Kenji Arai / Mbed OS Bosch_BNO055_Fusion_example

Based on F401 example.Changed reset sequence and added RESET control and Power On/Off control. Check several mbed, LPC1768, LPC1114, NucleoF401RE, F411RE, L152RE and GR-PEACH

Dependencies:   BNO055_fusion TextLCD

Please see follows.
/users/kenjiArai/notebook/bno055---orientation-sensor/

main.cpp@7:f244ea2ab994, 2020-08-05 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 05 05:29:12 2020 +0000
Revision:
7:f244ea2ab994
Parent:
6:5f380fbcf849 
run on mbed-os6.2.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:31451519d283 1 /*
kenjiArai 7:f244ea2ab994 2 * mbed Application program for the mbed Nucleo series
kenjiArai 0:31451519d283 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:31451519d283 4 * by Bosch Sensortec
kenjiArai 0:31451519d283 5 *
kenjiArai 7:f244ea2ab994 6 * Copyright (c) 2015,'17,'20 Kenji Arai / JH1PJL
kenjiArai 7:f244ea2ab994 7 * http://www7b.biglobe.ne.jp/~kenjia/
kenjiArai 7:f244ea2ab994 8 * https://os.mbed.com/users/kenjiArai/
kenjiArai 0:31451519d283 9 * Created: March 30th, 2015
kenjiArai 7:f244ea2ab994 10 * Revised: August 5th, 2020
kenjiArai 0:31451519d283 11 */
kenjiArai 0:31451519d283 12
kenjiArai 7:f244ea2ab994 13 // Include --------------------------------------------------------------------
kenjiArai 0:31451519d283 14 #include "mbed.h"
kenjiArai 0:31451519d283 15 #include "BNO055.h"
kenjiArai 6:5f380fbcf849 16 #include "TextLCD.h"
kenjiArai 0:31451519d283 17
kenjiArai 7:f244ea2ab994 18 // Definition -----------------------------------------------------------------
kenjiArai 3:f5b5c4d795ce 19 #define NUM_LOOP 100
kenjiArai 3:f5b5c4d795ce 20
kenjiArai 7:f244ea2ab994 21 // Object ---------------------------------------------------------------------
kenjiArai 7:f244ea2ab994 22 static BufferedSerial pc(USBTX, USBRX, 9600);
kenjiArai 2:cf77282aea7b 23 #if defined(TARGET_LPC1114)
kenjiArai 2:cf77282aea7b 24 DigitalOut pwr_onoff(dp17);
kenjiArai 2:cf77282aea7b 25 I2C i2c(dp5, dp27); // SDA, SCL
kenjiArai 7:f244ea2ab994 26 // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 7:f244ea2ab994 27 BNO055 imu(i2c, dp18);
kenjiArai 2:cf77282aea7b 28 #elif defined(TARGET_LPC1768)
kenjiArai 2:cf77282aea7b 29 DigitalOut pwr_onoff(p30);
kenjiArai 2:cf77282aea7b 30 I2C i2c(p28, p27); // SDA, SCL
kenjiArai 7:f244ea2ab994 31 // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 7:f244ea2ab994 32 BNO055 imu(i2c, p29);
kenjiArai 7:f244ea2ab994 33 #elif defined(TARGET_NUCLEO_L152RE)\
kenjiArai 7:f244ea2ab994 34 || defined(TARGET_NUCLEO_F401RE)\
kenjiArai 7:f244ea2ab994 35 || defined(TARGET_NUCLEO_F411RE)\
kenjiArai 7:f244ea2ab994 36 || defined(TARGET_NUCLEO_F446RE)
kenjiArai 6:5f380fbcf849 37 #if 0
kenjiArai 2:cf77282aea7b 38 DigitalOut pwr_onoff(PB_10);
kenjiArai 6:5f380fbcf849 39 #else
kenjiArai 6:5f380fbcf849 40 DigitalOut pwr_onoff(PA_9);
kenjiArai 6:5f380fbcf849 41 #endif
kenjiArai 0:31451519d283 42 I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 6:5f380fbcf849 43 #if 0
kenjiArai 7:f244ea2ab994 44 // Reset = ??, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 7:f244ea2ab994 45 BNO055 imu(i2c, PA_8);
kenjiArai 6:5f380fbcf849 46 #else
kenjiArai 6:5f380fbcf849 47 BNO055 imu(PB_9, PB_8, PA_8);
