Diff: main.cpp

Revision:

0:e4b33729023f

Child:

1:f2e456d8ee54

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 15 19:32:45 2015 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+#include    "BNO055.h"
+
+Serial pc(USBTX,USBRX);
+DigitalOut pwr_onoff(D7);
+I2C    i2c(D14, D15);   // SDA, SCL
+BNO055 imu(i2c, D8);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
+
+BNO055_ID_INF_TypeDef bno055_id_inf;
+BNO055_EULER_TypeDef  euler_angles;
+
+int main()
+{
+    pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
+    if (imu.chip_ready() == 0)
+    {
+         pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
+    }
+    
+    imu.read_id_inf(&bno055_id_inf);
+    pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
+        bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
+        bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
+    
+    while(1)
+    {
+        imu.get_Euler_Angles(&euler_angles);
+        pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg]\r\n",
+            euler_angles.h, euler_angles.r, euler_angles.p);
+        wait(0.5);
+    }
+}
+