Matthew Marino
bno sensor for nmea
Revision 0:b0181b1ec83e, committed 2019-03-17
- Comitter:
- LukeMar
- Date:
- Sun Mar 17 00:59:10 2019 +0000
- Commit message:
- 3/16/19
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.lib Sun Mar 17 00:59:10 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 17 00:59:10 2019 +0000
@@ -0,0 +1,83 @@
+// Program to test the CAN bus using pins 29 and 30 on the mbed connected
+// to an MCP2551 CAN transceiver bus IC
+// Note that this program will only continue to transmit while the TX message is <= 8 bytes long
+
+#include "mbed.h"
+#include "BNO055.h"
+
+#define RUDDER_ID 1
+#define BNO_ID 2 //Address of this CAN device
+#define TELE_ID 3
+#define RC_ID 4
+
+Serial pc(USBTX, USBRX); //tx, and rx for tera term
+DigitalOut led1(LED1); //heartbeat
+DigitalOut led2(LED2); //CAN read activity
+DigitalOut led3(LED3); //CAN write activity
+BNO055 bno(p9, p10); // (SDA, SCL) or... SDA is p28, SCL is p27
+CAN can(p30,p29); //CAN interface
+Ticker pulse;
+Timer tlog;
+int tt = 1500; //thread delay to prevent self inflicted DOS
+
+void alive(void){
+ led1 = !led1;
+ if(led1)
+ pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)
+ else
+ pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
+}
+
+void bno_init(void){
+ if(bno.check()){
+ pc.printf("BNO055 connected\r\n");
+ bno.reset();
+ wait(.5);
+ bno.setmode(OPERATION_MODE_CONFIG);
+ bno.SetExternalCrystal(1);
+ //bno.set_orientation(1);
+ bno.setmode(OPERATION_MODE_NDOF); //Uses magnetometer
+ //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF); //no magnetometer
+ bno.set_angle_units(RADIANS);
+ }
+ else{
+ pc.printf("BNO055 NOT connected\r\n Program Trap.");
+ while(1);
+ }
+}
+
+
+int main() {
+ char msg_send[20];
+ Thread::wait(200);
+
+ pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
+ pc.baud(115200);
+ bno_init();
+ can.frequency(500000);
+ tlog.start();
+
+ pc.printf("%s\r\n", __FILE__);
+
+ while(1) {
+
+ bno.get_angles();
+ //sprintf(bnoStr, "%.2f %.2f %.2f",bno.euler.roll, bno.euler.pitch, bno.euler.yaw);
+ sprintf(msg_send, "s%.1f\r\n", bno.euler.pitch); //format output message string
+
+ if(strlen(msg_send) > 8){ //if the message length exceeds 8 bytes
+ sprintf(msg_send, "bError"); //re-format the string as an error
+ }
+
+ if(can.write(CANMessage(BNO_ID, msg_send, strlen(msg_send)))){
+ pc.printf("\r\n Time: %4.3f \t Message: %s", tlog.read(), msg_send);
+ led2 = !led2;
+ //set up a random delay time of up to .79 seconds
+ //delayT = ((rand() % 7) * 31.0) + ((rand() % 9) * .1) + runTime.sec_total;
+ }
+ else{
+ can.reset();
+ }
+ Thread::wait(tt);
+ }//while(1)
+}//main
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Sun Mar 17 00:59:10 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/armmbed/mbed-os/#51d55508e8400b60af467005646c4e2164738d48