Diff: main.cpp

Revision:

0:ebde53cb02b8

Child:

1:fd9a5970b72f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 25 06:53:54 2019 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "BNO055.h"
+
+Serial pc(USBTX, USBRX);
+BNO055 sensor(I2C_SDA,I2C_SCL);
+DigitalOut led(LED1);
+
+int main() {
+    pc.baud(115200);
+    pc.printf("BNO055 Hello World\r\n\r\n");
+    led = 1;
+// Reset the BNO055
+    sensor.reset();
+// Check that the BNO055 is connected and flash LED if not
+    while (!sensor.check()){
+            sensor.reset();
+            led = !led;
+            if(led){
+                pc.printf("Toujours rien !");
+            }
+            else{
+                pc.printf("Ya pas le module...\n\r");
+            }
+            wait(0.5);
+    }
+    /*
+    pc.printf("Module found.\n\r");
+    pc.printf("\n\r Sensor informations\n\r");
+    pc.printf("Chip          ID: %0z\r\n",sensor.ID.id);
+    pc.printf("Accelerometer ID: %0z\r\n",sensor.ID.accel);
+    pc.printf("Gyroscope     ID: %0z\r\n",sensor.ID.gyro);
+    pc.printf("Magnetometer  ID: %0z\r\n\r\n",sensor.ID.mag);
+    pc.printf("Firmware version v%d.%0d\r\n",sensor.ID.sw[0],sensor.ID.sw[1]);
+    pc.printf("Bootloader version v%d\r\n\r\n",sensor.ID.bootload);
+
+    pc.printf("| Calib | Acceleration X | Acceleration Y | Acceleration Z | \n\r");
+    
+    while(true){
+        // operating modes en table 3-3
+        // NDOF = all sensors, absolute orientation
+        sensor.setmode(OPERATION_MODE_NDOF);
+        sensor.get_calib();
+        sensor.get_angles();
+        pc.printf("%5.1d | %5.1d | %5.1d\n\r",sensor.euler.roll,sensor.euler.pitch,sensor.euler.yaw);
+        wait(0.1);
+    }
+    
+
+// Display sensor information
+
+// Display chip serial number
+    for (int i = 0; i<4; i++){
+        pc.printf("%0z.%0z.%0z.%0z\r\n",sensor.ID.serial[i*4],sensor.ID.serial[i*4+1],sensor.ID.serial[i*4+2],sensor.ID.serial[i*4+3]);
+    }
+    pc.printf("\r\n");
+    while (true) {
+        sensor.setmode(OPERATION_MODE_NDOF);
+        sensor.get_calib();
+        sensor.get_angles();
+        sensor.get_accel();
+        pc.printf("x = %5.3f, y = %5.3f, z = %5.3f\r\n",sensor.accel.x/100,sensor.accel.y/100,sensor.accel.z/100);
+        wait(0.2);
+    }
+    */
+    
+    
+    /*
+    float movex = 0.0;
+    float movey = 0.0;
+    float temps = 0.0;
+    clock_t begin;
+    clock_t end;
+    int taille_moyenne = 10;
+    float accels[2][taille_moyenne];
+    float accelx = 0.0;
+    float accely = 0.0;
+    int indice=0;
+    
+    begin = clock();
+    while (true) {
+        // get and read th accelerations for x and y
+        sensor.setmode(OPERATION_MODE_NDOF);
+        sensor.get_calib();
+        sensor.get_accel();
+        
+        end = clock();
+        temps = (end-begin)/(double) CLOCKS_PER_SEC;
+        pc.printf("Temps ecoule: %5.3f\n\r",temps);
+        
+        // Kind of shift register but the values stays in place.
+        // The indice follow a cycle and point the oldest value (to overwrite).
+        accels[0][indice] = sensor.accel.x/100;
+        accels[1][indice] = sensor.accel.y/100;
+        
+        indice++;
+        if(indice >taille_moyenne-1){indice=0;}
+        
+        // Mean of the accelertions.
+        // Can be optimized by substracting the old value and addind the new one
+        // (most values didn't change)
+        accelx = 0;
+        accely = 0;
+        for(int i=0; i < taille_moyenne; i++){
+            accelx += accels[0][i];
+            accely += accels[1][i];
+        }
+        accelx = accelx/taille_moyenne;
+        accely = accely/taille_moyenne;
+        
+        
+        // Threshold values found experimentally. On a table, accels varies to 
+ 
\ No newline at end of file