Remove the use of bno055_convert*() funtions.

Change all displayed values to SI units.
Chanage display of quaternion to unit quaternion.

diff --git a/include/bno055_delay.h b/include/bno055_delay.h
index 26631e0..37799f5 100644 (file)
--- a/include/bno055_delay.h
+++ b/include/bno055_delay.h
@@ -19,6 +19,10 @@
         
 *******************************************************************************/
 
+/**    @file bno055_delay.h
+        @brief BNO055 Library - Delay
+*/
+
 #ifndef __BNO055_DELAY_H__
 #define __BNO055_DELAY_H__
 
@@ -29,8 +33,8 @@ extern "C"
 
 #include <bno055.h>
 
-/*     Brief : Delay routine
- *     \param : delay in ms
+/**    @Brief : Delay routine
+ *     @param : delay in ms
 */
 extern void BNO055_delay(u32 ms);
 

diff --git a/include/bno055_tty.h b/include/bno055_tty.h
index 5a6e342..cb1d105 100644 (file)
--- a/include/bno055_tty.h
+++ b/include/bno055_tty.h
@@ -19,6 +19,10 @@
         
 *******************************************************************************/
 
+/**    @file bno055_tty.h
+        @brief BNO055 Library - TTY Interface
+*/
+
 #ifndef __BNO055_TTY_H__
 #define __BNO055_TTY_H__
 
@@ -29,36 +33,36 @@ extern "C"
 
 #include <bno055.h>
 
-/*     \Brief: Bus read
- *     \Return : Status of the read
- *     \param dev_addr : Device address of the sensor
- *     \param reg_addr : Address of the first register to be read
- *     \param reg_data : Data read from the sensor,
- *     \param cnt : Number of bytes to be read
+/**    @Brief: Bus read
+ *     @Return : Status of the read
+ *     @param dev_addr : Device address of the sensor
+ *     @param reg_addr : Address of the first register to be read
+ *     @param reg_data : Data read from the sensor,
+ *     @param cnt : Number of bytes to be read
  */
 extern s8 BNO055_tty_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
 
-/*     \Brief: TBus write
- *     \Return : Status of the write
- *     \param dev_addr : Device address of the sensor
- *     \param reg_addr : Address of the first register to be written
- *     \param reg_data : Value to be written into the register
- *     \param cnt : Number of bytes to be written
+/**    @Brief: TBus write
+ *     @Return : Status of the write
+ *     @param dev_addr : Device address of the sensor
+ *     @param reg_addr : Address of the first register to be written
+ *     @param reg_data : Value to be written into the register
+ *     @param cnt : Number of bytes to be written
  */
 extern s8 BNO055_tty_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
 
-/*
- *     \Brief: TTY initilization routine
- *     \Return: 0 on success, -1 on failure and set errno to indicate the error
- *     \param dev_name: tty device name        
- *     \param bno055: pointer to a bno055 structure
+/**
+ *     @Brief: TTY initilization routine
+ *     @Return: 0 on success, -1 on failure and set errno to indicate the error
+ *     @param dev_name: tty device name        
+ *     @param bno055: pointer to a bno055 structure
 */
 extern int BNO055_tty_init(const char *dev_name,struct bno055_t *bno055);
 
-/*
- *     \Brief: TTY close routine
- *     \Return: 0 on success, -1 on failure and set errno to indicate the error
- *     \param bno055: pointer to a bno055 structure
+/**
+ *     @Brief: TTY close routine
+ *     @Return: 0 on success, -1 on failure and set errno to indicate the error
+ *     @param bno055: pointer to a bno055 structure
 */
 extern int BNO055_tty_close(struct bno055_t *bno055);
 

diff --git a/include/bno055_units.h b/include/bno055_units.h
new file mode 100644 (file)
index 0000000..79ba236
--- /dev/null
+++ b/include/bno055_units.h
@@ -0,0 +1,44 @@
+/******************************************************************************
+                             BNO055 Library
+                         Extra Units Definitions
+          Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful, but
+        WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+        General Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see
+        <http://www.gnu.org/licenses/>.
+        
+*******************************************************************************/
+
+/**    @file bno055_units.h
+        @brief BNO055 Library - Extra Units Definitions
+*/
+
+#ifndef __BNO055_UNITS_H__
+#define __BNO055_UNITS_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** Set Tilt unit to radians */
+#define BNO055_TILT_UNIT_RAD   BNO055_EULER_UNIT_RAD
+
+/** Quaternion division factor */
+#define BNO055_QUATERNION_DIV  16384.0
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

diff --git a/test/bno055_test.c b/test/bno055_test.c
index d4d7577..ce1cc42 100644 (file)
--- a/test/bno055_test.c
+++ b/test/bno055_test.c
@@ -24,6 +24,7 @@
 #include <unistd.h>
 
