bno055.h File Reference

Include dependency graph for bno055.h:

API Description

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2017 Intel Corporation.
 *
 * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <unistd.h>
#include <stdbool.h>
#include <stdio.h>
#include <upm_utilities.h>

#include <signal.h>
#include "bno055.h"

bool shouldRun = true;

void sig_handler(int signo)
{
  if (signo == SIGINT)
    shouldRun = false;
}


int main(int argc, char **argv)
{
  signal(SIGINT, sig_handler);

  // Initialize a BNO055 using default parameters (bus 0, addr
  // 0x28).  The default running mode is NDOF absolute orientation
  // mode.
  bno055_context sensor = bno055_init(0, BNO055_DEFAULT_ADDR);

  if (!sensor)
  {
      printf("bno055_init() failed.\n");
      return 1;
  }

  // First we need to calibrate....
  printf("First we need to calibrate.  4 numbers will be output every \n"
         "second for each sensor.  0 means uncalibrated, and 3 means \n"
         "fully calibrated.\n"
         "See the UPM documentation on this sensor for instructions on \n"
         "what actions are required to calibrate.\n");

  // do the calibration...
  while (shouldRun && !bno055_is_fully_calibrated(sensor))
    {
      int mag, acc, gyr, sys;
      bno055_get_calibration_status(sensor, &mag, &acc, &gyr, &sys);

      printf("Magnetometer: %d Accelerometer: %d Gyroscope: %d System: %d\n",
             mag, acc, gyr, sys);

      upm_delay(1);
    }

  printf("\nCalibration complete.\n\n");

  // now output various fusion data every 250 milliseconds
  while (shouldRun)
    {
      float w, x, y, z;

      if (bno055_update(sensor))
      {
          printf("bno055_update() failed.\n");
          return 1;
      }

      bno055_get_euler_angles(sensor, &x, &y, &z);
      printf("Euler: Heading: %f Roll: %f Pitch: %f degrees\n",
             x, y, z);

      bno055_get_quaternions(sensor, &w, &x, &y, &z);
      printf("Quaternion: W: %f X: %f Y: %f Z: %f\n",
             w, x, y, z);

      bno055_get_linear_acceleration(sensor, &x, &y, &z);
      printf("Linear Acceleration: X: %f Y: %f Z: %f m/s^2\n",
             x, y, z);

      bno055_get_gravity_vectors(sensor, &x, &y, &z);
      printf("Gravity Vector: X: %f Y: %f Z: %f m/s^2\n",
             x, y, z);

      printf("\n");
      upm_delay_ms(250);
    }


  printf("Exiting...\n");

  bno055_close(sensor);

  return 0;
}

Go to the source code of this file.

