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September 16, 2017 07:11
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| /* | |
| **************************************************************************** | |
| * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH | |
| * | |
| * bno055_support.c | |
| * Date: 2016/03/14 | |
| * Revision: 1.0.4 $ | |
| * | |
| * Usage: Sensor Driver support file for BNO055 sensor | |
| * | |
| **************************************************************************** | |
| * License: | |
| * | |
| * Redistribution and use in source and binary forms, with or without | |
| * modification, are permitted provided that the following conditions are met: | |
| * | |
| * Redistributions of source code must retain the above copyright | |
| * notice, this list of conditions and the following disclaimer. | |
| * | |
| * Redistributions in binary form must reproduce the above copyright | |
| * notice, this list of conditions and the following disclaimer in the | |
| * documentation and/or other materials provided with the distribution. | |
| * | |
| * Neither the name of the copyright holder nor the names of the | |
| * contributors may be used to endorse or promote products derived from | |
| * this software without specific prior written permission. | |
| * | |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND | |
| * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR | |
| * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | |
| * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
| * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER | |
| * OR CONTRIBUTORS BE LIABLE FOR ANY | |
| * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, | |
| * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, | |
| * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) | |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, | |
| * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | |
| * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
| * ANY WAY OUT OF THE USE OF THIS | |
| * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE | |
| * | |
| * The information provided is believed to be accurate and reliable. | |
| * The copyright holder assumes no responsibility | |
| * for the consequences of use | |
| * of such information nor for any infringement of patents or | |
| * other rights of third parties which may result from its use. | |
| * No license is granted by implication or otherwise under any patent or | |
| * patent rights of the copyright holder. | |
| **************************************************************************/ | |
| /*---------------------------------------------------------------------------* | |
| Includes | |
| *---------------------------------------------------------------------------*/ | |
| #include "bno055.h" | |
| /*----------------------------------------------------------------------------* | |
| * The following APIs are used for reading and writing of | |
| * sensor data using I2C communication | |
| *----------------------------------------------------------------------------*/ | |
| #ifdef BNO055_API | |
| #define BNO055_I2C_BUS_WRITE_ARRAY_INDEX ((u8)1) | |
| /* \Brief: The API is used as I2C bus read | |
| * \Return : Status of the I2C read | |
| * \param dev_addr : The device address of the sensor | |
| * \param reg_addr : Address of the first register, | |
| * will data is going to be read | |
| * \param reg_data : This data read from the sensor, | |
| * which is hold in an array | |
| * \param cnt : The no of byte of data to be read | |
| */ | |
| s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt); | |
| /* \Brief: The API is used as SPI bus write | |
| * \Return : Status of the SPI write | |
| * \param dev_addr : The device address of the sensor | |
| * \param reg_addr : Address of the first register, | |
| * will data is going to be written | |
| * \param reg_data : It is a value hold in the array, | |
| * will be used for write the value into the register | |
| * \param cnt : The no of byte of data to be write | |
| */ | |
| s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt); | |
