0; |
|
| 354 |
break; |
|
| 355 |
case VECTOR_ACCELEROMETER: |
|
| 356 |
case VECTOR_LINEARACCEL: |
|
| 357 |
case VECTOR_GRAVITY: |
|
| 358 |
/* 1m/s^2 = 100 LSB */ |
|
| 359 |
xyz[0] = ((double)x)/100.0; |
|
| 360 |
xyz[1] = ((double)y)/100.0; |
|
| 361 |
xyz[2] = ((double)z)/100.0; |
|
| 362 |
break; |
|
| 343 |
switch (vector_type) {
|
|
| 344 |
case VECTOR_MAGNETOMETER: |
|
| 345 |
/* 1uT = 16 LSB */ |
|
| 346 |
xyz[0] = ((double)x) / 16.0; |
|
| 347 |
xyz[1] = ((double)y) / 16.0; |
|
| 348 |
xyz[2] = ((double)z) / 16.0; |
|
| 349 |
break; |
|
| 350 |
case VECTOR_GYROSCOPE: |
|
| 351 |
/* 1dps = 16 LSB */ |
|
| 352 |
xyz[0] = ((double)x) / 16.0; |
|
| 353 |
xyz[1] = ((double)y) / 16.0; |
|
| 354 |
xyz[2] = ((double)z) / 16.0; |
|
| 355 |
break; |
|
| 356 |
case VECTOR_EULER: |
|
| 357 |
/* 1 degree = 16 LSB */ |
|
| 358 |
xyz[0] = ((double)x) / 16.0; |
|
| 359 |
xyz[1] = ((double)y) / 16.0; |
|
| 360 |
xyz[2] = ((double)z) / 16.0; |
|
| 361 |
break; |
|
| 362 |
case VECTOR_ACCELEROMETER: |
|
| 363 |
case VECTOR_LINEARACCEL: |
|
| 364 |
case VECTOR_GRAVITY: |
|
| 365 |
/* 1m/s^2 = 100 LSB */ |
|
| 366 |
xyz[0] = ((double)x) / 100.0; |
|
| 367 |
xyz[1] = ((double)y) / 100.0; |
|
| 368 |
xyz[2] = ((double)z) / 100.0; |
|
| 369 |
break; |
|
| 363 | 370 |
} |
| 364 | 371 |
|
| 365 | 372 |
return xyz; |
| ... | ... | |
| 368 | 375 |
/**************************************************************************/ |
| 369 | 376 |
/*! |
| 370 | 377 |
@brief Gets a quaternion reading from the specified source |
| 378 |
@return quaternion reading |
|
| 371 | 379 |
*/ |
| 372 | 380 |
/**************************************************************************/ |
| 373 |
imu::Quaternion Adafruit_BNO055::getQuat(void) |
|
| 374 |
{
|
|
| 381 |
imu::Quaternion Adafruit_BNO055::getQuat() {
|
|
| 375 | 382 |
uint8_t buffer[8]; |
| 376 |
memset (buffer, 0, 8);
|
|
| 383 |
memset(buffer, 0, 8); |
|
| 377 | 384 |
|
| 378 | 385 |
int16_t x, y, z, w; |
| 379 | 386 |
x = y = z = w = 0; |
| ... | ... | |
| 386 | 393 |
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]); |
| 387 | 394 |
|
| 388 | 395 |
/* Assign to Quaternion */ |
| 389 |
/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf |
|
| 396 |
/* See |
|
| 397 |
http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf |
|
| 390 | 398 |
3.6.5.5 Orientation (Quaternion) */ |
| 391 |
const double scale = (1.0 / (1<<14));
|
|
| 399 |
const double scale = (1.0 / (1 << 14));
|
|
| 392 | 400 |
imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z); |
| 393 | 401 |
return quat; |
| 394 | 402 |
} |
| ... | ... | |
| 396 | 404 |
/**************************************************************************/ |
| 397 | 405 |
/*! |
| 398 | 406 |
@brief Provides the sensor_t data for this sensor |
| 407 |
@param sensor |
|
| 399 | 408 |
*/ |
| 400 | 409 |
/**************************************************************************/ |
| 401 |
void Adafruit_BNO055::getSensor(sensor_t *sensor) |
|
| 402 |
{
|
|
| 410 |
void Adafruit_BNO055::getSensor(sensor_t *sensor) {
|
|
| 403 | 411 |
/* Clear the sensor_t object */ |
| 404 | 412 |
memset(sensor, 0, sizeof(sensor_t)); |
| 405 | 413 |
|
| 406 | 414 |
/* Insert the sensor name in the fixed length char array */ |
| 407 |
strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
|
|
| 408 |
sensor->name[sizeof(sensor->name)- 1] = 0; |
|
| 409 |
sensor->version = 1;
|
|
| 410 |
sensor->sensor_id = _sensorID;
|
|
| 411 |
sensor->type = SENSOR_TYPE_ORIENTATION;
|
|
| 412 |
sensor->min_delay = 0;
|
|
| 413 |
sensor->max_value = 0.0F;
|
|
| 414 |
sensor->min_value = 0.0F;
|
|
| 415 |
sensor->resolution = 0.01F;
|
|
| 415 |
strncpy(sensor->name, "BNO055", sizeof(sensor->name) - 1); |
|
| 416 |
sensor->name[sizeof(sensor->name) - 1] = 0;
|
|
| 417 |
sensor->version = 1; |
|
| 418 |
sensor->sensor_id = _sensorID; |
|
| 419 |
sensor->type = SENSOR_TYPE_ORIENTATION; |
|
| 420 |
sensor->min_delay = 0; |
|
| 421 |
sensor->max_value = 0.0F; |
|
| 422 |
sensor->min_value = 0.0F; |
|
| 423 |
sensor->resolution = 0.01F; |
|
| 416 | 424 |
} |
| 417 | 425 |
|
| 418 | 426 |
/**************************************************************************/ |
