BNO055 Class Reference

BNO055 class for the IMU containing modes of operation, initialization, and reading data. More...

#include <bno055.h>

Public Types
enum class	REG : uint8_t { CONFIG_MODE = 0x00 , IMU = 0x08 , NDOF = 0x0C }
	Enumerated class REG of the IMU modes that will be used. More...

Public Member Functions
	BNO055 (I2C_HandleTypeDef *hi2c, uint8_t addr=0x28)
	Constructor Function to initialize the BNO055 Class.
bool	init_imu (REG mode=REG::NDOF)
	Function handles the configuration and initialization of the BNO055 IMU.
bool	updateEuler ()
	Function Updates the Euler values based on the IMU's current readings. Roll Pitch, and Yaw are updated within the class.
bool	readCalibStatus (uint8_t &sys, uint8_t &gyro, uint8_t &accel, uint8_t &mag)
	Function Checks the Calibration status of the IMU and individual sensors.
bool	updateGyro ()
	Function pull they data from the gyroscope retrieving angular velocities.
int16_t	getYawRateZ ()
	Function allows users to retrieve the yaw rate around the Z axis.
int16_t	getYaw ()
	Function allows for the user to get the current yaw value.
int16_t	getRoll ()
	Function allows for the user to get the current roll value.
int16_t	getPitch ()
	Function allows for the user to get the current pitch value.

Private Member Functions
bool	writeByte (uint8_t reg, uint8_t value)
	Function writes values to the specified register given by the user.
bool	readLen (uint8_t reg, uint8_t *buffer, uint8_t len)
	Function reads the current value of the specified register given by the user.

Private Attributes
I2C_HandleTypeDef *	hi2c
uint8_t	addr
int16_t	pitch
int16_t	yaw
int16_t	roll
int16_t	gyroX
int16_t	gyroY
int16_t	gyroZ

Detailed Description

BNO055 class for the IMU containing modes of operation, initialization, and reading data.

Member Enumeration Documentation

REG

enum class BNO055::REG : uint8_t

strong

Enumerated class REG of the IMU modes that will be used.

Enumerator
CONFIG_MODE	Configuration Mode CONFIG_MODE
IMU	Normal IMU Mode IMU
NDOF	Fusion Mode NDOF

Constructor & Destructor Documentation

BNO055()

BNO055::BNO055	(	I2C_HandleTypeDef *	hi2c,
		uint8_t	addr = 0x28 )

Constructor Function to initialize the BNO055 Class.

Member Function Documentation

getPitch()

int16_t BNO055::getPitch

(

)

Function allows for the user to get the current pitch value.

Returns

int16_t

getRoll()

int16_t BNO055::getRoll

(

)

Function allows for the user to get the current roll value.

Returns

int16_t

getYaw()

int16_t BNO055::getYaw

(

)

Function allows for the user to get the current yaw value.

Returns

int16_t

getYawRateZ()

int16_t BNO055::getYawRateZ

(

)

Function allows users to retrieve the yaw rate around the Z axis.

Returns

int16_t

init_imu()

bool BNO055::init_imu

(

REG

mode = REG::NDOF

)

Function handles the configuration and initialization of the BNO055 IMU.

Parameters

mode	Parameter for determining what mode to operate the IMU at see REG modes

Returns

Boolean

readCalibStatus()

bool BNO055::readCalibStatus	(	uint8_t &	sys,
		uint8_t &	gyro,
		uint8_t &	accel,
		uint8_t &	mag )

Function Checks the Calibration status of the IMU and individual sensors.

Parameters

sys	Parameter for a reference to the system calibration status
gyro	Parameter for a reference to the gyro calibration status
accel	Parameter for a reference to the accel calibration status
mag	Parameter for a reference to the mag calibration status

Returns

True upon successful readings

readLen()

bool BNO055::readLen ( uint8_t reg, uint8_t * buffer, uint8_t len )

private

Function reads the current value of the specified register given by the user.

Parameters

reg	Parameter that takes in a register to read from
buffer	Parameter that takes in a data buffer to read the data from the select register
len	Parameter that specifies the length of the incoming data

Returns

Boolean

updateEuler()

bool BNO055::updateEuler

(

)

Function Updates the Euler values based on the IMU's current readings. Roll Pitch, and Yaw are updated within the class.

Returns

Boolean

updateGyro()

bool BNO055::updateGyro

(

)

Function pull they data from the gyroscope retrieving angular velocities.

Returns

Boolean

writeByte()

bool BNO055::writeByte ( uint8_t reg, uint8_t value )

private

Function writes values to the specified register given by the user.

Parameters

reg	Parameter that takes in a register value to write to
value	Parameter that takes in the data to write to the specified register

Returns

Boolean

Member Data Documentation

addr

uint8_t BNO055::addr

private

Private variable addr. Holds the imu device specific address (0x28 or 0x29)

gyroX

int16_t BNO055::gyroX

private

Private variable gyroX. Holds the X data read from the IMU's gyroscope

gyroY

int16_t BNO055::gyroY

private

Private variable gyroY. Holds the Y data read from the IMU's gyroscope

gyroZ

int16_t BNO055::gyroZ

private

Private variable gyroZ. Holds the Z data read from the IMU's gyroscope

hi2c

I2C_HandleTypeDef* BNO055::hi2c

private

Private Variable hi2c. Sets the I2C definition fromt the STM32 HAL Config

pitch

int16_t BNO055::pitch

private

Private variable pitch. Holds the pitch data read from the IMU

roll

int16_t BNO055::roll

private

Private variable roll. Holds the roll data read from the IMU

yaw

int16_t BNO055::yaw

private

Private variable yaw. Holds the yaw data read from the IMU

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

• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/Inc/bno055.h
• C:/Users/arath/OneDrive/Documents/ME 507/Project-WALLE/Code/src/bno055.cpp