BNO055 Reuse of Calibration Profile in Arduino 9-Axis Shield

Other Hardware Sensors
2

I modified the Bosch library to implement reading and writing the calibration state. For those that are interested the modifications are.

Near the end of NAxisMotion.h add:

/****************************** ADDED CLASS FUNCTIONS **************************************/
/*******************************************************************************************
*Description: This function is used to read the magnetic offsets the BNO055
*Input Parameters: struct bno055_mag_offset_t    *mag_offset;
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_mag_offset(struct bno055_mag_offset_t  *mag_offset);

/*******************************************************************************************
*Description: This function is used to read the gyro offsets the BNO055
*Input Parameters: struct bno055_gyro_offset_t   *gyro_offset;       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_gyro_offset(struct bno055_gyro_offset_t   *gyro_offset);

/*******************************************************************************************
*Description: This function is used to read the gyro offsets the BNO055
*Input Parameters: struct bno055_accel_offset_t  *accel_offset;    A place for Offset and Radius Values
       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_accel_offset(struct bno055_accel_offset_t  *accel_offset);


/*******************************************************************************************
*Description: This function is used to write the magnetic offsets the BNO055
*Input Parameters: struct bno055_mag_offset_t    *mag_offset;
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_mag_offset(struct bno055_mag_offset_t  *mag_offset);

/*******************************************************************************************
*Description: This function is used to write the gyro offsets the BNO055
*Input Parameters: struct bno055_gyro_offset_t   *gyro_offset;       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_gyro_offset(struct bno055_gyro_offset_t   *gyro_offset);

/*******************************************************************************************
*Description: This function is used to write the gyro offsets the BNO055
*Input Parameters: struct bno055_accel_offset_t  *accel_offset;    A place for Offset and Radius Values
       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_accel_offset(struct bno055_accel_offset_t  *accel_offset);

};

To the end of NAxisMotion.cpp I added:

/*********************************** ADDED CLASS FUNCTIONS *********************************/
/*******************************************************************************************
*Description: This function is used to read the magnetic offsets the BNO055
*Input Parameters: struct bno055_mag_offset_t    *mag_offset;
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_mag_offset(struct bno055_mag_offset_t  *mag_offset)
{
return(bno055_read_mag_offset(mag_offset));
}
/*******************************************************************************************
*Description: This function is used to read the gyro offsets the BNO055
*Input Parameters: struct bno055_gyro_offset_t   *gyro_offset;       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_gyro_offset(struct bno055_gyro_offset_t   *gyro_offset)
{
return(bno055_read_gyro_offset(gyro_offset));
}
/*******************************************************************************************
*Description: This function is used to read the gyro offsets the BNO055
*Input Parameters: struct bno055_accel_offset_t  *accel_offset;    A place for Offset and Radius Values
       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::read_accel_offset(struct bno055_accel_offset_t  *accel_offset)
{
return(bno055_read_accel_offset(accel_offset));
}

/*******************************************************************************************
*Description: This function is used to write the magnetic offsets the BNO055
*Input Parameters: struct bno055_mag_offset_t    *mag_offset;
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_mag_offset(struct bno055_mag_offset_t  *mag_offset)
{
return(bno055_write_mag_offset(mag_offset));
}
/*******************************************************************************************
*Description: This function is used to write the gyro offsets the BNO055
*Input Parameters: struct bno055_gyro_offset_t   *gyro_offset;       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_gyro_offset(struct bno055_gyro_offset_t   *gyro_offset)
{
return(bno055_write_gyro_offset(gyro_offset));
}
/*******************************************************************************************
*Description: This function is used to write the gyro offsets the BNO055
*Input Parameters: struct bno055_accel_offset_t  *accel_offset;    A place for Offset and Radius Values
       A place to store Offset Values
*Return Parameter: @retval 0 -> Success
*                  @retval 1 -> Error
*******************************************************************************************/
int8_t  NAxisMotion::write_accel_offset(struct bno055_accel_offset_t  *accel_offset)
{
return(bno055_write_accel_offset(accel_offset));
}