| 419 | 427 |
/*! |
| 420 | 428 |
@brief Reads the sensor and returns the data as a sensors_event_t |
| 429 |
@param event |
|
| 430 |
@return always returns true |
|
| 421 | 431 |
*/ |
| 422 | 432 |
/**************************************************************************/ |
| 423 |
bool Adafruit_BNO055::getEvent(sensors_event_t *event) |
|
| 424 |
{
|
|
| 433 |
bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
|
|
| 425 | 434 |
/* Clear the event */ |
| 426 | 435 |
memset(event, 0, sizeof(sensors_event_t)); |
| 427 | 436 |
|
| 428 |
event->version = sizeof(sensors_event_t);
|
|
| 437 |
event->version = sizeof(sensors_event_t); |
|
| 429 | 438 |
event->sensor_id = _sensorID; |
| 430 |
event->type = SENSOR_TYPE_ORIENTATION;
|
|
| 439 |
event->type = SENSOR_TYPE_ORIENTATION; |
|
| 431 | 440 |
event->timestamp = millis(); |
| 432 | 441 |
|
| 433 | 442 |
/* Get a Euler angle sample for orientation */ |
| ... | ... | |
| 441 | 450 |
|
| 442 | 451 |
/**************************************************************************/ |
| 443 | 452 |
/*! |
| 444 |
@brief Reads the sensor's offset registers into a byte array |
|
| 453 |
@brief Reads the sensor's offset registers into a byte array |
|
| 454 |
@param calibData |
|
| 455 |
@return true if read is successful |
|
| 445 | 456 |
*/ |
| 446 | 457 |
/**************************************************************************/ |
| 447 |
bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData) |
|
| 448 |
{
|
|
| 449 |
if (isFullyCalibrated()) |
|
| 450 |
{
|
|
| 451 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 452 |
setMode(OPERATION_MODE_CONFIG); |
|
| 458 |
bool Adafruit_BNO055::getSensorOffsets(uint8_t *calibData) {
|
|
| 459 |
if (isFullyCalibrated()) {
|
|
| 460 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 461 |
setMode(OPERATION_MODE_CONFIG); |
|
| 453 | 462 |
|
| 454 |
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
|
|
| 463 |
readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS); |
|
| 455 | 464 |
|
| 456 |
setMode(lastMode);
|
|
| 457 |
return true;
|
|
| 458 |
}
|
|
| 459 |
return false;
|
|
| 465 |
setMode(lastMode); |
|
| 466 |
return true; |
|
| 467 |
} |
|
| 468 |
return false; |
|
| 460 | 469 |
} |
| 461 | 470 |
|
| 462 | 471 |
/**************************************************************************/ |
| 463 | 472 |
/*! |
| 464 |
@brief Reads the sensor's offset registers into an offset struct |
|
| 473 |
@brief Reads the sensor's offset registers into an offset struct |
|
| 474 |
@param offsets_type |
|
| 475 |
@return true if read is successful |
|
| 465 | 476 |
*/ |
| 466 | 477 |
/**************************************************************************/ |
| 467 |
bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type) |
|
| 468 |
{
|
|
| 469 |
if (isFullyCalibrated()) |
|
| 470 |
{
|
|
| 471 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 472 |
setMode(OPERATION_MODE_CONFIG); |
|
| 473 |
delay(25); |
|
| 474 |
|
|
| 475 |
/* Accel offset range depends on the G-range: |
|
| 476 |
+/-2g = +/- 2000 mg |
|
| 477 |
+/-4g = +/- 4000 mg |
|
| 478 |
+/-8g = +/- 8000 mg |
|
| 479 |
+/-1§g = +/- 16000 mg */ |
|
| 480 |
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR)); |
|
| 481 |
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR)); |
|
| 482 |
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR)); |
|
| 483 |
|
|
| 484 |
/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */ |
|
| 485 |
offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR)); |
|
| 486 |
offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR)); |
|
| 487 |
offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR)); |
|
| 488 |
|
|
| 489 |
/* Gyro offset range depends on the DPS range: |
|
| 490 |
2000 dps = +/- 32000 LSB |
|
| 491 |
1000 dps = +/- 16000 LSB |
|
| 492 |
500 dps = +/- 8000 LSB |
|
| 493 |
250 dps = +/- 4000 LSB |
|
| 494 |
125 dps = +/- 2000 LSB |
|
| 495 |
... where 1 DPS = 16 LSB */ |
|
| 496 |
offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR)); |
|
| 497 |
offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR)); |
|
| 498 |
offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR)); |
|
| 499 |
|
|
| 500 |
/* Accelerometer radius = +/- 1000 LSB */ |
|
| 501 |
offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR)); |
|
| 502 |
|
|
| 503 |
/* Magnetometer radius = +/- 960 LSB */ |
|
| 504 |
offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR)); |
|
| 505 |
|
|
| 506 |
setMode(lastMode); |
|
| 507 |
return true; |
|
| 508 |
} |
|
| 509 |
return false; |
|
| 510 |
} |
|
| 478 |
bool Adafruit_BNO055::getSensorOffsets( |
|
| 479 |
adafruit_bno055_offsets_t &offsets_type) {
|
|
| 480 |
if (isFullyCalibrated()) {
|
|
| 481 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 482 |
setMode(OPERATION_MODE_CONFIG); |
|
| 483 |
delay(25); |
|
| 484 |
|
|
| 485 |
/* Accel offset range depends on the G-range: |
|
| 486 |
+/-2g = +/- 2000 mg |
|
| 487 |
+/-4g = +/- 4000 mg |
|
| 488 |
+/-8g = +/- 8000 mg |
|
| 489 |
+/-1§g = +/- 16000 mg */ |
|
| 490 |
offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | |
|
| 491 |
(read8(ACCEL_OFFSET_X_LSB_ADDR)); |
|
| 492 |
offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | |
|
| 493 |
(read8(ACCEL_OFFSET_Y_LSB_ADDR)); |
|
| 494 |
offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | |
|
| 495 |
(read8(ACCEL_OFFSET_Z_LSB_ADDR)); |
|
| 496 |
|
|
| 497 |
/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */ |
|
| 498 |
offsets_type.mag_offset_x = |
|
| 499 |
(read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR)); |
|
| 500 |
offsets_type.mag_offset_y = |
|
| 501 |
(read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR)); |
|
| 502 |
offsets_type.mag_offset_z = |
|
| 503 |
(read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR)); |
|
| 504 |
|
|
| 505 |
/* Gyro offset range depends on the DPS range: |
|
| 506 |
2000 dps = +/- 32000 LSB |
|
| 507 |
1000 dps = +/- 16000 LSB |
|
| 508 |
500 dps = +/- 8000 LSB |
|
| 509 |
250 dps = +/- 4000 LSB |
|
| 510 |
125 dps = +/- 2000 LSB |
|
| 511 |
... where 1 DPS = 16 LSB */ |
|
| 512 |
offsets_type.gyro_offset_x = |
|
| 513 |
(read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR)); |
|
| 514 |
offsets_type.gyro_offset_y = |
|
| 515 |
(read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR)); |
|
| 516 |
offsets_type.gyro_offset_z = |
|
| 517 |
(read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR)); |
|
| 518 |
|
|
| 519 |
/* Accelerometer radius = +/- 1000 LSB */ |
|
| 520 |
offsets_type.accel_radius = |
|
| 521 |
(read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR)); |
|
| 522 |
|
|
| 523 |
/* Magnetometer radius = +/- 960 LSB */ |
|
| 524 |
offsets_type.mag_radius = |
|
| 525 |
(read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR)); |
|
| 511 | 526 |
|
| 527 |
setMode(lastMode); |
|
| 528 |
return true; |
|
| 529 |
} |
|
| 530 |
return false; |
|
| 531 |
} |
|
| 512 | 532 |
|
| 513 | 533 |
/**************************************************************************/ |
| 514 | 534 |
/*! |
| 515 |
@brief Writes an array of calibration values to the sensor's offset registers |
|
| 535 |
@brief Writes an array of calibration values to the sensor's offset registers |
|
| 536 |
@param calibData |
|
| 516 | 537 |
*/ |
| 517 | 538 |
/**************************************************************************/ |
| 518 |
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData) |
|
| 519 |
{
|
|
| 520 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 521 |
setMode(OPERATION_MODE_CONFIG); |
|
| 522 |
delay(25); |
|
| 523 |
|
|
| 524 |
/* Note: Configuration will take place only when user writes to the last |
|
| 525 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). |
|
| 526 |
Therefore the last byte must be written whenever the user wants to |
|
| 527 |
changes the configuration. */ |
|
| 528 |
|
|
| 529 |
/* A writeLen() would make this much cleaner */ |
|
| 530 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]); |
|
| 531 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]); |
|
| 532 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]); |
|
| 533 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]); |
|
| 534 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]); |
|
