Robert Katzschmann / Mbed 2 deprecated bmbed_watch_imu

blue mbed code for the BNO055 imu from adafruit

Dependencies:   BNO055 MODSERIAL mbed

Fork of bmbed_lidar_belt by sensory_array

main.cpp@19:01d091b38d61, 2015-11-27 (annotated)

Committer:
rkk
Date:
Fri Nov 27 18:34:19 2015 +0000
Revision:
19:01d091b38d61
Parent:
17:32b83c5787fc 
acceleration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baraki 0:ce4f790399d9 1 #include "mbed.h"
baraki 0:ce4f790399d9 2 #include "MODSERIAL.h"
baraki 7:660e8ddb231e 3 #include <math.h>
baraki 7:660e8ddb231e 4 #include "BNO055.h"
rkk 5:d4ed744beea2 5
baraki 0:ce4f790399d9 6 #define PC_BAUD 9600
rkk 17:32b83c5787fc 7 //#define BT_BAUD 115200
rkk 17:32b83c5787fc 8
rkk 17:32b83c5787fc 9 //#define TX_PIN p13
rkk 17:32b83c5787fc 10 //#define RX_PIN p14
baraki 7:660e8ddb231e 11 #define IMU_SDA p28
baraki 7:660e8ddb231e 12 #define IMU_SCL p27
baraki 7:660e8ddb231e 13 #define PI 3.14159265
baraki 0:ce4f790399d9 14
baraki 7:660e8ddb231e 15 BNO055 imu(p28,p27);
rkk 5:d4ed744beea2 16
rkk 17:32b83c5787fc 17 //MODSERIAL bt(TX_PIN, RX_PIN);
baraki 0:ce4f790399d9 18 MODSERIAL pc(USBTX,USBRX);
rkk 13:b22fd9c4fbb4 19
baraki 7:660e8ddb231e 20 //for calibrating IMU
baraki 9:59d23ab8d73b 21 //for IMU1:
rkk 17:32b83c5787fc 22 char cal_vals[22] = {255, 255, 220, 255, 13, 0, 83, 255, 36, 1, 80, 0, 253, 255, 0, 0, 1, 0, 232, 3, 235, 2};
baraki 7:660e8ddb231e 23
baraki 0:ce4f790399d9 24 bool newline_detected = false;
baraki 0:ce4f790399d9 25 bool newline_sent = false;
baraki 0:ce4f790399d9 26
baraki 7:660e8ddb231e 27 void setCal(){
baraki 7:660e8ddb231e 28 imu.write_calibration_data();
baraki 7:660e8ddb231e 29 }
baraki 7:660e8ddb231e 30
baraki 0:ce4f790399d9 31 // Called everytime a new character goes into
baraki 0:ce4f790399d9 32 // the RX buffer. Test that character for \n
baraki 0:ce4f790399d9 33 // Note, rxGetLastChar() gets the last char that
baraki 0:ce4f790399d9 34 // we received but it does NOT remove it from
baraki 0:ce4f790399d9 35 // the RX buffer.
baraki 0:ce4f790399d9 36 void rxCallback(MODSERIAL_IRQ_INFO *q)
baraki 0:ce4f790399d9 37 {
baraki 0:ce4f790399d9 38 MODSERIAL *serial = q->serial;
baraki 0:ce4f790399d9 39 if ( serial->rxGetLastChar() == '\n') {
baraki 0:ce4f790399d9 40 newline_detected = true;
baraki 0:ce4f790399d9 41 }
baraki 0:ce4f790399d9 42
baraki 0:ce4f790399d9 43 }
baraki 0:ce4f790399d9 44
baraki 0:ce4f790399d9 45 void txCallback(MODSERIAL_IRQ_INFO *q)
baraki 0:ce4f790399d9 46 {
baraki 0:ce4f790399d9 47 MODSERIAL *serial = q->serial;
baraki 0:ce4f790399d9 48 if ( serial->txGetLastChar() == '\0') {
baraki 0:ce4f790399d9 49 newline_sent = true;
baraki 0:ce4f790399d9 50 }
baraki 0:ce4f790399d9 51 }
baraki 0:ce4f790399d9 52
baraki 0:ce4f790399d9 53 int main()
baraki 0:ce4f790399d9 54 {
baraki 0:ce4f790399d9 55 pc.baud(PC_BAUD);
rkk 17:32b83c5787fc 56 // bt.baud(BT_BAUD);
baraki 0:ce4f790399d9 57 pc.attach(&rxCallback, MODSERIAL::RxIrq);
rkk 17:32b83c5787fc 58 // bt.attach(&txCallback, MODSERIAL::TxIrq);
baraki 0:ce4f790399d9 59
baraki 7:660e8ddb231e 60 //set up IMU
baraki 7:660e8ddb231e 61 imu.reset();
baraki 7:660e8ddb231e 62 imu.setmode(OPERATION_MODE_NDOF);
baraki 7:660e8ddb231e 63 setCal();
baraki 7:660e8ddb231e 64 imu.get_calib();
baraki 7:660e8ddb231e 65 while (imu.calib == 0)
baraki 7:660e8ddb231e 66 {
baraki 7:660e8ddb231e 67 imu.get_calib();
baraki 7:660e8ddb231e 68 }
baraki 7:660e8ddb231e 69
rkk 19:01d091b38d61 70 // char sendData[1] = {0x00};
baraki 0:ce4f790399d9 71
rkk 17:32b83c5787fc 72 // char btData[12] = {'a','b','c','d','e','f','g','\n','\0'};
baraki 15:d6edd100d7fe 73
rkk 17:32b83c5787fc 74 while (1) {
rkk 19:01d091b38d61 75 //imu.get_angles();
rkk 19:01d091b38d61 76 //float pitch = imu.euler.pitch;
rkk 19:01d091b38d61 77 //float yaw = imu.euler.yaw;
rkk 19:01d091b38d61 78 //float roll = imu.euler.roll;
rkk 19:01d091b38d61 79 //pc.printf("r:%6.2f p:%6.2f y:%6.2f\n",roll, pitch, yaw);
rkk 19:01d091b38d61 80 imu.get_accel(); //query the i2c device
rkk 19:01d091b38d61 81 pc.printf("x:%6.2f y:%6.2f z:%6.2f\n",imu.accel.x, imu.accel.y, imu.accel.z);
rkk 19:01d091b38d61 82 //
rkk 19:01d091b38d61 83 //pc.printf("about to send data\n");
rkk 17:32b83c5787fc 84 // for(int j=0;j<9;j++){
rkk 17:32b83c5787fc 85 // btData[j] = '\0';
rkk 17:32b83c5787fc 86 // if(bt.writeable())
rkk 17:32b83c5787fc 87 // bt.putc(btData[j]);
rkk 17:32b83c5787fc 88 // //wait(0.001);
rkk 17:32b83c5787fc 89 // }
rkk 19:01d091b38d61 90 wait(0.3);
baraki 1:5b1d88d69aa2 91 //pc.printf("finished sending data\n");
baraki 0:ce4f790399d9 92 }
baraki 0:ce4f790399d9 93 }