Revision a2a65dbc Adafruit_BNO055.h
| Adafruit_BNO055.h | ||
|---|---|---|
| 40 | 40 |
typedef enum |
| 41 | 41 |
{
|
| 42 | 42 |
/* Page id register definition */ |
| 43 |
BNO055_PAGE_ID_ADDR = 0X07,
|
|
| 43 |
BNO055_PAGE_ID_ADDR = 0X07,
|
|
| 44 | 44 |
|
| 45 | 45 |
/* PAGE0 REGISTER DEFINITION START*/ |
| 46 |
BNO055_CHIP_ID_ADDR = 0x00, |
|
| 47 |
BNO055_ACCEL_REV_ID_ADDR = 0x01,
|
|
| 48 |
BNO055_MAG_REV_ID_ADDR = 0x02, |
|
| 49 |
BNO055_GYRO_REV_ID_ADDR = 0x03, |
|
| 50 |
BNO055_SW_REV_ID_LSB_ADDR = 0x04,
|
|
| 51 |
BNO055_SW_REV_ID_MSB_ADDR = 0x05,
|
|
| 52 |
BNO055_BL_REV_ID_ADDR = 0X06,
|
|
| 46 |
BNO055_CHIP_ID_ADDR = 0x00,
|
|
| 47 |
BNO055_ACCEL_REV_ID_ADDR = 0x01,
|
|
| 48 |
BNO055_MAG_REV_ID_ADDR = 0x02,
|
|
| 49 |
BNO055_GYRO_REV_ID_ADDR = 0x03,
|
|
| 50 |
BNO055_SW_REV_ID_LSB_ADDR = 0x04,
|
|
| 51 |
BNO055_SW_REV_ID_MSB_ADDR = 0x05,
|
|
| 52 |
BNO055_BL_REV_ID_ADDR = 0X06,
|
|
| 53 | 53 |
|
| 54 | 54 |
/* Accel data register */ |
| 55 |
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
|
|
| 56 |
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
|
|
| 57 |
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
|
|
| 58 |
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
|
|
| 59 |
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
|
|
| 60 |
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
|
|
| 55 |
BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
|
|
| 56 |
BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
|
|
| 57 |
BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
|
|
| 58 |
BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
|
|
| 59 |
BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
|
|
| 60 |
BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
|
|
| 61 | 61 |
|
| 62 | 62 |
/* Mag data register */ |
| 63 |
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
|
|
| 64 |
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
|
|
| 65 |
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
|
|
| 66 |
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
|
|
| 67 |
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
|
|
| 68 |
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
|
|
| 63 |
BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
|
|
| 64 |
BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
|
|
| 65 |
BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
|
|
| 66 |
BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
|
|
| 67 |
BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
|
|
| 68 |
BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
|
|
| 69 | 69 |
|
| 70 | 70 |
/* Gyro data registers */ |
| 71 |
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
|
|
| 72 |
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
|
|
| 73 |
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
|
|
| 74 |
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
|
|
| 75 |
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
|
|
| 76 |
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
|
|
| 71 |
BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
|
|
| 72 |
BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
|
|
| 73 |
BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
|
|
| 74 |
BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
|
|
| 75 |
BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
|
|
| 76 |
BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
|
|
| 77 | 77 |
|
| 78 | 78 |
/* Euler data registers */ |
| 79 |
BNO055_EULER_H_LSB_ADDR = 0X1A,
|
|
| 80 |
BNO055_EULER_H_MSB_ADDR = 0X1B,
|
|
| 81 |
BNO055_EULER_R_LSB_ADDR = 0X1C,
|
|
| 82 |
BNO055_EULER_R_MSB_ADDR = 0X1D,
|
|
| 83 |
BNO055_EULER_P_LSB_ADDR = 0X1E,
|
|
| 84 |
BNO055_EULER_P_MSB_ADDR = 0X1F,
|
|
| 79 |
BNO055_EULER_H_LSB_ADDR = 0X1A,
|
|
| 80 |
BNO055_EULER_H_MSB_ADDR = 0X1B,
|
|
| 81 |
BNO055_EULER_R_LSB_ADDR = 0X1C,
|
|
| 82 |
BNO055_EULER_R_MSB_ADDR = 0X1D,
|
|
| 83 |
BNO055_EULER_P_LSB_ADDR = 0X1E,
|
|
| 84 |
BNO055_EULER_P_MSB_ADDR = 0X1F,
|
|
| 85 | 85 |
|
| 86 | 86 |
/* Quaternion data registers */ |
| 87 |
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
|
|
| 88 |