kenjiArai 6:5f380fbcf849 48 #endif
kenjiArai 6:5f380fbcf849 49 TextLCD_I2C_N lcd(&i2c, 0x7c, TextLCD::LCD8x2); // LCD(Akizuki AQM0802A)
kenjiArai 2:cf77282aea7b 50 #elif defined(TARGET_RZ_A1H)
kenjiArai 2:cf77282aea7b 51 DigitalOut pwr_onoff(P8_11);
kenjiArai 2:cf77282aea7b 52 I2C i2c(P1_3, P1_2); // SDA, SCL
kenjiArai 7:f244ea2ab994 53 // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 7:f244ea2ab994 54 BNO055 imu(i2c, P8_13);
kenjiArai 2:cf77282aea7b 55 #else
kenjiArai 2:cf77282aea7b 56 #error "Not cheched yet"
kenjiArai 2:cf77282aea7b 57 #endif
kenjiArai 3:f5b5c4d795ce 58 Timer t;
kenjiArai 0:31451519d283 59
kenjiArai 7:f244ea2ab994 60 // RAM ------------------------------------------------------------------------
kenjiArai 0:31451519d283 61 BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:31451519d283 62 BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:31451519d283 63 BNO055_QUATERNION_TypeDef quaternion;
kenjiArai 0:31451519d283 64 BNO055_LIN_ACC_TypeDef linear_acc;
kenjiArai 0:31451519d283 65 BNO055_GRAVITY_TypeDef gravity;
kenjiArai 0:31451519d283 66 BNO055_TEMPERATURE_TypeDef chip_temp;
kenjiArai 0:31451519d283 67
kenjiArai 7:f244ea2ab994 68 // ROM / Constant data --------------------------------------------------------
kenjiArai 0:31451519d283 69
kenjiArai 7:f244ea2ab994 70 // Function prototypes --------------------------------------------------------
kenjiArai 0:31451519d283 71
kenjiArai 7:f244ea2ab994 72 //------------------------------------------------------------------------------
kenjiArai 0:31451519d283 73 // Control Program
kenjiArai 7:f244ea2ab994 74 //------------------------------------------------------------------------------
kenjiArai 4:6d1118089a36 75 // Calibration
kenjiArai 7:f244ea2ab994 76 // Please refer
kenjiArai 7:f244ea2ab994 77 // BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 7:f244ea2ab994 78 void bno055_calbration(void)
kenjiArai 7:f244ea2ab994 79 {
kenjiArai 4:6d1118089a36 80 uint8_t d;
kenjiArai 3:f5b5c4d795ce 81
kenjiArai 7:f244ea2ab994 82 printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 7:f244ea2ab994 83 //---------- Gyroscope Caliblation -----------------------------------------
kenjiArai 7:f244ea2ab994 84 // (a) Place the device in a single stable position for a period of
kenjiArai 7:f244ea2ab994 85 // few seconds to allow the gyroscope to calibrate
kenjiArai 7:f244ea2ab994 86 printf("Step1) Please wait few seconds\r\n");
kenjiArai 4:6d1118089a36 87 t.start();
kenjiArai 7:f244ea2ab994 88 while (t.elapsed_time().count() < 10) {
kenjiArai 4:6d1118089a36 89 d = imu.read_calib_status();
kenjiArai 7:f244ea2ab994 90 printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 7:f244ea2ab994 91 if ((d & 0x30) == 0x30) {
kenjiArai 4:6d1118089a36 92 break;
kenjiArai 4:6d1118089a36 93 }
kenjiArai 7:f244ea2ab994 94 ThisThread::sleep_for(1s);
kenjiArai 4:6d1118089a36 95 }
kenjiArai 7:f244ea2ab994 96 printf("-> Step1) is done\r\n\r\n");
kenjiArai 7:f244ea2ab994 97 //---------- Magnetometer Caliblation --------------------------------------
kenjiArai 7:f244ea2ab994 98 // (a) Make some random movements (for example: writing the number ‘8’
kenjiArai 7:f244ea2ab994 99 // on air) until the CALIB_STAT register indicates fully calibrated.
