Class that stores state and functions for interacting with BNO055 Sensor. More...

#include <Adafruit_BNO055.h>

Inheritance diagram for Adafruit_BNO055:

Classes
struct	adafruit_bno055_rev_info_t

Public Types
enum	adafruit_bno055_reg_t { BNO055_PAGE_ID_ADDR = 0X07, BNO055_CHIP_ID_ADDR = 0x00, BNO055_ACCEL_REV_ID_ADDR = 0x01, BNO055_MAG_REV_ID_ADDR = 0x02, BNO055_GYRO_REV_ID_ADDR = 0x03, BNO055_SW_REV_ID_LSB_ADDR = 0x04, BNO055_SW_REV_ID_MSB_ADDR = 0x05, BNO055_BL_REV_ID_ADDR = 0X06, BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08, BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09, BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A, BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B, BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C, BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D, BNO055_MAG_DATA_X_LSB_ADDR = 0X0E, BNO055_MAG_DATA_X_MSB_ADDR = 0X0F, BNO055_MAG_DATA_Y_LSB_ADDR = 0X10, BNO055_MAG_DATA_Y_MSB_ADDR = 0X11, BNO055_MAG_DATA_Z_LSB_ADDR = 0X12, BNO055_MAG_DATA_Z_MSB_ADDR = 0X13, BNO055_GYRO_DATA_X_LSB_ADDR = 0X14, BNO055_GYRO_DATA_X_MSB_ADDR = 0X15, BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16, BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17, BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18, BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19, BNO055_EULER_H_LSB_ADDR = 0X1A, BNO055_EULER_H_MSB_ADDR = 0X1B, BNO055_EULER_R_LSB_ADDR = 0X1C, BNO055_EULER_R_MSB_ADDR = 0X1D, BNO055_EULER_P_LSB_ADDR = 0X1E, BNO055_EULER_P_MSB_ADDR = 0X1F, BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20, BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21, BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22, BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23, BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24, BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25, BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26, BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27, BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28, BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29, BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A, BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B, BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C, BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D, BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E, BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F, BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30, BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31, BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32, BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33, BNO055_TEMP_ADDR = 0X34, BNO055_CALIB_STAT_ADDR = 0X35, BNO055_SELFTEST_RESULT_ADDR = 0X36, BNO055_INTR_STAT_ADDR = 0X37, BNO055_SYS_CLK_STAT_ADDR = 0X38, BNO055_SYS_STAT_ADDR = 0X39, BNO055_SYS_ERR_ADDR = 0X3A, BNO055_UNIT_SEL_ADDR = 0X3B, BNO055_OPR_MODE_ADDR = 0X3D, BNO055_PWR_MODE_ADDR = 0X3E, BNO055_SYS_TRIGGER_ADDR = 0X3F, BNO055_TEMP_SOURCE_ADDR = 0X40, BNO055_AXIS_MAP_CONFIG_ADDR = 0X41, BNO055_AXIS_MAP_SIGN_ADDR = 0X42, BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43, BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44, BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45, BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46, BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47, BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48, BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49, BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A, BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B, BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C, BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D, BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E, BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F, BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50, BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51, BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52, BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53, BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54, ACCEL_OFFSET_X_LSB_ADDR = 0X55, ACCEL_OFFSET_X_MSB_ADDR = 0X56, ACCEL_OFFSET_Y_LSB_ADDR = 0X57, ACCEL_OFFSET_Y_MSB_ADDR = 0X58, ACCEL_OFFSET_Z_LSB_ADDR = 0X59, ACCEL_OFFSET_Z_MSB_ADDR = 0X5A, MAG_OFFSET_X_LSB_ADDR = 0X5B, MAG_OFFSET_X_MSB_ADDR = 0X5C, MAG_OFFSET_Y_LSB_ADDR = 0X5D, MAG_OFFSET_Y_MSB_ADDR = 0X5E, MAG_OFFSET_Z_LSB_ADDR = 0X5F, MAG_OFFSET_Z_MSB_ADDR = 0X60, GYRO_OFFSET_X_LSB_ADDR = 0X61, GYRO_OFFSET_X_MSB_ADDR = 0X62, GYRO_OFFSET_Y_LSB_ADDR = 0X63, GYRO_OFFSET_Y_MSB_ADDR = 0X64, GYRO_OFFSET_Z_LSB_ADDR = 0X65, GYRO_OFFSET_Z_MSB_ADDR = 0X66, ACCEL_RADIUS_LSB_ADDR = 0X67, ACCEL_RADIUS_MSB_ADDR = 0X68, MAG_RADIUS_LSB_ADDR = 0X69, MAG_RADIUS_MSB_ADDR = 0X6A }

