Adafruit_BNO08x Class Reference

Class that stores state and functions for interacting with the BNO08x 9-DOF Orientation IMU Fusion Breakout. More...

#include <Adafruit_BNO08x.h>

Public Member Functions
	Adafruit_BNO08x (int8_t reset_pin=-1)
	Construct a new Adafruit_BNO08x::Adafruit_BNO08x object. More...
	~Adafruit_BNO08x ()
	Destroy the Adafruit_BNO08x::Adafruit_BNO08x object.
bool	begin_I2C (uint8_t i2c_addr=BNO08x_I2CADDR_DEFAULT, TwoWire *wire=&Wire, int32_t sensor_id=0)
	Sets up the hardware and initializes I2C. More...
bool	begin_UART (HardwareSerial *serial, int32_t sensor_id=0)
	Sets up the hardware and initializes UART. More...
bool	begin_SPI (uint8_t cs_pin, uint8_t int_pin, SPIClass *theSPI=&SPI, int32_t sensor_id=0)
	Sets up the hardware and initializes hardware SPI. More...
void	hardwareReset (void)
	Reset the device using the Reset pin.
bool	wasReset (void)
	Check if a reset has occured. More...
bool	enableReport (sh2_SensorId_t sensor, uint32_t interval_us=10000)
	Enable the given report type. More...
bool	getSensorEvent (sh2_SensorValue_t *value)
	Fill the given sensor value object with a new report. More...

Public Attributes
sh2_ProductIds_t	prodIds
	The product IDs returned by the sensor.

Protected Member Functions
virtual bool	_init (int32_t sensor_id)
	Initializer for post i2c/spi init. More...

Protected Attributes
sh2_Hal_t	_HAL
	The struct representing the SH2 Hardware Abstraction Layer.

Detailed Description

Class that stores state and functions for interacting with the BNO08x 9-DOF Orientation IMU Fusion Breakout.

Constructor & Destructor Documentation

Adafruit_BNO08x()

Adafruit_BNO08x::Adafruit_BNO08x

(

int8_t

reset_pin = -1

)

Construct a new Adafruit_BNO08x::Adafruit_BNO08x object.

Construct a new Adafruit_BNO08x::Adafruit_BNO08x object

Parameters

reset_pin

The arduino pin # connected to the BNO Reset pin

Member Function Documentation

begin_I2C()

bool Adafruit_BNO08x::begin_I2C	(	uint8_t	i2c_address = BNO08x_I2CADDR_DEFAULT,
		TwoWire *	wire = &Wire,
		int32_t	sensor_id = 0
	)

Sets up the hardware and initializes I2C.

Parameters

i2c_address	The I2C address to be used.
wire	The Wire object to be used for I2C connections.
sensor_id	The unique ID to differentiate the sensors from others

Returns

True if initialization was successful, otherwise false.

begin_UART()

bool Adafruit_BNO08x::begin_UART	(	HardwareSerial *	serial,
		int32_t	sensor_id = 0
	)

Sets up the hardware and initializes UART.

Parameters

serial	Pointer to Stream (HardwareSerial/SoftwareSerial) interface
sensor_id	The user-defined ID to differentiate different sensors

Returns

true if initialization was successful, otherwise false.

begin_SPI()

bool Adafruit_BNO08x::begin_SPI	(	uint8_t	cs_pin,
		uint8_t	int_pin,
		SPIClass *	theSPI = &SPI,
		int32_t	sensor_id = 0
	)

Sets up the hardware and initializes hardware SPI.

Parameters

cs_pin	The arduino pin # connected to chip select
int_pin	The arduino pin # connected to BNO08x INT
theSPI	The SPI object to be used for SPI connections.
sensor_id	The user-defined ID to differentiate different sensors

Returns

true if initialization was successful, otherwise false.

wasReset()

bool Adafruit_BNO08x::wasReset

(

void

)

Check if a reset has occured.

Returns

true: a reset has occured false: no reset has occoured

enableReport()

bool Adafruit_BNO08x::enableReport	(	sh2_SensorId_t	sensorId,
		uint32_t	interval_us = 10000
	)

Enable the given report type.

Parameters

sensorId	The report ID to enable
interval_us	The update interval for reports to be generated, in microseconds

Returns

true: success false: failure

getSensorEvent()

bool Adafruit_BNO08x::getSensorEvent

(

sh2_SensorValue_t *

value

)

Fill the given sensor value object with a new report.

Parameters

value

Pointer to an sh2_SensorValue_t struct to fil

Returns

true: The report object was filled with a new report

false: No new report available to fill

_init()

bool Adafruit_BNO08x::_init ( int32_t  sensor_id )

protectedvirtual

Initializer for post i2c/spi init.

Parameters

sensor_id

Optional unique ID for the sensor set

Returns

True if chip identified and initialized

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

• src/Adafruit_BNO08x.h
• src/Adafruit_BNO08x.cpp