 #include <bno055_tty.h>
+#include <bno055_units.h>
 
 
 void usage_help(const char *name)
@@ -46,16 +47,7 @@ int main(int argc,char *argv[])
        struct bno055_linear_accel_t linear_accel;
        struct bno055_gravity_t gravity;
        
-       struct bno055_accel_double_t d_accel;
-       struct bno055_mag_double_t d_mag;
-       struct bno055_gyro_double_t d_gyro;
-
-       struct bno055_euler_double_t d_euler;
-       struct bno055_linear_accel_double_t d_linear_accel;
-       struct bno055_gravity_double_t d_gravity;
-       
        s8 temp;
-       double d_temp;
        u8 stat_clk;
        u8 clk_src;
        
@@ -74,7 +66,7 @@ int main(int argc,char *argv[])
                                /* TTY interface */
                                if(BNO055_tty_init(optarg,&bno055))
                                {
-                                       perror("Error while initializing tty interface");
+                                       perror("Error initializing tty interface");
                                        return -errno;
                                }
                                break;
@@ -93,88 +85,96 @@ int main(int argc,char *argv[])
                printf("Gyroscope id=0x%02x\n",bno055.gyro_rev_id);
                printf("Boot loader id=0x%02x\n",bno055.bl_rev_id);
        }
-       else fprintf(stderr,"Error while initializing bno055.\n");
+       else fprintf(stderr,"Error initializing bno055.\n");
 
        if(bno055_get_stat_main_clk(&stat_clk) != BNO055_SUCCESS)
-               fprintf(stderr,"Error while reading clock status.\n");
+               fprintf(stderr,"Error reading clock status.\n");
        else
        {
                if(stat_clk==0)
                {
                        clk_src=1;
-                       if(bno055_set_clk_src(clk_src) != BNO055_SUCCESS) fprintf(stderr,"Error while setting clock source.\n");
+                       if(bno055_set_clk_src(clk_src) != BNO055_SUCCESS) fprintf(stderr,"Error setting clock source.\n");
                        else printf("Clock source changed to external\n");
                }
-               else printf("Clock source can't be changed.\n");
+               else fprintf(stderr,"Clock source can't be changed.\n");
        }
 
-       printf("Raw data:\n");
-       if(bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG) != BNO055_SUCCESS)
-               fprintf(stderr,"Error while setting operation mode.\n");
+       if(bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ) == BNO055_SUCCESS)
+               printf("Acceleration unit set to m/s^2.\n");
+       else fprintf(stderr,"Error setting acceleration unit to m/s^2.\n");
+               
+       if(bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS) == BNO055_SUCCESS)
+               printf("Gyroscope unit set to rad/s.\n");
+       else fprintf(stderr,"Error setting gyroscope unit to rad/s.\n");
+       
+       if(bno055_set_euler_unit(BNO055_EULER_UNIT_RAD) == BNO055_SUCCESS)
+               printf("Euler angles unit set to rad.\n");
+       else fprintf(stderr,"Error setting Euler angles unit to rad.\n");
+       
+       if(bno055_set_tilt_unit(BNO055_TILT_UNIT_RAD) == BNO055_SUCCESS)
+               printf("Tilt unit set to rad.\n");
+       else fprintf(stderr,"Error setting tilt unit to rad.\n");
+       
+       if(bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS) == BNO055_SUCCESS)
+               printf("Temperature unit set to Celsius.\n");
+       else fprintf(stderr,"Error setting temperature unit to Celsius.\n");
+       
+       if(bno055_set_data_output_format(0x01) == BNO055_SUCCESS)
+               printf("Data output format set to Android.\n");
+       else fprintf(stderr,"Error setting data output format.\n");
+               
+       if(bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG) == BNO055_SUCCESS)
+               printf("Operation mode set to AMG: raw (uncompesated) data.\n");
+       else fprintf(stderr,"Error setting operation mode t0 AMG.\n");
 
