BNO055 Nine Degree of Freedom IMU with built in Quaternion function

Solved the reset and external clock problem

Reset

The reset requires a delay after the command is issued.
This was solved by using a callback structure in the module

exports.connect = function(i2c,BusAddress,callback) {
  var W= new BNO055(i2c,BusAddress);
  W.RST_SYS();
setTimeout(function () {
   callback();
}, 1000);
   return W;
};

Which changes the code in the test program.

//load the BMO055 module  
 W=require("BNO055").connect(I2C3,BusAddr­ess,function(){
///lots of code here in the callback
});//end require

External Clock

The call to change the clock souce also requires a delay which is addressed using a callback function
In the module:

BNO055.prototype.External_Clk=function(a­,callback){
 this.selectPage(0);
 if(a)
 this.WriteByte(this.Page0Regs.SYS_TRIGGE­R,0x80);
 else
 this.WriteByte(this.Page0Regs.SYS_TRIGGE­R,0x00);
setTimeout(function () {
   callback();
}, 50);
};

The code in the test program:

//load the BMO055 module  
 W=require("BNO055").connect(I2C3,BusAddr­ess,function(){
W.External_Clk(1,function(){ //1=external 0=internal clock
//Lots of code
//do a timed loop that acquires and displays data
var i;
setInterval(function () {
console.log(" ");
showAMG();
showIMU();
showTemp();
showCalibStatus();
showOffsets();

}, 500);//display rate
});//end set external clock 
 });//end require
}//end start

2 Attachments

• BNO055.js
• testBNO055.js