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/s² 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 µT.

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/s² 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/s² or G depending on the chip's ACC_units configuration.

AUTHOR

Paul Evans <leonerd@leonerd.org.uk>