Jesus Fausto
Get all but euler. Absolute North to
Revision 0:c9ec02922858, committed 2018-07-16
- Comitter:
- jvfausto
- Date:
- Mon Jul 16 18:40:15 2018 +0000
- Commit message:
- With absolute relativity to north
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.lib Mon Jul 16 18:40:15 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 16 18:40:15 2018 +0000
@@ -0,0 +1,64 @@
+ #include "mbed.h"
+ #include "math.h"
+ #include "BNO055.h"
+
+ #define PI 3.141593
+
+ Serial pc(USBTX,USBRX);
+ BNO055 imu(PTE25, PTE24); // SDA, SCL
+
+ double y;
+ double x;
+ double z;
+ double angleToNorth;
+ double result;
+// BNO055_ID_INF_TypeDef bno055_id_inf;
+// BNO055_EULER_TypeDef euler_angles;
+
+ int main() {
+// setup();
+ imu.reset();
+ pc.printf("Bosch Sensortec BNO055 test program on \r\n");//" __DATE__ "/" __TIME__ "\r\n");
+ while (imu.check() == 0){
+ pc.printf("Bosch BNO055 is NOT available!!\r\n");
+ wait(.5);
+ }
+ // pc.printf("Bosch Sensortec BNO055 available \r\n");//" __DATE__ "/" __TIME__ "\r\n");
+ pc.printf("BNO055 found\r\n\r\n");
+ pc.printf("Chip ID: %0z\r\n",imu.ID.id);
+ pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
+ pc.printf("Gyroscope ID: %0z\r\n",imu.ID.gyro);
+ pc.printf("Magnetometer ID: %0z\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);
+ imu.set_accel_units(MPERSPERS);
+ imu.setmode(OPERATION_MODE_AMG);
+ imu.read_calibration_data();
+ imu.write_calibration_data();
+ imu.set_angle_units(DEGREES);
+ while(1)
+ {
+ imu.setmode(OPERATION_MODE_AMG);
+ imu.get_accel();
+ pc.printf("acceleration: x %f\ty %f\tz %f \r\n", imu.accel.x, imu.accel.y+.25, imu.accel.z);
+ imu.get_gyro();
+ pc.printf("gyroscope: x %f\ty %f\tz %f \r\n", imu.gyro.x, imu.gyro.y, imu.gyro.z);
+ imu.get_mag();
+ pc.printf("magnometer: x %f\ty %f\t %f \r\n", imu.mag.x, imu.mag.y, imu.mag.z);
+ x = imu.mag.x;
+ y = imu.mag.y;
+
+ result = x/y;
+
+ if(imu.mag.y>0)
+ angleToNorth = 90.0 - atan(result)*180/PI;
+ else if(imu.mag.y<0)
+ angleToNorth = 270.0 - atan(result)*180/PI;
+ else if(y == 0 && x <= 0)
+ angleToNorth = 180;
+ else if(y == 0 && x > 0)
+ angleToNorth = 0;
+ pc.printf("it is pointing %f angle from north \r\n", angleToNorth);
+ wait(1);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 16 18:40:15 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file