BNO085 Struct Reference

Implementation of the BNO085 9-axis motion processor. More...

#include <BNO085.h>

Inherits I2C::Device.

Collaboration diagram for BNO085:

Classes
struct	Euler
	Euler angles. More...
struct	GIRV
	high-speed Gyro-Integrated Rotation Vector includes estimation of rotation velocities More...
struct	Message
	SHTP Message. More...
struct	Quaternion
	Quaternion of pose. More...
struct	Rotation
	Rotation about axes, in given Unit/s. More...

Public Types
enum	ADDR { DEFAULT = 0b1001010 , ALT = 0b1001011 }
	possible I2C addresses More...
enum	Unit : uint8_t { RADIANS , DEGREES , NONE }
	Enum for defining wanted Units of angles. More...

Public Member Functions
uint8_t	sendMessage (const Message &msg)
	simple fire & forget message sending returns the sequence of sent message
void	callback (const I2C::Request &rq) override
	callback.
void	poll (uint32_t, uint32_t)
	call this regularly to make sure we receive messages from the device when it wants to send them
void	enableRotVec (uint32_t Hz=400)
	enable high-accuracy rotation vector at given frequency
void	disableRotVec ()
	disable high-accuracy rotation vector
void	enableGIRV (uint32_t Hz=500)
	enable high-speed GIRV at given frequency
void	disableGIRV ()
	disable high-speed GIRV
void	restart ()
	restart the device
double	accuracy (Unit u=RADIANS)
	return approximated accuracy in given Unit

Public Attributes
Quaternion	rotvec
	high-accuracy 9-axis sensor-fused rotation vector
GIRV	girv
	high-speed Gyro-Integrated Rotation Vector, includes estimation of rotation velocities
const uint8_t	address
	unshifted 7bit I2C device address

Detailed Description

Implementation of the BNO085 9-axis motion processor.

for details, see

• https://www.ceva-ip.com/wp-content/uploads/BNO080_085-Datasheet.pdf
• https://cdn-learn.adafruit.com/downloads/pdf/adafruit-9-dof-orientation-imu-fusion-breakout-bno085.pdf
• https://github.com/sparkfun/Qwiic_IMU_BNO080/blob/master/Documents/SH-2-Reference-Manual-v1.2.pdf

TODO: calibration?

---

Class Documentation

BNO085::GIRV

struct BNO085::GIRV

high-speed Gyro-Integrated Rotation Vector includes estimation of rotation velocities

Collaboration diagram for BNO085::GIRV:

Class Members
Quaternion	pose	estimation of pose
Rotation	rot	estimation of rotation velocities

BNO085::Message

struct BNO085::Message

SHTP Message.

Collaboration diagram for BNO085::Message:

Member Enumeration Documentation

ADDR

enum BNO085::ADDR

possible I2C addresses

Enumerator
DEFAULT	0x4a
ALT	0x4b

Unit

enum BNO085::Unit : uint8_t

Enum for defining wanted Units of angles.

Enumerator
RADIANS	return values in radians
DEGREES	return values in degrees

Member Function Documentation

callback()

void BNO085::callback ( const I2C::Request &  req )

inlineoverridevirtual

callback.

is called as soon as transmission completed successfully

Implements I2C::Device.

accuracy()

double BNO085::accuracy ( Unit  u = RADIANS )

inline

return approximated accuracy in given Unit

is only active if enableRotVec was called

---

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

• dev/BNO085.h