| /* | |
| * \Brief: I2C init routine | |
| */ | |
| s8 I2C_routine(void); | |
| #endif | |
| /********************End of I2C APIs declarations***********************/ | |
| /* Brief : The delay routine | |
| * \param : delay in ms | |
| */ | |
| void BNO055_delay_msek(u32 msek); | |
| /* This API is an example for reading sensor data | |
| * \param: None | |
| * \return: communication result | |
| */ | |
| s32 bno055_data_readout_template(void); | |
| /*----------------------------------------------------------------------------* | |
| * struct bno055_t parameters can be accessed by using BNO055 | |
| * BNO055_t having the following parameters | |
| * Bus write function pointer: BNO055_WR_FUNC_PTR | |
| * Bus read function pointer: BNO055_RD_FUNC_PTR | |
| * Burst read function pointer: BNO055_BRD_FUNC_PTR | |
| * Delay function pointer: delay_msec | |
| * I2C address: dev_addr | |
| * Chip id of the sensor: chip_id | |
| *---------------------------------------------------------------------------*/ | |
| struct bno055_t bno055; | |
| /* This API is an example for reading sensor data | |
| * \param: None | |
| * \return: communication result | |
| */ | |
| s32 bno055_data_readout_template(void) | |
| { | |
| /* Variable used to return value of | |
| communication routine*/ | |
| s32 comres = BNO055_ERROR; | |
| /* variable used to set the power mode of the sensor*/ | |
| u8 power_mode = BNO055_INIT_VALUE; | |
| /*********read raw accel data***********/ | |
| /* variable used to read the accel x data */ | |
| s16 accel_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the accel y data */ | |
| s16 accel_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the accel z data */ | |
| s16 accel_dataz = BNO055_INIT_VALUE; | |
| /* variable used to read the accel xyz data */ | |
| struct bno055_accel_t accel_xyz; | |
| /*********read raw mag data***********/ | |
| /* variable used to read the mag x data */ | |
| s16 mag_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the mag y data */ | |
| s16 mag_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the mag z data */ | |
| s16 mag_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the mag xyz data */ | |
| struct bno055_mag_t mag_xyz; | |
| /***********read raw gyro data***********/ | |
| /* variable used to read the gyro x data */ | |
| s16 gyro_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the gyro y data */ | |
| s16 gyro_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the gyro z data */ | |
| s16 gyro_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the gyro xyz data */ | |
| struct bno055_gyro_t gyro_xyz; | |
| /*************read raw Euler data************/ | |
| /* variable used to read the euler h data */ | |
| s16 euler_data_h = BNO055_INIT_VALUE; | |
| /* variable used to read the euler r data */ | |
| s16 euler_data_r = BNO055_INIT_VALUE; | |
| /* variable used to read the euler p data */ | |
| s16 euler_data_p = BNO055_INIT_VALUE; | |
| /* structure used to read the euler hrp data */ | |
| struct bno055_euler_t euler_hrp; | |
| /************read raw quaternion data**************/ | |
| /* variable used to read the quaternion w data */ | |
| s16 quaternion_data_w = BNO055_INIT_VALUE; | |
| /* variable used to read the quaternion x data */ | |
| s16 quaternion_data_x = BNO055_INIT_VALUE; | |
| /* variable used to read the quaternion y data */ | |
| s16 quaternion_data_y = BNO055_INIT_VALUE; | |
| /* variable used to read the quaternion z data */ | |
| s16 quaternion_data_z = BNO055_INIT_VALUE; | |
| /* structure used to read the quaternion wxyz data */ | |
| struct bno055_quaternion_t quaternion_wxyz; | |
| /************read raw linear acceleration data***********/ | |
| /* variable used to read the linear accel x data */ | |
| s16 linear_accel_data_x = BNO055_INIT_VALUE; | |
| /* variable used to read the linear accel y data */ | |
| s16 linear_accel_data_y = BNO055_INIT_VALUE; | |
| /* variable used to read the linear accel z data */ | |
| s16 linear_accel_data_z = BNO055_INIT_VALUE; | |
| /* structure used to read the linear accel xyz data */ | |
| struct bno055_linear_accel_t linear_acce_xyz; | |
