Diff: main.cpp

Revision:

0:8103e7288014

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 14 17:54:00 2019 +0000
@@ -0,0 +1,64 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "Adafruit_BNO055.h"
+
+DigitalOut led1(LED1);
+I2C i2c(p9, p10); // SDA, SCL
+Adafruit_BNO055 bno(-1, 0x28, &i2c);
+Serial pc(USBTX, USBRX); // TX, RX
+
+/**************************************************************************/
+/*
+    Display sensor calibration status
+*/
+/**************************************************************************/
+void displayCalStatus(void)
+{
+  /* Get the four calibration values (0..3) */
+  /* Any sensor data reporting 0 should be ignored, */
+  /* 3 means 'fully calibrated" */
+  uint8_t system, gyro, accel, mag;
+  system = gyro = accel = mag = 0;
+  bno.getCalibration(&system, &gyro, &accel, &mag);
+ 
+  /* Display the individual values */
+  pc.printf("Calibration: S:%1d G:%1d A:%1d M:%1d\r\n", system, gyro, accel, mag);
+}
+
+// main() runs in its own thread in the OS
+int main()
+{
+    pc.baud(115200);
+    pc.printf("Initializing...\r\n");
+
+    /* Initialise the sensor */
+    if(!bno.begin()) {
+        /* There was a problem detecting the BNO055 ... check your connections */
+        pc.printf("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!\r\n");
+        while(1);
+    }
+
+    bno.setExtCrystalUse(true);
+
+    while (true) {
+        /* Get a new sensor event */
+        sensors_event_t event;
+        bno.getEvent(&event);
+
+        /* Display the floating point data */
+        pc.printf("X: %4f   Y: %4f  Z: %4f\r\n",
+                  event.orientation.x,
+                  event.orientation.y,
+                  event.orientation.z);
+                  
+        displayCalStatus();
+
+        // Blink LED and wait 0.5 seconds
+        led1 = !led1;
+        wait_ms(100);
+    }
+}