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adafruit_bno055 / Adafruit_BNO055.cpp @ 94d672fd

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/***************************************************************************
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  This is a library for the BNO055 orientation sensor
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  Designed specifically to work with the Adafruit BNO055 Breakout.
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  Pick one up today in the adafruit shop!
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  ------> http://www.adafruit.com/products
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  These sensors use I2C to communicate, 2 pins are required to interface.
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  Adafruit invests time and resources providing this open source code,
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  please support Adafruit andopen-source hardware by purchasing products
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  from Adafruit!
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  Written by KTOWN for Adafruit Industries.
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  MIT license, all text above must be included in any redistribution
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 ***************************************************************************/
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#if ARDUINO >= 100
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 #include "Arduino.h"
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#else
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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 "Adafruit_BNO055.h"
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/***************************************************************************
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 CONSTRUCTOR
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 ***************************************************************************/
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/**************************************************************************/
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/*!
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    @brief  Instantiates a new Adafruit_BNO055 class
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*/
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/**************************************************************************/
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Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address)
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{
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  _sensorID = sensorID;
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  _address = address;
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}
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/***************************************************************************
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 PUBLIC FUNCTIONS
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 ***************************************************************************/
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/**************************************************************************/
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/*!
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    @brief  Sets up the HW
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode)
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{
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  /* Enable I2C */
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  Wire.begin();
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  /* Make sure we have the right device */
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  uint8_t id = read8(BNO055_CHIP_ID_ADDR);
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  if(id != BNO055_ID)
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  {
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    delay(1000); // hold on for boot
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    id = read8(BNO055_CHIP_ID_ADDR);
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    if(id != BNO055_ID) {
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      return false;  // still not? ok bail
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    }
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  }
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  /* Switch to config mode (just in case since this is the default) */
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  setMode(OPERATION_MODE_CONFIG);
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  /* Reset */
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  write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
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  while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID)
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  {
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    delay(10);
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  }
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  delay(50);
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  /* Set to normal power mode */
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  write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
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  delay(10);
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  write8(BNO055_PAGE_ID_ADDR, 0);
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  /* Set the output units */
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  /*
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  uint8_t unitsel = (0 << 7) | // Orientation = Android
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                    (0 << 4) | // Temperature = Celsius
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                    (0 << 2) | // Euler = Degrees
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                    (1 << 1) | // Gyro = Rads
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                    (0 << 0);  // Accelerometer = m/s^2
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  write8(BNO055_UNIT_SEL_ADDR, unitsel);
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  */
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  write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
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  delay(10);
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  /* Set the requested operating mode (see section 3.3) */
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  setMode(mode);
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  delay(20);
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  return true;
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}
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/**************************************************************************/
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/*!
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    @brief  Puts the chip in the specified operating mode
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
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{
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  _mode = mode;
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  write8(BNO055_OPR_MODE_ADDR, _mode);
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  delay(30);
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}
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/**************************************************************************/
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/*!
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    @brief  Use the external 32.768KHz crystal
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
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{
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  adafruit_bno055_opmode_t modeback = _mode;
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  /* Switch to config mode (just in case since this is the default) */
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  setMode(OPERATION_MODE_CONFIG);
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  delay(25);
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  write8(BNO055_PAGE_ID_ADDR, 0);
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  if (usextal) {
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    write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
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  } else {
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    write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
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  }
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  delay(10);
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  /* Set the requested operating mode (see section 3.3) */
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  setMode(modeback);
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  delay(20);
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}
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/**************************************************************************/
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/*!
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    @brief  Gets the latest system status info
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*/
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/**************************************************************************/
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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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  write8(BNO055_PAGE_ID_ADDR, 0);
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  /* System Status (see section 4.3.58)
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     ---------------------------------
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     0 = Idle
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     1 = System Error
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     2 = Initializing Peripherals
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     3 = System Iniitalization
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     4 = Executing Self-Test
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     5 = Sensor fusio algorithm running
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     6 = System running without fusion algorithms */
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  if (system_status != 0)
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    *system_status    = read8(BNO055_SYS_STAT_ADDR);
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  /* Self Test Results (see section )
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     --------------------------------
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     1 = test passed, 0 = test failed
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     Bit 0 = Accelerometer self test
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     Bit 1 = Magnetometer self test
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     Bit 2 = Gyroscope self test
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     Bit 3 = MCU self test
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     0x0F = all good! */
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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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  /* System Error (see section 4.3.59)
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     ---------------------------------
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     0 = No error
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     1 = Peripheral initialization error
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     2 = System initialization error
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     3 = Self test result failed
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     4 = Register map value out of range
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     5 = Register map address out of range
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     6 = Register map write error
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     7 = BNO low power mode not available for selected operat ion mode
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     8 = Accelerometer power mode not available
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     9 = Fusion algorithm configuration error
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     A = Sensor configuration error */
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  if (system_error != 0)
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    *system_error     = read8(BNO055_SYS_ERR_ADDR);
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  delay(200);
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}
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/**************************************************************************/
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/*!
