Documentation ¶
Overview ¶
Index ¶
- Constants
- type Dev
- func (d *Dev) Dump(reg, num uint8) []byte
- func (d *Dev) GetCalibration() (calib uint8, err error)
- func (d *Dev) GetQuaternion() ([]float64, error)
- func (d *Dev) GetRevisionInfo() (accel, mag, gyro uint8, sw uint16, bl uint8, err error)
- func (d *Dev) GetSystemStatus() (stat, syserr, selftest uint8, err error)
- func (d *Dev) GetTemp() (temp uint8, err error)
- func (d *Dev) GetVector(vectype uint8) ([]float64, error)
- func (d *Dev) Halt() error
- func (d *Dev) Ping() bool
- func (d *Dev) Reset() error
- func (d *Dev) SetMode(mode uint8) error
- func (d *Dev) SetUseExternalCrystal(external bool) error
- func (d *Dev) String() string
Constants ¶
View Source
const ( BNO055_ADDRESS_A = 0x28 BNO055_ADDRESS_B = 0x29 BNO055_ID = 0xA0 // Power mode settings POWER_MODE_NORMAL = 0x00 POWER_MODE_LOWPOWER = 0x01 POWER_MODE_SUSPEND = 0x02 // Operation mode settings OPERATION_MODE_CONFIG = 0x00 OPERATION_MODE_ACCONLY = 0x01 OPERATION_MODE_MAGONLY = 0x02 OPERATION_MODE_GYRONLY = 0x03 OPERATION_MODE_ACCMAG = 0x04 OPERATION_MODE_ACCGYRO = 0x05 OPERATION_MODE_MAGGYRO = 0x06 OPERATION_MODE_AMG = 0x07 OPERATION_MODE_IMUPLUS = 0x08 OPERATION_MODE_COMPASS = 0x09 OPERATION_MODE_M4G = 0x0A OPERATION_MODE_NDOF_FMC_OFF = 0x0B OPERATION_MODE_NDOF = 0x0C // Output vector type VECTOR_ACCELEROMETER = 0x08 VECTOR_MAGNETOMETER = 0x0E VECTOR_GYROSCOPE = 0x14 VECTOR_EULER = 0x1A VECTOR_LINEARACCEL = 0x28 VECTOR_GRAVITY = 0x2E // REGISTER DEFINITION START BNO055_PAGE_ID_ADDR = 0x07 BNO055_CHIP_ID_ADDR = 0x00 BNO055_ACCEL_REV_ID_ADDR = 0x01 BNO055_MAG_REV_ID_ADDR = 0x02 BNO055_GYRO_REV_ID_ADDR = 0x03 BNO055_SW_REV_ID_LSB_ADDR = 0x04 BNO055_SW_REV_ID_MSB_ADDR = 0x05 BNO055_BL_REV_ID_ADDR = 0x06 // Accel data register BNO055_ACCEL_DATA_X_LSB_ADDR = 0x08 BNO055_ACCEL_DATA_X_MSB_ADDR = 0x09 BNO055_ACCEL_DATA_Y_LSB_ADDR = 0x0A BNO055_ACCEL_DATA_Y_MSB_ADDR = 0x0B BNO055_ACCEL_DATA_Z_LSB_ADDR = 0x0C BNO055_ACCEL_DATA_Z_MSB_ADDR = 0x0D // Mag data register BNO055_MAG_DATA_X_LSB_ADDR = 0x0E BNO055_MAG_DATA_X_MSB_ADDR = 0x0F BNO055_MAG_DATA_Y_LSB_ADDR = 0x10 BNO055_MAG_DATA_Y_MSB_ADDR = 0x11 BNO055_MAG_DATA_Z_LSB_ADDR = 0x12 BNO055_MAG_DATA_Z_MSB_ADDR = 0x13 // Gyro data registers BNO055_GYRO_DATA_X_LSB_ADDR = 0x14 BNO055_GYRO_DATA_X_MSB_ADDR = 0x15 BNO055_GYRO_DATA_Y_LSB_ADDR = 0x16 BNO055_GYRO_DATA_Y_MSB_ADDR = 0x17 BNO055_GYRO_DATA_Z_LSB_ADDR = 0x18 BNO055_GYRO_DATA_Z_MSB_ADDR = 0x19 // Euler data registers BNO055_EULER_H_LSB_ADDR = 0x1A BNO055_EULER_H_MSB_ADDR = 0x1B BNO055_EULER_R_LSB_ADDR = 0x1C BNO055_EULER_R_MSB_ADDR = 0x1D BNO055_EULER_P_LSB_ADDR = 0x1E BNO055_EULER_P_MSB_ADDR = 0x1F // Quaternion data registers BNO055_QUATERNION_DATA_W_LSB_ADDR = 0x20 BNO055_QUATERNION_DATA_W_MSB_ADDR = 0x21 BNO055_QUATERNION_DATA_X_LSB_ADDR = 0x22 BNO055_QUATERNION_DATA_X_MSB_ADDR = 0x23 BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0x24 BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0x25 BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0x26 BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0x27 // Linear