| 535 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]); |
|
| 536 |
|
|
| 537 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]); |
|
| 538 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]); |
|
| 539 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]); |
|
| 540 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]); |
|
| 541 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]); |
|
| 542 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]); |
|
| 543 |
|
|
| 544 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]); |
|
| 545 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]); |
|
| 546 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]); |
|
| 547 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]); |
|
| 548 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]); |
|
| 549 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]); |
|
| 550 |
|
|
| 551 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]); |
|
| 552 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]); |
|
| 553 |
|
|
| 554 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]); |
|
| 555 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]); |
|
| 539 |
void Adafruit_BNO055::setSensorOffsets(const uint8_t *calibData) {
|
|
| 540 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 541 |
setMode(OPERATION_MODE_CONFIG); |
|
| 542 |
delay(25); |
|
| 556 | 543 |
|
| 557 |
setMode(lastMode); |
|
| 544 |
/* Note: Configuration will take place only when user writes to the last |
|
| 545 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). |
|
| 546 |
Therefore the last byte must be written whenever the user wants to |
|
| 547 |
changes the configuration. */ |
|
| 548 |
|
|
| 549 |
/* A writeLen() would make this much cleaner */ |
|
| 550 |
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]); |
|
| 551 |
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]); |
|
| 552 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]); |
|
| 553 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]); |
|
| 554 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]); |
|
| 555 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]); |
|
| 556 |
|
|
| 557 |
write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]); |
|
| 558 |
write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]); |
|
| 559 |
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]); |
|
| 560 |
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]); |
|
| 561 |
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]); |
|
| 562 |
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]); |
|
| 563 |
|
|
| 564 |
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]); |
|
| 565 |
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]); |
|
| 566 |
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]); |
|
| 567 |
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]); |
|
| 568 |
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]); |
|
| 569 |
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]); |
|
| 570 |
|
|
| 571 |
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]); |
|
| 572 |
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]); |
|
| 573 |
|
|
| 574 |
write8(MAG_RADIUS_LSB_ADDR, calibData[20]); |
|
| 575 |
write8(MAG_RADIUS_MSB_ADDR, calibData[21]); |
|
| 576 |
|
|
| 577 |
setMode(lastMode); |
|
| 558 | 578 |
} |
| 559 | 579 |
|
| 560 | 580 |
/**************************************************************************/ |
| 561 | 581 |
/*! |
| 562 | 582 |
@brief Writes to the sensor's offset registers from an offset struct |
| 583 |
@param offsets_type |
|
| 563 | 584 |
*/ |
| 564 | 585 |
/**************************************************************************/ |
| 565 |
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) |
|
| 566 |
{
|
|
| 567 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 568 |
setMode(OPERATION_MODE_CONFIG); |
|
| 569 |
delay(25); |
|
| 570 |
|
|
| 571 |
/* Note: Configuration will take place only when user writes to the last |
|
| 572 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). |
|
| 573 |
Therefore the last byte must be written whenever the user wants to |