enum	adafruit_bno055_powermode_t { POWER_MODE_NORMAL = 0X00, POWER_MODE_LOWPOWER = 0X01, POWER_MODE_SUSPEND = 0X02 }

enum	adafruit_bno055_axis_remap_config_t { REMAP_CONFIG_P0 = 0x21, REMAP_CONFIG_P1 = 0x24, REMAP_CONFIG_P2 = 0x24, REMAP_CONFIG_P3 = 0x21, REMAP_CONFIG_P4 = 0x24, REMAP_CONFIG_P5 = 0x21, REMAP_CONFIG_P6 = 0x21, REMAP_CONFIG_P7 = 0x24 }

enum	adafruit_bno055_axis_remap_sign_t { REMAP_SIGN_P0 = 0x04, REMAP_SIGN_P1 = 0x00, REMAP_SIGN_P2 = 0x06, REMAP_SIGN_P3 = 0x02, REMAP_SIGN_P4 = 0x03, REMAP_SIGN_P5 = 0x01, REMAP_SIGN_P6 = 0x07, REMAP_SIGN_P7 = 0x05 }

enum	adafruit_vector_type_t { VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR, VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR, VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR, VECTOR_EULER = BNO055_EULER_H_LSB_ADDR, VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR }

Public Member Functions
	Adafruit_BNO055 (int32_t sensorID=-1, uint8_t address=BNO055_ADDRESS_A, TwoWire *theWire=&Wire)
	Instantiates a new Adafruit_BNO055 class. More...

bool	begin (adafruit_bno055_opmode_t mode=OPERATION_MODE_NDOF)
	Sets up the HW. More...

void	setMode (adafruit_bno055_opmode_t mode)
	Puts the chip in the specified operating mode. More...

adafruit_bno055_opmode_t	getMode ()
	Gets the current operating mode of the chip. More...

void	setAxisRemap (adafruit_bno055_axis_remap_config_t remapcode)
	Changes the chip's axis remap. More...

void	setAxisSign (adafruit_bno055_axis_remap_sign_t remapsign)
	Changes the chip's axis signs. More...

void	getRevInfo (adafruit_bno055_rev_info_t *)
	Gets the chip revision numbers. More...

void	setExtCrystalUse (boolean usextal)
	Use the external 32.768KHz crystal. More...

void	getSystemStatus (uint8_t system_status, uint8_t self_test_result, uint8_t *system_error)
	Gets the latest system status info. More...

void	getCalibration (uint8_t system, uint8_t gyro, uint8_t accel, uint8_t mag)
	Gets current calibration state. Each value should be a uint8_t pointer and it will be set to 0 if not calibrated and 3 if fully calibrated. See section 34.3.54. More...

imu::Vector< 3 >	getVector (adafruit_vector_type_t vector_type)
	Gets a vector reading from the specified source. More...

imu::Quaternion	getQuat ()
	Gets a quaternion reading from the specified source. More...

int8_t	getTemp ()
	Gets the temperature in degrees celsius. More...

bool	getEvent (sensors_event_t *)
	Reads the sensor and returns the data as a sensors_event_t. More...

bool	getEvent (sensors_event_t *, adafruit_vector_type_t)
	Reads the sensor and returns the data as a sensors_event_t. More...

void	getSensor (sensor_t *)
	Provides the sensor_t data for this sensor. More...

bool	getSensorOffsets (uint8_t *calibData)
	Reads the sensor's offset registers into a byte array. More...

bool	getSensorOffsets (adafruit_bno055_offsets_t &offsets_type)
	Reads the sensor's offset registers into an offset struct. More...

void	setSensorOffsets (const uint8_t *calibData)
	Writes an array of calibration values to the sensor's offset. More...

void	setSensorOffsets (const adafruit_bno055_offsets_t &offsets_type)
	Writes to the sensor's offset registers from an offset struct. More...

bool	isFullyCalibrated ()
	Checks of all cal status values are set to 3 (fully calibrated) More...

void	enterSuspendMode ()
	Enter Suspend mode (i.e., sleep)

void	enterNormalMode ()
	Enter Normal mode (i.e., wake)

Detailed Description

Class that stores state and functions for interacting with BNO055 Sensor.