| /*****************read raw gravity sensor data****************/ | |
| /* variable used to read the gravity x data */ | |
| s16 gravity_data_x = BNO055_INIT_VALUE; | |
| /* variable used to read the gravity y data */ | |
| s16 gravity_data_y = BNO055_INIT_VALUE; | |
| /* variable used to read the gravity z data */ | |
| s16 gravity_data_z = BNO055_INIT_VALUE; | |
| /* structure used to read the gravity xyz data */ | |
| struct bno055_gravity_t gravity_xyz; | |
| /*************read accel converted data***************/ | |
| /* variable used to read the accel x data output as m/s2 or mg */ | |
| double d_accel_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the accel y data output as m/s2 or mg */ | |
| double d_accel_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the accel z data output as m/s2 or mg */ | |
| double d_accel_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the accel xyz data output as m/s2 or mg */ | |
| struct bno055_accel_double_t d_accel_xyz; | |
| /******************read mag converted data********************/ | |
| /* variable used to read the mag x data output as uT*/ | |
| double d_mag_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the mag y data output as uT*/ | |
| double d_mag_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the mag z data output as uT*/ | |
| double d_mag_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the mag xyz data output as uT*/ | |
| struct bno055_mag_double_t d_mag_xyz; | |
| /*****************read gyro converted data************************/ | |
| /* variable used to read the gyro x data output as dps or rps */ | |
| double d_gyro_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the gyro y data output as dps or rps */ | |
| double d_gyro_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the gyro z data output as dps or rps */ | |
| double d_gyro_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the gyro xyz data output as dps or rps */ | |
| struct bno055_gyro_double_t d_gyro_xyz; | |
| /*******************read euler converted data*******************/ | |
| /* variable used to read the euler h data output | |
| as degree or radians*/ | |
| double d_euler_data_h = BNO055_INIT_VALUE; | |
| /* variable used to read the euler r data output | |
| as degree or radians*/ | |
| double d_euler_data_r = BNO055_INIT_VALUE; | |
| /* variable used to read the euler p data output | |
| as degree or radians*/ | |
| double d_euler_data_p = BNO055_INIT_VALUE; | |
| /* structure used to read the euler hrp data output | |
| as as degree or radians */ | |
| struct bno055_euler_double_t d_euler_hpr; | |
| /*********read linear acceleration converted data**********/ | |
| /* variable used to read the linear accel x data output as m/s2*/ | |
| double d_linear_accel_datax = BNO055_INIT_VALUE; | |
| /* variable used to read the linear accel y data output as m/s2*/ | |
| double d_linear_accel_datay = BNO055_INIT_VALUE; | |
| /* variable used to read the linear accel z data output as m/s2*/ | |
| double d_linear_accel_dataz = BNO055_INIT_VALUE; | |
| /* structure used to read the linear accel xyz data output as m/s2*/ | |
| struct bno055_linear_accel_double_t d_linear_accel_xyz; | |
| /********************Gravity converted data**********************/ | |
| /* variable used to read the gravity sensor x data output as m/s2*/ | |
| double d_gravity_data_x = BNO055_INIT_VALUE; | |
| /* variable used to read the gravity sensor y data output as m/s2*/ | |
| double d_gravity_data_y = BNO055_INIT_VALUE; | |
| /* variable used to read the gravity sensor z data output as m/s2*/ | |
| double d_gravity_data_z = BNO055_INIT_VALUE; | |
| /* structure used to read the gravity xyz data output as m/s2*/ | |
| struct bno055_gravity_double_t d_gravity_xyz; | |
| /*---------------------------------------------------------------------------* | |
| *********************** START INITIALIZATION ************************ | |
| *--------------------------------------------------------------------------*/ | |
| #ifdef BNO055_API | |
| /* Based on the user need configure I2C interface. | |
