In the Adafruit_BNO055 library, there is this function
void getRevInfo(adafruit_bno055_rev_info_t *);
Full Adafruit_BNo055.h
/*!
* @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 "utility/imumaths.h"
#include <Adafruit_I2CDevice.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,
/* 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);
Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
int32_t _sensorID;
adafruit_bno055_opmode_t _mode;
};
#endif
Other functions such as
bool begin(adafruit_bno055_opmode_t mode = OPERATION_MODE_NDOF);
can be called by {object name}.begin. But when I try this same thing with this function, I get the error "No matching function for call to 'Adafruit_BNO055::getRevInfo()'
My Code:
#include <SPI.h>
#include <SD.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
//Pins
#define batVoltagePin A0
//Consts
#define BNO055_SAMPLERATE_DELAY_MS 100 //This can be changed, Max for BNO is 10ms, or 100HZ
//Objects
File ActiveFile;
Adafruit_BNO055 BNOIMU = Adafruit_BNO055(55, 0x28); //I2C ID: 55 Address:0x28
//Variables
float battVoltage;
void setup() {
Serial.begin(115200);
SD.begin();
BNOIMU.begin();
BNOIMU.setExtCrystalUse(true);
//Pin Modes
pinMode(batVoltagePin, INPUT);
//Tests
SDTest();
CalibrateBNO();
DisplayBNODetailsStatus();
}
void loop() {
battVoltage = GetBattVoltage();
}
void SDTest(){
Serial.println("------------------------------------");
Serial.println("Testing SD card");
//Write Test File
if (SD.begin()) {
ActiveFile = SD.open("test.txt", FILE_WRITE);
if (ActiveFile){
Serial.println(" Writing 'testing 1, 2, 3' to test.txt");
ActiveFile.println(" testing 1, 2, 3.");
ActiveFile.close();
} else { Serial.println("error opening test.txt");return;} // if the file didn't open, print an error:
} else {
Serial.println("Test failed, could not start SD");return;}
//Read Test File
ActiveFile = SD.open("test.txt");
if (ActiveFile) {
Serial.println(" test.txt:\n");
Serial.println("*****");
while (ActiveFile.available()) { // read from the file until there's nothing else in it:
Serial.write(ActiveFile.read());
}
Serial.println("*****\n");
ActiveFile.close();
} else {Serial.println("Could not read from file");return;} // if the file didn't open, print an error:
SD.remove("test.txt");
Serial.println("SD Test Complete");
Serial.println("------------------------------------\n");
}
void CalibrateBNO(){
Serial.println("Calibrating BNO\n");
}
void displayCalStatus(void){
/* Get the four calibration values (0..3) */
/* Any sensor data reporting 0 should be ignored, */
/* 3 means 'fully calibrated" */
uint8_t system, gyro, accel, mag;
system = gyro = accel = mag = 0;
bno.getCalibration(&system, &gyro, &accel, &mag);
/* The data should be ignored until the system calibration is > 0 */
Serial.print("\t");
if (!system)
{
Serial.print("! ");
}
/* Display the individual values */
Serial.print("Sys:");
Serial.print(system, DEC);
Serial.print(" G:");
Serial.print(gyro, DEC);
Serial.print(" A:");
Serial.print(accel, DEC);
Serial.print(" M:");
Serial.print(mag, DEC);
}
void DisplayBNODetailsStatus(void){
sensor_t sensor;
BNOIMU.getSensor(&sensor);
/* Get the system status values (mostly for debugging purposes) */
uint8_t system_status, self_test_results, system_error;
system_status = self_test_results = system_error = 0;
BNOIMU.getSystemStatus(&system_status, &self_test_results, &system_error);
Serial.println("------------------------------------");
Serial.print("Sensor: "); Serial.println(sensor.name);
Serial.print("System Status(0:Idle,1:Error,5:Fusion Running): 0x");Serial.println(system_status, HEX);
Serial.print("Self Test(MCU,GYR,MAG,ACC - _ _ _ _): 0x");Serial.println(self_test_results, HEX);
Serial.println("------------------------------------");
delay(500);
}
void CollectData(){
imu::Vector<3> acc=BNOIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER); //in m/2
imu::Vector<3> gyr=BNOIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE); //in radians/s
imu::Vector<3> mag=BNOIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER); // in uT
}
float GetBattVoltage(){
/*
* Reference (4.98) voltage - 1024 maximum samples = voltage per count
* analogRead(batVoltagePin) returns count #
* *2 -> voltage divider ratio (10khom and 10kohm)
*/
return (((4.98/1024)*analogRead(batVoltagePin))*2);
}
What am I doing wrong?