|
| 574 |
changes the configuration. */ |
|
| 575 |
|
|
| 576 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF); |
|
| 577 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); |
|
| 578 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF); |
|
| 579 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); |
|
| 580 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF); |
|
| 581 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); |
|
| 582 |
|
|
| 583 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF); |
|
| 584 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); |
|
| 585 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF); |
|
| 586 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); |
|
| 587 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF); |
|
| 588 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); |
|
| 589 |
|
|
| 590 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF); |
|
| 591 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); |
|
| 592 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF); |
|
| 593 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); |
|
| 594 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF); |
|
| 595 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); |
|
| 596 |
|
|
| 597 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF); |
|
| 598 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); |
|
| 599 |
|
|
| 600 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF); |
|
| 601 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); |
|
| 586 |
void Adafruit_BNO055::setSensorOffsets( |
|
| 587 |
const adafruit_bno055_offsets_t &offsets_type) {
|
|
| 588 |
adafruit_bno055_opmode_t lastMode = _mode; |
|
| 589 |
setMode(OPERATION_MODE_CONFIG); |
|
| 590 |
delay(25); |
|
| 602 | 591 |
|
| 603 |
setMode(lastMode); |
|
| 592 |
/* Note: Configuration will take place only when user writes to the last |
|
| 593 |
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.). |
|
| 594 |
Therefore the last byte must be written whenever the user wants to |
|
| 595 |
changes the configuration. */ |
|
| 596 |
|
|
| 597 |
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF); |
|
| 598 |
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF); |
|
| 599 |
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF); |
|
| 600 |
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF); |
|
| 601 |
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF); |
|
| 602 |
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF); |
|
| 603 |
|
|
| 604 |
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF); |
|
| 605 |
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF); |
|
| 606 |
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF); |
|
| 607 |
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF); |
|
| 608 |
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF); |
|
| 609 |
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF); |
|
| 610 |
|
|
| 611 |
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF); |
|
| 612 |
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF); |
|
| 613 |
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF); |
|
| 614 |
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF); |
|
| 615 |
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF); |
|
| 616 |
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF); |
|
| 617 |
|
|
| 618 |
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF); |
|
| 619 |
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF); |
|
| 620 |
|
|
| 621 |
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF); |
|
| 622 |
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF); |
|
| 623 |
|
|
| 624 |
setMode(lastMode); |
|
| 604 | 625 |
} |
| 605 | 626 |
|
| 606 | 627 |
/**************************************************************************/ |
| 607 | 628 |
/*! |
| 608 | 629 |
@brief Checks of all cal status values are set to 3 (fully calibrated) |
| 630 |
@return status of calibration |
|
| 609 | 631 |
*/ |
| 610 | 632 |
/**************************************************************************/ |
| 611 |
