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Thread: must change library to adress BNO055, help with code needed

  1. #1
    Junior Member
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    Dec 2020
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    must change library to adress BNO055, help with code needed

    Hi, as a complete code and electronics newbie, I have started a project that I consider to be quite ambitious. Thanks to the great forum I am fighting my way through bit by bit.
    I think i already have the answer to my question but i need help to write this line of code.

    I want to adress the I2C pins 24, 25. I know I have to use Wire2 and I also got it to work with the scanner sketch.
    If I want to implement the BNO055 Sensor in my main sketch (to get orientation) by writing Wire2.begin(); it isnt working.

    In another old thread, Paul suggested that maybe the library of a sensor uses only wire.begin and so coding wire2 wont help.
    In the Library of the BNO055 I found some words "Wire" but they are coded in a way I cant read.. (Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A,
    TwoWire *theWire = &Wire)
    What do I have to code to make the wire2 work with the Sensor library if that is indeed my problem?

    Thanks in advance for the help!

    Code:
    /*!
     *  @file Adafruit_BNO055.h
     *
     *  This is a library for the BNO055 orientation sensor
     *
     *  Designed specifically to work with the Adafruit BNO055 Breakout.
     *
     *  Pick one up today in the adafruit shop!
     *  ------> https://www.adafruit.com/product/2472
     *
     *  These sensors use I2C to communicate, 2 pins are required to interface.
     *
     *  Adafruit invests time and resources providing this open source code,
     *  please support Adafruit andopen-source hardware by purchasing products
     *  from Adafruit!
     *
     *  K.Townsend (Adafruit Industries)
     *
     *  MIT license, all text above must be included in any redistribution
     */
    
    #ifndef __ADAFRUIT_BNO055_H__
    #define __ADAFRUIT_BNO055_H__
    
    #include "Arduino.h"
    #include <Wire.h>
    
    #include "utility/imumaths.h"
    #include <Adafruit_Sensor.h>
    
    /** BNO055 Address A **/
    #define BNO055_ADDRESS_A (0x28)
    /** BNO055 Address B **/
    #define BNO055_ADDRESS_B (0x29)
    /** BNO055 ID **/
    #define BNO055_ID (0xA0)
    
    /** Offsets registers **/
    #define NUM_BNO055_OFFSET_REGISTERS (22)
    
    /** A structure to represent offsets **/
    typedef struct {
      int16_t accel_offset_x; /**< x acceleration offset */
      int16_t accel_offset_y; /**< y acceleration offset */
      int16_t accel_offset_z; /**< z acceleration offset */
    
      int16_t mag_offset_x; /**< x magnetometer offset */
      int16_t mag_offset_y; /**< y magnetometer offset */
      int16_t mag_offset_z; /**< z magnetometer offset */
    
      int16_t gyro_offset_x; /**< x gyroscrope offset */
      int16_t gyro_offset_y; /**< y gyroscrope offset */
      int16_t gyro_offset_z; /**< z gyroscrope offset */
    
      int16_t accel_radius; /**< acceleration radius */
    
      int16_t mag_radius; /**< magnetometer radius */
    } adafruit_bno055_offsets_t;
    
    /*!
     *  @brief  Class that stores state and functions for interacting with
     *          BNO055 Sensor
     */
    class Adafruit_BNO055 : public Adafruit_Sensor {
    public:
      /** BNO055 Registers **/
      typedef enum {
        /* Page id register definition */
        BNO055_PAGE_ID_ADDR = 0X07,
    
        /* PAGE0 REGISTER DEFINITION START*/
        BNO055_CHIP_ID_ADDR = 0x00,
        BNO055_ACCEL_REV_ID_ADDR = 0x01,
        BNO055_MAG_REV_ID_ADDR = 0x02,
        BNO055_GYRO_REV_ID_ADDR = 0x03,
        BNO055_SW_REV_ID_LSB_ADDR = 0x04,
        BNO055_SW_REV_ID_MSB_ADDR = 0x05,
        BNO055_BL_REV_ID_ADDR = 0X06,
    
        /* Accel data register */
        BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
        BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
        BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
        BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
        BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
        BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
    
        /* Mag data register */
        BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
        BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
        BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
        BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
        BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
        BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
    
        /* Gyro data registers */
        BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
        BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
        BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
        BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
        BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
        BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
    
