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modm::Bno055< I2cMaster > Class Template Reference
External Device Drivers » BNO055 9-DOF Inertial Measurement Unit

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

Inheritance diagram for modm::Bno055< I2cMaster >:
modm::I2cDevice< 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.
 
bool configure (OperationMode mode=OperationMode::NDOF)
 
bool readData ()
 
bool enableExternalClock ()
 
bool updateRegister (Register reg, Registers_t setMask, Registers_t clearMask=Registers_t (0xff))
 
bool readRegister (Register reg, uint8_t *output, size_t length=1)
 
Data & getData ()
 
void attachConfigurationHandler (I2c::ConfigurationHandler handler)
 
bool ping ()
 
bool read (uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
void setAddress (uint8_t address)
 
bool write (const uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
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

bool setPageId (Register regi)
 
bool isTransactionRunning ()
 
bool runTransaction ()
 Starts our own transaction and waits until finished.
 
bool startTransaction ()
 Starts the transaction with our own transaction object.
 
bool startTransaction (modm::I2cTransaction *transaction)
 Starts the transaction with a separate transaction object.
 
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.
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )
inheritedinline
Return Values
truedevice responds to address
falseno device with address found
void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t  address)
inheritedinline

Sets a new address of the slave device.

Parameters
addressthe 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: