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Basic program to interrogate the BNO055 and display euler angles
main.cpp
- Committer:
- StressedDave
- Date:
- 2015-05-31
- Revision:
- 0:a8e6e26ebe0f
File content as of revision 0:a8e6e26ebe0f:
#include "mbed.h" #include "BNO055.h" Serial pc(USBTX, USBRX); BNO055 imu(I2C_SDA,I2C_SCL); DigitalOut led(LED1); 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"); 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); wait(1.0); } }