kenjiArai 7:f244ea2ab994 100 // (b) It takes more calibration movements to get the magnetometer
kenjiArai 7:f244ea2ab994 101 // calibrated than in the NDOF mode.
kenjiArai 7:f244ea2ab994 102 printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 4:6d1118089a36 103 t.start();
kenjiArai 7:f244ea2ab994 104 while (t.elapsed_time().count() < 30) {
kenjiArai 4:6d1118089a36 105 d = imu.read_calib_status();
kenjiArai 7:f244ea2ab994 106 printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 7:f244ea2ab994 107 if ((d & 0x03) == 0x03) {
kenjiArai 4:6d1118089a36 108 break;
kenjiArai 4:6d1118089a36 109 }
kenjiArai 7:f244ea2ab994 110 ThisThread::sleep_for(1s);
kenjiArai 4:6d1118089a36 111 }
kenjiArai 7:f244ea2ab994 112 printf("-> Step2) is done\r\n\r\n");
kenjiArai 7:f244ea2ab994 113 //---------- Magnetometer Caliblation --------------------------------------
kenjiArai 7:f244ea2ab994 114 // a) Place the device in 6 different stable positions for a period of
kenjiArai 7:f244ea2ab994 115 // few seconds to allow the accelerometer to calibrate.
kenjiArai 4:6d1118089a36 116 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 7:f244ea2ab994 117 // The 6 stable positions could be in any direction, but make sure that
kenjiArai 7:f244ea2ab994 118 // the device is lying at least once perpendicular to the x, y and z axis
kenjiArai 7:f244ea2ab994 119 printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 7:f244ea2ab994 120 printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 7:f244ea2ab994 121 printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 7:f244ea2ab994 122 printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 7:f244ea2ab994 123 printf(" If you will give up, hit any key.\r\n");
kenjiArai 4:6d1118089a36 124 t.stop();
kenjiArai 6:5f380fbcf849 125
kenjiArai 6:5f380fbcf849 126 // lcd
kenjiArai 6:5f380fbcf849 127 lcd.locate(0, 0); // 1st line top
kenjiArai 6:5f380fbcf849 128 // 12345678
kenjiArai 6:5f380fbcf849 129 lcd.printf(" BNO055 ");
kenjiArai 6:5f380fbcf849 130 lcd.locate(0, 1); // 2nd line top
kenjiArai 6:5f380fbcf849 131 // 12345678
kenjiArai 6:5f380fbcf849 132 lcd.puts(" JH1PJL ");
kenjiArai 6:5f380fbcf849 133 lcd.setContrast(0x14);
kenjiArai 6:5f380fbcf849 134
kenjiArai 7:f244ea2ab994 135 while (true) {
kenjiArai 4:6d1118089a36 136 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 137 imu.get_gravity(&gravity);
kenjiArai 7:f244ea2ab994 138 printf(
kenjiArai 7:f244ea2ab994 139 "Calb dat = 0x%x target = 0xff ACC:X %4.1f, Y %4.1f, Z %4.1f\r\n",
kenjiArai 7:f244ea2ab994 140 d, gravity.x, gravity.y, gravity.z
kenjiArai 7:f244ea2ab994 141 );
kenjiArai 7:f244ea2ab994 142 if (d == 0xff) {
kenjiArai 7:f244ea2ab994 143 break;
kenjiArai 7:f244ea2ab994 144 }
kenjiArai 7:f244ea2ab994 145 if (pc.readable()) {
kenjiArai 7:f244ea2ab994 146 break;
kenjiArai 7:f244ea2ab994 147 }
kenjiArai 7:f244ea2ab994 148 ThisThread::sleep_for(1s);
kenjiArai 4:6d1118089a36 149 }
kenjiArai 7:f244ea2ab994 150 if (imu.read_calib_status() == 0xff) {
kenjiArai 7:f244ea2ab994 151 printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 4:6d1118089a36 152 } else {
kenjiArai 7:f244ea2ab994 153 printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 4:6d1118089a36 154 }
kenjiArai 4:6d1118089a36 155 t.stop();
kenjiArai 4:6d1118089a36 156 }
kenjiArai 4:6d1118089a36 157
kenjiArai 7:f244ea2ab994 158 int main()
kenjiArai 7:f244ea2ab994 159 {
kenjiArai 7:f244ea2ab994 160 uint8_t ser_buf[4];
kenjiArai 7:f244ea2ab994 161
kenjiArai 4:6d1118089a36 162 imu.set_mounting_position(MT_P6);
kenjiArai 6:5f380fbcf849 163 pwr_onoff = 1;
kenjiArai 7:f244ea2ab994 164 printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
kenjiArai 7:f244ea2ab994 165 while (pc.readable() == 0) {;}
kenjiArai 7:f244ea2ab994 166 printf(
kenjiArai 7:f244ea2ab994 167 "Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"
kenjiArai 7:f244ea2ab994 168 );
kenjiArai 4:6d1118089a36 169 // Is BNO055 avairable?
