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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
diff -r 000000000000 -r c9ec02922858 BNO055.lib --- /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
diff -r 000000000000 -r c9ec02922858 main.cpp --- /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
diff -r 000000000000 -r c9ec02922858 mbed.bld --- /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