[#133] Fix data rate bit width

Examples/CMakeLists.txt

@@ -10,6 +10,7 @@ add_subdirectory(Libpropeller_Pwm32)
 add_subdirectory(libPropelleruino_Blinky)
 add_subdirectory(PropWare_ADXL345)
 add_subdirectory(PropWare_Blinky)
+add_subdirectory(PropWare_BNO055)
 add_subdirectory(PropWare_BufferedUART)
 add_subdirectory(PropWare_DualPWM)
 add_subdirectory(PropWare_Eeprom)

Examples/PropWare_BNO055/BNO055_Demo.cpp

@@ -0,0 +1,115 @@
+/**
+ * @file    BNO055_Demo.cpp
+ *
+ * @author  David Zemon
+ *
+ * @copyright
+ * The MIT License (MIT)<br>
+ * <br>Copyright (c) 2013 David Zemon<br>
+ * <br>Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:<br>
+ * <br>The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.<br>
+ * <br>THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <PropWare/sensor/fusion/bno055.h>
+#include <Simple-Libraries/Learn/Simple Libraries/Protocol/libsimplei2c/simplei2c.h>
+
+using PropWare::I2CMaster;
+using PropWare::BNO055;
+using PropWare::Pin;
+
+uint8_t get_byte (i2c *bus) {
+    i2c_start(bus);
+    i2c_writeByte(bus, BNO055::DEVICE_ADDRESS_A);
+    i2c_writeByte(bus, BNO055::convert(BNO055::Address::CHIP_ID));
+    const uint8_t result = static_cast<uint8_t>(i2c_readByte(bus, 1));
+    i2c_stop(bus);
+    return result;
+}
+
+PropWare::ErrorCode begin (i2c *bus) {
+    auto id = get_byte(bus);
+    if (id != BNO055::ID) {
+        waitcnt(SECOND + CNT); // hold on for boot
+        id = get_byte(bus);
+        if (id != BNO055::ID) {
+            pwOut << "fail 0\n";
+            return BNO055::FAILED_TO_BOOT;
+        }
+    }
+    return 0;
+}
+
+int ping (i2c *bus) {
+    return i2c_poll(bus, BNO055::DEVICE_ADDRESS_A);
+}
+
+/**
+ * @example     BNO055_Demo.cpp
+ *
+ *
+ * @include PropWare_BNO055/CMakeLists.txt
+ */
+int main () {
+    PropWare::ErrorCode error;
+    const Pin resetPin(PropWare::Port::P23, Pin::Dir::OUT);
+    waitcnt(100 * MILLISECOND + CNT);
+
+    i2c bus;
+    i2c_open(&bus, Pin::from_mask(I2CMaster::DEFAULT_SCL_MASK), Pin::from_mask(I2CMaster::DEFAULT_SDA_MASK), 0);
+
+    for (unsigned int   i = 0; i < 5; ++i) {
+        resetPin.clear();
+        waitcnt(MILLISECOND + CNT);
+        resetPin.set();
+
+        while (ping(&bus))
+            waitcnt(10 * MILLISECOND + CNT);
+        int ack = i2c_writeByte(&bus, 0);
+        i2c_readByte(&bus, 0);
+        i2c_stop(&bus);
+        waitcnt(10 * MILLISECOND + CNT);
+
+        error = begin(&bus);
+        if (!error)
+            break;
+    }
+
+    //BNO055 sensor;
+    //for (int            i = 0; i < 5; ++i) {
+    //    resetPin.clear();
+    //    waitcnt(MILLISECOND + CNT);
+    //    resetPin.set();
+    //
+    //    while (!pwI2c.ping(BNO055::DEVICE_ADDRESS_A))
+    //        waitcnt(10 * MILLISECOND + CNT);
+    //    pwI2c.send_byte(0);
+    //    pwI2c.get(BNO055::DEVICE_ADDRESS_A, static_cast<uint8_t>(0));
+    //    pwI2c.stop();
+    //    waitcnt(10 * MILLISECOND + CNT);
+    //
+    //    error = sensor.begin();
+    //    if (!error)
+    //        break;
+    //}
+
+    if (error)
+        pwOut << "Error: " << error << '\n';
+    else
+        while (1) {
+            pwOut << "Temperature = " << /*sensor.get_temperature() <<*/ '\n';
+            waitcnt(SECOND + CNT);
+        }
+}

Examples/PropWare_BNO055/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.3)
+find_package(PropWare REQUIRED)
+
+project(BNO055_Demo)
+
+create_simple_executable(${PROJECT_NAME} BNO055_Demo.cpp)

PropWare/CMakeLists.txt

@@ -33,6 +33,7 @@ set(PROPWARE_SOURCES
     ${CMAKE_CURRENT_LIST_DIR}/sensor/analog/mcp3xxx.h
     ${CMAKE_CURRENT_LIST_DIR}/sensor/analog/pcf8591.h
     ${CMAKE_CURRENT_LIST_DIR}/sensor/distance/ping.h
+    ${CMAKE_CURRENT_LIST_DIR}/sensor/fusion/bno055.h
     ${CMAKE_CURRENT_LIST_DIR}/sensor/gyroscope/l3g.h
     ${CMAKE_CURRENT_LIST_DIR}/sensor/temperature/max6675.h
     ${CMAKE_CURRENT_LIST_DIR}/serial/can/mcp2515.h
@@ -55,6 +56,9 @@ set(PROPWARE_SOURCES
     ${CMAKE_CURRENT_LIST_DIR}/utility/comparator.cpp
     ${CMAKE_CURRENT_LIST_DIR}/utility/comparator.h
     ${CMAKE_CURRENT_LIST_DIR}/utility/utility.h
+    ${CMAKE_CURRENT_LIST_DIR}/utility/ahrs/matrix.h
+    ${CMAKE_CURRENT_LIST_DIR}/utility/ahrs/quaternion.h
+    ${CMAKE_CURRENT_LIST_DIR}/utility/ahrs/vector.h
     ${CMAKE_CURRENT_LIST_DIR}/c++allocate.h
     ${CMAKE_CURRENT_LIST_DIR}/PropWare.cpp
     ${CMAKE_CURRENT_LIST_DIR}/PropWare.h

PropWare/sensor/accelerometer/adxl345.h

@@ -369,7 +369,7 @@ class ADXL345 {
                 /**
                  * Set the data polling rate.
                  */
-                DataRate     dataRate: 3;
+                DataRate     dataRate: 4;
                 /**
                  * Enable or disable low-power mode. Low power mode has a somewhat higher noise but reduces power
                  * consumption. True to enable low power mode, false for normal operation.