700 lines
22 KiB
C++
700 lines
22 KiB
C++
/***************************************************************************
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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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// BNO055 clock stretches for 500us or more!
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#ifdef ESP8266
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Wire.setClockStretchLimit(1000); // Allow for 1000us of clock stretching
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#endif
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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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/* Configure axis mapping (see section 3.4) */
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/**/
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P7); // P0-P7, Default is P1
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delay(10);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P7); // P0-P7, Default is P1
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delay(10);
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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 Changes the chip's axis remap
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setAxisRemap( adafruit_bno055_axis_remap_config_t remapcode )
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{
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adafruit_bno055_opmode_t modeback = _mode;
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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write8(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode);
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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 Changes the chip's axis signs
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*/
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/**************************************************************************/
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void Adafruit_BNO055::setAxisSign( adafruit_bno055_axis_remap_sign_t remapsign )
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{
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adafruit_bno055_opmode_t modeback = _mode;
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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write8(BNO055_AXIS_MAP_SIGN_ADDR, remapsign);
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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 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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/* 1dps = 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_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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/*!
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@brief Reads the sensor's offset registers into a byte array
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getSensorOffsets(uint8_t* calibData)
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{
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if (isFullyCalibrated())
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{
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adafruit_bno055_opmode_t lastMode = _mode;
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setMode(OPERATION_MODE_CONFIG);
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readLen(ACCEL_OFFSET_X_LSB_ADDR, calibData, NUM_BNO055_OFFSET_REGISTERS);
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setMode(lastMode);
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return true;
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}
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return false;
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}
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/**************************************************************************/
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/*!
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@brief Reads the sensor's offset registers into an offset struct
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*/
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/**************************************************************************/
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bool Adafruit_BNO055::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type)
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{
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if (isFullyCalibrated())
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{
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adafruit_bno055_opmode_t lastMode = _mode;
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setMode(OPERATION_MODE_CONFIG);
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delay(25);
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/* Accel offset range depends on the G-range:
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+/-2g = +/- 2000 mg
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+/-4g = +/- 4000 mg
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+/-8g = +/- 8000 mg
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+/-1§g = +/- 16000 mg */
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offsets_type.accel_offset_x = (read8(ACCEL_OFFSET_X_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_X_LSB_ADDR));
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offsets_type.accel_offset_y = (read8(ACCEL_OFFSET_Y_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Y_LSB_ADDR));
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offsets_type.accel_offset_z = (read8(ACCEL_OFFSET_Z_MSB_ADDR) << 8) | (read8(ACCEL_OFFSET_Z_LSB_ADDR));
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/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
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offsets_type.mag_offset_x = (read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
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offsets_type.mag_offset_y = (read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
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offsets_type.mag_offset_z = (read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
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/* Gyro offset range depends on the DPS range:
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2000 dps = +/- 32000 LSB
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1000 dps = +/- 16000 LSB
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500 dps = +/- 8000 LSB
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250 dps = +/- 4000 LSB
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125 dps = +/- 2000 LSB
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... where 1 DPS = 16 LSB */
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offsets_type.gyro_offset_x = (read8(GYRO_OFFSET_X_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_X_LSB_ADDR));
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offsets_type.gyro_offset_y = (read8(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Y_LSB_ADDR));
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offsets_type.gyro_offset_z = (read8(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (read8(GYRO_OFFSET_Z_LSB_ADDR));
