read linear_acc, gravity_acc, quaternion, gyro, temperature from BNO055

software/firmware/src/peripherals/include/imu.h

@@ -159,6 +159,12 @@ typedef enum {
    ACC_INT_SET = 0x12,
    ACC_NM_THRE = 0x15,
    ACC_NM_SET = 0x16
+
+   //configs
+   BNO055_MAG_CONFIG_ADDR = 0X09,
+   BNO055_GYRO_CONFIG_ADDR =0X0A,
+   BNO055_GYRO_MODE_CONFIG_ADDR = 0X0B,
+
 } bno055_reg_t;
 
 typedef enum {
@@ -194,5 +200,10 @@ void imu_init(void);
 void imu_deinit(void);
 void imu_register_motion_change_callback(motion_change_callback_t callback, bno055_opmode_t mode);
 void imu_read_accel_data(int16_t *x, int16_t *y, int16_t *z);
+void imu_read_linear_accel_data(int16_t *x, int16_t *y, int16_t *z);
+void imu_read_gravity_accel_data(int16_t *x, int16_t *y, int16_t *z);
+void imu_read_quaternion_data(int16_t *w, int16_t *x, int16_t *y, int16_t *z);
+void imu_read_gyro_data(int16_t *x, int16_t *y, int16_t *z);
+void imu_read_temp(int8_t *temp);
 
 #endif  // #ifndef __IMU_HEADER_H__

software/firmware/src/peripherals/src/imu.c

@@ -138,7 +138,6 @@ static void enable_motion_interrupts(void)
    i2c_write8(BNO055_PAGE_ID_ADDR, 0);
 }
 
-
 // Public API Functions ------------------------------------------------------------------------------------------------
 
 void imu_init(void)
@@ -230,4 +229,43 @@ void imu_read_accel_data(int16_t *x, int16_t *y, int16_t *z)
    *x = (int16_t)(accel_data[0] << 2) / 4;
    *y = (int16_t)(accel_data[1] << 2) / 4;
    *z = (int16_t)(accel_data[2] << 2) / 4;
+}
+
+void imu_read_linear_accel_data(int16_t *x, int16_t *y, int16_t *z){
+    static int16_t accel_data[3];
+    i2c_read(BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR, (uint8_t*)accel_data, sizeof(accel_data));
+    *x = (int16_t)(accel_data[0] << 2) / 4;
+    *y = (int16_t)(accel_data[1] << 2) / 4;
+    *z = (int16_t)(accel_data[2] << 2) / 4;
+}
+
+void imu_read_gravity_accel_data(int16_t *x, int16_t *y, int16_t *z){
+    static int16_t accel_data[3];
+    i2c_read(BNO055_GRAVITY_DATA_X_LSB_ADDR, (uint8_t*)accel_data, sizeof(accel_data));
+    *x = (int16_t)(accel_data[0] << 2) / 4;
+    *y = (int16_t)(accel_data[1] << 2) / 4;
+    *z = (int16_t)(accel_data[2] << 2) / 4;
+}
+
+void imu_read_quaternion_data(int16_t *w, int16_t *x, int16_t *y, int16_t *z){
+    static int16_t quaternion_data[4];
+    i2c_read(BNO055_QUATERNION_DATA_W_LSB_ADDR, (uint8_t*)quaternion_data, sizeof(quaternion_data));
+    *w = (int16_t)(quaternion_data[0] << 2) / 4;
+    *x = (int16_t)(quaternion_data[1] << 2) / 4;
+    *y = (int16_t)(quaternion_data[2] << 2) / 4;
+    *z = (int16_t)(quaternion_data[3] << 2) / 4;
+}
+
+void imu_read_gyro_data(int16_t *x, int16_t *y, int16_t *z){
+    static int16_t gyro_data[3];
+    i2c_read(BNO055_GYRO_DATA_X_LSB_ADDR, (uint8_t*)gyro_data, sizeof(gyro_data));
+    *x = (int16_t)(gyro_data[0] << 2) / 4;
+    *y = (int16_t)(gyro_data[1] << 2) / 4;
+    *z = (int16_t)(gyro_data[2] << 2) / 4;
+}
+
+void imu_read_temp(int8_t *temp){
+    static int8_t temp_data;
+    i2c_read(BNO055_TEMP_ADDR, (uint8_t*)&temp_data, 1);
+    *temp = (int8_t)temp_data;
 }