Struct bno055::Bno055

pub struct Bno055<I> {
    pub mode: BNO055OperationMode,
    /* private fields */
}

Fields

mode: BNO055OperationMode

Implementations

impl<I, E> Bno055<I>

where I: I2c<SevenBitAddress, Error = E>,

pub fn new(i2c: I) -> Self

Side-effect-free constructor. Nothing will be read or written before init() call.

pub fn destroy(self) -> I

Destroy driver instance, return I2C bus instance.

pub fn with_alternative_address(self) -> Self

Enables use of alternative I2C address regs::BNO055_ALTERNATE_ADDR.

pub fn init(&mut self, delay: &mut dyn DelayNs) -> Result<(), Error<E>>

Initializes the BNO055 device.

Side-effects:

• Software reset of BNO055
• Sets BNO055 to CONFIG mode
• Sets BNO055’s power mode to NORMAL
• Clears SYS_TRIGGER register

Usage Example

// use your_chip_hal::{I2c, Delay}; // <- import your chip's I2c and Delay
use bno055::Bno055;
let mut delay = Delay::new(/* ... */);
let mut i2c = I2c::new(/* ... */);
let mut bno055 = Bno055::new(i2c);
bno055.init(&mut delay)?;

pub fn soft_reset(&mut self, delay: &mut dyn DelayNs) -> Result<(), Error<E>>

Resets the BNO055, initializing the register map to default values. More in section 3.2.

pub fn set_mode( &mut self, mode: BNO055OperationMode, delay: &mut dyn DelayNs ) -> Result<(), Error<E>>

Sets the operating mode, see BNO055OperationMode. See section 3.3.

pub fn set_power_mode(&mut self, mode: BNO055PowerMode) -> Result<(), Error<E>>

Sets the power mode, see BNO055PowerMode See section 3.2

pub fn power_mode(&mut self) -> Result<BNO055PowerMode, Error<E>>

Returns BNO055’s power mode.

pub fn set_external_crystal( &mut self, ext: bool, delay: &mut dyn DelayNs ) -> Result<(), Error<E>>

Enables/Disables usage of external 32k crystal.

pub fn set_axis_remap(&mut self, remap: AxisRemap) -> Result<(), Error<E>>

Configures axis remap of the device.

pub fn axis_remap(&mut self) -> Result<AxisRemap, Error<E>>

Returns axis remap of the device.

pub fn set_axis_sign(&mut self, sign: BNO055AxisSign) -> Result<(), Error<E>>

Configures device’s axes sign: positive or negative.

pub fn axis_sign(&mut self) -> Result<BNO055AxisSign, Error<E>>

Return device’s axes sign.

pub fn get_revision(&mut self) -> Result<BNO055Revision, Error<E>>

Gets the revision of software, bootloader, accelerometer, magnetometer, and gyroscope of the BNO055 device.

pub fn get_system_status( &mut self, do_selftest: bool, delay: &mut dyn DelayNs ) -> Result<BNO055SystemStatus, Error<E>>

Returns device’s system status.

pub fn quaternion(&mut self) -> Result<Quaternion<f32>, Error<E>>

Gets a quaternion (mint::Quaternion<f32>) reading from the BNO055. Available only in sensor fusion modes.

pub fn euler_angles(&mut self) -> Result<EulerAngles<f32, ()>, Error<E>>

Get Euler angles representation of heading in degrees. Euler angles is represented as (roll, pitch, yaw/heading). Available only in sensor fusion modes.

pub fn get_calibration_status( &mut self ) -> Result<BNO055CalibrationStatus, Error<E>>

Get calibration status

pub fn is_fully_calibrated(&mut self) -> Result<bool, Error<E>>

Checks whether device is fully calibrated or not.

pub fn calibration_profile( &mut self, delay: &mut dyn DelayNs ) -> Result<BNO055Calibration, Error<E>>

Reads current calibration profile of the device.

pub fn set_calibration_profile( &mut self, calib: BNO055Calibration, delay: &mut dyn DelayNs ) -> Result<(), Error<E>>

Sets current calibration profile.

pub fn id(&mut self) -> Result<u8, Error<E>>

Returns device’s factory-programmed and constant chip ID. This ID is device model ID and not a BNO055’s unique ID, whic is stored in different register.

pub fn get_mode(&mut self) -> Result<BNO055OperationMode, Error<E>>

Returns device’s operation mode.

pub fn is_in_fusion_mode(&mut self) -> Result<bool, Error<E>>

Checks whether the device is in Sensor Fusion mode or not.

pub fn get_acc_config(&mut self) -> Result<AccConfig, Error<E>>

pub fn set_acc_config(&mut self, acc_config: &AccConfig) -> Result<(), Error<E>>

pub fn linear_acceleration_fixed(&mut self) -> Result<Vector3<i16>, Error<E>>

Returns linear acceleration vector in cm/s^2 units. Available only in sensor fusion modes.

pub fn linear_acceleration(&mut self) -> Result<Vector3<f32>, Error<E>>

Returns linear acceleration vector in m/s^2 units. Available only in sensor fusion modes.

pub fn gravity_fixed(&mut self) -> Result<Vector3<i16>, Error<E>>

Returns gravity vector in cm/s^2 units. Available only in sensor fusion modes.

pub fn gravity(&mut self) -> Result<Vector3<f32>, Error<E>>

Returns gravity vector in m/s^2 units. Available only in sensor fusion modes.

pub fn accel_data_fixed(&mut self) -> Result<Vector3<i16>, Error<E>>

Returns current accelerometer data in cm/s^2 units. Available only in modes in which accelerometer is enabled.

pub fn accel_data(&mut self) -> Result<Vector3<f32>, Error<E>>

Returns current accelerometer data in m/s^2 units. Available only in modes in which accelerometer is enabled.

pub fn gyro_data_fixed(&mut self) -> Result<Vector3<i16>, Error<E>>

Returns current gyroscope data in 1/16th deg/s units. Available only in modes in which gyroscope is enabled.

pub fn gyro_data(&mut self) -> Result<Vector3<f32>, Error<E>>

Returns current gyroscope data in deg/s units. Available only in modes in which gyroscope is enabled.

pub fn mag_data_fixed(&mut self) -> Result<Vector3<i16>, Error<E>>

Returns current magnetometer data in 1/16th uT units. Available only in modes in which magnetometer is enabled.

pub fn mag_data(&mut self) -> Result<Vector3<f32>, Error<E>>

Returns current magnetometer data in uT units. Available only in modes in which magnetometer is enabled.

pub fn temperature(&mut self) -> Result<i8, Error<E>>

Returns current temperature of the chip (in degrees Celsius).