| * It is example code to explain how to use the bno055 API*/ | |
| I2C_routine(); | |
| #endif | |
| /*--------------------------------------------------------------------------* | |
| * This API used to assign the value/reference of | |
| * the following parameters | |
| * I2C address | |
| * Bus Write | |
| * Bus read | |
| * Chip id | |
| * Page id | |
| * Accel revision id | |
| * Mag revision id | |
| * Gyro revision id | |
| * Boot loader revision id | |
| * Software revision id | |
| *-------------------------------------------------------------------------*/ | |
| comres = bno055_init(&bno055); | |
| /* For initializing the BNO sensor it is required to the operation mode | |
| of the sensor as NORMAL | |
| Normal mode can set from the register | |
| Page - page0 | |
| register - 0x3E | |
| bit positions - 0 and 1*/ | |
| power_mode = BNO055_POWER_MODE_NORMAL; | |
| /* set the power mode as NORMAL*/ | |
| comres += bno055_set_power_mode(power_mode); | |
| /*----------------------------------------------------------------* | |
| ************************* END INITIALIZATION ************************* | |
| *-----------------------------------------------------------------*/ | |
| /************************* START READ RAW SENSOR DATA****************/ | |
| /* Using BNO055 sensor we can read the following sensor data and | |
| virtual sensor data | |
| Sensor data: | |
| Accel | |
| Mag | |
| Gyro | |
| Virtual sensor data | |
| Euler | |
| Quaternion | |
| Linear acceleration | |
| Gravity sensor */ | |
| /* For reading sensor raw data it is required to set the | |
| operation modes of the sensor | |
| operation mode can set from the register | |
| page - page0 | |
| register - 0x3D | |
| bit - 0 to 3 | |
| for sensor data read following operation mode have to set | |
| * SENSOR MODE | |
| *0x01 - BNO055_OPERATION_MODE_ACCONLY | |
| *0x02 - BNO055_OPERATION_MODE_MAGONLY | |
| *0x03 - BNO055_OPERATION_MODE_GYRONLY | |
| *0x04 - BNO055_OPERATION_MODE_ACCMAG | |
| *0x05 - BNO055_OPERATION_MODE_ACCGYRO | |
| *0x06 - BNO055_OPERATION_MODE_MAGGYRO | |
| *0x07 - BNO055_OPERATION_MODE_AMG | |
| based on the user need configure the operation mode*/ | |
| comres += bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG); | |
| /* Raw accel X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x08 to 0x0D*/ | |
| comres += bno055_read_accel_x(&accel_datax); | |
| comres += bno055_read_accel_y(&accel_datay); | |
| comres += bno055_read_accel_z(&accel_dataz); | |
| comres += bno055_read_accel_xyz(&accel_xyz); | |
| /* Raw mag X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x0E to 0x13*/ | |
| comres += bno055_read_mag_x(&mag_datax); | |
| comres += bno055_read_mag_y(&mag_datay); | |
| comres += bno055_read_mag_z(&mag_dataz); | |
| comres += bno055_read_mag_xyz(&mag_xyz); | |
| /* Raw gyro X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x14 to 0x19*/ | |
| comres += bno055_read_gyro_x(&gyro_datax); | |
| comres += bno055_read_gyro_y(&gyro_datay); | |
| comres += bno055_read_gyro_z(&gyro_dataz); | |
| comres += bno055_read_gyro_xyz(&gyro_xyz); | |
| /************************* END READ RAW SENSOR DATA****************/ | |
| /************************* START READ RAW FUSION DATA ******** | |
| For reading fusion data it is required to set the | |
| operation modes of the sensor | |
| operation mode can set from the register | |
| page - page0 | |
| register - 0x3D | |
| bit - 0 to 3 | |
| for sensor data read following operation mode have to set | |
| *FUSION MODE | |
| *0x08 - BNO055_OPERATION_MODE_IMUPLUS | |
| *0x09 - BNO055_OPERATION_MODE_COMPASS | |
| *0x0A - BNO055_OPERATION_MODE_M4G | |
| *0x0B - BNO055_OPERATION_MODE_NDOF_FMC_OFF | |
| *0x0C - BNO055_OPERATION_MODE_NDOF | |
| based on the user need configure the operation mode*/ | |
| comres += bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF); | |
| /* Raw Euler H, R and P data can read from the register | |
| page - page 0 | |
| register - 0x1A to 0x1E */ | |
| comres += bno055_read_euler_h(&euler_data_h); | |
| comres += bno055_read_euler_r(&euler_data_r); | |
| comres += bno055_read_euler_p(&euler_data_p); | |