Data Structures
struct	_bno055_context

Functions
bno055_context	bno055_init (int bus, uint8_t addr)
void	bno055_close (bno055_context dev)
upm_result_t	bno055_update (const bno055_context dev)
upm_result_t	bno055_get_chip_id (const bno055_context dev, uint8_t *chip_id)
upm_result_t	bno055_get_acc_id (const bno055_context dev, uint8_t *chip_id)
upm_result_t	bno055_get_mag_id (const bno055_context dev, uint8_t *chip_id)
upm_result_t	bno055_get_gyr_id (const bno055_context dev, uint8_t *chip_id)
upm_result_t	bno055_get_sw_revision (const bno055_context dev, uint16_t *sw_rev)
upm_result_t	bno055_get_bootloader_id (const bno055_context dev, uint8_t *bl_id)
upm_result_t	bno055_set_clock_external (const bno055_context dev, bool extClock)
upm_result_t	bno055_set_temperature_source (const bno055_context dev, BNO055_TEMP_SOURCES_T src)
upm_result_t	bno055_set_temperature_units_celsius (const bno055_context dev)
upm_result_t	bno055_set_operation_mode (const bno055_context dev, BNO055_OPERATION_MODES_T mode)
upm_result_t	bno055_reset_system (const bno055_context dev)
upm_result_t	bno055_get_calibration_status (const bno055_context dev, int *mag, int *acc, int *gyr, int *sys)
bool	bno055_is_fully_calibrated (const bno055_context dev)
upm_result_t	bno055_read_calibration_data (const bno055_context dev, uint8_t *data, size_t len)
upm_result_t	bno055_write_calibration_data (const bno055_context dev, uint8_t *data, size_t len)
float	bno055_get_temperature (const bno055_context dev)
void	bno055_get_euler_angles (const bno055_context dev, float *heading, float *roll, float *pitch)
void	bno055_get_quaternions (const bno055_context dev, float *w, float *x, float *y, float *z)
void	bno055_get_linear_acceleration (const bno055_context dev, float *x, float *y, float *z)
void	bno055_get_gravity_vectors (const bno055_context dev, float *x, float *y, float *z)
void	bno055_get_accelerometer (const bno055_context dev, float *x, float *y, float *z)
void	bno055_get_magnetometer (const bno055_context dev, float *x, float *y, float *z)
void	bno055_get_gyroscope (const bno055_context dev, float *x, float *y, float *z)
upm_result_t	bno055_set_acceleration_config (const bno055_context dev, BNO055_ACC_RANGE_T range, BNO055_ACC_BW_T bw, BNO055_ACC_PWR_MODE_T pwr)
upm_result_t	bno055_set_magnetometer_config (const bno055_context dev, BNO055_MAG_ODR_T odr, BNO055_MAG_OPR_T opr, BNO055_MAG_POWER_T pwr)
upm_result_t	bno055_set_gyroscope_config (const bno055_context dev, BNO055_GYR_RANGE_T range, BNO055_GYR_BW_T bw, BNO055_GYR_POWER_MODE_T pwr)
upm_result_t	bno055_set_accelerometer_units (const bno055_context dev, bool mg)
upm_result_t	bno055_set_gyroscope_units (const bno055_context dev, bool radians)
upm_result_t	bno055_set_euler_units (const bno055_context dev, bool radians)
upm_result_t	bno055_reset_interrupt_status (const bno055_context dev)
upm_result_t	bno055_get_interrupt_status (const bno055_context dev, uint8_t *istat)
upm_result_t	bno055_get_interrupt_enable (const bno055_context dev, uint8_t *ienable)
upm_result_t	bno055_set_interrupt_enable (const bno055_context dev, uint8_t enables)
upm_result_t	bno055_get_interrupt_mask (const bno055_context dev, uint8_t *imask)
upm_result_t	bno055_set_interrupt_mask (const bno055_context dev, uint8_t mask)
upm_result_t	bno055_get_system_status (const bno055_context dev, BNO055_SYS_STATUS_T *sys_stat)
upm_result_t	bno055_get_system_error (const bno055_context dev, BNO055_SYS_ERR_T *sys_err)
upm_result_t	bno055_install_isr (const bno055_context dev, int gpio, mraa_gpio_edge_t level, void(*isr)(void *), void *arg)
void	bno055_uninstall_isr (const bno055_context dev)
upm_result_t	bno055_set_page (const bno055_context dev, uint8_t page, bool force)
upm_result_t	bno055_read_reg (const bno055_context dev, uint8_t reg, uint8_t *retval)
upm_result_t	bno055_read_regs (const bno055_context dev, uint8_t reg, uint8_t *buffer, size_t len)
upm_result_t	bno055_write_reg (const bno055_context dev, uint8_t reg, uint8_t val)
upm_result_t	bno055_write_regs (const bno055_context dev, uint8_t reg, uint8_t *buffer, size_t len)

Typedefs
typedef struct _bno055_context *	bno055_context

Function Documentation

bno055_context bno055_init	(	int	bus,
		uint8_t	addr
	)

BNO055 initialization.

By default, this function sets the acceleration units to m/s^2, gyro and Euler units to degrees, and temperature to celsius. It then enters the NDOF fusion mode.

In addition, the internal clock is used so that compatibility with other implementations is assured. If you are using a device with an external clock, call setClockExternal(true) to enable it.

Parameters

bus	I2C bus to use.
address	The I2C address for this device.

Returns

The device context, or NULL if an error occurred.

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void bno055_close

(

bno055_context

dev

)

BNO055 close function.

Parameters

dev	The device context.

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upm_result_t bno055_update

(

const bno055_context

dev

)

Update the internal stored values from sensor data.

Parameters

dev	The device context.

Returns

UPM result.

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upm_result_t bno055_get_chip_id	(	const bno055_context	dev,
		uint8_t *	chip_id
	)

Return the chip ID.

Parameters

dev	The device context.
chip_id	The chip ID (BNO055_CHIPID).

Returns

UPM result.

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upm_result_t bno055_get_acc_id	(	const bno055_context	dev,
		uint8_t *	chip_id
	)

Return the accelerometer chip ID.

Parameters

dev	The device context.
chip_id	The chip ID

Returns

UPM result.

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upm_result_t bno055_get_mag_id	(	const bno055_context	dev,
		uint8_t *	chip_id
	)

Return the magnetometer chip ID.

Parameters

dev	The device context.
chip_id	The chip ID

Returns

UPM result.

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upm_result_t bno055_get_gyr_id	(	const bno055_context	dev,
		uint8_t *	chip_id
	)

Return the gyroscope chip ID.

