Thomas Allen / Mbed 2 deprecated BNO055-ELEC3810

v1.0

Dependencies:   BNO055_fusion mbed MODSERIAL dsp

Fork of Bosch_BNO055_Fusion_example by Kenji Arai

main.cpp@5:9594519c9462, 2015-04-16 (annotated)

Committer:
kenjiArai
Date:
Thu Apr 16 11:25:47 2015 +0000
Revision:
5:9594519c9462
Parent:
4:6d1118089a36
Child:
6:0590c7ff8c34
used bug fixed library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:31451519d283 1 /*
kenjiArai 0:31451519d283 2 * mbed Application program for the mbed Nucleo F401
kenjiArai 0:31451519d283 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:31451519d283 4 * by Bosch Sensortec
kenjiArai 0:31451519d283 5 *
kenjiArai 0:31451519d283 6 * Copyright (c) 2015 Kenji Arai / JH1PJL
kenjiArai 0:31451519d283 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:31451519d283 8 * http://mbed.org/users/kenjiArai/
kenjiArai 0:31451519d283 9 * Created: March 30th, 2015
kenjiArai 5:9594519c9462 10 * Revised: April 16th, 2015
kenjiArai 0:31451519d283 11 *
kenjiArai 0:31451519d283 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
kenjiArai 0:31451519d283 13 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
kenjiArai 0:31451519d283 14 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kenjiArai 0:31451519d283 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenjiArai 0:31451519d283 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kenjiArai 0:31451519d283 17 */
kenjiArai 0:31451519d283 18
kenjiArai 0:31451519d283 19 // Include ---------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 20 #include "mbed.h"
kenjiArai 0:31451519d283 21 #include "BNO055.h"
kenjiArai 0:31451519d283 22
kenjiArai 0:31451519d283 23 // Definition ------------------------------------------------------------------------------------
kenjiArai 3:f5b5c4d795ce 24 #define NUM_LOOP 100
kenjiArai 3:f5b5c4d795ce 25
kenjiArai 0:31451519d283 26 // Object ----------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 27 Serial pc(USBTX,USBRX);
kenjiArai 2:cf77282aea7b 28 #if defined(TARGET_LPC1114)
kenjiArai 2:cf77282aea7b 29 DigitalOut pwr_onoff(dp17);
kenjiArai 2:cf77282aea7b 30 I2C i2c(dp5, dp27); // SDA, SCL
kenjiArai 2:cf77282aea7b 31 BNO055 imu(i2c, dp18); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 32 #elif defined(TARGET_LPC1768)
kenjiArai 2:cf77282aea7b 33 DigitalOut pwr_onoff(p30);
kenjiArai 2:cf77282aea7b 34 I2C i2c(p28, p27); // SDA, SCL
kenjiArai 2:cf77282aea7b 35 BNO055 imu(i2c, p29); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 36 #elif defined(TARGET_STM32L152RE) || defined(TARGET_STM32F401RE) || defined(TARGET_STM32F411RE)
kenjiArai 2:cf77282aea7b 37 DigitalOut pwr_onoff(PB_10);
kenjiArai 0:31451519d283 38 I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 2:cf77282aea7b 39 BNO055 imu(i2c, PA_8); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 40 #elif defined(TARGET_RZ_A1H)
kenjiArai 2:cf77282aea7b 41 DigitalOut pwr_onoff(P8_11);
kenjiArai 2:cf77282aea7b 42 I2C i2c(P1_3, P1_2); // SDA, SCL
kenjiArai 2:cf77282aea7b 43 BNO055 imu(i2c, P8_13); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 44 #else
kenjiArai 2:cf77282aea7b 45 #error "Not cheched yet"
kenjiArai 2:cf77282aea7b 46 #endif
kenjiArai 3:f5b5c4d795ce 47 Timer t;
kenjiArai 0:31451519d283 48
kenjiArai 0:31451519d283 49 // RAM -------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 50 BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:31451519d283 51 BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:31451519d283 52 BNO055_QUATERNION_TypeDef quaternion;
kenjiArai 0:31451519d283 53 BNO055_LIN_ACC_TypeDef linear_acc;
kenjiArai 0:31451519d283 54 BNO055_GRAVITY_TypeDef gravity;
kenjiArai 0:31451519d283 55 BNO055_TEMPERATURE_TypeDef chip_temp;
kenjiArai 0:31451519d283 56
kenjiArai 0:31451519d283 57 // ROM / Constant data ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 58
kenjiArai 0:31451519d283 59 // Function prototypes ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 60
kenjiArai 0:31451519d283 61 //-------------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 62 // Control Program
kenjiArai 3:f5b5c4d795ce 63 //-------------------------------------------------------------------------------------------------
kenjiArai 4:6d1118089a36 64 // Calibration
