Eduardo Vergara
/
BNO080_program
added main and defined M_PI
main.cpp@7:b548a684290d, 2019-07-30 (annotated)
- Committer:
- JesiMiranda
- Date:
- Tue Jul 30 21:06:04 2019 +0000
- Revision:
- 7:b548a684290d
- Parent:
- 5:eefbf579d5cc
- Child:
- 8:729ad465d6c9
added watchdog;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JesiMiranda | 1:4a5b43b9502c | 1 | #include <mbed.h> |
JesiMiranda | 1:4a5b43b9502c | 2 | #include <BNO080.h> |
JesiMiranda | 7:b548a684290d | 3 | #include "Watchdog.h" |
JesiMiranda | 2:1fd1549d3fbd | 4 | |
JesiMiranda | 0:0f12b8c4d5f1 | 5 | int main() |
JesiMiranda | 0:0f12b8c4d5f1 | 6 | { |
JesiMiranda | 7:b548a684290d | 7 | Serial pc(USBTX, USBRX, 57600); |
JesiMiranda | 7:b548a684290d | 8 | Watchdog dog; |
JesiMiranda | 7:b548a684290d | 9 | dog.Configure(1.7); //need to find the time for entire program to run |
JesiMiranda | 3:24e65bfcea6d | 10 | |
JesiMiranda | 1:4a5b43b9502c | 11 | // Create IMU, passing in output stream, pins, I2C address, and I2C frequency |
JesiMiranda | 7:b548a684290d | 12 | // These pin assignments are specific to stm32- L432KC |
JesiMiranda | 7:b548a684290d | 13 | //BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000); |
JesiMiranda | 7:b548a684290d | 14 | BNO080 imu(&pc, D2, D4, D13, PB_6, 0x4b, 100000); |
JesiMiranda | 2:1fd1549d3fbd | 15 | imu.begin(); |
JesiMiranda | 4:ecd3871549e8 | 16 | |
JesiMiranda | 1:4a5b43b9502c | 17 | // Tell the IMU to report rotation every 100ms and acceleration every 200ms |
JesiMiranda | 7:b548a684290d | 18 | |
JesiMiranda | 5:eefbf579d5cc | 19 | imu.enableReport(BNO080::TOTAL_ACCELERATION, 100); |
JesiMiranda | 1:4a5b43b9502c | 20 | imu.enableReport(BNO080::ROTATION, 100); |
JesiMiranda | 3:24e65bfcea6d | 21 | |
JesiMiranda | 3:24e65bfcea6d | 22 | while (true) { |
JesiMiranda | 1:4a5b43b9502c | 23 | wait(.001f); |
JesiMiranda | 4:ecd3871549e8 | 24 | |
JesiMiranda | 1:4a5b43b9502c | 25 | // poll the IMU for new data -- this returns true if any packets were received |
JesiMiranda | 5:eefbf579d5cc | 26 | |
JesiMiranda | 3:24e65bfcea6d | 27 | if(imu.updateData()) { |
JesiMiranda | 1:4a5b43b9502c | 28 | // now check for the specific type of data that was received (can be multiple at once) |
JesiMiranda | 5:eefbf579d5cc | 29 | if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) { |
JesiMiranda | 5:eefbf579d5cc | 30 | pc.printf("Total Accel: "); |
JesiMiranda | 5:eefbf579d5cc | 31 | imu.totalAcceleration.print(pc, true); |
JesiMiranda | 7:b548a684290d | 32 | |
JesiMiranda | 5:eefbf579d5cc | 33 | pc.printf(", Rotation:"); |
JesiMiranda | 1:4a5b43b9502c | 34 | TVector3 eulerRadians = imu.rotationVector.euler(); |
JesiMiranda | 1:4a5b43b9502c | 35 | TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); |
JesiMiranda | 1:4a5b43b9502c | 36 | eulerDegrees.print(pc, true); |
JesiMiranda | 1:4a5b43b9502c | 37 | pc.printf("\n"); |
JesiMiranda | 7:b548a684290d | 38 | |
JesiMiranda | 7:b548a684290d | 39 | dog.Service(); |
JesiMiranda | 1:4a5b43b9502c | 40 | } |
JesiMiranda | 7:b548a684290d | 41 | |
JesiMiranda | 1:4a5b43b9502c | 42 | } |
JesiMiranda | 0:0f12b8c4d5f1 | 43 | } |
JesiMiranda | 3:24e65bfcea6d | 44 | |
JesiMiranda | 0:0f12b8c4d5f1 | 45 | } |
JesiMiranda | 3:24e65bfcea6d | 46 |