#include <modm/driver/inertial/bno055.hpp>

Inheritance diagram for modm::Bno055< I2cMaster >:

Classes
struct	Data

Public Typedefs
using	Registers_t = FlagsGroup< SelfTestResult_t, InterruptStatus_t, SystemClockStatus_t, UnitSelection_t, SystemTrigger_t, AccConfig_t, MagConfig_t, GyrConfig0_t, GyrConfig1_t, Interrupt_t, modm::Flags8< TemperatureSource >, modm::Flags8< OperationMode >, modm::Flags8< PowerMode >, modm::Flags8< StatusCode >, modm::Flags8< StatusError > >

Public Types
enum	Identifier : uint8_t

enum	Register : uint8_t

enum	SelfTestResult : uint8_t

enum	InterruptStatus : uint8_t

enum	SystemClockStatus : uint8_t
	SYS_CLK_STATUS reset value is 0x00.

enum	UnitSelection : uint8_t
	UNIT_SEL reset value is 0x00.

enum	SystemTrigger : uint8_t
	SYS_TRIGGER reset value is 0x00.

enum	AccConfig : uint8_t
	ACC_Config reset value is 0x0D.

enum	AccPowerMode : uint8_t
	ACC_PWR_Mode reset value is 0x00.

enum	AccBandwidth : uint8_t
	ACC_BW reset value is 0x03.

enum	AccRange : uint8_t
	ACC_Range reset value is 0x01.

enum	MagConfig : uint8_t
	MAG_Config reset value is 0x0B.

enum	MagPowerMode : uint8_t
	MAG_Power_mode reset value is 0x00.

enum	MagOperationMode : uint8_t
	MAG_OPR_Mode reset value is 0x01.

enum	MagDataOutputRate : uint8_t
	MAG_Data_output _rate reset value is 0x03.

enum	GyrConfig0 : uint8_t
	GYR_Config_0 reset value is 0x38.

enum	GyrBandwidth : uint8_t
	GYR_Bandwidth _rate reset value is 0x07.

enum	GyrRange : uint8_t
	GYR_Range reset value is 0x00.

enum	GyrConfig1 : uint8_t
	GYR_Config_1 reset value is 0x00.

enum	GyrPowerMode : uint8_t
	GYR_Range reset value is 0x00.

enum	Interrupt : uint8_t

enum	TemperatureSource : uint8_t

enum	OperationMode : uint8_t

enum	PowerMode : uint8_t

enum	StatusCode : uint8_t

enum	StatusError : uint8_t

Public Member Functions
	MODM_FLAGS8 (SelfTestResult)

	MODM_FLAGS8 (InterruptStatus)

	MODM_FLAGS8 (SystemClockStatus)

	MODM_FLAGS8 (UnitSelection)

	MODM_FLAGS8 (SystemTrigger)

	MODM_FLAGS8 (AccConfig)

	MODM_FLAGS_CONFIG (AccConfig, AccPowerMode)

	MODM_FLAGS_CONFIG (AccConfig, AccBandwidth)

	MODM_FLAGS_CONFIG (AccConfig, AccRange)

	MODM_FLAGS8 (MagConfig)

	MODM_FLAGS_CONFIG (MagConfig, MagPowerMode)

	MODM_FLAGS_CONFIG (MagConfig, MagOperationMode)

	MODM_FLAGS_CONFIG (MagConfig, MagDataOutputRate)

	MODM_FLAGS8 (GyrConfig0)

	MODM_FLAGS_CONFIG (GyrConfig0, GyrBandwidth)

	MODM_FLAGS_CONFIG (GyrConfig0, GyrRange)

	MODM_FLAGS8 (GyrConfig1)

	MODM_FLAGS_CONFIG (GyrConfig1, GyrPowerMode)

	MODM_FLAGS8 (Interrupt)

	Bno055 (Data &data, uint8_t address=addr ())
	Constructor, requires a bno055::Data object.

