Chawankorn Tiemprasert
/
STM32_IMU_BNO055
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Revision 0:7f3dd28ad889, committed 2018-12-15
- Comitter:
- chawankorn
- Date:
- Sat Dec 15 08:49:09 2018 +0000
- Commit message:
- use in class project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.lib Sat Dec 15 08:49:09 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/chawankorn/code/BNO055/#445290b98598
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 15 08:49:09 2018 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/86740a56073b \ No newline at end of file