Member Enumeration Documentation

◆ adafruit_bno055_reg_t

enum Adafruit_BNO055::adafruit_bno055_reg_t

BNO055 Registers

◆ adafruit_bno055_powermode_t

enum Adafruit_BNO055::adafruit_bno055_powermode_t

BNO055 power settings

◆ adafruit_bno055_axis_remap_config_t

enum Adafruit_BNO055::adafruit_bno055_axis_remap_config_t

Remap settings

◆ adafruit_bno055_axis_remap_sign_t

enum Adafruit_BNO055::adafruit_bno055_axis_remap_sign_t

Remap Signs

◆ adafruit_vector_type_t

enum Adafruit_BNO055::adafruit_vector_type_t

Vector Mappings

Constructor & Destructor Documentation

◆ Adafruit_BNO055()

Adafruit_BNO055::Adafruit_BNO055	(	int32_t	sensorID = `-1`,
		uint8_t	address = `BNO055_ADDRESS_A`,
		TwoWire *	theWire = `&Wire`
	)

Instantiates a new Adafruit_BNO055 class.

Parameters

sensorID	sensor ID
address	i2c address
theWire	Wire object

Member Function Documentation

◆ begin()

bool Adafruit_BNO055::begin ( adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF )

Sets up the HW.

Parameters

mode mode values [OPERATION_MODE_CONFIG, OPERATION_MODE_ACCONLY, OPERATION_MODE_MAGONLY, OPERATION_MODE_GYRONLY, OPERATION_MODE_ACCMAG, OPERATION_MODE_ACCGYRO, OPERATION_MODE_MAGGYRO, OPERATION_MODE_AMG, OPERATION_MODE_IMUPLUS, OPERATION_MODE_COMPASS, OPERATION_MODE_M4G, OPERATION_MODE_NDOF_FMC_OFF, OPERATION_MODE_NDOF]

Returns: true if process is successful

◆ setMode()

void Adafruit_BNO055::setMode ( adafruit_bno055_opmode_t mode )

Puts the chip in the specified operating mode.

Parameters

mode mode values [OPERATION_MODE_CONFIG, OPERATION_MODE_ACCONLY, OPERATION_MODE_MAGONLY, OPERATION_MODE_GYRONLY, OPERATION_MODE_ACCMAG, OPERATION_MODE_ACCGYRO, OPERATION_MODE_MAGGYRO, OPERATION_MODE_AMG, OPERATION_MODE_IMUPLUS, OPERATION_MODE_COMPASS, OPERATION_MODE_M4G, OPERATION_MODE_NDOF_FMC_OFF, OPERATION_MODE_NDOF]

◆ getMode()

adafruit_bno055_opmode_t Adafruit_BNO055::getMode ( )

Gets the current operating mode of the chip.

Returns: operating_mode in integer which can be mapped in Section 3.3 for example: a return of 12 (0X0C) => NDOF

◆ setAxisRemap()

void Adafruit_BNO055::setAxisRemap ( adafruit_bno055_axis_remap_config_t remapcode )

Changes the chip's axis remap.

Parameters

remapcode remap code possible values [REMAP_CONFIG_P0 REMAP_CONFIG_P1 (default) REMAP_CONFIG_P2 REMAP_CONFIG_P3 REMAP_CONFIG_P4 REMAP_CONFIG_P5 REMAP_CONFIG_P6 REMAP_CONFIG_P7]

◆ setAxisSign()

void Adafruit_BNO055::setAxisSign ( adafruit_bno055_axis_remap_sign_t remapsign )

Changes the chip's axis signs.

Parameters

remapsign remap sign possible values [REMAP_SIGN_P0 REMAP_SIGN_P1 (default) REMAP_SIGN_P2 REMAP_SIGN_P3 REMAP_SIGN_P4 REMAP_SIGN_P5 REMAP_SIGN_P6 REMAP_SIGN_P7]

◆ getRevInfo()

void Adafruit_BNO055::getRevInfo ( adafruit_bno055_rev_info_t * info )

Gets the chip revision numbers.

Parameters

info	revision info

◆ setExtCrystalUse()

void Adafruit_BNO055::setExtCrystalUse ( boolean usextal )

Use the external 32.768KHz crystal.

Parameters

usextal use external crystal boolean

◆ getSystemStatus()

void Adafruit_BNO055::getSystemStatus	(	uint8_t *	system_status,
		uint8_t *	self_test_result,
		uint8_t *	system_error
	)

Gets the latest system status info.

Parameters

system_status	system status info
self_test_result	self test result
system_error	system error info

◆ getCalibration()

void Adafruit_BNO055::getCalibration	(	uint8_t *	sys,
		uint8_t *	gyro,
		uint8_t *	accel,
		uint8_t *	mag
	)

Gets current calibration state. Each value should be a uint8_t pointer and it will be set to 0 if not calibrated and 3 if fully calibrated. See section 34.3.54.