| comres += bno055_read_euler_hrp(&euler_hrp); | |
| /* Raw Quaternion W, X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x20 to 0x27 */ | |
| comres += bno055_read_quaternion_w(&quaternion_data_w); | |
| comres += bno055_read_quaternion_x(&quaternion_data_x); | |
| comres += bno055_read_quaternion_y(&quaternion_data_y); | |
| comres += bno055_read_quaternion_z(&quaternion_data_z); | |
| comres += bno055_read_quaternion_wxyz(&quaternion_wxyz); | |
| /* Raw Linear accel X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x28 to 0x2D */ | |
| comres += bno055_read_linear_accel_x(&linear_accel_data_x); | |
| comres += bno055_read_linear_accel_y(&linear_accel_data_y); | |
| comres += bno055_read_linear_accel_z(&linear_accel_data_z); | |
| comres += bno055_read_linear_accel_xyz(&linear_acce_xyz); | |
| /* Raw Gravity sensor X, Y and Z data can read from the register | |
| page - page 0 | |
| register - 0x2E to 0x33 */ | |
| comres += bno055_read_gravity_x(&gravity_data_x); | |
| comres += bno055_read_gravity_y(&gravity_data_y); | |
| comres += bno055_read_gravity_z(&gravity_data_z); | |
| comres += bno055_read_gravity_xyz(&gravity_xyz); | |
| /************************* END READ RAW FUSION DATA ************/ | |
| /******************START READ CONVERTED SENSOR DATA****************/ | |
| /* API used to read accel data output as double - m/s2 and mg | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_double_accel_x_msq(&d_accel_datax); | |
| comres += bno055_convert_double_accel_x_mg(&d_accel_datax); | |
| comres += bno055_convert_double_accel_y_msq(&d_accel_datay); | |
| comres += bno055_convert_double_accel_y_mg(&d_accel_datay); | |
| comres += bno055_convert_double_accel_z_msq(&d_accel_dataz); | |
| comres += bno055_convert_double_accel_z_mg(&d_accel_dataz); | |
| comres += bno055_convert_double_accel_xyz_msq(&d_accel_xyz); | |
| comres += bno055_convert_double_accel_xyz_mg(&d_accel_xyz); | |
| /* API used to read mag data output as double - uT(micro Tesla) | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_double_mag_x_uT(&d_mag_datax); | |
| comres += bno055_convert_double_mag_y_uT(&d_mag_datay); | |
| comres += bno055_convert_double_mag_z_uT(&d_mag_dataz); | |
| comres += bno055_convert_double_mag_xyz_uT(&d_mag_xyz); | |
| /* API used to read gyro data output as double - dps and rps | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_double_gyro_x_dps(&d_gyro_datax); | |
| comres += bno055_convert_double_gyro_y_dps(&d_gyro_datay); | |
| comres += bno055_convert_double_gyro_z_dps(&d_gyro_dataz); | |
| comres += bno055_convert_double_gyro_x_rps(&d_gyro_datax); | |
| comres += bno055_convert_double_gyro_y_rps(&d_gyro_datay); | |
| comres += bno055_convert_double_gyro_z_rps(&d_gyro_dataz); | |
| comres += bno055_convert_double_gyro_xyz_dps(&d_gyro_xyz); | |
| comres += bno055_convert_double_gyro_xyz_rps(&d_gyro_xyz); | |
| /* API used to read Euler data output as double - degree and radians | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_double_euler_h_deg(&d_euler_data_h); | |
| comres += bno055_convert_double_euler_r_deg(&d_euler_data_r); | |
| comres += bno055_convert_double_euler_p_deg(&d_euler_data_p); | |
| comres += bno055_convert_double_euler_h_rad(&d_euler_data_h); | |
| comres += bno055_convert_double_euler_r_rad(&d_euler_data_r); | |
| comres += bno055_convert_double_euler_p_rad(&d_euler_data_p); | |
| comres += bno055_convert_double_euler_hpr_deg(&d_euler_hpr); | |
| comres += bno055_convert_double_euler_hpr_rad(&d_euler_hpr); | |
| /* API used to read Linear acceleration data output as m/s2 | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_double_linear_accel_x_msq( | |
| &d_linear_accel_datax); | |
| comres += bno055_convert_double_linear_accel_y_msq( | |
| &d_linear_accel_datay); | |
| comres += bno055_convert_double_linear_accel_z_msq( | |
| &d_linear_accel_dataz); | |
| comres += bno055_convert_double_linear_accel_xyz_msq( | |
| &d_linear_accel_xyz); | |
| /* API used to read Gravity sensor data output as m/s2 | |
| float functions also available in the BNO055 API */ | |
| comres += bno055_convert_gravity_double_x_msq(&d_gravity_data_x); | |