        if(bno055_read_accel_xyz(&accel) == BNO055_SUCCESS)
-               printf("Acceleration=%d, %d, %d\n",accel.x,accel.y,accel.z);
-       else fprintf(stderr,"Error while reading acceleration.\n");
+               printf("Acceleration=%G, %G, %G m/s^2\n",accel.x/BNO055_ACCEL_DIV_MSQ,accel.y/BNO055_ACCEL_DIV_MSQ,accel.z/BNO055_ACCEL_DIV_MSQ);
+       else fprintf(stderr,"Error reading acceleration.\n");
                
        if(bno055_read_mag_xyz(&mag) == BNO055_SUCCESS)
-               printf("Magnetometer=%d, %d, %d\n",mag.x,mag.y,mag.z);
-       else fprintf(stderr,"Error while reading magnetometer.\n");
+               printf("Magnetometer=%G, %G, %G uT\n",mag.x/BNO055_MAG_DIV_UT,mag.y/BNO055_MAG_DIV_UT,mag.z/BNO055_MAG_DIV_UT);
+       else fprintf(stderr,"Error reading magnetometer.\n");
 
        if(bno055_read_gyro_xyz(&gyro) == BNO055_SUCCESS)
-               printf("Gyroscope=%d, %d, %d\n",gyro.x,gyro.y,gyro.z);
-       else fprintf(stderr,"Error while reading gyroscope.\n");
+               printf("Gyroscope=%G, %G, %G rad/s\n",gyro.x/BNO055_GYRO_DIV_RPS,gyro.y/BNO055_GYRO_DIV_RPS,gyro.z/BNO055_GYRO_DIV_RPS);
+       else fprintf(stderr,"Error reading gyroscope.\n");
 
        if(bno055_read_temp_data(&temp) == BNO055_SUCCESS)
-               printf("Temperature=%d\n",temp);
-       else fprintf(stderr,"Error while reading temperature.\n");
+               printf("Temperature=%d Celsius\n",temp/BNO055_TEMP_DIV_CELSIUS);
+       else fprintf(stderr,"Error reading temperature.\n");
 
-       if(bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF) != BNO055_SUCCESS)
-               fprintf(stderr,"Error while setting operation mode.\n");
+       if(bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF) == BNO055_SUCCESS)
+               printf("Opertation mode set to NDOF: fused (offset and tilt compensated data).\n");
+       else fprintf(stderr,"Error setting operation mode to NDOF.\n");
+       
+       if(bno055_read_accel_xyz(&accel) == BNO055_SUCCESS)
+               printf("Acceleration=%G, %G, %G m/s^2\n",accel.x/BNO055_ACCEL_DIV_MSQ,accel.y/BNO055_ACCEL_DIV_MSQ,accel.z/BNO055_ACCEL_DIV_MSQ);
+       else fprintf(stderr,"Error reading acceleration.\n");
+               
+       if(bno055_read_mag_xyz(&mag) == BNO055_SUCCESS)
+               printf("Magnetometer=%G, %G, %G uT\n",mag.x/BNO055_MAG_DIV_UT,mag.y/BNO055_MAG_DIV_UT,mag.z/BNO055_MAG_DIV_UT);
+       else fprintf(stderr,"Error reading magnetometer.\n");
+
+       if(bno055_read_gyro_xyz(&gyro) == BNO055_SUCCESS)
+               printf("Gyroscope=%G, %G, %G rad/s\n",gyro.x/BNO055_GYRO_DIV_RPS,gyro.y/BNO055_GYRO_DIV_RPS,gyro.z/BNO055_GYRO_DIV_RPS);
+       else fprintf(stderr,"Error reading gyroscope.\n");
 