Parameters

dev	The device context.
chip_id	The chip ID

Returns

UPM result.

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upm_result_t bno055_get_sw_revision	(	const bno055_context	dev,
		uint16_t *	sw_rev
	)

Return the fusion firmware revison.

Parameters

dev	The device context.
sw_rev	The firmware revison.

Returns

UPM result.

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upm_result_t bno055_get_bootloader_id	(	const bno055_context	dev,
		uint8_t *	bl_id
	)

Return the bootloader ID.

Parameters

dev	The device context.
bl_id	The bootloader ID.

Returns

UPM result.

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upm_result_t bno055_set_clock_external	(	const bno055_context	dev,
		bool	extClock
	)

Enable or disables the use of the external clock. The Adafriut device does contain an external clock which might be more stable. By default, the internal clock is used.

Parameters

dev	The device context.
extClock	true to use external clock, false otherwise.

Returns

UPM result.

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upm_result_t bno055_set_temperature_source	(	const bno055_context	dev,
		BNO055_TEMP_SOURCES_T	src
	)

Select the temperature source. This can be the accelerometer or the gyroscope. By default, the accelerometer temperature is used as the source.

Parameters

dev	The device context.
src	One of the TEMP_SOURCES_T values.

Returns

UPM result.

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upm_result_t bno055_set_temperature_units_celsius

(

const bno055_context

dev

)

Set the temperature units of the device to Celsius (always).

Parameters

dev	The device context.

Returns

UPM result.

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upm_result_t bno055_set_operation_mode	(	const bno055_context	dev,
		BNO055_OPERATION_MODES_T	mode
	)

Set the operating mode for the device. This places the device into a config mode, one of 7 non-fusion modes, or one of 5 fusion modes. All stored sensor data is cleared when switching modes. The device must be in config mode for most configuration operations. See the datasheet for details.

Parameters

dev	The device context.
mode	One of the OPERATION_MODES_T values.

Returns

UPM result.

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upm_result_t bno055_reset_system

(

const bno055_context

dev

)

Reboot the sensor. This is equivalent to a power on reset. All calibration data will be lost, and the device must be re-calibrated.

Parameters

dev	The device context.

Returns

UPM result.

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upm_result_t bno055_get_calibration_status	(	const bno055_context	dev,
		int *	mag,
		int *	acc,
		int *	gyr,
		int *	sys
	)

Read the calibration status registers and return them. The values range from 0 (uncalibrated) to 3 (fully calibrated).

Parameters

dev	The device context.
mag	The calibration status of the magnetometer.
acc	The calibration status of the accelerometer.
mag	The calibration status of the gyroscope.
mag	The calibration status of the overall system.

Returns

UPM result.

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bool bno055_is_fully_calibrated

(

const bno055_context

dev

)

Read the calibration status registers and return true or false, indicating whether all of the calibration parameters are fully calibrated.

Parameters

dev	The device context.

Returns

true if all 4 calibration parameters are fully calibrated, else false.

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upm_result_t bno055_read_calibration_data	(	const bno055_context	dev,
		uint8_t *	data,
		size_t	len
	)

Read the calibration data and place it into a buffer. The buffer must be BNO055_CALIBRATION_DATA_SIZE bytes in size. This data can then be saved for later reuse by bno055_write_calibration_data() to restore calibration data after a reset. Note: bno055_is_fully_calibrated() (calibration is complete) must be true or an error will result.

Parameters

dev	The device context.
data	A pointer to a buffer to hold the calibration data. This buffer must be BNO055_CALIBRATION_DATA_SIZE bytes in length.
len	The length of the buffer. An error will be returned if the length is not equal to BNO055_CALIBRATION_DATA_SIZE.

Returns

UPM result.

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upm_result_t bno055_write_calibration_data	(	const bno055_context	dev,
		uint8_t *	data,
		size_t	len
	)

Write previously saved calibration data to the calibration registers. The array containing the data must be BNO055_CALIBRATION_DATA_SIZE bytes in size.

Parameters

dev	The device context.
data	uint8_t array representing calibration data, as obtained by bno055_read_calibration_data().
len	The length of the supplied buffer. An error will be returned if the length is not equal to BNO055_CALIBRATION_DATA_SIZE.

Returns

UPM result.

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float bno055_get_temperature

(

const bno055_context

dev

)

Return the current measured temperature. Note, this is not ambient temperature - this is the temperature of the selected source on the chip. update() must have been called prior to calling this method.

Parameters

dev	The device context.

Returns

The temperature in degrees Celsius.

