Jesus Fausto
Euler values. Yaw is relative to initial position. Pitch and Roll are based on the ground.
Revision 0:ebfdfa4739aa, committed 2018-07-16
- Comitter:
- jvfausto
- Date:
- Mon Jul 16 18:42:18 2018 +0000
- Commit message:
- All works;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BNO055.lib Mon Jul 16 18:42:18 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 16 18:42:18 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;
+ double pitchAcc;
+ double rollAcc;
+ double pitch = 0;
+ double roll = 0;
+ double yaw = 0;
+ Timer t;
+
+ int main() {
+ 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("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);
+ t.start();
+ while(1)
+ {
+ imu.setmode(OPERATION_MODE_AMG);
+ imu.get_accel();
+ imu.get_gyro();
+
+ pitch = atan2 (imu.accel.y ,( sqrt ((imu.accel.x * imu.accel.x) + (imu.accel.z * imu.accel.z))));
+ roll = atan2(-imu.accel.x ,( sqrt((imu.accel.y * imu.accel.y) + (imu.accel.z * imu.accel.z))));
+
+
+ roll = roll*57.3;
+ pitch = pitch*57.3;
+
+ yaw = (yaw - t.read()*imu.gyro.z);
+ t.reset();
+ if(yaw > 360)
+ yaw -= 360;
+ if(yaw < 0)
+ yaw += 360;
+
+ pc.printf("Euler angles: x %f\ty %f\t z %f \r\n\n", pitch, roll, yaw);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 16 18:42:18 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file