-       printf("Fused data:\n");
        if(bno055_read_euler_hrp(&euler) == BNO055_SUCCESS)
-               printf("Euler angles=%d, %d, %d\n",euler.h,euler.r,euler.p);
-       else fprintf(stderr,"Error while reading Euler angles.\n");
+               printf("Euler angles=%G, %G, %G rad\n",euler.h/BNO055_EULER_DIV_RAD,euler.r/BNO055_EULER_DIV_RAD,euler.p/BNO055_EULER_DIV_RAD);
+       else fprintf(stderr,"Error reading Euler angles.\n");
 
        if(bno055_read_quaternion_wxyz(&quaternion) == BNO055_SUCCESS)
-               printf("Quaternion=%d, %d, %d, %d\n",quaternion.w,quaternion.x,quaternion.y,quaternion.z);
-       else fprintf(stderr,"Error while reading quaternion.\n");
-
+               printf("Quaternion=%G, %G, %G, %G\n",quaternion.w/BNO055_QUATERNION_DIV,quaternion.x/BNO055_QUATERNION_DIV,quaternion.y/BNO055_QUATERNION_DIV,quaternion.z/BNO055_QUATERNION_DIV);
+       else fprintf(stderr,"Error reading quaternion.\n");
+       
        if(bno055_read_linear_accel_xyz(&linear_accel) == BNO055_SUCCESS)
-               printf("Linear acceleration=%d, %d, %d\n",linear_accel.x,linear_accel.y,linear_accel.z);
-       else fprintf(stderr,"Error while reading linear acceleration.\n");
+               printf("Linear acceleration=%G, %G, %G m/s^2\n",linear_accel.x/BNO055_LINEAR_ACCEL_DIV_MSQ,linear_accel.y/BNO055_LINEAR_ACCEL_DIV_MSQ,linear_accel.z/BNO055_LINEAR_ACCEL_DIV_MSQ);
+       else fprintf(stderr,"Error reading linear acceleration.\n");
 
        if(bno055_read_gravity_xyz(&gravity) == BNO055_SUCCESS)
-               printf("Gravity=%d, %d, %d\n",gravity.x,gravity.y,gravity.z);
-       else fprintf(stderr,"Error while reading gravity.\n");
-
-       if(bno055_convert_double_accel_xyz_msq(&d_accel) == BNO055_SUCCESS)
-               printf("Acceleration=%G, %G, %G m/s^2\n",d_accel.x,d_accel.y,d_accel.z);
-       else fprintf(stderr,"Error while reading acceleration in m/s^2.\n");
-
-       if(bno055_convert_double_mag_xyz_uT(&d_mag) == BNO055_SUCCESS)
-               printf("Magnetometer=%G, %G, %G uT\n",d_mag.x,d_mag.y,d_mag.z);
-       else fprintf(stderr,"Error while reading magnetometer in uT.\n");
-
-       if(bno055_convert_double_gyro_xyz_rps(&d_gyro) == BNO055_SUCCESS)
-               printf("Gyroscope=%G, %G, %G rad/s\n",d_gyro.x,d_gyro.y,d_gyro.z);
-       else fprintf(stderr,"Error while reading gyroscope in rad/s.\n");
-
-       if(bno055_convert_double_euler_hpr_rad(&d_euler) == BNO055_SUCCESS)
-               printf("Euler angles=%G, %G, %G rad\n",d_euler.h,d_euler.p,d_euler.r);
-       else fprintf(stderr,"Error while reading Euler angles in rad.\n");
-
-       if(bno055_convert_double_linear_accel_xyz_msq(&d_linear_accel) == BNO055_SUCCESS)
-               printf("Linear acceleration=%G, %G, %G m/s^2\n",d_linear_accel.x,d_linear_accel.y,d_linear_accel.z);
-       else fprintf(stderr,"Error while readint linear acceleration in m/s^2.\n");
-
-       if(bno055_convert_double_gravity_xyz_msq(&d_gravity) == BNO055_SUCCESS)
-               printf("Gravity=%G, %G, %G m/s^2\n",d_gravity.x,d_gravity.y,d_gravity.z);
-       else fprintf(stderr,"Error while reading gravity in m/s^2.\n");
-       
-       if(bno055_convert_double_temp_celsius(&d_temp) == BNO055_SUCCESS)
-               printf("Temperature=%G degrees Celsius\n",d_temp);
-       else fprintf(stderr,"Error while reading temperature in degrees Celsius.\n");
+               printf("Gravity=%G, %G, %G m/s^2\n",gravity.x/BNO055_GRAVITY_DIV_MSQ,gravity.y/BNO055_GRAVITY_DIV_MSQ,gravity.z/BNO055_GRAVITY_DIV_MSQ);
+       else fprintf(stderr,"Error reading gravity.\n");
 
        BNO055_tty_close(&bno055);