main.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2018 ARM Limited
00003  * SPDX-License-Identifier: Apache-2.0
00004  */
00005 
00006 #include "mbed.h"
00007 #include "Adafruit_BNO055.h"
00008 
00009 DigitalOut led1(LED1);
00010 I2C i2c(p9, p10); // SDA, SCL
00011 Adafruit_BNO055 bno(-1, 0x28, &i2c);
00012 Serial pc(USBTX, USBRX); // TX, RX
00013 
00014 /**************************************************************************/
00015 /*
00016     Display sensor calibration status
00017 */
00018 /**************************************************************************/
00019 void displayCalStatus(void)
00020 {
00021   /* Get the four calibration values (0..3) */
00022   /* Any sensor data reporting 0 should be ignored, */
00023   /* 3 means 'fully calibrated" */
00024   uint8_t system, gyro, accel, mag;
00025   system = gyro = accel = mag = 0;
00026   bno.getCalibration(&system, &gyro, &accel, &mag);
00027  
00028   /* Display the individual values */
00029   pc.printf("Calibration: S:%1d G:%1d A:%1d M:%1d\r\n", system, gyro, accel, mag);
00030 }
00031 
00032 // main() runs in its own thread in the OS
00033 int main()
00034 {
00035     pc.baud(115200);
00036     pc.printf("Initializing...\r\n");
00037 
00038     /* Initialise the sensor */
00039     if(!bno.begin()) {
00040         /* There was a problem detecting the BNO055 ... check your connections */
00041         pc.printf("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!\r\n");
00042         while(1);
00043     }
00044 
00045     bno.setExtCrystalUse(true);
00046 
00047     while (true) {
00048         /* Get a new sensor event */
00049         sensors_event_t event;
00050         bno.getEvent(&event);
00051 
00052         /* Display the floating point data */
00053         pc.printf("X: %4f   Y: %4f  Z: %4f\r\n",
00054                   event.orientation.x,
00055                   event.orientation.y,
00056                   event.orientation.z);
00057                   
00058         displayCalStatus();
00059 
00060         // Blink LED and wait 0.5 seconds
00061         led1 = !led1;
00062         wait_ms(100);
00063     }
00064 }