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
|
|
| 89 |
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
|
|
| 90 |
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
|
|
| 91 |
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
|
|
| 92 |
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
|
|
| 93 |
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
|
|
| 94 |
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
|
|
| 87 |
BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
|
|
| 88 |
BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
|
|
| 89 |
BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
|
|
| 90 |
BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
|
|
| 91 |
BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
|
|
| 92 |
BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
|
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| 93 |
BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
|
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| 94 |
BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
|
|
| 95 | 95 |
|
| 96 | 96 |
/* Linear acceleration data registers */ |
| 97 |
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
|
|
| 98 |
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
|
|
| 99 |
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
|
|
| 100 |
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
|
|
| 101 |
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
|
|
| 102 |
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
|
|
| 97 |
BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
|
|
| 98 |
BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
|
|
| 99 |
BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
|
|
| 100 |
BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
|
|
| 101 |
BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
|
|
| 102 |
BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
|
|
| 103 | 103 |
|
| 104 | 104 |
/* Gravity data registers */ |
| 105 |
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
|
|
| 106 |
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
|
|
| 107 |
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
|
|
| 108 |
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
|
|
| 109 |
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
|
|
| 110 |
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
|
|
| 105 |
BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
|
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| 106 |
BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
|
|
| 107 |
BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
|
|
| 108 |
BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
|
|
| 109 |
BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
|
|
| 110 |
BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
|
|
| 111 | 111 |
|
| 112 | 112 |
/* Temperature data register */ |
| 113 |
BNO055_TEMP_ADDR = 0X34,
|
|
| 113 |
BNO055_TEMP_ADDR = 0X34,
|
|
| 114 | 114 |
|
| 115 | 115 |
/* Status registers */ |
| 116 |
BNO055_CALIB_STAT_ADDR = 0X35,
|
|
| 117 |
BNO055_SELFTEST_RESULT_ADDR = 0X36,
|
|
| 118 |
BNO055_INTR_STAT_ADDR = 0X37,
|
|
| 116 |
BNO055_CALIB_STAT_ADDR = 0X35,
|
|
| 117 |
BNO055_SELFTEST_RESULT_ADDR = 0X36,
|
|
| 118 |
BNO055_INTR_STAT_ADDR = 0X37,
|
|
| 119 | 119 |
|
| 120 |
BNO055_SYS_CLK_STAT_ADDR = 0X38,
|
|
| 121 |
BNO055_SYS_STAT_ADDR = 0X39,
|
|
| 122 |
BNO055_SYS_ERR_ADDR = 0X3A,
|
|
| 120 |
BNO055_SYS_CLK_STAT_ADDR = 0X38,
|
|
| 121 |
BNO055_SYS_STAT_ADDR = 0X39,
|
|
| 122 |
BNO055_SYS_ERR_ADDR = 0X3A,
|
|
| 123 | 123 |
|
| 124 | 124 |
/* Unit selection register */ |
| 125 |
BNO055_UNIT_SEL_ADDR = 0X3B,
|
|
| 126 |
BNO055_DATA_SELECT_ADDR = 0X3C,
|
|
| 125 |
BNO055_UNIT_SEL_ADDR = 0X3B,
|
|
| 126 |
BNO055_DATA_SELECT_ADDR = 0X3C,
|
|
| 127 | 127 |
|
| 128 | 128 |
/* Mode registers */ |
| 129 |
BNO055_OPR_MODE_ADDR = 0X3D, |
|
| 130 |
BNO055_PWR_MODE_ADDR = 0X3E, |
|
| 129 |
BNO055_OPR_MODE_ADDR = 0X3D, |
|
| 130 |
BNO055_PWR_MODE_ADDR = 0X3E, |
|
| 131 |
|
|
| 132 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
|
