#include <BNO055.h>

Public Member Functions
	BNO055 (PinName p_sda, PinName p_scl, PinName p_reset, uint8_t addr, uint8_t mode)

	BNO055 (PinName p_sda, PinName p_scl, PinName p_reset)

	BNO055 (I2C &p_i2c, PinName p_reset, uint8_t addr, uint8_t mode)

	BNO055 (I2C &p_i2c, PinName p_reset, uint8_t mode)

void	get_euler_angles (BNO055_EULER_TypeDef *el)

void	get_quaternion (BNO055_QUATERNION_TypeDef *qua)

void	get_angular_position_quat (BNO055_ANGULAR_POSITION_typedef *an_pos)

void	get_linear_accel (BNO055_VECTOR_TypeDef *la)

void	get_mag (BNO055_VECTOR_TypeDef *qua)

void	get_accel (BNO055_VECTOR_TypeDef *la)

void	get_gyro (BNO055_VECTOR_TypeDef *gr)

void	get_gravity (BNO055_VECTOR_TypeDef *gr)

void	get_chip_temperature (BNO055_TEMPERATURE_TypeDef *tmp)

void	change_fusion_mode (uint8_t mode)

void	set_mounting_position (uint8_t position)

void	read_id_inf (BNO055_ID_INF_TypeDef *id)

uint8_t	chip_ready (void)

void	calibrate (void)

uint8_t	read_calib_status (void)

uint8_t	reset (void)

void	frequency (int hz)

uint8_t	read_reg0 (uint8_t addr)

uint8_t	write_reg0 (uint8_t addr, uint8_t data)

uint8_t	read_reg1 (uint8_t addr)

uint8_t	write_reg1 (uint8_t addr, uint8_t data)

bool	use_degrees ()

bool	use_mss ()

bool	use_dps ()

bool	use_celsius ()

Public Attributes
int	cantReadDataCount

double	multiturnYaw

Protected Member Functions
void	initialize (void)

void	initialize_reset_pin (void)

void	get_id (void)

void	set_initial_dt_to_regs (void)

void	unit_selection (void)

uint8_t	get_operating_mode (void)

uint8_t	select_page (uint8_t page)

Protected Attributes
I2C *	_i2c_p

I2C &	_i2c

DigitalOut	_res

Detailed Description

Interface for Bosch Sensortec Intelligent 9-axis absolute orientation sensor Chip: BNO055

#include    "mbed.h"
#include    "BNO055.h"
 
Serial pc(USBTX,USBRX);
I2C    i2c(PB_9, PB_8);         // SDA, SCL
BNO055 imu(i2c, PA_8);          // Reset
 
BNO055_ID_INF_TypeDef bno055_id_inf;
BNO055_EULER_TypeDef  euler_angles;
 
int main() {
    pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
    if (imu.chip_ready() == 0){
        pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
    }
    imu.read_id_inf(&bno055_id_inf);
    pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
               bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
               bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
    while(1) {
        imu.get_Euler_Angles(&euler_angles);
        pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
                   euler_angles.h, euler_angles.r, euler_angles.p);
        wait(0.5);
    }
}

Constructor & Destructor Documentation

◆ BNO055() [1/4]

BNO055::BNO055	(	PinName	p_sda,
		PinName	p_scl,
		PinName	p_reset,
		uint8_t	addr,
		uint8_t	mode
	)

Configure data pin

Parameters

data	SDA and SCL pins
device	address

◆ BNO055() [2/4]

BNO055::BNO055	(	PinName	p_sda,
		PinName	p_scl,
		PinName	p_reset
	)

Configure data pin

Parameters

data	SDA and SCL pins
Other	parameters are set default data

◆ BNO055() [3/4]

BNO055::BNO055	(	I2C &	p_i2c,
		PinName	p_reset,
		uint8_t	addr,
		uint8_t	mode
	)

Configure data pin (with other devices on I2C line)

Parameters

I2C	previous definition
device	address

◆ BNO055() [4/4]

BNO055::BNO055	(	I2C &	p_i2c,
		PinName	p_reset,
		uint8_t	mode
	)

Configure data pin (with other devices on I2C line)

Parameters

I2C	previous definition
Other	parameters are set default data

Member Function Documentation

◆ calibrate()

void BNO055::calibrate ( void )

Calibrate IMU

Parameters

none

Returns: none

◆ change_fusion_mode()

void BNO055::change_fusion_mode ( uint8_t mode )

Change fusion mode

Parameters

fusion mode

Returns: none

◆ chip_ready()

uint8_t BNO055::chip_ready ( void )

Check chip is avairable or not

Parameters

none

Returns: OK = 1, NG = 0;

◆ frequency()

void BNO055::frequency ( int hz )

Set I2C clock frequency

Parameters

freq.

