Diff: main.cpp

Revision:

0:6d1d015173a3

Child:

1:6fbffee6db13

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 16 19:49:13 2015 +0000
@@ -0,0 +1,85 @@
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BNO055.h>
+#include <imumaths.h>
+#include "mbed.h"
+
+/* Set the delay between fresh samples */
+#define BNO055_SAMPLERATE_DELAY_MS (100)
+
+Serial pc(USBTX, USBRX);
+I2C i2c(D14, D15);
+Adafruit_BNO055 bno = Adafruit_BNO055(-1, BNO055_ADDRESS_A, &i2c);
+
+void loop();
+
+/**************************************************************************/
+/*
+    Arduino setup function (automatically called at startup)
+*/
+/**************************************************************************/
+int main()
+{
+  pc.baud(9600);
+  pc.printf("Orientation Sensor Raw Data Test\r\n");
+
+  /* Initialise the sensor */
+  if(!bno.begin())
+  {
+    /* There was a problem detecting the BNO055 ... check your connections */
+    pc.printf("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!\r\n");
+    while(1);
+  }
+
+  wait(1);
+
+  /* Display the current temperature */
+  int8_t temp = bno.getTemp();
+  pc.printf("Current Temperature: %d C\r\n", temp);
+  bno.setExtCrystalUse(true);
+
+  pc.printf("Calibration status values: 0=uncalibrated, 3=fully calibrated\r\n");
+  
+  while(true)
+      loop();
+}
+
+/**************************************************************************/
+/*
+    Arduino loop function, called once 'setup' is complete (your own code
+    should go here)
+*/
+/**************************************************************************/
+void loop(void)
+{
+  // Possible vector values can be:
+  // - VECTOR_ACCELEROMETER - m/s^2
+  // - VECTOR_MAGNETOMETER  - uT
+  // - VECTOR_GYROSCOPE     - rad/s
+  // - VECTOR_EULER         - degrees
+  // - VECTOR_LINEARACCEL   - m/s^2
+  // - VECTOR_GRAVITY       - m/s^2
+  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
+
+  /* Display the floating point data */
+  pc.printf("X: %f Y: %f Z: %f\t\t", euler.x(), euler.y(), euler.z());
+
+  /*
+  // Quaternion data
+  imu::Quaternion quat = bno.getQuat();
+  Serial.print("qW: ");
+  Serial.print(quat.w(), 4);
+  Serial.print(" qX: ");
+  Serial.print(quat.y(), 4);
+  Serial.print(" qY: ");
+  Serial.print(quat.x(), 4);
+  Serial.print(" qZ: ");
+  Serial.print(quat.z(), 4);
+  Serial.print("\t\t");
+  */
+
+  /* Display calibration status for each sensor. */
+  uint8_t system, gyro, accel, mag = 0;
+  bno.getCalibration(&system, &gyro, &accel, &mag);
+  pc.printf("CALIBRATION: Sys=%d, Gyro=%d, Accel=%d, Mag=%d\r\n", (int)(system), (int)(gyro), (int)(accel), (int)(mag));
+  wait_ms(BNO055_SAMPLERATE_DELAY_MS);
+}