Struct i2cdev_bno055::BNO055

pub struct BNO055<T: I2CDevice + Sized> {
    pub i2cdev: T,
    pub mode: BNO055OperationMode,
}

Fields

i2cdev: T

mode: BNO055OperationMode

Methods

impl<T> BNO055<T> where
    T: I2CDevice + Sized, 

fn new(i2cdev: T) -> Result<Self, T::Error>

fn reset(&mut self) -> Result<(), T::Error>

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

fn set_mode(&mut self, mode: BNO055OperationMode) -> Result<(), T::Error>

Sets the operating mode, see BNO055OperationMode More in section 3.3

fn set_external_crystal(&mut self, ext: bool) -> Result<(), T::Error>

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

Sets the power mode, see BNO055PowerMode More in section 3.2

fn set_page(&mut self, page: BNO055RegisterPage) -> Result<(), T::Error>

Sets the register page More in section 4.2

fn get_quaternion(&mut self) -> Result<BNO055QuaternionReading, T::Error>

Gets a quaternion reading from the BNO055 Must be in a valid operating mode

fn get_revision(&mut self) -> Result<BNO055Revision, T::Error>

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

fn get_system_status(
    &mut self,
    run: bool
) -> Result<BNO055SystemStatus, T::Error>

Get the system status

fn get_calibration_status(
    &mut self
) -> Result<BNO055CalibrationStatus, T::Error>

Get the calibration status

fn get_calibration(&mut self) -> Result<Vec<u8>, T::Error>

Get the calibration details. Can be used with set_calibration to load previous configs.

fn set_calibration(&mut self, buf: Vec<u8>) -> Result<(), T::Error>

Set the calibration details. Can be used with get_calibration to load previous configs.

fn get_euler(&mut self) -> Result<Vec3, T::Error>

Get euler angle representation of orientation. The x component is the heading, y is the roll, z is pitch, all in radians

fn get_linear_acceleration(&mut self) -> Result<Vec3, T::Error>

Trait Implementations

impl<T: Copy + I2CDevice + Sized> Copy for BNO055<T>

impl<T: Clone + I2CDevice + Sized> Clone for BNO055<T>

fn clone(&self) -> BNO055<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T> Magnetometer for BNO055<T> where
    T: I2CDevice + Sized, 

type Error = T::Error

fn magnetic_reading(&mut self) -> Result<Vec3, Self::Error>

Returns 'Ok(mag)' if available, otherwise returns 'Err(Self::Error)'

impl<T> Gyroscope for BNO055<T> where
    T: I2CDevice + Sized, 

type Error = T::Error

fn angular_rate_reading(&mut self) -> Result<Vec3, Self::Error>

Returns 'Ok(ang_rate)' if available, otherwise returns 'Err(Self::Error)'

impl<T> Accelerometer for BNO055<T> where
    T: I2CDevice + Sized, 

type Error = T::Error

fn acceleration_reading(&mut self) -> Result<Vec3, Self::Error>

Returns 'Ok(accel)' if available, otherwise returns 'Err(Self::Error)'

impl<T> Thermometer for BNO055<T> where
    T: I2CDevice + Sized, 

type Error = T::Error

fn temperature_celsius(&mut self) -> Result<f32, Self::Error>

Get a temperature from the sensor in degrees celsius