Diff: main.cpp

Revision:

0:7f3dd28ad889

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 15 08:49:09 2018 +0000
@@ -0,0 +1,45 @@
+#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: %u\r\n",imu.ID.id);
+    pc.printf("Accelerometer ID: %u\r\n",imu.ID.accel);
+    pc.printf("Gyroscope     ID: %u\r\n",imu.ID.gyro);
+    pc.printf("Magnetometer  ID: %u\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("%u.%u.%u.%u\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();
+        imu.get_temp();
+        imu.get_quat();
+        pc.printf("Temperature\t%d\n", imu.temperature);
+        pc.printf("Quaternion: w:%f\tx:%f\ty:%f\tz:%f\n", imu.quat.w, imu.quat.x, imu.quat.y, imu.quat.z);
+        //pc.printf("%u\t\t%5.1d\t\t%5.1d\t\t%5.1d\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
+        wait(0.5);
+    }
+}
\ No newline at end of file