jetfishteam / Mbed 2 deprecated robfish_test_IMU_and_hallsensor

Tests for BNO055 IMU and hall sensor interrupts

Dependencies:   BNO055 mbed

main.cpp@0:c462deb7ee50, 2016-03-20 (annotated)

Committer:
alex93
Date:
Sun Mar 20 03:01:54 2016 +0000
Revision:
0:c462deb7ee50
Tests for BNO055 IMU and hall sensor interrupts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alex93 0:c462deb7ee50 1 /*********************************************************************************
alex93 0:c462deb7ee50 2 * This code sets the valve motor to a pwm of 0.8. It also sets interrupts for the
alex93 0:c462deb7ee50 3 * hall sensor input, so on each rising and falling edge, LED1 is flipped, testing
alex93 0:c462deb7ee50 4 * the ability of the mbed to accurately detect the hall sensor reading. Lastly,
alex93 0:c462deb7ee50 5 * this code configures the BNO055 and prints the yaw, pitch, and roll to a PC
alex93 0:c462deb7ee50 6 * terminal.
alex93 0:c462deb7ee50 7 *********************************************************************************/
alex93 0:c462deb7ee50 8
alex93 0:c462deb7ee50 9 #include "mbed.h"
alex93 0:c462deb7ee50 10 #include "BNO055.h"
alex93 0:c462deb7ee50 11 using namespace std;
alex93 0:c462deb7ee50 12
alex93 0:c462deb7ee50 13 Serial pc(USBTX, USBRX);
alex93 0:c462deb7ee50 14
alex93 0:c462deb7ee50 15 // BNO055
alex93 0:c462deb7ee50 16 BNO055 bno055(p28, p27);
alex93 0:c462deb7ee50 17
alex93 0:c462deb7ee50 18 // Hall Sensor
alex93 0:c462deb7ee50 19 InterruptIn hallVoltage1(p8);
alex93 0:c462deb7ee50 20 DigitalOut led1(LED1);
alex93 0:c462deb7ee50 21
alex93 0:c462deb7ee50 22 // Motor Driver
alex93 0:c462deb7ee50 23 PwmOut valve_pwm(p21);
alex93 0:c462deb7ee50 24
alex93 0:c462deb7ee50 25 void flipLed1() {
alex93 0:c462deb7ee50 26 led1 = !led1;
alex93 0:c462deb7ee50 27 }
alex93 0:c462deb7ee50 28
alex93 0:c462deb7ee50 29 int main() {
alex93 0:c462deb7ee50 30 led1 = 0;
alex93 0:c462deb7ee50 31 hallVoltage1.rise(&flipLed1);
alex93 0:c462deb7ee50 32 hallVoltage1.fall(&flipLed1);
alex93 0:c462deb7ee50 33
alex93 0:c462deb7ee50 34 valve_pwm = 0.8;
alex93 0:c462deb7ee50 35
alex93 0:c462deb7ee50 36 bno055.reset();
alex93 0:c462deb7ee50 37 bno055.setmode(OPERATION_MODE_NDOF);
alex93 0:c462deb7ee50 38 bno055.write_calibration_data();
alex93 0:c462deb7ee50 39 bno055.get_calib();
alex93 0:c462deb7ee50 40 while (bno055.calib == 0) {
alex93 0:c462deb7ee50 41 bno055.get_calib();
alex93 0:c462deb7ee50 42 }
alex93 0:c462deb7ee50 43
alex93 0:c462deb7ee50 44 while(1) {
alex93 0:c462deb7ee50 45 bno055.get_angles(); //query the i2c device
alex93 0:c462deb7ee50 46 pc.printf("yaw:%6.2f pitch:%6.2f roll:%6.2f\n",bno055.euler.yaw, bno055.euler.pitch, bno055.euler.roll);
alex93 0:c462deb7ee50 47 }
alex93 0:c462deb7ee50 48 }