| comres += bno055_convert_gravity_double_y_msq(&d_gravity_data_y); | |
| comres += bno055_convert_gravity_double_z_msq(&d_gravity_data_z); | |
| comres += bno055_convert_double_gravity_xyz_msq(&d_gravity_xyz); | |
| /*-----------------------------------------------------------------------* | |
| ************************* START DE-INITIALIZATION *********************** | |
| *-------------------------------------------------------------------------*/ | |
| /* For de - initializing the BNO sensor it is required | |
| to the operation mode of the sensor as SUSPEND | |
| Suspend mode can set from the register | |
| Page - page0 | |
| register - 0x3E | |
| bit positions - 0 and 1*/ | |
| power_mode = BNO055_POWER_MODE_SUSPEND; | |
| /* set the power mode as SUSPEND*/ | |
| comres += bno055_set_power_mode(power_mode); | |
| /*---------------------------------------------------------------------* | |
| ************************* END DE-INITIALIZATION ********************** | |
| *---------------------------------------------------------------------*/ | |
| return comres; | |
| } | |
| #ifdef BNO055_API | |
| /*--------------------------------------------------------------------------* | |
| * The following API is used to map the I2C bus read, write, delay and | |
| * device address with global structure bno055_t | |
| *-------------------------------------------------------------------------*/ | |
| /*-------------------------------------------------------------------------* | |
| * By using bno055 the following structure parameter can be accessed | |
| * Bus write function pointer: BNO055_WR_FUNC_PTR | |
| * Bus read function pointer: BNO055_RD_FUNC_PTR | |
| * Delay function pointer: delay_msec | |
| * I2C address: dev_addr | |
| *--------------------------------------------------------------------------*/ | |
| s8 I2C_routine(void) | |
| { | |
| bno055.bus_write = BNO055_I2C_bus_write; | |
| bno055.bus_read = BNO055_I2C_bus_read; | |
| bno055.delay_msec = BNO055_delay_msek; | |
| bno055.dev_addr = BNO055_I2C_ADDR1; | |
| return BNO055_INIT_VALUE; | |
| } | |
| /************** I2C buffer length******/ | |
| #define I2C_BUFFER_LEN 8 | |
| #define I2C0 5 | |
| /*-------------------------------------------------------------------* | |
| * | |
| * This is a sample code for read and write the data by using I2C | |
| * Use either I2C based on your need | |
| * The device address defined in the bno055.h file | |
| * | |
| *--------------------------------------------------------------------*/ | |
| /* \Brief: The API is used as I2C bus write | |
| * \Return : Status of the I2C write | |
| * \param dev_addr : The device address of the sensor | |
| * \param reg_addr : Address of the first register, | |
| * will data is going to be written | |
| * \param reg_data : It is a value hold in the array, | |
| * will be used for write the value into the register | |
| * \param cnt : The no of byte of data to be write | |
| */ | |
| s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) | |
| { | |
| assert(cnt + 1 < I2C_BUFFER_LEN); | |
| u8 array[I2C_BUFFER_LEN + 1]; | |
| array[0] = reg_addr; | |
| memcpy(array + 1, reg_data, cnt); | |
| if (write(_fd, array, cnt + 1)) { | |
| return -1; | |
| } | |
| return 0; | |
| } | |
| /* \Brief: The API is used as I2C bus read | |
| * \Return : Status of the I2C read | |
| * \param dev_addr : The device address of the sensor | |
| * \param reg_addr : Address of the first register, | |
| * will data is going to be read | |
| * \param reg_data : This data read from the sensor, | |
| * which is hold in an array | |
| * \param cnt : The no of byte of data to be read | |
| */ | |
| s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) | |
| { | |
| assert(cnt < I2C_BUFFER_LEN); | |
| if (write(_fd, ®_addr, 1) < 0) { | |
| return -1; | |
| } | |
| if (read(_fd, reg_data, cnt) < 0) { | |
| return -1; | |
| } | |
| return 0; | |
| } | |
| /* Brief : The delay routine | |
| * \param : delay in ms | |
| */ | |
| void BNO055_delay_msek(u32 msek) | |
| { | |
| /*Here you can write your own delay routine*/ | |
| } | |
| #endif |
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