Diff: main.cpp

Revision:

0:e801e9081b04

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 15 23:39:03 2015 +0000
@@ -0,0 +1,47 @@
+#include "mbed.h"
+#include "BNO055.h"
+ 
+Serial pc(USBTX, USBRX);
+BNO055 imu(D14, D15);
+DigitalOut led(LED1);
+DigitalOut imuResetPin(D12);
+ 
+int main() {
+    pc.baud(9600);
+    pc.printf("BNO055 Hello World\r\n\r\n");
+    led = 1;
+// Reset the BNO055
+    imuResetPin = 0;
+    wait(0.1);
+    imuResetPin = 1;
+    wait(1);
+    imu.reset();
+// Check that the BNO055 is connected and flash LED if not
+   while (!imu.check()){
+        led = !led;
+        wait(1);
+    }
+// Display sensor information
+    pc.printf("BNO055 found\r\n\r\n");
+    pc.printf("Chip          ID: %0z\r\n",imu.ID.id);
+    pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
+    pc.printf("Gyroscope     ID: %0z\r\n",imu.ID.gyro);
+    pc.printf("Magnetometer  ID: %0z\r\n\r\n",imu.ID.mag);
+    pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
+    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
+// Display chip serial number
+    for (int i = 0; i<4; i++){
+        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]);
+    }
+    pc.printf("\r\n");
+
+    imu.SetExternalCrystal(true);
+
+    while (true) {
+        imu.setmode(OPERATION_MODE_NDOF);
+        imu.get_calib();
+        imu.get_angles();
+        pc.printf("%0z %5.1d %5.1d %5.1d\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
+        wait(1.0);
+    }
+}
\ No newline at end of file