• NAME
• SYNOPSIS
• DESCRIPTION
• METHODS
  • read_ids
  • read_config
  • change_config
  • set_opr_mode
  • read_accelerometer_raw
  • read_accelerometer
  • read_magnetometer_raw
  • read_magnetometer
  • read_gyroscope_raw
  • read_gyroscope
  • read_euler_angles
  • read_quarternion
  • read_linear_acceleration
  • read_linear_acceleration
• AUTHOR

NAME

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

SYNOPSIS

   use Device::Chip::BNO055;
   use Future::AsyncAwait;

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

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 in an await expression return Future instances.

read_ids

   $ids = await $chip->read_ids;

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

   "A0FB320F"

read_config

   $config = await $chip->read_config;

Returns the current chip configuration.

change_config

   await $chip->change_config( %changes );

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

   await $chip->set_opr_mode( $mode );

Sets the OPR_MODE register.

read_accelerometer_raw

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

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

read_accelerometer

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

Returns the most recent accelerometer readings in converted units, either m/s² or G depending on the chip's ACC_Unit configuration.

read_magnetometer_raw

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

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

read_magnetometer

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

Returns the most recent magnetometer readings in converted units of µT.

read_gyroscope_raw

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

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

read_gyroscope

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

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 ) = await $chip->read_euler_angles;

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 ) = await $chip->read_quarternion;

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

read_linear_acceleration

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

Returns the most recent linear acceleration fusion readings in converted units, either m/s² or G depending on the chip's ACC_units configuration.

read_linear_acceleration

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

Returns the most recent gravity fusion readings in converted units, either m/s² or G depending on the chip's ACC_units configuration.

AUTHOR

Paul Evans <leonerd@leonerd.org.uk>