Ben, Simon, Inez IDD / Mbed 2 deprecated BNO055_test2

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Dependencies:   BNO055 mbed

main.cpp@0:e801e9081b04, 2015-09-15 (annotated)

Committer:
simonscott
Date:
Tue Sep 15 23:39:03 2015 +0000
Revision:
0:e801e9081b04
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simonscott 0:e801e9081b04 1 #include "mbed.h"
simonscott 0:e801e9081b04 2 #include "BNO055.h"
simonscott 0:e801e9081b04 3
simonscott 0:e801e9081b04 4 Serial pc(USBTX, USBRX);
simonscott 0:e801e9081b04 5 BNO055 imu(D14, D15);
simonscott 0:e801e9081b04 6 DigitalOut led(LED1);
simonscott 0:e801e9081b04 7 DigitalOut imuResetPin(D12);
simonscott 0:e801e9081b04 8
simonscott 0:e801e9081b04 9 int main() {
simonscott 0:e801e9081b04 10 pc.baud(9600);
simonscott 0:e801e9081b04 11 pc.printf("BNO055 Hello World\r\n\r\n");
simonscott 0:e801e9081b04 12 led = 1;
simonscott 0:e801e9081b04 13 // Reset the BNO055
simonscott 0:e801e9081b04 14 imuResetPin = 0;
simonscott 0:e801e9081b04 15 wait(0.1);
simonscott 0:e801e9081b04 16 imuResetPin = 1;
simonscott 0:e801e9081b04 17 wait(1);
simonscott 0:e801e9081b04 18 imu.reset();
simonscott 0:e801e9081b04 19 // Check that the BNO055 is connected and flash LED if not
simonscott 0:e801e9081b04 20 while (!imu.check()){
simonscott 0:e801e9081b04 21 led = !led;
simonscott 0:e801e9081b04 22 wait(1);
simonscott 0:e801e9081b04 23 }
simonscott 0:e801e9081b04 24 // Display sensor information
simonscott 0:e801e9081b04 25 pc.printf("BNO055 found\r\n\r\n");
simonscott 0:e801e9081b04 26 pc.printf("Chip ID: %0z\r\n",imu.ID.id);
simonscott 0:e801e9081b04 27 pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
simonscott 0:e801e9081b04 28 pc.printf("Gyroscope ID: %0z\r\n",imu.ID.gyro);
simonscott 0:e801e9081b04 29 pc.printf("Magnetometer ID: %0z\r\n\r\n",imu.ID.mag);
simonscott 0:e801e9081b04 30 pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
simonscott 0:e801e9081b04 31 pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
simonscott 0:e801e9081b04 32 // Display chip serial number
simonscott 0:e801e9081b04 33 for (int i = 0; i<4; i++){
simonscott 0:e801e9081b04 34 pc.printf("%0z.%0z.%0z.%0z\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
simonscott 0:e801e9081b04 35 }
simonscott 0:e801e9081b04 36 pc.printf("\r\n");
simonscott 0:e801e9081b04 37
simonscott 0:e801e9081b04 38 imu.SetExternalCrystal(true);
simonscott 0:e801e9081b04 39
simonscott 0:e801e9081b04 40 while (true) {
simonscott 0:e801e9081b04 41 imu.setmode(OPERATION_MODE_NDOF);
simonscott 0:e801e9081b04 42 imu.get_calib();
simonscott 0:e801e9081b04 43 imu.get_angles();
simonscott 0:e801e9081b04 44 pc.printf("%0z %5.1d %5.1d %5.1d\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
simonscott 0:e801e9081b04 45 wait(1.0);
simonscott 0:e801e9081b04 46 }
simonscott 0:e801e9081b04 47 }