Alejandro Giraldo Martinez / Mbed 2 deprecated BNO055_basic_copy

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Dependencies:   BNO055 SDFileSystem mbed

main.cpp@1:74fb432755d0, 2018-08-31 (annotated)

Committer:
alejo5214416
Date:
Fri Aug 31 21:24:08 2018 +0000
Revision:
1:74fb432755d0
Parent:
0:b91b6f47eb98
Child:
2:54bb4cee7885
Interrupcion OK;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alejo5214416 0:b91b6f47eb98 1 #include "mbed.h"
alejo5214416 0:b91b6f47eb98 2 #include "BNO055.h"
alejo5214416 0:b91b6f47eb98 3 using namespace std;
alejo5214416 0:b91b6f47eb98 4
alejo5214416 0:b91b6f47eb98 5 DigitalOut led1(LED1);
alejo5214416 0:b91b6f47eb98 6 Serial pc(USBTX, USBRX);
alejo5214416 0:b91b6f47eb98 7 // BNO055
alejo5214416 0:b91b6f47eb98 8 BNO055 bno055(p9, p10);
alejo5214416 1:74fb432755d0 9 InterruptIn interrupt(p15, PullUp);
alejo5214416 0:b91b6f47eb98 10
alejo5214416 0:b91b6f47eb98 11
alejo5214416 0:b91b6f47eb98 12
alejo5214416 0:b91b6f47eb98 13 void event();
alejo5214416 0:b91b6f47eb98 14 int main() {
alejo5214416 0:b91b6f47eb98 15 bno055.reset();
alejo5214416 0:b91b6f47eb98 16 bno055.setmode(OPERATION_MODE_NDOF);
alejo5214416 0:b91b6f47eb98 17 bno055.write_calibration_data();
alejo5214416 0:b91b6f47eb98 18 bno055.get_calib();
alejo5214416 0:b91b6f47eb98 19 interrupt.rise(&event);
alejo5214416 0:b91b6f47eb98 20 while (bno055.calib == 0) {
alejo5214416 0:b91b6f47eb98 21 bno055.get_calib();
alejo5214416 0:b91b6f47eb98 22 }
alejo5214416 1:74fb432755d0 23
alejo5214416 1:74fb432755d0 24 if (bno055.check()){
alejo5214416 1:74fb432755d0 25 bno055.initIntr();
alejo5214416 1:74fb432755d0 26 }
alejo5214416 1:74fb432755d0 27
alejo5214416 0:b91b6f47eb98 28 while(1) {
alejo5214416 0:b91b6f47eb98 29 bno055.get_angles(); //query the i2c device
alejo5214416 1:74fb432755d0 30 pc.printf("yaw:%6.2f pitch:%6.2f roll:%6.2f\r\n",bno055.euler.yaw, bno055.euler.pitch, bno055.euler.roll);
alejo5214416 0:b91b6f47eb98 31 bno055.get_lia(); //query the i2c device
alejo5214416 0:b91b6f47eb98 32 pc.printf("X: %3.2f, Y: %3.2f, Z: %3.2f\r\n",bno055.lia.x,bno055.lia.y,bno055.lia.z);
alejo5214416 1:74fb432755d0 33 wait_ms(20);
alejo5214416 0:b91b6f47eb98 34 }
alejo5214416 0:b91b6f47eb98 35 }
alejo5214416 0:b91b6f47eb98 36
alejo5214416 0:b91b6f47eb98 37
alejo5214416 0:b91b6f47eb98 38 void event(){
alejo5214416 1:74fb432755d0 39 led1 = !led1;
alejo5214416 0:b91b6f47eb98 40 bno055.resetIntr();
alejo5214416 0:b91b6f47eb98 41 }