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    @brief  Gets the chip revision numbers
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getRevInfo(adafruit_bno055_rev_info_t* info)
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{
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  uint8_t a, b;
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  memset(info, 0, sizeof(adafruit_bno055_rev_info_t));
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  /* Check the accelerometer revision */
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  info->accel_rev = read8(BNO055_ACCEL_REV_ID_ADDR);
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  /* Check the magnetometer revision */
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  info->mag_rev   = read8(BNO055_MAG_REV_ID_ADDR);
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  /* Check the gyroscope revision */
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  info->gyro_rev  = read8(BNO055_GYRO_REV_ID_ADDR);
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  /* Check the SW revision */
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  info->bl_rev    = read8(BNO055_BL_REV_ID_ADDR);
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  a = read8(BNO055_SW_REV_ID_LSB_ADDR);
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  b = read8(BNO055_SW_REV_ID_MSB_ADDR);
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  info->sw_rev = (((uint16_t)b) << 8) | ((uint16_t)a);
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}
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/**************************************************************************/
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/*!
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    @brief  Gets current calibration state.  Each value should be a uint8_t
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            pointer and it will be set to 0 if not calibrated and 3 if
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            fully calibrated.
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getCalibration(uint8_t* sys, uint8_t* gyro, uint8_t* accel, uint8_t* mag) {
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  uint8_t calData = read8(BNO055_CALIB_STAT_ADDR);
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  if (sys != NULL) {
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    *sys = (calData >> 6) & 0x03;
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  }
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  if (gyro != NULL) {
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    *gyro = (calData >> 4) & 0x03;
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  }
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  if (accel != NULL) {
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    *accel = (calData >> 2) & 0x03;
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  }
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  if (mag != NULL) {
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    *mag = calData & 0x03;
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  }
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}
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/**************************************************************************/
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/*!
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    @brief  Gets the temperature in degrees celsius
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*/
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/**************************************************************************/
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int8_t Adafruit_BNO055::getTemp(void)
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{
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  int8_t temp = (int8_t)(read8(BNO055_TEMP_ADDR));
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  return temp;
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}
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/**************************************************************************/
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/*!
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    @brief  Gets a vector reading from the specified source
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*/
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/**************************************************************************/
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imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
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{
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  imu::Vector<3> xyz;
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  uint8_t buffer[6];
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  memset (buffer, 0, 6);
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  int16_t x, y, z;
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  x = y = z = 0;
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  /* Read vector data (6 bytes) */
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  readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
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  x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
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  y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
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  z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
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  /* Convert the value to an appropriate range (section 3.6.4) */
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  /* and assign the value to the Vector type */
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  switch(vector_type)
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  {
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    case VECTOR_MAGNETOMETER:
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      /* 1uT = 16 LSB */
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      xyz[0] = ((double)x)/16.0;
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      xyz[1] = ((double)y)/16.0;
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      xyz[2] = ((double)z)/16.0;
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      break;
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    case VECTOR_GYROSCOPE:
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      /* 1rps = 900 LSB */
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      xyz[0] = ((double)x)/900.0;
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      xyz[1] = ((double)y)/900.0;
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      xyz[2] = ((double)z)/900.0;
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      break;
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    case VECTOR_EULER:
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      /* 1 degree = 16 LSB */
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      xyz[0] = ((double)x)/16.0;
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      xyz[1] = ((double)y)/16.0;
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      xyz[2] = ((double)z)/16.0;
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      break;
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    case VECTOR_ACCELEROMETER:
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    case VECTOR_LINEARACCEL:
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    case VECTOR_GRAVITY:
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      /* 1m/s^2 = 100 LSB */
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      xyz[0] = ((double)x)/100.0;
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      xyz[1] = ((double)y)/100.0;
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      xyz[2] = ((double)z)/100.0;
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      break;
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  }
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  return xyz;
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}
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/**************************************************************************/
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/*!