Returns: none

◆ get_accel()

void BNO055::get_accel ( BNO055_VECTOR_TypeDef * la )

Get Accel data

Parameters

double type of 3D data address

◆ get_angular_position_quat()

void BNO055::get_angular_position_quat ( BNO055_ANGULAR_POSITION_typedef * an_pos )

Get Angular position from quaternion

Parameters

double type of 3D data address

◆ get_chip_temperature()

void BNO055::get_chip_temperature ( BNO055_TEMPERATURE_TypeDef * tmp )

Get Chip temperature data both Acc & Gyro

Parameters

int8_t type of data address

◆ get_euler_angles()

void BNO055::get_euler_angles ( BNO055_EULER_TypeDef * el )

Get Euler Angles

Parameters

double type of 3D data address

◆ get_gravity()

void BNO055::get_gravity ( BNO055_VECTOR_TypeDef * gr )

Get Gravity data

Parameters

double type of 3D data address

◆ get_gyro()

void BNO055::get_gyro ( BNO055_VECTOR_TypeDef * gr )

Get Gyro data

Parameters

double type of 3D data address

◆ get_id()

void BNO055::get_id ( void )

protected

◆ get_linear_accel()

void BNO055::get_linear_accel ( BNO055_VECTOR_TypeDef * la )

Get Linear accel data

Parameters

double type of 3D data address

◆ get_mag()

void BNO055::get_mag ( BNO055_VECTOR_TypeDef * qua )

Get Mag data

Parameters

double type of 3D data address

◆ get_operating_mode()

uint8_t BNO055::get_operating_mode ( void )

protected

◆ get_quaternion()

void BNO055::get_quaternion ( BNO055_QUATERNION_TypeDef * qua )

Get Quaternion XYZ&W

Parameters

int16_t type of 4D data address

◆ initialize()

void BNO055::initialize ( void )

protected

◆ initialize_reset_pin()

void BNO055::initialize_reset_pin ( void )

protected

◆ read_calib_status()

uint8_t BNO055::read_calib_status ( void )

Read calibration status

Parameters

none

Returns: SYS(7:6),GYR(5:4),ACC(3:2),MAG(1:0) 3 = Calibrated, 0= not yet

◆ read_id_inf()

void BNO055::read_id_inf ( BNO055_ID_INF_TypeDef * id )

Read BNO055 ID information

Parameters

ID	information address

Returns: none

◆ read_reg0()

uint8_t BNO055::read_reg0 ( uint8_t addr )

Read page 0 register

Parameters

register's address

Returns: register data

◆ read_reg1()

uint8_t BNO055::read_reg1 ( uint8_t addr )

Read page 1 register

Parameters

register's address

Returns: register data

◆ reset()

uint8_t BNO055::reset ( void )

Reset

Parameters

none

Returns: 0 = sucess, 1 = Not available chip

◆ select_page()

uint8_t BNO055::select_page ( uint8_t page )

protected

◆ set_initial_dt_to_regs()

void BNO055::set_initial_dt_to_regs ( void )

protected

◆ set_mounting_position()

void BNO055::set_mounting_position ( uint8_t position )

Set Mouting position Please make sure your mounting direction of BNO055 chip refrence: BNO055 data sheet BST-BNO055-DS000-12 3.4 Axis remap

Parameters

Set	P0 to P7 mounting position data

Returns: none

◆ unit_selection()

void BNO055::unit_selection ( void )

protected

◆ use_celsius()

bool BNO055::use_celsius ( )

Determine if celsius (instead of fahrenheit) is used.

Returns: true if celsius are used

◆ use_degrees()

bool BNO055::use_degrees ( )

Determine if degrees (instead of radians) are used.

Returns: true if degrees are used

◆ use_dps()

bool BNO055::use_dps ( )

Determine if dps (instead of rps) are used.

Returns: true if dps are used

◆ use_mss()

bool BNO055::use_mss ( )

Determine if m/s*s (instead of mg) is used.

Returns: true if m/s*s are used

◆ write_reg0()

uint8_t BNO055::write_reg0	(	uint8_t	addr,
		uint8_t	data
	)

Write page 0 register

Parameters

register's	address
data

Returns: register data

◆ write_reg1()

uint8_t BNO055::write_reg1	(	uint8_t	addr,
		uint8_t	data
	)

Write page 1 register

Parameters

register's	address
data

Returns: register data

Member Data Documentation

◆ _i2c

I2C& BNO055::_i2c

protected

◆ _i2c_p

I2C* BNO055::_i2c_p

protected

◆ _res

DigitalOut BNO055::_res

protected

◆ cantReadDataCount

int BNO055::cantReadDataCount

◆ multiturnYaw

double BNO055::multiturnYaw

The documentation for this class was generated from the following files:

core/util/peripherals/imu/BNO055.h
core/util/peripherals/imu/BNO055.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BNO055() [1/4]

◆ BNO055() [2/4]

◆ BNO055() [3/4]

◆ BNO055() [4/4]

Member Function Documentation

◆ calibrate()

◆ change_fusion_mode()

◆ chip_ready()

◆ frequency()

◆ get_accel()

◆ get_angular_position_quat()

◆ get_chip_temperature()

◆ get_euler_angles()

◆ get_gravity()

◆ get_gyro()

◆ get_id()

◆ get_linear_accel()

◆ get_mag()

◆ get_operating_mode()

◆ get_quaternion()

◆ initialize()

◆ initialize_reset_pin()

◆ read_calib_status()

◆ read_id_inf()

◆ read_reg0()

◆ read_reg1()

◆ reset()

◆ select_page()

◆ set_initial_dt_to_regs()

◆ set_mounting_position()

◆ unit_selection()

◆ use_celsius()

◆ use_degrees()

◆ use_dps()

◆ use_mss()

◆ write_reg0()

◆ write_reg1()

Member Data Documentation

◆ _i2c

◆ _i2c_p

◆ _res

◆ cantReadDataCount

◆ multiturnYaw