kenjiArai 4:6d1118089a36 65 // Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 4:6d1118089a36 66 void bno055_calbration(void){
kenjiArai 4:6d1118089a36 67 uint8_t d;
kenjiArai 3:f5b5c4d795ce 68
kenjiArai 4:6d1118089a36 69 pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 4:6d1118089a36 70 //---------- Gyroscope Caliblation ------------------------------------------------------------
kenjiArai 4:6d1118089a36 71 // (a) Place the device in a single stable position for a period of few seconds to allow the
kenjiArai 4:6d1118089a36 72 // gyroscope to calibrate
kenjiArai 4:6d1118089a36 73 pc.printf("Step1) Please wait few seconds\r\n");
kenjiArai 4:6d1118089a36 74 t.start();
kenjiArai 4:6d1118089a36 75 while (t.read() < 10){
kenjiArai 4:6d1118089a36 76 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 77 pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 4:6d1118089a36 78 if ((d & 0x30) == 0x30){
kenjiArai 4:6d1118089a36 79 break;
kenjiArai 4:6d1118089a36 80 }
kenjiArai 4:6d1118089a36 81 wait(1.0);
kenjiArai 4:6d1118089a36 82 }
kenjiArai 4:6d1118089a36 83 pc.printf("-> Step1) is done\r\n\r\n");
kenjiArai 4:6d1118089a36 84 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 4:6d1118089a36 85 // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
kenjiArai 4:6d1118089a36 86 // CALIB_STAT register indicates fully calibrated.
kenjiArai 4:6d1118089a36 87 // (b) It takes more calibration movements to get the magnetometer calibrated than in the
kenjiArai 4:6d1118089a36 88 // NDOF mode.
kenjiArai 4:6d1118089a36 89 pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 4:6d1118089a36 90 t.start();
kenjiArai 4:6d1118089a36 91 while (t.read() < 30){
kenjiArai 4:6d1118089a36 92 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 93 pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 4:6d1118089a36 94 if ((d & 0x03) == 0x03){
kenjiArai 4:6d1118089a36 95 break;
kenjiArai 4:6d1118089a36 96 }
kenjiArai 4:6d1118089a36 97 wait(1.0);
kenjiArai 4:6d1118089a36 98 }
kenjiArai 4:6d1118089a36 99 pc.printf("-> Step2) is done\r\n\r\n");
kenjiArai 4:6d1118089a36 100 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 4:6d1118089a36 101 // a) Place the device in 6 different stable positions for a period of few seconds
kenjiArai 4:6d1118089a36 102 // to allow the accelerometer to calibrate.
kenjiArai 4:6d1118089a36 103 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 4:6d1118089a36 104 // The 6 stable positions could be in any direction, but make sure that the device is
kenjiArai 4:6d1118089a36 105 // lying at least once perpendicular to the x, y and z axis.
kenjiArai 4:6d1118089a36 106 pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 4:6d1118089a36 107 pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 4:6d1118089a36 108 pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 4:6d1118089a36 109 pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 4:6d1118089a36 110 pc.printf(" If you will give up, hit any key.\r\n", d);
kenjiArai 4:6d1118089a36 111 t.stop();
kenjiArai 4:6d1118089a36 112 while (true){
kenjiArai 4:6d1118089a36 113 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 114 imu.get_gravity(&gravity);
kenjiArai 5:9594519c9462 115 pc.printf("Calb dat = 0x%x target = 0xff ACC:X %4.1f, Y %4.1f, Z %4.1f\r\n",
kenjiArai 4:6d1118089a36 116 d, gravity.x, gravity.y, gravity.z);
kenjiArai 4:6d1118089a36 117 if (d == 0xff){ break;}
kenjiArai 4:6d1118089a36 118 if (pc.readable()){ break;}
kenjiArai 4:6d1118089a36 119 wait(1.0);
kenjiArai 4:6d1118089a36 120 }
kenjiArai 4:6d1118089a36 121 if (imu.read_calib_status() == 0xff){
kenjiArai 4:6d1118089a36 122 pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 4:6d1118089a36 123 } else {
kenjiArai 4:6d1118089a36 124 pc.printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 4:6d1118089a36 125 }
kenjiArai 4:6d1118089a36 126 t.stop();
kenjiArai 4:6d1118089a36 127 }
kenjiArai 4:6d1118089a36 128
kenjiArai 4:6d1118089a36 129 int main(){
kenjiArai 4:6d1118089a36 130 imu.set_mounting_position(MT_P6);
kenjiArai 4:6d1118089a36 131 pwr_onoff = 0;
kenjiArai 4:6d1118089a36 132 pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
kenjiArai 4:6d1118089a36 133 char c = pc.getc();
kenjiArai 4:6d1118089a36 134 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 4:6d1118089a36 135 // Is BNO055 avairable?
