NAME

NAME

Device::Chip::BNO055 - chip driver for BNO055

SYNOPSIS

use Device::Chip::BNO055;

my $chip = Device::Chip::BNO055->new;
$chip->mount( Device::Chip::Adapter::...->new )->get;

DESCRIPTION

This Device::Chip subclass provides specific communications to a Bosch
BNO055 orientation sensor chip.

The reader is presumed to be familiar with the general operation of
this chip; the documentation here will not attempt to explain or define
chip-specific concepts or features, only the use of this module to
access them.

METHODS

The following methods documented with a trailing call to ->get return
Future instances.

read_ids

$ids = $chip->read_ids->get

Returns an 8-character string composed of the four ID registers. For a
BNO055 chip this should be the string

"A0FB320F"

read_config

$config = $chip->read_config->get

Returns the current chip configuration.

change_config

$chip->change_config( %changes )->get

Changes the configuration. Any field names not mentioned will be
preserved at their existing values.

This method can only be used while the chip is in config mode, and
cannot itself be used to set OPR_MODE. For that, use "set_opr_mode".

set_opr_mode

$chip->set_opr_mode( $mode )->get

Sets the OPR_MODE register.

read_accelerometer_raw

( $x, $y, $z ) = $chip->read_accelerometer_raw->get

Returns the most recent accelerometer readings in raw 16bit signed
integers

read_accelerometer

( $x, $y, $z ) = $chip->read_accelerometer->get

Returns the most recent accelerometer readings in converted units,
either m/s� or G depending on the chip's ACC_Unit configuration.

read_magnetometer_raw

( $x, $y, $z ) = $chip->read_magnetometer_raw->get

Returns the most recent magnetometer readings in raw 16bit signed
integers

read_magnetometer

( $x, $y, $z ) = $chip->read_magnetometer->get

Returns the most recent magnetometer readings in converted units of �T.

read_gyroscope_raw

( $x, $y, $z ) = $chip->read_gyroscope_raw->get

Returns the most recent gyroscope readings in raw 16bit signed integers

read_gyroscope

( $x, $y, $z ) = $chip->read_gyroscope->get

Returns the most recent gyroscope readings in converted units, either
dps or rps depending on the chip's GYR_Unit configuration.

read_euler_angles

( $heading, $roll, $pitch ) = $chip->read_euler_angles->get

Returns the most recent Euler angle fusion readings in converted units,
either degrees or radians depending on the chip's EUL_units
configuration.

read_quarternion

( $w, $x, $y, $z ) = $chip->read_quarternion->get

Returns the most recent quarternion fusion readings in converted units
as scaled numbers between -1 and 1.

read_linear_acceleration

( $x, $y, $z ) = $chip->read_linear_acceleration->get

Returns the most recent linear acceleration fusion readings in
converted units, either m/s� or G depending on the chip's ACC_units
configuration.

read_linear_acceleration

( $x, $y, $z ) = $chip->read_linear_acceleration->get

Returns the most recent gravity fusion readings in converted units,
either m/s� or G depending on the chip's ACC_units configuration.

AUTHOR

Paul Evans <[email protected]>