modm::ResumableResult< bool >	configure (OperationMode mode=OperationMode::NDOF)

modm::ResumableResult< bool >	readData ()

modm::ResumableResult< bool >	enableExternalClock ()

modm::ResumableResult< bool >	updateRegister (Register reg, Registers_t setMask, Registers_t clearMask=Registers_t (0xff))

modm::ResumableResult< bool >	readRegister (Register reg, uint8_t *output, size_t length=1)

Data &	getData ()

void	attachConfigurationHandler (I2c::ConfigurationHandler handler)

modm::ResumableResult< bool >	ping ()

modm::ResumableResult< bool >	read (uint8_t *buffer, std::size_t size)
	Starts a write transaction and waits until finished.

void	setAddress (uint8_t address)

modm::ResumableResult< bool >	write (const uint8_t *buffer, std::size_t size)
	Starts a write transaction and waits until finished.

modm::ResumableResult< bool >	writeRead (const uint8_t writeBuffer, std::size_t writeSize, uint8_t readBuffer, std::size_t readSize)
	Starts a write-read transaction and waits until finished.

Static Public Member Functions
static constexpr uint8_t	addr (uint8_t offset=1)
	Available I2C addresses.

Protected Member Functions
modm::ResumableResult< bool >	setPageId (Register regi)

int8_t	getResumableDepth () const

bool	isResumableRunning () const

bool	isTransactionRunning ()

modm::ResumableResult< bool >	runTransaction ()
	Starts our own transaction and waits until finished.

bool	startRead (uint8_t *buffer, std::size_t size)
	Configures the transaction with a read operation and starts it.

bool	startTransaction ()
	Starts the transaction with our own transaction object.

bool	startTransaction (modm::I2cTransaction *transaction)
	Starts the transaction with a separate transaction object.

bool	startWrite (const uint8_t *buffer, std::size_t size)
	Configures the transaction with a write operation and starts it.

bool	startWriteRead (const uint8_t writeBuffer, std::size_t writeSize, uint8_t readBuffer, std::size_t readSize)
	Configures the transaction with a write/read operation and starts it.

void	stopResumable ()

bool	wasTransactionSuccessful ()

Protected Attributes
I2cWriteReadTransaction	transaction

Detailed Description

template<class I2cMaster>
class modm::Bno055< I2cMaster >

Author: Niklas Hauser

Member Enumeration Documentation

template<class I2cMaster >

enum modm::Bno055::Interrupt : uint8_t

strong

ACC_Sleep_Config reset value is 0x00 GYR_Sleep_Config reset value is 0x00

INT_MSK reset value is 0x00 INT_EN reset value is 0x00 Masking of interrupts, when enabled the interrupt will update the INT_STA register and trigger a change on the INT pin, when disabled only the INT_STA register will be updated.

template<class I2cMaster >

enum modm::Bno055::InterruptStatus : uint8_t

strong

INT_STA reset value is 0x00 Read: 1 indicates interrupt triggered; 0 indicates no interrupt triggered

template<class I2cMaster >

enum modm::Bno055::SelfTestResult : uint8_t

strong

ST_RESULT reset value is 0x00 Read: 1 indicated test passed; 0 indicates test failed

Member Function Documentation

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler handler )

inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )

inheritedinlineprotected

Returns: true when transaction is busy.

modm::ResumableResult<bool> modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )

inheritedinline

Return Values

true	device responds to address
false	no device with address found

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t address )

inheritedinline

Sets a new address of the slave device.

Parameters

address the slave address not yet shifted left (address < 128).

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )

inheritedinlineprotected

Returns: true when transaction did not return an error.

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

bno055.hpp

Classes

Public Typedefs

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class I2cMaster> class modm::Bno055< I2cMaster >

Member Enumeration Documentation

Member Function Documentation

template<class I2cMaster>
class modm::Bno055< I2cMaster >