Ultrasound sensor and IMU combined
Dependencies: HCSR04 X_NUCLEO_6180XA1 mbed
Fork of HelloWorld_6180XA1 by
main.cpp
- Committer:
- EmbeddedSam
- Date:
- 2018-05-09
- Revision:
- 50:453855ed9372
- Parent:
- 48:c577e2af2a10
File content as of revision 50:453855ed9372:
/* Ultrasound and IMU Demo Sam Walsh 2018 */ /* Includes ------------------------------------------------------------------*/ #include "mbed.h" #include <string.h> #include <stdlib.h> #include <stdio.h> #include <assert.h> #include "hcsr04.h" #include "BNO055.h" /* Definitions ---------------------------------------------------------------*/ /* Variables -----------------------------------------------------------------*/ HCSR04 UltrasonicSensor(D7,D8); //Trigger,Echo Serial pc(USBTX, USBRX); // tx, rx I2C i2c(D4, D5); // SDA, SCL BNO055 imu(i2c, D6); // Reset =D6, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default Timer t; // RAM ------------------------------------------------------------------------------------------- BNO055_ID_INF_TypeDef bno055_id_inf; BNO055_EULER_TypeDef euler_angles; BNO055_QUATERNION_TypeDef quaternion; BNO055_LIN_ACC_TypeDef linear_acc; BNO055_GRAVITY_TypeDef gravity; BNO055_TEMPERATURE_TypeDef chip_temp; float distance; /* Functions -----------------------------------------------------------------*/ /*=================================== Main ================================== Prints on the serial over USB the measured distance and lux. The measures are run in single shot polling mode. =============================================================================*/ int main() { pc.baud(921600); pc.printf ("Hello World \n\r"); imu.set_mounting_position(MT_P6); // Is BNO055 avairable? if (imu.chip_ready() == 0){ do { pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n"); } while(imu.reset()); } pc.printf("Bosch BNO055 is available now!!\r\n"); pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n", imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN)); imu.read_id_inf(&bno055_id_inf); pc.printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ", bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id); pc.printf("SW REV:0x%04x, BL REV:0x%02x\r\n", bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],"); pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n"); t.start(); while(1) { pc.printf ("Ultrasound: %d \t", (int)distance); distance = UltrasonicSensor.distance(); imu.get_Euler_Angles(&euler_angles); pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,", euler_angles.h, euler_angles.r, euler_angles.p); imu.get_quaternion(&quaternion); pc.printf("[Q],W,%d,X,%d,Y,%d,Z,%d,", quaternion.w, quaternion.x, quaternion.y, quaternion.z); imu.get_linear_accel(&linear_acc); pc.printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", linear_acc.x, linear_acc.y, linear_acc.z); imu.get_gravity(&gravity); pc.printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", gravity.x, gravity.y, gravity.z); imu.get_chip_temperature(&chip_temp); pc.printf("[T],%+d,%+d,", chip_temp.acc_chip, chip_temp.gyr_chip); pc.printf("[S],0x%x,[M],%d\r\n", imu.read_calib_status(), t.read_ms()); } } //while(1){ // wait(0.5); // } //}