acceleration data registers BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0x28 BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0x29 BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0x2A BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0x2B BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0x2C BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0x2D // Gravity data registers BNO055_GRAVITY_DATA_X_LSB_ADDR = 0x2E BNO055_GRAVITY_DATA_X_MSB_ADDR = 0x2F BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0x30 BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0x31 BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0x32 BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0x33 // Temperature data register BNO055_TEMP_ADDR = 0x34 // Status registers BNO055_CALIB_STAT_ADDR = 0x35 BNO055_SELFTEST_RESULT_ADDR = 0x36 BNO055_INTR_STAT_ADDR = 0x37 BNO055_SYS_CLK_STAT_ADDR = 0x38 BNO055_SYS_STAT_ADDR = 0x39 BNO055_SYS_ERR_ADDR = 0x3A // Unit selection register BNO055_UNIT_SEL_ADDR = 0x3B BNO055_DATA_SELECT_ADDR = 0x3C // Mode registers BNO055_OPR_MODE_ADDR = 0x3D BNO055_PWR_MODE_ADDR = 0x3E BNO055_SYS_TRIGGER_ADDR = 0x3F BNO055_TEMP_SOURCE_ADDR = 0x40 // Axis remap registers BNO055_AXIS_MAP_CONFIG_ADDR = 0x41 BNO055_AXIS_MAP_SIGN_ADDR = 0x42 // SIC registers BNO055_SIC_MATRIX_0_LSB_ADDR = 0x43 BNO055_SIC_MATRIX_0_MSB_ADDR = 0x44 BNO055_SIC_MATRIX_1_LSB_ADDR = 0x45 BNO055_SIC_MATRIX_1_MSB_ADDR = 0x46 BNO055_SIC_MATRIX_2_LSB_ADDR = 0x47 BNO055_SIC_MATRIX_2_MSB_ADDR = 0x48 BNO055_SIC_MATRIX_3_LSB_ADDR = 0x49 BNO055_SIC_MATRIX_3_MSB_ADDR = 0x4A BNO055_SIC_MATRIX_4_LSB_ADDR = 0x4B BNO055_SIC_MATRIX_4_MSB_ADDR = 0x4C BNO055_SIC_MATRIX_5_LSB_ADDR = 0x4D BNO055_SIC_MATRIX_5_MSB_ADDR = 0x4E BNO055_SIC_MATRIX_6_LSB_ADDR = 0x4F BNO055_SIC_MATRIX_6_MSB_ADDR = 0x50 BNO055_SIC_MATRIX_7_LSB_ADDR = 0x51 BNO055_SIC_MATRIX_7_MSB_ADDR = 0x52 BNO055_SIC_MATRIX_8_LSB_ADDR = 0x53 BNO055_SIC_MATRIX_8_MSB_ADDR = 0x54 // Accelerometer Offset registers ACCEL_OFFSET_X_LSB_ADDR = 0x55 ACCEL_OFFSET_X_MSB_ADDR = 0x56 ACCEL_OFFSET_Y_LSB_ADDR = 0x57 ACCEL_OFFSET_Y_MSB_ADDR = 0x58 ACCEL_OFFSET_Z_LSB_ADDR = 0x59 ACCEL_OFFSET_Z_MSB_ADDR = 0x5A // Magnetometer Offset registers MAG_OFFSET_X_LSB_ADDR = 0x5B MAG_OFFSET_X_MSB_ADDR = 0x5C MAG_OFFSET_Y_LSB_ADDR = 0x5D MAG_OFFSET_Y_MSB_ADDR = 0x5E MAG_OFFSET_Z_LSB_ADDR = 0x5F MAG_OFFSET_Z_MSB_ADDR = 0x60 // Gyroscope Offset registers GYRO_OFFSET_X_LSB_ADDR = 0x61 GYRO_OFFSET_X_MSB_ADDR = 0x62 GYRO_OFFSET_Y_LSB_ADDR = 0x63 GYRO_OFFSET_Y_MSB_ADDR = 0x64 GYRO_OFFSET_Z_LSB_ADDR = 0x65 GYRO_OFFSET_Z_MSB_ADDR = 0x66 // Radius registers ACCEL_RADIUS_LSB_ADDR = 0x67 ACCEL_RADIUS_MSB_ADDR = 0x68 MAG_RADIUS_LSB_ADDR = 0x69 MAG_RADIUS_MSB_ADDR = 0x6A )
Variables ¶
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Functions ¶
This section is empty.
Types ¶
type Dev ¶
type Dev struct {
// contains filtered or unexported fields
}
func (*Dev) GetCalibration ¶
func (*Dev) GetQuaternion ¶
func (*Dev) GetRevisionInfo ¶
func (*Dev) GetSystemStatus ¶
func (*Dev) SetUseExternalCrystal ¶
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