kenjiArai 7:f244ea2ab994 170 if (imu.chip_ready() == 0) {
kenjiArai 4:6d1118089a36 171 do {
kenjiArai 7:f244ea2ab994 172 printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
kenjiArai 6:5f380fbcf849 173 pwr_onoff = 0; // Power off
kenjiArai 7:f244ea2ab994 174 ThisThread::sleep_for(100ms);
kenjiArai 6:5f380fbcf849 175 pwr_onoff = 1; // Power on
kenjiArai 7:f244ea2ab994 176 ThisThread::sleep_for(20ms);
kenjiArai 4:6d1118089a36 177 } while(imu.reset());
kenjiArai 4:6d1118089a36 178 }
kenjiArai 7:f244ea2ab994 179 printf("Bosch BNO055 is available now!!\r\n");
kenjiArai 7:f244ea2ab994 180 printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 7:f244ea2ab994 181 imu.read_reg0(BNO055_AXIS_MAP_CONFIG),
kenjiArai 7:f244ea2ab994 182 imu.read_reg0(BNO055_AXIS_MAP_SIGN)
kenjiArai 7:f244ea2ab994 183 );
kenjiArai 4:6d1118089a36 184 imu.read_id_inf(&bno055_id_inf);
kenjiArai 7:f244ea2ab994 185 printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ",
kenjiArai 7:f244ea2ab994 186 bno055_id_inf.chip_id, bno055_id_inf.acc_id,
kenjiArai 7:f244ea2ab994 187 bno055_id_inf.mag_id, bno055_id_inf.gyr_id
kenjiArai 7:f244ea2ab994 188 );
kenjiArai 7:f244ea2ab994 189 printf("SW REV:0x%04x, BL REV:0x%02x\r\n",
kenjiArai 7:f244ea2ab994 190 bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 7:f244ea2ab994 191 while (pc.readable() == 1) {
kenjiArai 7:f244ea2ab994 192 pc.read(ser_buf, 1);
kenjiArai 7:f244ea2ab994 193 }
kenjiArai 7:f244ea2ab994 194 printf("If you would like to calibrate the BNO055,");
kenjiArai 7:f244ea2ab994 195 printf(" please hit 'y' (No: any other key)\r\n");
kenjiArai 7:f244ea2ab994 196 while (pc.readable() == 0) {;}
kenjiArai 7:f244ea2ab994 197 pc.read(ser_buf, 1);
kenjiArai 7:f244ea2ab994 198 uint8_t c = ser_buf[0];
kenjiArai 7:f244ea2ab994 199 if (c == 'y') {
kenjiArai 4:6d1118089a36 200 bno055_calbration();
kenjiArai 4:6d1118089a36 201 }
kenjiArai 7:f244ea2ab994 202 printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],");
kenjiArai 7:f244ea2ab994 203 printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC]");
kenjiArai 7:f244ea2ab994 204 printf(",[S]:Status,[M]:time[mS]\r\n");
kenjiArai 4:6d1118089a36 205 t.start();
kenjiArai 7:f244ea2ab994 206 while(true) {
kenjiArai 4:6d1118089a36 207 imu.get_Euler_Angles(&euler_angles);
kenjiArai 7:f244ea2ab994 208 printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,",
kenjiArai 7:f244ea2ab994 209 euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 4:6d1118089a36 210 imu.get_quaternion(&quaternion);
kenjiArai 7:f244ea2ab994 211 printf("[Q],W,%d,X,%d,Y,%d,Z,%d,",
kenjiArai 7:f244ea2ab994 212 quaternion.w, quaternion.x, quaternion.y, quaternion.z);
