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Add function to enable 16G readings from accelerometer #107

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Add function to enable 16G readings from accelerometer #107

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a59fb7b
Update Adafruit_BNO055.cpp
BlaiseSaunders Mar 31, 2019
ecd2977
Added accelerometer register
BlaiseSaunders Mar 31, 2019
001fa0d
Update README.md
BlaiseSaunders Mar 31, 2019
7d94e51
added comma lol
BlaiseSaunders Apr 9, 2019
0e58d17
Update README.md
BlaiseSaunders Apr 9, 2019
be3b3f0
Update README.md
BlaiseSaunders Apr 9, 2019
b6de7cb
Update README.md
BlaiseSaunders Apr 9, 2019
20d0ab4
Update README.md
BlaiseSaunders Apr 9, 2019
7134375
Tidying formatting
BlaiseSaunders Jul 23, 2021
dac3c6a
Tidying formatting + commenting
BlaiseSaunders Jul 23, 2021
ddf47d7
Fix: reverting readme changes
BlaiseSaunders Jul 23, 2021
d358d4a
fix: readme URL
BlaiseSaunders Jul 23, 2021
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29 changes: 29 additions & 0 deletions Adafruit_BNO055.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -235,6 +235,35 @@ void Adafruit_BNO055::setExtCrystalUse(boolean usextal) {
delay(20);
}



/*!
* @brief Set the Accelerometer to report up to 16G
*/
void Adafruit_BNO055::setAccelConfig16G()
{
adafruit_bno055_opmode_t modeback = _mode;

setMode(OPERATION_MODE_CONFIG);
delay(250);

write8(BNO055_PAGE_ID_ADDR, 1);
delay(500);

uint8_t acc_config_16G = (uint8_t)((BNO055_ACC_PWRMODE_NORMAL << 5)
| (BNO055_ACC_BW_125_HZ << 2)
| BNO055_ACC_CONFIG_16G);
// Configure the accelerometer to report up to 16G of acceleration
write8(ACC_CONFIG, acc_config_16G);
delay(500);

write8(BNO055_PAGE_ID_ADDR, 0);

setMode(modeback);
delay(20);
}


/*!
* @brief Gets the latest system status info
* @param system_status
Expand Down
16 changes: 14 additions & 2 deletions Adafruit_BNO055.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,11 @@
/** Offsets registers **/
#define NUM_BNO055_OFFSET_REGISTERS (22)

/** Accelerometer config values **/
#define BNO055_ACC_PWRMODE_NORMAL (0)
#define BNO055_ACC_BW_125_HZ (4)
#define BNO055_ACC_CONFIG_16G (3)

/** A structure to represent offsets **/
typedef struct {
int16_t accel_offset_x; /**< x acceleration offset */
Expand Down Expand Up @@ -198,7 +203,7 @@ class Adafruit_BNO055 : public Adafruit_Sensor {
MAG_OFFSET_Z_LSB_ADDR = 0X5F,
MAG_OFFSET_Z_MSB_ADDR = 0X60,

/* Gyroscope Offset register s*/
/* Gyroscope Offset registers */
GYRO_OFFSET_X_LSB_ADDR = 0X61,
GYRO_OFFSET_X_MSB_ADDR = 0X62,
GYRO_OFFSET_Y_LSB_ADDR = 0X63,
Expand All @@ -210,7 +215,11 @@ class Adafruit_BNO055 : public Adafruit_Sensor {
ACCEL_RADIUS_LSB_ADDR = 0X67,
ACCEL_RADIUS_MSB_ADDR = 0X68,
MAG_RADIUS_LSB_ADDR = 0X69,
MAG_RADIUS_MSB_ADDR = 0X6A
MAG_RADIUS_MSB_ADDR = 0X6A,

/* Accelerometer config register */
ACC_CONFIG = 0x08

} adafruit_bno055_reg_t;

/** BNO055 power settings */
Expand Down Expand Up @@ -313,6 +322,9 @@ class Adafruit_BNO055 : public Adafruit_Sensor {
/* Power managments functions */
void enterSuspendMode();
void enterNormalMode();

/* Accelerometer config functions */
void setAccelConfig16G();

private:
byte read8(adafruit_bno055_reg_t);
Expand Down