kenjiArai 4:6d1118089a36 136 if (imu.chip_ready() == 0){
kenjiArai 4:6d1118089a36 137 do {
kenjiArai 4:6d1118089a36 138 pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
kenjiArai 4:6d1118089a36 139 pwr_onoff = 1; // Power off
kenjiArai 4:6d1118089a36 140 wait(0.1);
kenjiArai 4:6d1118089a36 141 pwr_onoff = 0; // Power on
kenjiArai 4:6d1118089a36 142 wait(0.02);
kenjiArai 4:6d1118089a36 143 } while(imu.reset());
kenjiArai 4:6d1118089a36 144 }
kenjiArai 4:6d1118089a36 145 pc.printf("Bosch BNO055 is available now!!\r\n");
kenjiArai 4:6d1118089a36 146 pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 4:6d1118089a36 147 imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
kenjiArai 4:6d1118089a36 148 imu.read_id_inf(&bno055_id_inf);
kenjiArai 4:6d1118089a36 149 pc.printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ",
kenjiArai 4:6d1118089a36 150 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id);
kenjiArai 4:6d1118089a36 151 pc.printf("SW REV:0x%04x, BL REV:0x%02x\r\n",
kenjiArai 4:6d1118089a36 152 bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 4:6d1118089a36 153 pc.printf("If you would like to calibrate the BNO055, please hit 'y' (No: any other key)\r\n");
kenjiArai 4:6d1118089a36 154 c = pc.getc();
kenjiArai 4:6d1118089a36 155 if (c == 'y'){
kenjiArai 4:6d1118089a36 156 bno055_calbration();
kenjiArai 4:6d1118089a36 157 }
kenjiArai 4:6d1118089a36 158 pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],");
kenjiArai 4:6d1118089a36 159 pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n");
kenjiArai 4:6d1118089a36 160 t.start();
kenjiArai 4:6d1118089a36 161 while(1) {
kenjiArai 4:6d1118089a36 162 imu.get_Euler_Angles(&euler_angles);
kenjiArai 4:6d1118089a36 163 pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,",
kenjiArai 4:6d1118089a36 164 euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 4:6d1118089a36 165 imu.get_quaternion(&quaternion);
kenjiArai 4:6d1118089a36 166 pc.printf("[Q],W,%d,X,%d,Y,%d,Z,%d,",
kenjiArai 4:6d1118089a36 167 quaternion.w, quaternion.x, quaternion.y, quaternion.z);
kenjiArai 4:6d1118089a36 168 imu.get_linear_accel(&linear_acc);
kenjiArai 4:6d1118089a36 169 pc.printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 4:6d1118089a36 170 linear_acc.x, linear_acc.y, linear_acc.z);
kenjiArai 4:6d1118089a36 171 imu.get_gravity(&gravity);
kenjiArai 4:6d1118089a36 172 pc.printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 4:6d1118089a36 173 gravity.x, gravity.y, gravity.z);
kenjiArai 4:6d1118089a36 174 imu.get_chip_temperature(&chip_temp);
kenjiArai 4:6d1118089a36 175 pc.printf("[T],%+d,%+d,",
kenjiArai 4:6d1118089a36 176 chip_temp.acc_chip, chip_temp.gyr_chip);
kenjiArai 4:6d1118089a36 177 pc.printf("[S],0x%x,[M],%d\r\n",
kenjiArai 4:6d1118089a36 178 imu.read_calib_status(), t.read_ms());
kenjiArai 4:6d1118089a36 179 }
kenjiArai 4:6d1118089a36 180 }
kenjiArai 4:6d1118089a36 181
kenjiArai 4:6d1118089a36 182
kenjiArai 4:6d1118089a36 183 // Diffrent output format as for your reference
kenjiArai 4:6d1118089a36 184 #if 0
kenjiArai 0:31451519d283 185 int main() {
kenjiArai 0:31451519d283 186 uint8_t i;
kenjiArai 0:31451519d283 187
kenjiArai 2:cf77282aea7b 188 pwr_onoff = 0;
kenjiArai 0:31451519d283 189 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 0:31451519d283 190 // Is BNO055 avairable?
