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BNO055 with Arduino
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‎BNO055.c‎

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‎BNO055.h‎

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‎BNO055_support.cpp‎

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/*
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***************************************************************************
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*
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* bno055.c - part of sample SW for using BNO055 with Arduino
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*
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* Usage: BNO055 Sensor Driver Support Source File
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*
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* (C) All rights reserved by ROBERT BOSCH GMBH
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*
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* Copyright (C) 2014 Bosch Sensortec GmbH
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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**************************************************************************/
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/* Date: 2014/01/07
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* Revision: 1.2
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*
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*/
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#include "BNO055_support.h"
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/*****************************************************************************
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* Description: *//**\brief
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* This function initialises the structure pointer, receives
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* and assigns the I2C address.
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*
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*
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*
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*
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*
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* \param bno055_t *bno055 structure pointer.
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*
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO_Init(struct bno055_t *bno055)
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{
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BNO055_RETURN_FUNCTION_TYPE comres = BNO055_Zero_U8X;
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//Link the function pointers for communication (late-binding)
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bno055->bus_read = BNO055_I2C_bus_read;
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bno055->bus_write = BNO055_I2C_bus_write;
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bno055->delay_msec = _delay;
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//Initialization from the BNO055 API
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comres = bno055_init(bno055);
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return comres;
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}
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/*****************************************************************************
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* Description: *//**\brief
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* This function is called when data has to be read over the I2C bus
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*
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*
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*
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*
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*
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* \param unsigned char dev_addr holds the device address
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* unsigned char reg_addr holds the register address
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* unsigned char *reg_data holds the pointer for the start of the
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* data structure
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* unsigned char cnt holds the count of the number of bytes to be
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* read
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO055_I2C_bus_read(unsigned char dev_addr,unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
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{
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BNO055_RETURN_FUNCTION_TYPE comres = BNO055_Zero_U8X;
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Wire.beginTransmission(dev_addr); //Start of transmission
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Wire.write(reg_addr); //Desired start register
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Wire.endTransmission(); //Stop of transmission
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delayMicroseconds(150);
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Wire.requestFrom(dev_addr, cnt); //Request data
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while(Wire.available()) //The slave device may send less than requested
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{
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*reg_data = Wire.read(); //Receive a byte
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reg_data++; //Increment pointer
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}
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return comres;
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}
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/*****************************************************************************
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* Description: *//**\brief
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* This function is called when data has to be written over
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* I2C bus
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*
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*
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*
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*
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*
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* \param unsigned char dev_addr holds the device address
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* unsigned char reg_addr holds the register address
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* unsigned char *reg_data holds the pointer for the start of the
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* data structure
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* unsigned char cnt holds the count of the number of bytes to be
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* written
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO055_I2C_bus_write(unsigned char dev_addr,unsigned char reg_addr, unsigned char *reg_data, unsigned char cnt)
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{
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BNO055_RETURN_FUNCTION_TYPE comres = BNO055_Zero_U8X;
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Wire.beginTransmission(dev_addr); //Start of transmission
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Wire.write(reg_addr); //Desired start register
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for(unsigned char index = 0; index < cnt; index++)
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{
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Wire.write(*reg_data); //Write the data
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reg_data++; //Increment pointer
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}
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Wire.endTransmission(); //Stop of transmission
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delayMicroseconds(150);
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return comres;
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}
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/*****************************************************************************
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* Description: *//**\brief
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* This function is a mirror for the delay function for type casting
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*
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*
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*
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*
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*
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* \param unsigned int
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*
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*
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* \return none
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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void _delay(unsigned int period)
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{
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delay(long(period));
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}
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‎BNO055_support.h‎

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/*
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***************************************************************************
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*
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* bno055_support.h - part of sample SW for using BNO055 with Arduino
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*
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* Usage: BNO055 Sensor Driver Support header File
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*
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* (C) All rights reserved by ROBERT BOSCH GMBH
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*
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* Copyright (C) 2014 Bosch Sensortec GmbH
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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**************************************************************************/
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/* Date: 2014/01/07
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* Revision: 1.2
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*
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*/
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#ifndef __BNO055_SUPPORT_H__
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#define __BNO055_SUPPORT_H__
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extern "C" {
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#include "BNO055.h"
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}
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#include <Wire.h>
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#include "Arduino.h"
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/*****************************************************************************
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* Description: *//**\brief
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* This function initialises the structure pointer, receives
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* and assigns the I2C address.
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*
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*
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*
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*
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*
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* \param bno055_t *bno055 structure pointer.
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*
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO_Init(struct bno055_t *);
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/*****************************************************************************
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* Description: *//**\brief
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* This function is called when data has to be read over the I2C bus
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*
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*
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*
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*
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*
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* \param unsigned char dev_addr holds the device address
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* unsigned char reg_addr holds the register address
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* unsigned char *reg_data holds the pointer for the start of the
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* data structure
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* unsigned char cnt holds the count of the number of bytes to be
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* read
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO055_I2C_bus_read(unsigned char,unsigned char, unsigned char*, unsigned char);
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/*****************************************************************************
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* Description: *//**\brief
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* This function is called when data has to be written over
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* I2C bus
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*
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*
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*
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*
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*
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* \param unsigned char dev_addr holds the device address
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* unsigned char reg_addr holds the register address
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* unsigned char *reg_data holds the pointer for the start of the
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* data structure
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* unsigned char cnt holds the count of the number of bytes to be
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* written
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*
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*
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* \return communication results.
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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BNO055_RETURN_FUNCTION_TYPE BNO055_I2C_bus_write(unsigned char ,unsigned char , unsigned char* , unsigned char );
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/*****************************************************************************
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* Description: *//**\brief
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* This function is a mirror for the delay function for type casting
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*
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*
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*
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*
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*
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* \param unsigned int
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*
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*
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* \return none
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*
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*
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****************************************************************************/
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/* Scheduling:
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*
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*
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*
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* Usage guide:
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*
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*
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* Remarks:
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*
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****************************************************************************/
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void _delay(unsigned int);
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#endif
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‎README.md‎

1.44 KB

BNO055

BNO055

Sample SW for using BNO055 with Arduino

(C) All rights reserved by ROBERT BOSCH GMBH

Copyright (C) 2014 Bosch Sensortec GmbH

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

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