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/
Diff: main.cpp
- Revision:
- 4:6d1118089a36
- Parent:
- 3:f5b5c4d795ce
- Child:
- 5:9594519c9462
diff -r f5b5c4d795ce -r 6d1118089a36 main.cpp --- a/main.cpp Wed Apr 08 11:30:09 2015 +0000 +++ b/main.cpp Fri Apr 10 11:19:49 2015 +0000 @@ -7,7 +7,7 @@ * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ * Created: March 30th, 2015 - * Revised: April 8th, 2015 + * Revised: April 10th, 2015 * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE @@ -23,9 +23,6 @@ // Definition ------------------------------------------------------------------------------------ #define NUM_LOOP 100 -#define FORMAT_0 0 -#define FORMAT_1 1 - // Object ---------------------------------------------------------------------------------------- Serial pc(USBTX,USBRX); #if defined(TARGET_LPC1114) @@ -64,8 +61,127 @@ //------------------------------------------------------------------------------------------------- // Control Program //------------------------------------------------------------------------------------------------- -#if FORMAT_0 +// Calibration +// Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data +void bno055_calbration(void){ + uint8_t d; + pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n"); + //---------- Gyroscope Caliblation ------------------------------------------------------------ + // (a) Place the device in a single stable position for a period of few seconds to allow the + // gyroscope to calibrate + pc.printf("Step1) Please wait few seconds\r\n"); + t.start(); + while (t.read() < 10){ + d = imu.read_calib_status(); + pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d); + if ((d & 0x30) == 0x30){ + break; + } + wait(1.0); + } + pc.printf("-> Step1) is done\r\n\r\n"); + //---------- Magnetometer Caliblation --------------------------------------------------------- + // (a) Make some random movements (for example: writing the number ‘8’ on air) until the + // CALIB_STAT register indicates fully calibrated. + // (b) It takes more calibration movements to get the magnetometer calibrated than in the + // NDOF mode. + pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n"); + t.start(); + while (t.read() < 30){ + d = imu.read_calib_status(); + pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d); + if ((d & 0x03) == 0x03){ + break; + } + wait(1.0); + } + pc.printf("-> Step2) is done\r\n\r\n"); + //---------- Magnetometer Caliblation --------------------------------------------------------- + // a) Place the device in 6 different stable positions for a period of few seconds + // to allow the accelerometer to calibrate. + // b) Make sure that there is slow movement between 2 stable positions + // The 6 stable positions could be in any direction, but make sure that the device is + // lying at least once perpendicular to the x, y and z axis. + pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!"); + pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n"); + pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,"); + pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n"); + pc.printf(" If you will give up, hit any key.\r\n", d); + t.stop(); + while (true){ + d = imu.read_calib_status(); + imu.get_gravity(&gravity); + pc.printf("Calb dat = 0x%x target = 0xff ACC:X %3.0f, Y %3.0f, Z %3.0f\r\n", + d, gravity.x, gravity.y, gravity.z); + if (d == 0xff){ break;} + if (pc.readable()){ break;} + wait(1.0); + } + if (imu.read_calib_status() == 0xff){ + pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n"); + } else { + pc.printf("-> Calibration steps are suspended!\r\n\r\n"); + } + t.stop(); +} + +int main(){ + imu.set_mounting_position(MT_P6); + pwr_onoff = 0; + pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n"); + char c = pc.getc(); + pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); + // Is BNO055 avairable? + if (imu.chip_ready() == 0){ + do { + pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n"); + pwr_onoff = 1; // Power off + wait(0.1); + pwr_onoff = 0; // Power on + wait(0.02); + } while(imu.reset()); + } + pc.printf("Bosch BNO055 is available now!!\r\n"); + pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n", + imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN)); + imu.read_id_inf(&bno055_id_inf); + pc.printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ", + bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id); + pc.printf("SW REV:0x%04x, BL REV:0x%02x\r\n", + bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); + pc.printf("If you would like to calibrate the BNO055, please hit 'y' (No: any other key)\r\n"); + c = pc.getc(); + if (c == 'y'){ + bno055_calbration(); + } + pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],"); + pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n"); + t.start(); + while(1) { + imu.get_Euler_Angles(&euler_angles); + pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,", + euler_angles.h, euler_angles.r, euler_angles.p); + imu.get_quaternion(&quaternion); + pc.printf("[Q],W,%d,X,%d,Y,%d,Z,%d,", + quaternion.w, quaternion.x, quaternion.y, quaternion.z); + imu.get_linear_accel(&linear_acc); + pc.printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", + linear_acc.x, linear_acc.y, linear_acc.z); + imu.get_gravity(&gravity); + pc.printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", + gravity.x, gravity.y, gravity.z); + imu.get_chip_temperature(&chip_temp); + pc.printf("[T],%+d,%+d,", + chip_temp.acc_chip, chip_temp.gyr_chip); + pc.printf("[S],0x%x,[M],%d\r\n", + imu.read_calib_status(), t.read_ms()); + } +} + + +// Diffrent output format as for your reference +#if 0 int main() { uint8_t i; @@ -126,53 +242,4 @@ } } } - -#elif FORMAT_1 - -int main() { - pwr_onoff = 0; - pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n"); - char c = pc.getc(); - pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); - // Is BNO055 avairable? - if (imu.chip_ready() == 0){ - do { - pc.printf("Bosch BNO055 is NOT avirable!!\r\n"); - pwr_onoff = 1; // Power off - wait(0.1); - pwr_onoff = 0; // Power on - wait(0.02); - } while(imu.reset()); - } - imu.set_mounting_position(MT_P6); - pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n", - imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN)); - imu.read_id_inf(&bno055_id_inf); - pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n", - bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, - bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); - pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],"); - pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n"); - t.start(); - while(1) { - imu.get_Euler_Angles(&euler_angles); - pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,", - euler_angles.h, euler_angles.r, euler_angles.p); - imu.get_quaternion(&quaternion); - pc.printf("[Q],W:%d,X:%d,Y:%d,Z:%d,", - quaternion.w, quaternion.x, quaternion.y, quaternion.z); - imu.get_linear_accel(&linear_acc); - pc.printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", - linear_acc.x, linear_acc.y, linear_acc.z); - imu.get_gravity(&gravity); - pc.printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,", - gravity.x, gravity.y, gravity.z); - imu.get_chip_temperature(&chip_temp); - pc.printf("[T],%+d,%+d,", - chip_temp.acc_chip, chip_temp.gyr_chip); - pc.printf("[S],0x%x,[M],%d\r\n", - imu.read_calib_status(), t.read_ms()); - } -} - #endif