Parameters

sys	Current system calibration status, depends on status of all sensors, read-only
gyro	Current calibration status of Gyroscope, read-only
accel	Current calibration status of Accelerometer, read-only
mag	Current calibration status of Magnetometer, read-only

◆ getVector()

imu::Vector< 3 > Adafruit_BNO055::getVector ( adafruit_vector_type_t vector_type )

Gets a vector reading from the specified source.

Parameters

vector_type possible vector type values [VECTOR_ACCELEROMETER VECTOR_MAGNETOMETER VECTOR_GYROSCOPE VECTOR_EULER VECTOR_LINEARACCEL VECTOR_GRAVITY]

Returns: vector from specified source

Convert the value to an appropriate range (section 3.6.4) and assign the value to the Vector type

◆ getQuat()

imu::Quaternion Adafruit_BNO055::getQuat ( )

Gets a quaternion reading from the specified source.

Returns: quaternion reading

Assign to Quaternion See https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf 3.6.5.5 Orientation (Quaternion)

◆ getTemp()

int8_t Adafruit_BNO055::getTemp ( )

Gets the temperature in degrees celsius.

Returns: temperature in degrees celsius

◆ getEvent() [1/2]

bool Adafruit_BNO055::getEvent ( sensors_event_t * event )

Reads the sensor and returns the data as a sensors_event_t.

Parameters

event Event description

Returns: always returns true

◆ getEvent() [2/2]

bool Adafruit_BNO055::getEvent	(	sensors_event_t *	event,
		adafruit_vector_type_t	vec_type
	)

Reads the sensor and returns the data as a sensors_event_t.

Parameters

event	Event description
vec_type	specify the type of reading

Returns: always returns true

◆ getSensor()

void Adafruit_BNO055::getSensor ( sensor_t * sensor )

Provides the sensor_t data for this sensor.

Parameters

sensor Sensor description

◆ getSensorOffsets() [1/2]

bool Adafruit_BNO055::getSensorOffsets ( uint8_t * calibData )

Reads the sensor's offset registers into a byte array.

Parameters

calibData Calibration offset (buffer size should be 22)

Returns: true if read is successful

◆ getSensorOffsets() [2/2]

bool Adafruit_BNO055::getSensorOffsets ( adafruit_bno055_offsets_t & offsets_type )

Reads the sensor's offset registers into an offset struct.

Parameters

offsets_type type of offsets

Returns: true if read is successful

◆ setSensorOffsets() [1/2]

void Adafruit_BNO055::setSensorOffsets ( const uint8_t * calibData )

Writes an array of calibration values to the sensor's offset.

Parameters

calibData calibration data

◆ setSensorOffsets() [2/2]

void Adafruit_BNO055::setSensorOffsets ( const adafruit_bno055_offsets_t & offsets_type )

Writes to the sensor's offset registers from an offset struct.

Parameters

offsets_type accel_offset_x = acceleration offset x accel_offset_y = acceleration offset y accel_offset_z = acceleration offset z

mag_offset_x = magnetometer offset x mag_offset_y = magnetometer offset y mag_offset_z = magnetometer offset z

gyro_offset_x = gyroscrope offset x gyro_offset_y = gyroscrope offset y gyro_offset_z = gyroscrope offset z

◆ isFullyCalibrated()

bool Adafruit_BNO055::isFullyCalibrated ( )

Checks of all cal status values are set to 3 (fully calibrated)

Returns: status of calibration

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

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ adafruit_bno055_reg_t

◆ adafruit_bno055_powermode_t

◆ adafruit_bno055_axis_remap_config_t

◆ adafruit_bno055_axis_remap_sign_t

◆ adafruit_vector_type_t

Constructor & Destructor Documentation

◆ Adafruit_BNO055()

Member Function Documentation

◆ begin()

◆ setMode()

◆ getMode()

◆ setAxisRemap()

◆ setAxisSign()

◆ getRevInfo()

◆ setExtCrystalUse()

◆ getSystemStatus()

◆ getCalibration()

◆ getVector()

◆ getQuat()

◆ getTemp()

◆ getEvent() [1/2]

◆ getEvent() [2/2]

◆ getSensor()

◆ getSensorOffsets() [1/2]

◆ getSensorOffsets() [2/2]

◆ setSensorOffsets() [1/2]

◆ setSensorOffsets() [2/2]

◆ isFullyCalibrated()