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void bno055_get_euler_angles	(	const bno055_context	dev,
		float *	heading,
		float *	roll,
		float *	pitch
	)

Return current orientation fusion data in the form of Euler Angles. By default, the returned values are in degrees. update() must have been called prior to calling this method.

Parameters

dev	The device context.
heading	Pointer to a floating point value that will have the current heading angle placed into it.
roll	Pointer to a floating point value that will have the current roll angle placed into it.
pitch	Pointer to a floating point value that will have the current pitch angle placed into it.

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void bno055_get_quaternions	(	const bno055_context	dev,
		float *	w,
		float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of Quaternions. update() must have been called prior to calling this method.

Parameters

dev	The device context.
w	Pointer to a floating point value that will have the current w component placed into it.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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void bno055_get_linear_acceleration	(	const bno055_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of Linear Acceleration. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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void bno055_get_gravity_vectors	(	const bno055_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return current orientation fusion data in the form of a Gravity Vector per-axis. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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void bno055_get_accelerometer	(	const bno055_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return accelerometer data (non-fusion). In fusion modes, this data will be of little value. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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void bno055_get_magnetometer	(	const bno055_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return magnetometer data (non-fusion). In fusion modes, this data will be of little value. The returned values are in micro-teslas (uT). update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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void bno055_get_gyroscope	(	const bno055_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return gyroscope data (non-fusion). In fusion modes, this data will be of little value. By default the returned values are in meters per-second squared (m/s^2). update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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upm_result_t bno055_set_acceleration_config	(	const bno055_context	dev,
		BNO055_ACC_RANGE_T	range,
		BNO055_ACC_BW_T	bw,
		BNO055_ACC_PWR_MODE_T	pwr
	)

Set the bandwidth, range, and power modes of the accelerometer. In fusion modes, these values will be ignored.

Parameters

dev	The device context.
range	One of the BNO055_ACC_RANGE_T values.
bw	One of the BNO055_ACC_BW_T values.
pwr	One of the BNO055_ACC_PWR_MODE_T values.

Returns

UPM result.

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upm_result_t bno055_set_magnetometer_config	(	const bno055_context	dev,
		BNO055_MAG_ODR_T	odr,
		BNO055_MAG_OPR_T	opr,
		BNO055_MAG_POWER_T	pwr
	)

Set the output data rate, operating mode and power mode of the magnetometer. In fusion modes, these values will be ignored.

Parameters

dev	The device context.
odr	One of the BNO055_MAG_ODR_T values.
opr	One of the BNO055_MAG_OPR_T values.
pwr	One of the BNO055_MAG_POWER_T values.

Returns

UPM result.

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upm_result_t bno055_set_gyroscope_config	(	const bno055_context	dev,
		BNO055_GYR_RANGE_T	range,
		BNO055_GYR_BW_T	bw,
		BNO055_GYR_POWER_MODE_T	pwr
	)

Set the range, bandwidth and power modes of the gyroscope. In fusion modes, these values will be ignored.

Parameters

dev	The device context.
range	One of the BNO055_GYR_RANGE_T values.
bw	One of the BNO055_GYR_BW_T values.
pwr	One of the BNO055_GYR_POWER_MODE_T values.

Returns

UPM result.

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upm_result_t bno055_set_accelerometer_units	(	const bno055_context	dev,
		bool	mg
	)

Set the unit of measurement for the accelerometer related sensor values. The choices are mg (milli-gravities) or meters per-second squared (m/s^2). The default is m/s^2.

Parameters

dev	The device context.
mg	true for mg, false for m/s^2.

Returns

UPM result.

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upm_result_t bno055_set_gyroscope_units	(	const bno055_context	dev,
		bool	radians
	)

Set the unit of measurement for the gyroscope related sensor values. The choices are degrees and radians. The default is degrees.

Parameters

dev	The device context.
radians	true for radians, false for degrees.

Returns

UPM result.

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upm_result_t bno055_set_euler_units	(	const bno055_context	dev,
		bool	radians
	)

Set the unit of measurement for the Euler Angle related sensor values. The choices are degrees and radians. The default is degrees.

Parameters

dev	The device context.
radians	true for radians, false for degrees.

Returns

UPM result.

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upm_result_t bno055_reset_interrupt_status

(

const bno055_context

dev

)

Reset all interrupt status bits and interrupt output.

Parameters

dev	The device context.

Returns

UPM result.

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upm_result_t bno055_get_interrupt_status	(	const bno055_context	dev,
		uint8_t *	istat
	)

Get the interrupt status register. This is a bitmask of the INT_STA_BITS_T bits.

Parameters

dev	The device context.
istat	A bitmask of INT_STA_BITS_T bits.