kenjiArai 0:31451519d283 191 if (imu.chip_ready() == 0){
kenjiArai 2:cf77282aea7b 192 do {
kenjiArai 2:cf77282aea7b 193 pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 2:cf77282aea7b 194 pwr_onoff = 1; // Power off
kenjiArai 2:cf77282aea7b 195 wait(0.1);
kenjiArai 2:cf77282aea7b 196 pwr_onoff = 0; // Power on
kenjiArai 2:cf77282aea7b 197 wait(0.02);
kenjiArai 2:cf77282aea7b 198 } while(imu.reset());
kenjiArai 0:31451519d283 199 }
kenjiArai 0:31451519d283 200 imu.set_mounting_position(MT_P6);
kenjiArai 0:31451519d283 201 pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 0:31451519d283 202 imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
kenjiArai 0:31451519d283 203 imu.read_id_inf(&bno055_id_inf);
kenjiArai 0:31451519d283 204 pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 0:31451519d283 205 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
kenjiArai 0:31451519d283 206 bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 0:31451519d283 207 while(1) {
kenjiArai 0:31451519d283 208 pc.printf("Euler Angles data\r\n");
kenjiArai 2:cf77282aea7b 209 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 210 imu.get_Euler_Angles(&euler_angles);
kenjiArai 0:31451519d283 211 pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n",
kenjiArai 0:31451519d283 212 euler_angles.h, euler_angles.r, euler_angles.p, i);
kenjiArai 0:31451519d283 213 wait(0.5);
kenjiArai 0:31451519d283 214 }
kenjiArai 0:31451519d283 215 pc.printf("Quaternion data\r\n");
kenjiArai 2:cf77282aea7b 216 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 217 imu.get_quaternion(&quaternion);
kenjiArai 0:31451519d283 218 pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
kenjiArai 0:31451519d283 219 quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
kenjiArai 0:31451519d283 220 wait(0.5);
kenjiArai 0:31451519d283 221 }
kenjiArai 0:31451519d283 222 pc.printf("Linear accel data\r\n");
kenjiArai 2:cf77282aea7b 223 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 224 imu.get_linear_accel(&linear_acc);
kenjiArai 0:31451519d283 225 pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
kenjiArai 0:31451519d283 226 linear_acc.x, linear_acc.y, linear_acc.z, i);
kenjiArai 0:31451519d283 227 wait(0.5);
kenjiArai 0:31451519d283 228 }
kenjiArai 0:31451519d283 229 pc.printf("Gravity vector data\r\n");
kenjiArai 2:cf77282aea7b 230 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 231 imu.get_gravity(&gravity);
kenjiArai 0:31451519d283 232 pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
kenjiArai 0:31451519d283 233 gravity.x, gravity.y, gravity.z, i);
kenjiArai 0:31451519d283 234 wait(0.5);
kenjiArai 0:31451519d283 235 }
kenjiArai 0:31451519d283 236 pc.printf("Chip temperature data\r\n");
kenjiArai 2:cf77282aea7b 237 for (i = 0; i < (NUM_LOOP / 4); i++){
kenjiArai 0:31451519d283 238 imu.get_chip_temperature(&chip_temp);
kenjiArai 0:31451519d283 239 pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
kenjiArai 0:31451519d283 240 chip_temp.acc_chip, chip_temp.gyr_chip, i);
kenjiArai 0:31451519d283 241 wait(0.5);
kenjiArai 0:31451519d283 242 }
kenjiArai 0:31451519d283 243 }
kenjiArai 0:31451519d283 244 }
kenjiArai 3:f5b5c4d795ce 245 #endif