        /* Euler data registers */
        BNO055_EULER_H_LSB_ADDR = 0X1A,
        BNO055_EULER_H_MSB_ADDR = 0X1B,
        BNO055_EULER_R_LSB_ADDR = 0X1C,
        BNO055_EULER_R_MSB_ADDR = 0X1D,
        BNO055_EULER_P_LSB_ADDR = 0X1E,
        BNO055_EULER_P_MSB_ADDR = 0X1F,
    
        /* Quaternion data registers */
        BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
        BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
        BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
        BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
        BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
        BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
        BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
        BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
    
        /* Linear acceleration data registers */
        BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
        BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
        BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
        BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
        BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
        BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
    
        /* Gravity data registers */
        BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
        BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
        BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
        BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
        BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
        BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
    
        /* Temperature data register */
        BNO055_TEMP_ADDR = 0X34,
    
        /* Status registers */
        BNO055_CALIB_STAT_ADDR = 0X35,
        BNO055_SELFTEST_RESULT_ADDR = 0X36,
        BNO055_INTR_STAT_ADDR = 0X37,
    
        BNO055_SYS_CLK_STAT_ADDR = 0X38,
        BNO055_SYS_STAT_ADDR = 0X39,
        BNO055_SYS_ERR_ADDR = 0X3A,
    
        /* Unit selection register */
        BNO055_UNIT_SEL_ADDR = 0X3B,
        BNO055_DATA_SELECT_ADDR = 0X3C,
    
        /* Mode registers */
        BNO055_OPR_MODE_ADDR = 0X3D,
        BNO055_PWR_MODE_ADDR = 0X3E,
    
        BNO055_SYS_TRIGGER_ADDR = 0X3F,
        BNO055_TEMP_SOURCE_ADDR = 0X40,
    
        /* Axis remap registers */
        BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
        BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
    
        /* SIC registers */
        BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
        BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
        BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
        BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
        BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
        BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
        BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
        BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
        BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
        BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
        BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
        BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
        BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
        BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
        BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
        BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
        BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
        BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
    
        /* Accelerometer Offset registers */
        ACCEL_OFFSET_X_LSB_ADDR = 0X55,
        ACCEL_OFFSET_X_MSB_ADDR = 0X56,
        ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
        ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
        ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
        ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
    
        /* Magnetometer Offset registers */
        MAG_OFFSET_X_LSB_ADDR = 0X5B,
        MAG_OFFSET_X_MSB_ADDR = 0X5C,
        MAG_OFFSET_Y_LSB_ADDR = 0X5D,
        MAG_OFFSET_Y_MSB_ADDR = 0X5E,
        MAG_OFFSET_Z_LSB_ADDR = 0X5F,
        MAG_OFFSET_Z_MSB_ADDR = 0X60,
    
        /* Gyroscope Offset register s*/
        GYRO_OFFSET_X_LSB_ADDR = 0X61,
        GYRO_OFFSET_X_MSB_ADDR = 0X62,
        GYRO_OFFSET_Y_LSB_ADDR = 0X63,
        GYRO_OFFSET_Y_MSB_ADDR = 0X64,
        GYRO_OFFSET_Z_LSB_ADDR = 0X65,
        GYRO_OFFSET_Z_MSB_ADDR = 0X66,
    
        /* Radius registers */
        ACCEL_RADIUS_LSB_ADDR = 0X67,
        ACCEL_RADIUS_MSB_ADDR = 0X68,
        MAG_RADIUS_LSB_ADDR = 0X69,
        MAG_RADIUS_MSB_ADDR = 0X6A
      } adafruit_bno055_reg_t;
    
      /** BNO055 power settings */
      typedef enum {
        POWER_MODE_NORMAL = 0X00,
        POWER_MODE_LOWPOWER = 0X01,
        POWER_MODE_SUSPEND = 0X02
      } adafruit_bno055_powermode_t;
    
      /** Operation mode settings **/
      typedef enum {
        OPERATION_MODE_CONFIG = 0X00,
        OPERATION_MODE_ACCONLY = 0X01,
        OPERATION_MODE_MAGONLY = 0X02,
        OPERATION_MODE_GYRONLY = 0X03,
        OPERATION_MODE_ACCMAG = 0X04,
        OPERATION_MODE_ACCGYRO = 0X05,
        OPERATION_MODE_MAGGYRO = 0X06,
        OPERATION_MODE_AMG = 0X07,
        OPERATION_MODE_IMUPLUS = 0X08,
        OPERATION_MODE_COMPASS = 0X09,
        OPERATION_MODE_M4G = 0X0A,
        OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
        OPERATION_MODE_NDOF = 0X0C
      } adafruit_bno055_opmode_t;
    