Returns

UPM result.

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upm_result_t bno055_get_interrupt_enable	(	const bno055_context	dev,
		uint8_t *	ienable
	)

Get the interrupt enables register. This is a bitmask of the INT_STA_BITS_T bits.

Parameters

dev	The device context.
ienable	A bitmask of INT_STA_BITS_T bits currently set in the enable register.

Returns

UPM result.

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upm_result_t bno055_set_interrupt_enable	(	const bno055_context	dev,
		uint8_t	enables
	)

Set the interrupt enable register. This is composed of a bitmask of the INT_STA_BITS_T bits.

Parameters

dev	The device context.
enables	a bitmask of INT_STA_BITS_T bits to enable

Returns

UPM result.

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upm_result_t bno055_get_interrupt_mask	(	const bno055_context	dev,
		uint8_t *	imask
	)

Get the interrupt mask register. This is a bitmask of the INT_STA_BITS_T bits. The interrupt mask is used to mask off enabled interrupts from generating a hardware interrupt. The interrupt status register can still be used to detect masked interrupts if they are enabled.

Parameters

dev	The device context.
imask	a bitmask of INT_STA_BITS_T bits currently set in the interrupt mask register.

Returns

UPM result.

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upm_result_t bno055_set_interrupt_mask	(	const bno055_context	dev,
		uint8_t	mask
	)

Set the interrupt mask register. This is a bitmask of the INT_STA_BITS_T bits. The interrupt mask is used to mask off enabled interrupts from generating a hardware interrupt. The interrupt status register can still be used to detect masked interrupts if they are enabled.

Parameters

dev	The device context.
mask	A bitmask of INT_STA_BITS_T bits to set in the interrupt mask register.

Returns

UPM result.

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upm_result_t bno055_get_system_status	(	const bno055_context	dev,
		BNO055_SYS_STATUS_T *	sys_stat
	)

Get the value of the system status register. This method can be used to determine the overall status of the device.

Parameters

dev	The device context.
sys_stat	One of the SYS_STATUS_T values.

Returns

UPM result.

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upm_result_t bno055_get_system_error	(	const bno055_context	dev,
		BNO055_SYS_ERR_T *	sys_err
	)

Return the value of the system error register. This mathod can be used to determine a variety of system related error conditions.

Parameters

dev	The device context.
sys_stat	One of the SYS_ERR_T values.

Returns

UPM result.

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upm_result_t bno055_install_isr	(	const bno055_context	dev,
		int	gpio,
		mraa_gpio_edge_t	level,
		void(*)(void *)	isr,
		void *	arg
	)

install an interrupt handler.

Parameters

dev	The device context.
gpio	The GPIO pin to use as interrupt pin.
level	The interrupt trigger level (one of mraa_gpio_edge_t values). Make sure that you have configured the interrupt pin properly (on the device) for whatever level method you choose.
isr	The interrupt handler, accepting a void * argument.
arg	The argument to pass the the interrupt handler.

Returns

UPM result.

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void bno055_uninstall_isr

(

const bno055_context

dev

)

uninstall a previously installed interrupt handler

Parameters

dev	The device context.

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upm_result_t bno055_set_page	(	const bno055_context	dev,
		uint8_t	page,
		bool	force
	)

Set the current internal device register page. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
page	The page number to set. This can only be 0 or 1.
force	If true, force the device page state to match indicated internal page state regardless of current state.

Returns

UPM result.

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upm_result_t bno055_read_reg	(	const bno055_context	dev,
		uint8_t	reg,
		uint8_t *	retval
	)

Read a register. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
reg	The register to read
retval	The returned value of the register

Returns

UPM result.

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upm_result_t bno055_read_regs	(	const bno055_context	dev,
		uint8_t	reg,
		uint8_t *	buffer,
		size_t	len
	)

Read contiguous registers into a buffer. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
buffer	The buffer to store the results
len	The number of registers to read

Returns

UPM result.

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upm_result_t bno055_write_reg	(	const bno055_context	dev,
		uint8_t	reg,
		uint8_t	val
	)

Write to a register. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
reg	The register to write to
val	The value to write

Returns

UPM result.

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upm_result_t bno055_write_regs	(	const bno055_context	dev,
		uint8_t	reg,
		uint8_t *	buffer,
		size_t	len
	)

Write data to contiguous registers. This is a low level function and should not be used unless you know what you are doing.

Parameters

dev	The device context.
reg	The starting register to write to
buffer	The buffer containing the data to write
len	The number of bytes to write

Returns

UPM result.

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Typedef Documentation

typedef struct _bno055_context * bno055_context

Device context