| 133 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
|
| 131 | 134 |
|
| 132 |
BNO055_SYS_TRIGGER_ADDR = 0X3F, |
|
| 133 |
BNO055_TEMP_SOURCE_ADDR = 0X40, |
|
| 134 |
|
|
| 135 | 135 |
/* Axis remap registers */ |
| 136 |
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
|
|
| 137 |
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
|
|
| 136 |
BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
|
|
| 137 |
BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
|
|
| 138 | 138 |
|
| 139 | 139 |
/* SIC registers */ |
| 140 |
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
|
|
| 141 |
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
|
|
| 142 |
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
|
|
| 143 |
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
|
|
| 144 |
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
|
|
| 145 |
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
|
|
| 146 |
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
|
|
| 147 |
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
|
|
| 148 |
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
|
|
| 149 |
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
|
|
| 150 |
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
|
|
| 151 |
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
|
|
| 152 |
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
|
|
| 153 |
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
|
|
| 154 |
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
|
|
| 155 |
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
|
|
| 156 |
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
|
|
| 157 |
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
|
|
| 140 |
BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
|
|
| 141 |
BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
|
|
| 142 |
BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
|
|
| 143 |
BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
|
|
| 144 |
BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
|
|
| 145 |
BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
|
|
| 146 |
BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
|
|
| 147 |
BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
|
|
| 148 |
BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
|
|
| 149 |
BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
|
|
| 150 |
BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
|
|
| 151 |
BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
|
|
| 152 |
BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
|
|
| 153 |
BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
|
|
| 154 |
BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
|
|
| 155 |
BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
|
|
| 156 |
BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
|
|
| 157 |
BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
|
|
| 158 | 158 |
|
| 159 | 159 |
/* Accelerometer Offset registers */ |
| 160 |
ACCEL_OFFSET_X_LSB_ADDR = 0X55,
|
|
| 161 |
ACCEL_OFFSET_X_MSB_ADDR = 0X56,
|
|
| 162 |
ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
|
|
| 163 |
ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
|
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| 164 |
ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
|
|
| 165 |
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
|
|
| 160 |
ACCEL_OFFSET_X_LSB_ADDR = 0X55,
|
|
| 161 |
ACCEL_OFFSET_X_MSB_ADDR = 0X56,
|
|
| 162 |
ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
|
|
| 163 |
ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
|
|
| 164 |
ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
|
|
| 165 |
ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
|
|
| 166 | 166 |
|
| 167 | 167 |
/* Magnetometer Offset registers */ |
| 168 |
MAG_OFFSET_X_LSB_ADDR = 0X5B,
|
|
| 169 |
MAG_OFFSET_X_MSB_ADDR = 0X5C,
|
|
| 170 |
MAG_OFFSET_Y_LSB_ADDR = 0X5D,
|
|
| 171 |
MAG_OFFSET_Y_MSB_ADDR = 0X5E,
|
|
| 172 |
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
|
|
| 173 |
MAG_OFFSET_Z_MSB_ADDR = 0X60,
|
|
| 168 |
MAG_OFFSET_X_LSB_ADDR = 0X5B,
|
|
| 169 |
