Ryota Yamamoto
BNO055とBME280を統合した基板を使用するためのサンプルプログラム。それぞれをI2C,SPI,UARTで使用することができますがUARTモードは非常に不安定のためI2CまたはSPIでの使用を推奨。
Dependencies: BOARDC_BME280 BOARDC_BNO055 mbed
Revision 0:34e54ee64777, committed 2016-11-29
- Comitter:
- Yajirushi
- Date:
- Tue Nov 29 02:59:37 2016 +0000
- Commit message:
- FIRST COMMIT
Changed in this revision
diff -r 000000000000 -r 34e54ee64777 BOARDC_BME280.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BOARDC_BME280.lib Tue Nov 29 02:59:37 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Yajirushi/code/BOARDC_BME280/#2baa0f77d4d2
diff -r 000000000000 -r 34e54ee64777 BOARDC_BNO055.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BOARDC_BNO055.lib Tue Nov 29 02:59:37 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Yajirushi/code/BOARDC_BNO055/#3807ce385b2a
diff -r 000000000000 -r 34e54ee64777 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 29 02:59:37 2016 +0000
@@ -0,0 +1,166 @@
+#include "mbed.h"
+
+#include "BNO055.h"
+#include "BME280.h"
+
+//PCへのシリアル通信
+Serial pc(USBTX, USBRX);
+
+//mbed Nucleoのユーザーボタン
+DigitalIn btn(USER_BUTTON);
+
+//mbed LED1
+DigitalOut led(LED1);
+
+//両方のセンサーに使用するI2C
+I2C ifaceI2C(I2C_SDA, I2C_SCL);
+
+//RawSerial ifaceUART(D8, D2); //BNO055にUARTを使う場合
+//SPI ifaceSPI(SPI_MOSI, SPI_MISO, SPI_SCK); //BME280にSPIを使う場合
+//DigitalOut scs(D7); //BME280にSPIを使う場合
+
+//両方のセンサーをI2Cで使用する
+BOARDC_BNO055 sensor1(&ifaceI2C);
+BOARDC_BME280 sensor2(&ifaceI2C);
+
+//BOARDC_BNO055 sensor1(&ifaceUART); //BNO055にUARTを使う場合
+//BOARDC_BME280 sensor2(&ifaceSPI, &scs); //BME280にSPIを使う場合
+
+int main(){
+
+ //挨拶表示
+ pc.printf("mbed READY\r\n");
+
+ while(btn); //ボタンが押されるまで待ち続ける(Nucleo専用)
+
+ wait_ms(1000);
+ led = 1;
+
+ pc.printf("Start Comm - -- ---- --------\r\n");
+
+ //I2Cインターフェースで２つのセンサーを使用する(200KHz)
+ ifaceI2C.frequency(200000);
+ sensor1.initialize(false);
+ sensor2.initialize(false);
+
+ //それぞれのセンサーを独立して使用する場合は、initialize関数の引数をtrue(または引数なし)にすることで自動設定する
+ //sensor1.initialize();
+ //sensor2.initialize();
+
+ //各センサーのチップIDなどを表示するステートメント
+ {
+ char chipID = sensor1.getChipID();
+ char AccChipID = sensor1.getAccChipID();
+ char MagChipID = sensor1.getMagChipID();
+ char GyroChipID = sensor1.getGyroChipID();
+ char bootLoader = sensor1.getBootRevision();
+
+ char bme280chip = sensor2.getChipID();
+
+ pc.printf("BNO055 (9DOF sensor) ---- ---- ---- ---- ---- ---- ---- ---- ----\r\n");
+ pc.printf("chipID = 0x%02X, bootLoader = %d\r\n", chipID, bootLoader);
+ pc.printf("Acc = 0x%02X\r\nMag = 0x%02X\r\nGyro = 0x%02X\r\n\r\n", AccChipID, MagChipID, GyroChipID);
+
+ pc.printf("BME280 (Temperature, Humidity, Pressure sensor) -- ---- ---- ----\r\n");
+ pc.printf("chipID = 0x%02X\r\n\r\n", bme280chip);
+
+ }
+
+ while(btn); //ボタンが押されるまで待ち続ける(Nucleo専用)
+
+ wait_ms(1000);
+ led = 0;
+
+ //各センサーの現在の設定などを表示するステートメント
+ {
+ char mode = sensor1.getOperationMode();
+ char sysStatus = sensor1.getSystemStatus();
+ char testStatus = sensor1.getSelfTestResultAll();
+ char errorStatus = sensor1.getSystemError();
+ char calibST[4];
+ sensor1.getCalibStatusAll(calibST[0], calibST[1], calibST[2], calibST[3]);
+