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    @brief  Gets a quaternion reading from the specified source
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*/
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/**************************************************************************/
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imu::Quaternion Adafruit_BNO055::getQuat(void)
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{
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  uint8_t buffer[8];
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  memset (buffer, 0, 8);
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  int16_t x, y, z, w;
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  x = y = z = w = 0;
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  /* Read quat data (8 bytes) */
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  readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
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  w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
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  x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
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  y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
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  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
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  /* Assign to Quaternion */
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  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
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     3.6.5.5 Orientation (Quaternion)  */
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  const double scale = (1.0 / (1<<14));
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  imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
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  return quat;
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}
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/**************************************************************************/
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/*!
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    @brief  Provides the sensor_t data for this sensor
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*/
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/**************************************************************************/
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void Adafruit_BNO055::getSensor(sensor_t *sensor)
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{
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  /* Clear the sensor_t object */
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  memset(sensor, 0, sizeof(sensor_t));
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  /* Insert the sensor name in the fixed length char array */
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  strncpy (sensor->name, "BNO055", sizeof(sensor->name) - 1);
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  sensor->name[sizeof(sensor->name)- 1] = 0;
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  sensor->version     = 1;
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  sensor->sensor_id   = _sensorID;
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  sensor->type        = SENSOR_TYPE_ORIENTATION;
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  sensor->min_delay   = 0;
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  sensor->max_value   = 0.0F;
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  sensor->min_value   = 0.0F;
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  sensor->resolution  = 0.01F;
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}
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/**************************************************************************/
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/*!
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    @brief  Reads the sensor and returns the data as a sensors_event_t
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getEvent(sensors_event_t *event)
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{
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  /* Clear the event */
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  memset(event, 0, sizeof(sensors_event_t));
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  event->version   = sizeof(sensors_event_t);
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  event->sensor_id = _sensorID;
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  event->type      = SENSOR_TYPE_ORIENTATION;
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  event->timestamp = millis();
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  /* Get a Euler angle sample for orientation */
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  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
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  event->orientation.x = euler.x();
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  event->orientation.y = euler.y();
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  event->orientation.z = euler.z();
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  return true;
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}
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/***************************************************************************
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 PRIVATE FUNCTIONS
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 ***************************************************************************/
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/**************************************************************************/
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/*!
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    @brief  Writes an 8 bit value over I2C
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
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{
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  Wire.beginTransmission(_address);
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  #if ARDUINO >= 100
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    Wire.write((uint8_t)reg);
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    Wire.write((uint8_t)value);
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  #else
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    Wire.send(reg);
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    Wire.send(value);
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  #endif
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  Wire.endTransmission();
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  /* ToDo: Check for error! */
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  return true;
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}
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/**************************************************************************/
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/*!
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    @brief  Reads an 8 bit value over I2C
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*/
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/**************************************************************************/
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byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
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{
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  byte value = 0;
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  Wire.beginTransmission(_address);
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  #if ARDUINO >= 100
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    Wire.write((uint8_t)reg);
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  #else
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    Wire.send(reg);
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  #endif
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  Wire.endTransmission();
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  Wire.requestFrom(_address, (byte)1);
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  #if ARDUINO >= 100
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    value = Wire.read();
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  #else
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    value = Wire.receive();
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  #endif
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  return value;
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}
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/**************************************************************************/
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/*!
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    @brief  Reads the specified number of bytes over I2C
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
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{
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  Wire.beginTransmission(_address);
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  #if ARDUINO >= 100
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    Wire.write((uint8_t)reg);
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  #else
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    Wire.send(reg);
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  #endif
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  Wire.endTransmission();
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  Wire.requestFrom(_address, (byte)len);
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  for (uint8_t i = 0; i < len; i++)
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  {
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    #if ARDUINO >= 100
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      buffer[i] = Wire.read();
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    #else
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      buffer[i] = Wire.receive();
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    #endif
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  }
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  /* ToDo: Check for errors! */
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  return true;
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}