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/* Accelerometer radius = +/- 1000 LSB */
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offsets_type.accel_radius = (read8(ACCEL_RADIUS_MSB_ADDR) << 8) | (read8(ACCEL_RADIUS_LSB_ADDR));
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/* Magnetometer radius = +/- 960 LSB */
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offsets_type.mag_radius = (read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
|
|
|
|
setMode(lastMode);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Writes an array of calibration values to the sensor's offset registers
|
|
*/
|
|
/**************************************************************************/
|
|
void Adafruit_BNO055::setSensorOffsets(const uint8_t* calibData)
|
|
{
|
|
adafruit_bno055_opmode_t lastMode = _mode;
|
|
setMode(OPERATION_MODE_CONFIG);
|
|
delay(25);
|
|
|
|
/* Note: Configuration will take place only when user writes to the last
|
|
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
|
Therefore the last byte must be written whenever the user wants to
|
|
changes the configuration. */
|
|
|
|
/* A writeLen() would make this much cleaner */
|
|
write8(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
|
|
write8(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
|
|
write8(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
|
|
write8(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
|
|
write8(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
|
|
write8(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
|
|
|
|
write8(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
|
|
write8(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
|
|
write8(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
|
|
write8(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
|
|
write8(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
|
|
write8(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
|
|
|
|
write8(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
|
|
write8(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
|
|
write8(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
|
|
write8(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
|
|
write8(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
|
|
write8(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
|
|
|
|
write8(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
|
|
write8(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
|
|
|
|
write8(MAG_RADIUS_LSB_ADDR, calibData[20]);
|
|
write8(MAG_RADIUS_MSB_ADDR, calibData[21]);
|
|
|
|
setMode(lastMode);
|
|
}
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Writes to the sensor's offset registers from an offset struct
|
|
*/
|
|
/**************************************************************************/
|
|
void Adafruit_BNO055::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type)
|
|
{
|
|
adafruit_bno055_opmode_t lastMode = _mode;
|
|
setMode(OPERATION_MODE_CONFIG);
|
|
delay(25);
|
|
|
|
/* Note: Configuration will take place only when user writes to the last
|
|
byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
|
|
Therefore the last byte must be written whenever the user wants to
|
|
changes the configuration. */
|
|
|
|
write8(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
|
|
write8(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
|
|
write8(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
|
|
write8(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
|
|
write8(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
|
|
write8(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
|
|
|
|
write8(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
|
|
write8(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
|
|
write8(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
|
|
write8(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
|
|
write8(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
|
|
write8(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
|
|
|
|
write8(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
|
|
write8(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
|
|
write8(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
|
|
write8(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
|
|
write8(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
|
|
write8(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
|
|
|
|
write8(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
|
|
write8(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
|
|
|
|
write8(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
|
|
write8(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
|
|
|
|
setMode(lastMode);
|
|
}
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Checks of all cal status values are set to 3 (fully calibrated)
|
|
*/
|
|
/**************************************************************************/
|
|
bool Adafruit_BNO055::isFullyCalibrated(void)
|
|
{
|
|
uint8_t system, gyro, accel, mag;
|
|
getCalibration(&system, &gyro, &accel, &mag);
|
|
if (system < 3 || gyro < 3 || accel < 3 || mag < 3)
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
|
|
/***************************************************************************
|
|
PRIVATE FUNCTIONS
|
|
***************************************************************************/
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Writes an 8 bit value over I2C
|
|
*/
|
|
/**************************************************************************/
|
|
bool Adafruit_BNO055::write8(adafruit_bno055_reg_t reg, byte value)
|
|
{
|
|
Wire.beginTransmission(_address);
|
|
#if ARDUINO >= 100
|
|
Wire.write((uint8_t)reg);
|
|
Wire.write((uint8_t)value);
|
|
#else
|
|
Wire.send(reg);
|
|
Wire.send(value);
|
|
#endif
|
|
Wire.endTransmission();
|
|
|
|
/* ToDo: Check for error! */
|
|
return true;
|
|
}
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Reads an 8 bit value over I2C
|
|
*/
|
|
/**************************************************************************/
|
|
byte Adafruit_BNO055::read8(adafruit_bno055_reg_t reg )
|
|
{
|
|
byte value = 0;
|
|
|
|
Wire.beginTransmission(_address);
|
|
#if ARDUINO >= 100
|
|
Wire.write((uint8_t)reg);
|
|
#else
|
|
Wire.send(reg);
|
|
#endif
|
|
Wire.endTransmission();
|
|
Wire.requestFrom(_address, (byte)1);
|
|
#if ARDUINO >= 100
|
|
value = Wire.read();
|
|
#else
|
|
value = Wire.receive();
|
|
#endif
|
|
|
|
return value;
|
|
}
|
|
|
|
/**************************************************************************/
|
|
/*!
|
|
@brief Reads the specified number of bytes over I2C
|
|
*/
|
|
/**************************************************************************/
|
|
bool Adafruit_BNO055::readLen(adafruit_bno055_reg_t reg, byte * buffer, uint8_t len)
|
|
{
|
|
Wire.beginTransmission(_address);
|
|
#if ARDUINO >= 100
|
|
Wire.write((uint8_t)reg);
|
|
#else
|
|
Wire.send(reg);
|
|
#endif
|
|
Wire.endTransmission();
|
|
Wire.requestFrom(_address, (byte)len);
|
|
|
|
for (uint8_t i = 0; i < len; i++)
|
|
{
|
|
#if ARDUINO >= 100
|
|
buffer[i] = Wire.read();
|
|
#else
|
|
buffer[i] = Wire.receive();
|
|
#endif
|
|
}
|
|
|
|
/* ToDo: Check for errors! */
|
|
return true;
|
|
}
|