/ - Diff - BRIX5 - Research for Cognitive Interaction

       uint8_t id = read8(BNO055_CHIP_ID_ADDR);
       if(id != BNO055_ID)
+      {
         return false;
         delay(1000); // hold on for boot
         if(id != BNO055_ID) {
           return false;  // still not? ok bail
+        }
+      }
       /* Switch to config mode (just in case since this is the default) */
       setMode(OPERATION_MODE_CONFIG);
       /* Reset */
       write8(BNO055_SYS_TRIGGER_ADDR, 0x20); //reset the sensor
       while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) //wait for boot
         delay(10);
       delay(50);
       /* Set to normal power mode */
       write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
       delay(10);
       write8(BNO055_PAGE_ID_ADDR, 0);
       /* Set the output units */
       uint8_t unitsel = (0 << 7) | /* Orientation = Android */
-...
                         (0 << 0);  /* Accelerometer = m/s^2 */
       write8(BNO055_UNIT_SEL_ADDR, unitsel);
       write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
       delay(10);
       /* Set the requested operating mode (see section 3.3) */
       write8(BNO055_OPR_MODE_ADDR, mode);
       setMode(mode);
       delay(20);
       return true;
-...
     void Adafruit_BNO055::setMode(adafruit_bno055_opmode_t mode)
+    {
       _mode = mode;
       //Serial.print("Mode: 0x"); Serial.println(mode, HEX);
       write8(BNO055_OPR_MODE_ADDR, _mode);
       delay(30);
+    }
     /**************************************************************************/
     /*!
         @brief  Use the external 32.768KHz crystal
     */
     /**************************************************************************/
     void Adafruit_BNO055::setExtCrystalUse(boolean usextal)
+    {
       adafruit_bno055_opmode_t modeback = _mode;
       /* Switch to config mode (just in case since this is the default) */
       setMode(OPERATION_MODE_CONFIG);
       delay(25);
       write8(BNO055_PAGE_ID_ADDR, 0);
       if (usextal) {
         write8(BNO055_SYS_TRIGGER_ADDR, 0x80);
       } else {
         write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
+      }
       delay(10);
       /* Set the requested operating mode (see section 3.3) */
       setMode(modeback);
       delay(20);
+    }
     /**************************************************************************/
     /*!
         @brief  Gets the latest system status info
     */
     /**************************************************************************/
     void Adafruit_BNO055::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
+    {
       adafruit_bno055_opmode_t backupmode = _mode;
       setMode(OPERATION_MODE_CONFIG);
       delay(20);
       write8(BNO055_PAGE_ID_ADDR, 0);
       write8(BNO055_SYS_TRIGGER_ADDR, read8(BNO055_SYS_TRIGGER_ADDR) | 0x1);
       delay(10);
       delay(1000);
       /* Read the system status register */
       if (system_status != 0)
         *system_status    = read8(BNO055_SYS_STAT_ADDR);
-...
         *self_test_result = read8(BNO055_SELFTEST_RESULT_ADDR);
       if (system_error != 0)
         *system_error     = read8(BNO055_SYS_ERR_ADDR);
       setMode(backupmode);
       delay(20);
+    }
     /**************************************************************************/
-...
+    }
     /**************************************************************************/
     /*
         Prints a float or double with the specified number of decimal places.
         'precision' should be 1 followed by a zero for every decimal place
         desired, so '100' will produce two decimal places:
         print_double(3.1415, 100); // Output = 3.14
     */
     /**************************************************************************/
     void Adafruit_BNO055::printDouble(double val, unsigned int precision)
+    {
       /* Print the integer portion */
       Serial.print (int(val));
       Serial.print(".");
       /* Print the fraction portion */
       unsigned int frac;
       if(val >= 0)
+      {
         frac = (val - int(val)) * precision;
+      }
       else
+      {
         frac = (int(val)- val ) * precision;
+      }
       Serial.println(frac,DEC) ;
+    }
     /**************************************************************************/
     /*!
         @brief  Provides the sensor_t data for this sensor
     */

         void  setMode             ( adafruit_bno055_opmode_t mode );
         void  getRevInfo          ( adafruit_bno055_rev_info_t* );
         void  displayRevInfo      ( void );
         //    void  getSystemStatus     ( adafruit_bno055_system_status_t* );
         void  setExtCrystalUse    ( boolean usextal );
         void  getSystemStatus     ( uint8_t *system_status,
     				uint8_t *self_test_result,
     				uint8_t *system_error);
         void  displaySystemStatus ( void );
         void  printDouble         ( double val, unsigned int precision );
         imu::Vector<3>  getVector ( adafruit_vector_type_t vector_type );
         imu::Quaternion getQuat   ( void );

     */
     /* Set the delay between fresh samples */
     #define BNO055_SAMPLERATE_DELAY_MS (500)
     #define BNO055_SAMPLERATE_DELAY_MS (100)
     Adafruit_BNO055 bno = Adafruit_BNO055();
-...
       Serial.print(temp);
       Serial.println(" C");
       Serial.println("");
       bno.setExtCrystalUse(true);
+    }
     /**************************************************************************/
-...
       /* Display the floating point data */
       Serial.print("X: ");
       bno.printDouble(euler.x(), 1000);
       Serial.print("Y: ");
       bno.printDouble(euler.y(), 1000);
       Serial.print("Z: ");
       bno.printDouble(euler.z(), 1000);
       Serial.print(euler.x());
       Serial.print(" Y: ");
       Serial.print(euler.y());
       Serial.print(" Z: ");
       Serial.print(euler.z());
       Serial.println("");
       /*
       // Quaternion data
       imu::Quaternion quat = bno.getQuat();
       Serial.print("qW: ");
       bno.printDouble(quat.w(), 1000);
       Serial.print("qX: ");
       bno.printDouble(quat.y(), 1000);
       Serial.print("qY: ");
       bno.printDouble(quat.x(), 1000);
       Serial.print("qZ: ");
       bno.printDouble(quat.z(), 1000);
       Serial.print(quat.w(), 4);
       Serial.print(" qX: ");
       Serial.print(quat.y(), 4);
       Serial.print(" qY: ");
       Serial.print(quat.x(), 4);
       Serial.print(" qZ: ");
       Serial.print(quat.z(), 4);
       Serial.println("");
       */
       delay(BNO055_SAMPLERATE_DELAY_MS);
+    }
+    }

        ===========
        Connect SCL to analog 5
        Connect SDA to analog 4
        Connect VDD to 3.3V DC
        Connect VDD to 3-5V DC
        Connect GROUND to common ground
        History
-...
     */
     /* Set the delay between fresh samples */
     #define BNO055_SAMPLERATE_DELAY_MS (500)
     #define BNO055_SAMPLERATE_DELAY_MS (100)
     Adafruit_BNO055 bno = Adafruit_BNO055(55);
-...
       /* Display chip revision details (optional) */
       // bno.displayRevInfo();
       // Serial.println("");
       bno.setExtCrystalUse(true);
+    }
     /**************************************************************************/
-...
       /* Display the floating point data */
       Serial.print("X: ");
       bno.printDouble(event.orientation.x, 1000);
       Serial.print("Y: ");
       bno.printDouble(event.orientation.y, 1000);
       Serial.print("Z: ");
       bno.printDouble(event.orientation.z, 1000);
       Serial.print(event.orientation.x, 4);
       Serial.print("\tY: ");
       Serial.print(event.orientation.y, 4);
       Serial.print("\tZ: ");
       Serial.print(event.orientation.z, 4);
       Serial.println("");
       delay(BNO055_SAMPLERATE_DELAY_MS);

BRIX5

Revision c4f272e1