kenjiArai 4:6d1118089a36 213 imu.get_linear_accel(&linear_acc);
kenjiArai 7:f244ea2ab994 214 printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 7:f244ea2ab994 215 linear_acc.x, linear_acc.y, linear_acc.z);
kenjiArai 4:6d1118089a36 216 imu.get_gravity(&gravity);
kenjiArai 7:f244ea2ab994 217 printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 7:f244ea2ab994 218 gravity.x, gravity.y, gravity.z);
kenjiArai 4:6d1118089a36 219 imu.get_chip_temperature(&chip_temp);
kenjiArai 7:f244ea2ab994 220 printf("[T],%+d,%+d,",
kenjiArai 7:f244ea2ab994 221 chip_temp.acc_chip, chip_temp.gyr_chip);
kenjiArai 7:f244ea2ab994 222 printf("[S],0x%x,[M],%d\r\n",
kenjiArai 7:f244ea2ab994 223 imu.read_calib_status(), (uint32_t)t.elapsed_time().count());
kenjiArai 4:6d1118089a36 224 }
kenjiArai 4:6d1118089a36 225 }
kenjiArai 4:6d1118089a36 226
kenjiArai 4:6d1118089a36 227
kenjiArai 4:6d1118089a36 228 // Diffrent output format as for your reference
kenjiArai 4:6d1118089a36 229 #if 0
kenjiArai 7:f244ea2ab994 230 int main()
kenjiArai 7:f244ea2ab994 231 {
kenjiArai 0:31451519d283 232 uint8_t i;
kenjiArai 0:31451519d283 233
kenjiArai 6:5f380fbcf849 234 pwr_onoff = 1;
kenjiArai 7:f244ea2ab994 235 printf(
kenjiArai 7:f244ea2ab994 236 "Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"
kenjiArai 7:f244ea2ab994 237 );
kenjiArai 0:31451519d283 238 // Is BNO055 avairable?
kenjiArai 7:f244ea2ab994 239 if (imu.chip_ready() == 0) {
kenjiArai 2:cf77282aea7b 240 do {
kenjiArai 7:f244ea2ab994 241 printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 6:5f380fbcf849 242 pwr_onoff = 0; // Power off
kenjiArai 7:f244ea2ab994 243 ThisThread::sleep_for(100ms);
kenjiArai 6:5f380fbcf849 244 pwr_onoff = 1; // Power on
kenjiArai 7:f244ea2ab994 245 ThisThread::sleep_for(20ms);
kenjiArai 2:cf77282aea7b 246 } while(imu.reset());
kenjiArai 0:31451519d283 247 }
kenjiArai 0:31451519d283 248 imu.set_mounting_position(MT_P6);
kenjiArai 7:f244ea2ab994 249 printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 7:f244ea2ab994 250 imu.read_reg0(BNO055_AXIS_MAP_CONFIG),
kenjiArai 7:f244ea2ab994 251 imu.read_reg0(BNO055_AXIS_MAP_SIGN)
kenjiArai 7:f244ea2ab994 252 );
kenjiArai 0:31451519d283 253 imu.read_id_inf(&bno055_id_inf);
kenjiArai 7:f244ea2ab994 254 printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x,",
kenjiArai 7:f244ea2ab994 255 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id
kenjiArai 7:f244ea2ab994 256 );
kenjiArai 7:f244ea2ab994 257 printf("GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 7:f244ea2ab994 258 bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id,
kenjiArai 7:f244ea2ab994 259 bno055_id_inf.bootldr_rev_id