bool Adafruit_BNO055::isFullyCalibrated(void) |
|
| 612 |
{
|
|
| 613 |
uint8_t system, gyro, accel, mag; |
|
| 614 |
getCalibration(&system, &gyro, &accel, &mag); |
|
| 615 |
if (system < 3 || gyro < 3 || accel < 3 || mag < 3) |
|
| 616 |
return false; |
|
| 617 |
return true; |
|
| 633 |
bool Adafruit_BNO055::isFullyCalibrated() {
|
|
| 634 |
uint8_t system, gyro, accel, mag; |
|
| 635 |
getCalibration(&system, &gyro, &accel, &mag); |
|
| 636 |
if (system < 3 || gyro < 3 || accel < 3 || mag < 3) |
|
| 637 |
return false; |
|
| 638 |
return true; |
|
| 618 | 639 |
} |
| 619 | 640 |
|
| 620 |
|
|
| 621 | 641 |
/*************************************************************************** |
| 622 | 642 |
PRIVATE FUNCTIONS |
| 623 | 643 |
***************************************************************************/ |
| ... | ... | |
| 627 | 647 |
@brief Writes an 8 bit value over I2C |
| 628 | 648 |
*/ |
| 629 | 649 |
/**************************************************************************/ |
| 630 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) |
|
| 631 |
{
|
|
| 650 |
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value) {
|
|
| 632 | 651 |
Wire.beginTransmission(_address); |
| 633 |
#if ARDUINO >= 100
|
|
| 634 |
Wire.write((uint8_t)reg);
|
|
| 635 |
Wire.write((uint8_t)value);
|
|
| 636 |
#else
|
|
| 637 |
Wire.send(reg);
|
|
| 638 |
Wire.send(value);
|
|
| 639 |
#endif
|
|
| 652 |
#if ARDUINO >= 100 |
|
| 653 |
Wire.write((uint8_t)reg); |
|
| 654 |
Wire.write((uint8_t)value); |
|
| 655 |
#else |
|
| 656 |
Wire.send(reg); |
|
| 657 |
Wire.send(value); |
|
| 658 |
#endif |
|
| 640 | 659 |
Wire.endTransmission(); |
| 641 | 660 |
|
| 642 | 661 |
/* ToDo: Check for error! */ |
| ... | ... | |
| 648 | 667 |
@brief Reads an 8 bit value over I2C |
| 649 | 668 |
*/ |
| 650 | 669 |
/**************************************************************************/ |
| 651 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg ) |
|
| 652 |
{
|
|
| 670 |
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg) {
|
|
| 653 | 671 |
byte value = 0; |
| 654 | 672 |
|
| 655 | 673 |
Wire.beginTransmission(_address); |
| 656 |
#if ARDUINO >= 100
|
|
| 657 |
Wire.write((uint8_t)reg);
|
|
| 658 |
#else
|
|
| 659 |
Wire.send(reg);
|
|
| 660 |
#endif
|
|
| 674 |
#if ARDUINO >= 100 |
|
| 675 |
Wire.write((uint8_t)reg); |
|
| 676 |
#else |
|
| 677 |
Wire.send(reg); |
|
| 678 |
#endif |
|
| 661 | 679 |
Wire.endTransmission(); |
| 662 | 680 |
Wire.requestFrom(_address, (byte)1); |
| 663 |
#if ARDUINO >= 100
|
|
| 664 |
value = Wire.read();
|
|
| 665 |
#else
|
|
| 666 |
value = Wire.receive();
|
|
| 667 |
#endif
|
|
| 681 |
#if ARDUINO >= 100 |
|
| 682 |
value = Wire.read(); |
|
| 683 |
#else |
|
| 684 |
value = Wire.receive(); |
|
| 685 |
#endif |
|
| 668 | 686 |
|
| 669 | 687 |
return value; |
| 670 | 688 |
} |
| ... | ... | |
| 674 | 692 |
@brief Reads the specified number of bytes over I2C |
| 675 | 693 |
*/ |
| 676 | 694 |
/**************************************************************************/ |
| 677 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
|
|
| 678 |
{
|
|
| 695 |
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte *buffer,
|
|
| 696 |
uint8_t len) {
|
|
| 679 | 697 |
Wire.beginTransmission(_address); |
| 680 |
#if ARDUINO >= 100
|
|
| 681 |
Wire.write((uint8_t)reg);
|
|
| 682 |
#else
|
|
| 683 |
Wire.send(reg);
|
|
| 684 |
#endif
|
|
| 698 |
#if ARDUINO >= 100 |
|
| 699 |
Wire.write((uint8_t)reg); |
|
| 700 |
#else |
|
| 701 |
Wire.send(reg); |
|
| 702 |
#endif |
|
| 685 | 703 |
Wire.endTransmission(); |
| 686 | 704 |
Wire.requestFrom(_address, (byte)len); |
| 687 | 705 |
|
| 688 |
for (uint8_t i = 0; i < len; i++) |
|
| 689 |
{
|
|
| 690 |
#if ARDUINO >= 100 |
|
| 691 |
buffer[i] = Wire.read(); |
|
| 692 |
#else |
|
| 693 |
buffer[i] = Wire.receive(); |
|
| 694 |
#endif |
|
| 706 |
for (uint8_t i = 0; i < len; i++) {
|
|
| 707 |
#if ARDUINO >= 100 |
|
| 708 |
buffer[i] = Wire.read(); |
|
| 709 |
#else |
|
| 710 |
buffer[i] = Wire.receive(); |
|
| 711 |
#endif |
|
| 695 | 712 |
} |
| 696 | 713 |
|
| 697 | 714 |
/* ToDo: Check for errors! */ |
Also available in: Unified diff