      /** Remap settings **/
      typedef enum {
        REMAP_CONFIG_P0 = 0x21,
        REMAP_CONFIG_P1 = 0x24, // default
        REMAP_CONFIG_P2 = 0x24,
        REMAP_CONFIG_P3 = 0x21,
        REMAP_CONFIG_P4 = 0x24,
        REMAP_CONFIG_P5 = 0x21,
        REMAP_CONFIG_P6 = 0x21,
        REMAP_CONFIG_P7 = 0x24
      } adafruit_bno055_axis_remap_config_t;
    
      /** Remap Signs **/
      typedef enum {
        REMAP_SIGN_P0 = 0x04,
        REMAP_SIGN_P1 = 0x00, // default
        REMAP_SIGN_P2 = 0x06,
        REMAP_SIGN_P3 = 0x02,
        REMAP_SIGN_P4 = 0x03,
        REMAP_SIGN_P5 = 0x01,
        REMAP_SIGN_P6 = 0x07,
        REMAP_SIGN_P7 = 0x05
      } adafruit_bno055_axis_remap_sign_t;
    
      /** A structure to represent revisions **/
      typedef struct {
        uint8_t accel_rev; /**< acceleration rev */
        uint8_t mag_rev;   /**< magnetometer rev */
        uint8_t gyro_rev;  /**< gyroscrope rev */
        uint16_t sw_rev;   /**< SW rev */
        uint8_t bl_rev;    /**< bootloader rev */
      } adafruit_bno055_rev_info_t;
    
      /** Vector Mappings **/
      typedef enum {
        VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
        VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
        VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
        VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
        VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
        VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
      } adafruit_vector_type_t;
    
      Adafruit_BNO055(int32_t sensorID = -1, uint8_t address = BNO055_ADDRESS_A,
                      TwoWire *theWire = &Wire);
    
      bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
      void setMode(adafruit_bno055_opmode_t mode);
      void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
      void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);
      void getRevInfo(adafruit_bno055_rev_info_t *);
      void setExtCrystalUse(boolean usextal);
      void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
                           uint8_t *system_error);
      void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
                          uint8_t *mag);
    
      imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
      imu::Quaternion getQuat();
      int8_t getTemp();
    
      /* Adafruit_Sensor implementation */
      bool getEvent(sensors_event_t *);
      bool getEvent(sensors_event_t *, adafruit_vector_type_t);
      void getSensor(sensor_t *);
    
      /* Functions to deal with raw calibration data */
      bool getSensorOffsets(uint8_t *calibData);
      bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
      void setSensorOffsets(const uint8_t *calibData);
      void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
      bool isFullyCalibrated();
    
      /* Power managments functions */
      void enterSuspendMode();
      void enterNormalMode();
    
    private:
      byte read8(adafruit_bno055_reg_t);
      bool readLen(adafruit_bno055_reg_t, byte *buffer, uint8_t len);
      bool write8(adafruit_bno055_reg_t, byte value);
    
      uint8_t _address;
      TwoWire *_wire;
    
      int32_t _sensorID;
      adafruit_bno055_opmode_t _mode;
    };
    
    #endif
    P.S. If there is an audio enthusiast among you that I could ask some basic questions about my project, I would be very grateful. I understand that specific problems are easier to solve, but maybe I could avoid a lot of them this way!

  2. #2
    Senior Member
    Join Date
    Nov 2012
    Posts
    1,569
    I believe that all you have to do is change
    Code:
    *theWire = &Wire
    to
    Code:
    *theWire = &Wire2
    Oh, hang on. You don't have to change the library. All you do is reference &Wire2 when you instantiate the Wire object in your sketch. The line you posted is the defaults within the library if you don't override them.

    Pete

  3. #3
    Senior Member
    Join Date
    Nov 2012
    Posts
    1,569
    For example, in the read_all_data example, it uses this to instantiate the device:
    Code:
    Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
    You would just change it to
    Code:
    Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28,&Wire2);
    Pete

  4. #4
    Junior Member
    Join Date
    Dec 2020
    Posts
    2
    Hi Pete,
    thank you very much, that worked!

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