kenjiArai 7:f244ea2ab994 260 );
kenjiArai 7:f244ea2ab994 261 while(true) {
kenjiArai 7:f244ea2ab994 262 printf("Euler Angles data\r\n");
kenjiArai 7:f244ea2ab994 263 for (i = 0; i < NUM_LOOP; i++) {
kenjiArai 0:31451519d283 264 imu.get_Euler_Angles(&euler_angles);
kenjiArai 7:f244ea2ab994 265 printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg],",
kenjiArai 7:f244ea2ab994 266 euler_angles.h, euler_angles.r,);
kenjiArai 7:f244ea2ab994 267 printf(" Pich:%+6.1f [deg], #%02d\r\n",
kenjiArai 7:f244ea2ab994 268 euler_angles.p, i);
kenjiArai 7:f244ea2ab994 269 ThisThread::sleep_for(500ms);
kenjiArai 0:31451519d283 270 }
kenjiArai 7:f244ea2ab994 271 printf("Quaternion data\r\n");
kenjiArai 7:f244ea2ab994 272 for (i = 0; i < NUM_LOOP; i++) {
kenjiArai 7:f244ea2ab994 273 imu.get_quaternion(&quaternion);
kenjiArai 7:f244ea2ab994 274 printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
kenjiArai 7:f244ea2ab994 275 quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
kenjiArai 7:f244ea2ab994 276 ThisThread::sleep_for(500ms);
kenjiArai 7:f244ea2ab994 277 }
kenjiArai 7:f244ea2ab994 278 printf("Linear accel data\r\n");
kenjiArai 7:f244ea2ab994 279 for (i = 0; i < NUM_LOOP; i++) {
kenjiArai 0:31451519d283 280 imu.get_linear_accel(&linear_acc);
kenjiArai 7:f244ea2ab994 281 printf(
kenjiArai 7:f244ea2ab994 282 "X:%+6.1f[m/s*s], Y:%+6.1f[m/s*s], Z:%+6.1f[m/s*s], #%02d\r\n",
kenjiArai 7:f244ea2ab994 283 linear_acc.x, linear_acc.y, linear_acc.z, i
kenjiArai 7:f244ea2ab994 284 );
kenjiArai 7:f244ea2ab994 285 ThisThread::sleep_for(500ms);
kenjiArai 0:31451519d283 286 }
kenjiArai 7:f244ea2ab994 287 printf("Gravity vector data\r\n");
kenjiArai 7:f244ea2ab994 288 for (i = 0; i < NUM_LOOP; i++) {
kenjiArai 0:31451519d283 289 imu.get_gravity(&gravity);
kenjiArai 7:f244ea2ab994 290 printf(
kenjiArai 7:f244ea2ab994 291 "X:%+6.1f[m/s*s], Y:%+6.1f[m/s*s], Z:%+6.1f[m/s*s], #%02d\r\n",
kenjiArai 7:f244ea2ab994 292 gravity.x, gravity.y, gravity.z, i
kenjiArai 7:f244ea2ab994 293 );
kenjiArai 7:f244ea2ab994 294 ThisThread::sleep_for(500ms);
kenjiArai 0:31451519d283 295 }
kenjiArai 7:f244ea2ab994 296 printf("Chip temperature data\r\n");
kenjiArai 7:f244ea2ab994 297 for (i = 0; i < (NUM_LOOP / 4); i++) {
kenjiArai 0:31451519d283 298 imu.get_chip_temperature(&chip_temp);
kenjiArai 7:f244ea2ab994 299 printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
kenjiArai 7:f244ea2ab994 300 chip_temp.acc_chip, chip_temp.gyr_chip, i);
kenjiArai 7:f244ea2ab994 301 ThisThread::sleep_for(500ms);
kenjiArai 0:31451519d283 302 }
kenjiArai 0:31451519d283 303 }
kenjiArai 0:31451519d283 304 }
kenjiArai 3:f5b5c4d795ce 305 #endif