Diff: main.cpp

Revision:

1:aa7766849e5d

Parent:

0:a8e6e26ebe0f

--- a/main.cpp	Sun May 31 07:23:02 2015 +0000
+++ b/main.cpp	Fri Jun 17 17:29:08 2016 +0000
@@ -1,40 +1,68 @@
+// BNO055 Demo
+
 #include "mbed.h"
 #include "BNO055.h"
 
-Serial pc(USBTX, USBRX);
-BNO055 imu(I2C_SDA,I2C_SCL);
-DigitalOut led(LED1);
+//Serial pc(USBTX, USBRX);
+Serial pc(p9, p11);
+//BNO055 imu(I2C_SDA,I2C_SCL);
+BNO055 imu(p30, p7);
+
+void setup() {
+    pc.baud(115200);
+    
+    pc.printf("\r\n------ BNO055 Demo -----------\r\n");
+      
+    // Reset the BNO055
+    imu.reset();
+    // Check that the BNO055 is connected and display info
+    if (imu.check())
+    {
+        pc.printf("BNO055 found\r\n\r\n");
+        pc.printf("Chip          ID: %d\r\n",imu.ID.id);
+        pc.printf("Accelerometer ID: %d\r\n",imu.ID.accel);
+        pc.printf("Gyroscope     ID: %d\r\n",imu.ID.gyro);
+        pc.printf("Magnetometer  ID: %d\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);
+    }
+    
+    // Set power mode, POWER_MODE_NORMAL(default), POWER_MODE_LOWPOWER, or POWER_MODE_SUSPEND(sleep)
+    // By default, I2C will pull high when bus is free(pg90 of datasheet)
+    imu.setpowermode(POWER_MODE_SUSPEND);
+}
 
 int main() {
-    pc.baud(115200);
-    pc.printf("BNO055 Hello World\r\n\r\n");
-    led = 1;
-// Reset the BNO055
-    imu.reset();
-// Check that the BNO055 is connected and flash LED if not
-    if (!imu.check())
-        while (true){
-            led = !led;
-            wait(0.1);
-            }
-// 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");
+    setup();
+    
     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);
+        imu.setmode(OPERATION_MODE_AMG);
+        pc.printf("Temp:\r\n");
+        imu.set_temp_units(CENTIGRADE);
+        imu.get_temp();
+        pc.printf("TC: %d\r\n", imu.temperature);
+        imu.set_temp_units(FAHRENHEIT);
+        imu.get_temp();
+        pc.printf("TF: %d\r\n", imu.temperature);
+        
+        imu.get_accel();
+        pc.printf("Accel:\r\n");
+        pc.printf("AX: %2f\r\n", imu.accel.x);
+        pc.printf("AY: %2f\r\n", imu.accel.y);
+        pc.printf("AZ: %2f\r\n", imu.accel.z);
+        
+        imu.get_gyro();
+        pc.printf("Gyro:\r\n");
+        pc.printf("GX: %2f\r\n", imu.gyro.x);
+        pc.printf("GY: %2f\r\n", imu.gyro.y);
+        pc.printf("GZ: %2f\r\n", imu.gyro.z);
+        
+        imu.get_mag();
+        pc.printf("Mag:\r\n");
+        pc.printf("MX: %2f\r\n", imu.mag.x);
+        pc.printf("MY: %2f\r\n", imu.mag.y);
+        pc.printf("MZ: %2f\r\n\r\n", imu.mag.z);
+        
         wait(1.0);
     }
 }