IMU code
Dependencies: BNO055_fusion mbed
Fork of Bosch_BNO055_Fusion_example by
main.cpp@0:31451519d283, 2015-04-05 (annotated)
- Committer:
- kenjiArai
- Date:
- Sun Apr 05 04:13:55 2015 +0000
- Revision:
- 0:31451519d283
- Child:
- 2:cf77282aea7b
Sample program for BNO055.; BNO055 Intelligent 9-axis absolute orientation sensor by Bosch Sensortec.; It includes ACC, MAG and GYRO sensors and Cortex-M0+ processor.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenjiArai | 0:31451519d283 | 1 | /* |
kenjiArai | 0:31451519d283 | 2 | * mbed Application program for the mbed Nucleo F401 |
kenjiArai | 0:31451519d283 | 3 | * BNO055 Intelligent 9-axis absolute orientation sensor |
kenjiArai | 0:31451519d283 | 4 | * by Bosch Sensortec |
kenjiArai | 0:31451519d283 | 5 | * |
kenjiArai | 0:31451519d283 | 6 | * Copyright (c) 2015 Kenji Arai / JH1PJL |
kenjiArai | 0:31451519d283 | 7 | * http://www.page.sannet.ne.jp/kenjia/index.html |
kenjiArai | 0:31451519d283 | 8 | * http://mbed.org/users/kenjiArai/ |
kenjiArai | 0:31451519d283 | 9 | * Created: March 30th, 2015 |
kenjiArai | 0:31451519d283 | 10 | * Revised: April 5th, 2015 |
kenjiArai | 0:31451519d283 | 11 | * |
kenjiArai | 0:31451519d283 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, |
kenjiArai | 0:31451519d283 | 13 | * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE |
kenjiArai | 0:31451519d283 | 14 | * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
kenjiArai | 0:31451519d283 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kenjiArai | 0:31451519d283 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
kenjiArai | 0:31451519d283 | 17 | */ |
kenjiArai | 0:31451519d283 | 18 | |
kenjiArai | 0:31451519d283 | 19 | // Include --------------------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 20 | #include "mbed.h" |
kenjiArai | 0:31451519d283 | 21 | #include "BNO055.h" |
kenjiArai | 0:31451519d283 | 22 | |
kenjiArai | 0:31451519d283 | 23 | // Definition ------------------------------------------------------------------------------------ |
kenjiArai | 0:31451519d283 | 24 | |
kenjiArai | 0:31451519d283 | 25 | // Object ---------------------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 26 | Serial pc(USBTX,USBRX); |
kenjiArai | 0:31451519d283 | 27 | I2C i2c(PB_9, PB_8); // SDA, SCL |
kenjiArai | 0:31451519d283 | 28 | BNO055 imu(i2c); // addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default |
kenjiArai | 0:31451519d283 | 29 | |
kenjiArai | 0:31451519d283 | 30 | // RAM ------------------------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 31 | BNO055_ID_INF_TypeDef bno055_id_inf; |
kenjiArai | 0:31451519d283 | 32 | BNO055_EULER_TypeDef euler_angles; |
kenjiArai | 0:31451519d283 | 33 | BNO055_QUATERNION_TypeDef quaternion; |
kenjiArai | 0:31451519d283 | 34 | BNO055_LIN_ACC_TypeDef linear_acc; |
kenjiArai | 0:31451519d283 | 35 | BNO055_GRAVITY_TypeDef gravity; |
kenjiArai | 0:31451519d283 | 36 | BNO055_TEMPERATURE_TypeDef chip_temp; |
kenjiArai | 0:31451519d283 | 37 | |
kenjiArai | 0:31451519d283 | 38 | // ROM / Constant data --------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 39 | |
kenjiArai | 0:31451519d283 | 40 | // Function prototypes --------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 41 | |
kenjiArai | 0:31451519d283 | 42 | //------------------------------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 43 | // Control Program |
kenjiArai | 0:31451519d283 | 44 | //------------------------------------------------------------------------------------------------- |