+ char bme280mode_hum = sensor2.getCTRL_humidity();
+ char bme280mode_meas = sensor2.getCTRL_measuring();
+ char bme280mode_conf = sensor2.getConfig();
+
+ pc.printf("BNO055 (9DOF sensor) ---- ---- ---- ---- ---- ---- ---- ---- ----\r\n");
+ pc.printf("Mode = 0x%02X, sysStatus = 0x%02X, testStatus = 0x%02X\r\n", mode, sysStatus, testStatus);
+ pc.printf("calibSys = %d [%%], calibAcc = %d [%%], calibMag = %d [%%], calibGyro = %d [%%]\r\n", calibST[0], calibST[1], calibST[2], calibST[3]);
+ pc.printf("errorStatus = 0x%02X, err = 0x%02X, len = %d\r\n\r\n", errorStatus, sensor1.getIfaceLastError(), sensor1.getIfaceLastLength());
+
+ pc.printf("BME280 (Temperature, Humidity, Pressure sensor) -- ---- ---- ----\r\n");
+ pc.printf("CTRL_HUM = 0x%02X, CTRL_MEAS = 0x%02X, CONFIG = 0x%02X\r\n\r\n", bme280mode_hum, bme280mode_meas, bme280mode_conf);
+ }
+
+ while(btn); //ボタンが押されるまで待ち続ける(Nucleo専用)
+
+ wait_ms(1000);
+ led = 1;
+
+ //各センサーの値を格納するための変数宣言
+ short dataBox[12];
+ float scAcc, scMag, scGyro, scEUL, scTemp;
+ float ax, ay, az, mx, my, mz, gx, gy, gz, yaw, roll, pitch, temp;
+ float bme280_T = 0.0, bme280_P = 0.0, bme280_H = 0.0;
+ char bme280_status = 0x00;
+
+ //センサーのRAW値を実際の数値に変換するための倍率を取得する
+ scAcc = sensor1.getAccScale();
+ scMag = sensor1.getMagScale();
+ scGyro = sensor1.getGyroScale();
+ scEUL = sensor1.getEulerScale();
+ scTemp = sensor1.getTempScale();
+
+ //ボタンが押されるまで繰り返し続ける(Nucleo専用)
+ //ボタンがない場合はwhile(1)の無限ループで代用
+ while(btn){
+ //配列dataBoxに、9軸の値とオイラー角(yaw roll pitch)を格納(計12個の値)
+ sensor1.get9AxisAndEUL(dataBox);
+
+ //倍率をかけてRaw値を実際の値に変換
+ ax = (float)dataBox[0] * scAcc;
+ ay = (float)dataBox[1] * scAcc;
+ az = (float)dataBox[2] * scAcc;
+ mx = (float)dataBox[3] * scMag;
+ my = (float)dataBox[4] * scMag;
+ mz = (float)dataBox[5] * scMag;
+ gx = (float)dataBox[6] * scGyro;
+ gy = (float)dataBox[7] * scGyro;
+ gz = (float)dataBox[8] * scGyro;
+ yaw = (float)dataBox[9] * scEUL;
+ roll = (float)dataBox[10] * scEUL;
+ pitch = (float)dataBox[11] * scEUL;
+
+ //BNO055内のセンサーの参考温度を取得して実際の値に変換
+ temp = (float)sensor1.getTemperature() * scTemp;
+
+ //温湿度センサーより、温度、湿度、気圧、現在の状態を取得して変数に格納
+ bme280_T = sensor2.getTemp();
+ bme280_P = sensor2.getPress_hPa();
+ bme280_H = sensor2.getHum();
+ bme280_status = sensor2.getStatus();
+
+ //温湿度センサーの補正データが更新されていたなら、計算用数値を更新
+ if(sensor2.isReady()){
+ sensor2.updateCalib();
+ }
+
+ pc.printf(
+ "Acc = X[%06.5f], Y[%06.5f], Z[%06.5f]\r\nMag = X[%06.5f], Y[%06.5f], Z[%06.5f]\r\nGyr = X[%06.5f], Y[%06.5f], Z[%06.5f]\r\n",
+ ax, ay, az, mx, my, mz, gx, gy, gz
+ );
+
+ pc.printf(
+ "yaw\t\t = %05.4f[deg], data = %0d\r\nroll\t\t = %05.4f[deg], data = %0d\r\npitch\t\t = %05.4f[deg], data = %0d\r\n",
+ yaw, dataBox[9], roll, dataBox[10], pitch, dataBox[11]
+ );
+
+ pc.printf(
+ "Temperature\t = %03.3f[degC] (BNO055 -> %03.3f[degC])\r\nPressure\t = %06.3f[hPa]\r\nHumidity\t = %03.3f[%%RH]\r\nStatus\t = 0x%02X\r\n",
+ bme280_T, temp, bme280_P, bme280_H, bme280_status
+ );
+
+ wait_ms(1000);
+ }
+}
diff -r 000000000000 -r 34e54ee64777 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 29 02:59:37 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file