MAG_OFFSET_X_MSB_ADDR = 0X5C,
|
|
| 170 |
MAG_OFFSET_Y_LSB_ADDR = 0X5D,
|
|
| 171 |
MAG_OFFSET_Y_MSB_ADDR = 0X5E,
|
|
| 172 |
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
|
|
| 173 |
MAG_OFFSET_Z_MSB_ADDR = 0X60,
|
|
| 174 | 174 |
|
| 175 | 175 |
/* Gyroscope Offset register s*/ |
| 176 |
GYRO_OFFSET_X_LSB_ADDR = 0X61,
|
|
| 177 |
GYRO_OFFSET_X_MSB_ADDR = 0X62,
|
|
| 178 |
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
|
|
| 179 |
GYRO_OFFSET_Y_MSB_ADDR = 0X64,
|
|
| 180 |
GYRO_OFFSET_Z_LSB_ADDR = 0X65,
|
|
| 181 |
GYRO_OFFSET_Z_MSB_ADDR = 0X66,
|
|
| 176 |
GYRO_OFFSET_X_LSB_ADDR = 0X61,
|
|
| 177 |
GYRO_OFFSET_X_MSB_ADDR = 0X62,
|
|
| 178 |
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
|
|
| 179 |
GYRO_OFFSET_Y_MSB_ADDR = 0X64,
|
|
| 180 |
GYRO_OFFSET_Z_LSB_ADDR = 0X65,
|
|
| 181 |
GYRO_OFFSET_Z_MSB_ADDR = 0X66,
|
|
| 182 | 182 |
|
| 183 | 183 |
/* Radius registers */ |
| 184 |
ACCEL_RADIUS_LSB_ADDR = 0X67,
|
|
| 185 |
ACCEL_RADIUS_MSB_ADDR = 0X68,
|
|
| 186 |
MAG_RADIUS_LSB_ADDR = 0X69,
|
|
| 187 |
MAG_RADIUS_MSB_ADDR = 0X6A
|
|
| 184 |
ACCEL_RADIUS_LSB_ADDR = 0X67,
|
|
| 185 |
ACCEL_RADIUS_MSB_ADDR = 0X68,
|
|
| 186 |
MAG_RADIUS_LSB_ADDR = 0X69,
|
|
| 187 |
MAG_RADIUS_MSB_ADDR = 0X6A
|
|
| 188 | 188 |
} adafruit_bno055_reg_t; |
| 189 |
|
|
| 189 |
|
|
| 190 | 190 |
typedef enum |
| 191 | 191 |
{
|
| 192 |
POWER_MODE_NORMAL = 0X00,
|
|
| 193 |
POWER_MODE_LOWPOWER = 0X01,
|
|
| 194 |
POWER_MODE_SUSPEND = 0X02
|
|
| 192 |
POWER_MODE_NORMAL = 0X00,
|
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| 193 |
POWER_MODE_LOWPOWER = 0X01,
|
|
| 194 |
POWER_MODE_SUSPEND = 0X02
|
|
| 195 | 195 |
} adafruit_bno055_powermode_t; |
| 196 |
|
|
| 196 |
|
|
| 197 | 197 |
typedef enum |
| 198 | 198 |
{
|
| 199 | 199 |
/* Operation mode settings*/ |
| 200 |
OPERATION_MODE_CONFIG = 0X00,
|
|
| 201 |
OPERATION_MODE_ACCONLY = 0X01,
|
|
| 202 |
OPERATION_MODE_MAGONLY = 0X02,
|
|
| 203 |
OPERATION_MODE_GYRONLY = 0X03,
|
|
| 204 |
OPERATION_MODE_ACCMAG = 0X04,
|
|
| 205 |
OPERATION_MODE_ACCGYRO = 0X05,
|
|
| 206 |
OPERATION_MODE_MAGGYRO = 0X06,
|
|
| 207 |
OPERATION_MODE_AMG = 0X07,
|
|
| 208 |
OPERATION_MODE_IMUPLUS = 0X08,
|
|
| 209 |
OPERATION_MODE_COMPASS = 0X09,
|
|
| 210 |
OPERATION_MODE_M4G = 0X0A,
|
|
| 211 |
OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
|
|
| 212 |
OPERATION_MODE_NDOF = 0X0C
|
|
| 200 |
OPERATION_MODE_CONFIG = 0X00,
|
|
| 201 |
OPERATION_MODE_ACCONLY = 0X01,
|
|
| 202 |
OPERATION_MODE_MAGONLY = 0X02,
|
|
| 203 |
OPERATION_MODE_GYRONLY = 0X03,
|
|
| 204 |
OPERATION_MODE_ACCMAG = 0X04,
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| 205 |
OPERATION_MODE_ACCGYRO = 0X05,
|
|
| 206 |
OPERATION_MODE_MAGGYRO = 0X06,
|
|
| 207 |
OPERATION_MODE_AMG = 0X07,
|
|
| 208 |
OPERATION_MODE_IMUPLUS = 0X08,
|
|
| 209 |
OPERATION_MODE_COMPASS = 0X09,
|
|
| 210 |
OPERATION_MODE_M4G = 0X0A,
|
|
| 211 |
OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
|
|
| 212 |
OPERATION_MODE_NDOF = 0X0C
|
|
| 213 | 213 |
} adafruit_bno055_opmode_t; |
| 214 |
|
|
| 214 |
|
|
| 215 | 215 |
typedef struct |
| 216 | 216 |
{
|
| 217 | 217 |
uint8_t accel_rev; |
| ... | ... | |
| 220 | 220 |
uint16_t sw_rev; |
| 221 | 221 |
uint8_t bl_rev; |
| 222 | 222 |
} adafruit_bno055_rev_info_t; |
| 223 |
|
|
| 223 |
|
|
| 224 | 224 |
typedef enum |
| 225 | 225 |
{
|
| 226 | 226 |
VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, |
| ... | ... | |
| 238 | 238 |
void getRevInfo ( adafruit_bno055_rev_info_t* ); |
| 239 | 239 |
void displayRevInfo ( void ); |
| 240 | 240 |
void setExtCrystalUse ( boolean usextal ); |
| 241 |
void getSystemStatus ( uint8_t *system_status,
|
|
| 242 |
uint8_t *self_test_result,
|
|
| 241 |
void getSystemStatus ( uint8_t *system_status, |
|
| 242 |
uint8_t *self_test_result, |
|
| 243 | 243 |
uint8_t *system_error); |
| 244 | 244 |
void displaySystemStatus ( void ); |
| 245 |
|
|
| 245 |
|
|
| 246 | 246 |
imu::Vector<3> getVector ( adafruit_vector_type_t vector_type ); |
| 247 | 247 |
imu::Quaternion getQuat ( void ); |
| 248 | 248 |
int8_t getTemp ( void ); |
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