kenjiArai | 0:31451519d283 | 45 | int main() { |
kenjiArai | 0:31451519d283 | 46 | uint8_t i; |
kenjiArai | 0:31451519d283 | 47 | |
kenjiArai | 0:31451519d283 | 48 | pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); |
kenjiArai | 0:31451519d283 | 49 | // Is BNO055 avairable? |
kenjiArai | 0:31451519d283 | 50 | if (imu.chip_ready() == 0){ |
kenjiArai | 0:31451519d283 | 51 | pc.printf("Bosch BNO055 is NOT avirable!!\r\n"); |
kenjiArai | 0:31451519d283 | 52 | } |
kenjiArai | 0:31451519d283 | 53 | imu.set_mounting_position(MT_P6); |
kenjiArai | 0:31451519d283 | 54 | pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n", |
kenjiArai | 0:31451519d283 | 55 | imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN)); |
kenjiArai | 0:31451519d283 | 56 | imu.read_id_inf(&bno055_id_inf); |
kenjiArai | 0:31451519d283 | 57 | pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n", |
kenjiArai | 0:31451519d283 | 58 | bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, |
kenjiArai | 0:31451519d283 | 59 | bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); |
kenjiArai | 0:31451519d283 | 60 | while(1) { |
kenjiArai | 0:31451519d283 | 61 | pc.printf("Euler Angles data\r\n"); |
kenjiArai | 0:31451519d283 | 62 | for (i = 0; i < 20; i++){ |
kenjiArai | 0:31451519d283 | 63 | imu.get_Euler_Angles(&euler_angles); |
kenjiArai | 0:31451519d283 | 64 | pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n", |
kenjiArai | 0:31451519d283 | 65 | euler_angles.h, euler_angles.r, euler_angles.p, i); |
kenjiArai | 0:31451519d283 | 66 | wait(0.5); |
kenjiArai | 0:31451519d283 | 67 | } |
kenjiArai | 0:31451519d283 | 68 | pc.printf("Quaternion data\r\n"); |
kenjiArai | 0:31451519d283 | 69 | for (i = 0; i < 20; i++){ |
kenjiArai | 0:31451519d283 | 70 | imu.get_quaternion(&quaternion); |
kenjiArai | 0:31451519d283 | 71 | pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n", |
kenjiArai | 0:31451519d283 | 72 | quaternion.w, quaternion.x, quaternion.y, quaternion.z, i); |
kenjiArai | 0:31451519d283 | 73 | wait(0.5); |
kenjiArai | 0:31451519d283 | 74 | } |
kenjiArai | 0:31451519d283 | 75 | pc.printf("Linear accel data\r\n"); |
kenjiArai | 0:31451519d283 | 76 | for (i = 0; i < 20; i++){ |
kenjiArai | 0:31451519d283 | 77 | imu.get_linear_accel(&linear_acc); |
kenjiArai | 0:31451519d283 | 78 | pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n", |
kenjiArai | 0:31451519d283 | 79 | linear_acc.x, linear_acc.y, linear_acc.z, i); |
kenjiArai | 0:31451519d283 | 80 | wait(0.5); |
kenjiArai | 0:31451519d283 | 81 | } |
kenjiArai | 0:31451519d283 | 82 | pc.printf("Gravity vector data\r\n"); |
kenjiArai | 0:31451519d283 | 83 | for (i = 0; i < 20; i++){ |
kenjiArai | 0:31451519d283 | 84 | imu.get_gravity(&gravity); |
kenjiArai | 0:31451519d283 | 85 | pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n", |
kenjiArai | 0:31451519d283 | 86 | gravity.x, gravity.y, gravity.z, i); |
kenjiArai | 0:31451519d283 | 87 | wait(0.5); |
kenjiArai | 0:31451519d283 | 88 | } |
kenjiArai | 0:31451519d283 | 89 | pc.printf("Chip temperature data\r\n"); |
kenjiArai | 0:31451519d283 | 90 | for (i = 0; i < 20; i++){ |
kenjiArai | 0:31451519d283 | 91 | imu.get_chip_temperature(&chip_temp); |
kenjiArai | 0:31451519d283 | 92 | pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n", |
kenjiArai | 0:31451519d283 | 93 | chip_temp.acc_chip, chip_temp.gyr_chip, i); |
kenjiArai | 0:31451519d283 | 94 | wait(0.5); |
kenjiArai | 0:31451519d283 | 95 | } |
kenjiArai | 0:31451519d283 | 96 | } |
kenjiArai | 0:31451519d283 | 97 | } |