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@2:cf77282aea7b, 2015-04-07 (annotated)

Committer:
kenjiArai
Date:
Tue Apr 07 12:11:39 2015 +0000
Revision:
2:cf77282aea7b
Parent:
0:31451519d283
Child:
3:f5b5c4d795ce
Changed reset sequence and added RESET control and Power On/Off control.  Check several mbed, LPC1768, LPC1114, NucleoF401RE, F411RE, L152RE and GR-PEACH

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 2:cf77282aea7b 10 * Revised: April 7th, 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 2:cf77282aea7b 24 #define NUM_LOOP 100
kenjiArai 0:31451519d283 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 0:31451519d283 47
kenjiArai 0:31451519d283 48 // RAM -------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 49 BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:31451519d283 50 BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:31451519d283 51 BNO055_QUATERNION_TypeDef quaternion;
kenjiArai 0:31451519d283 52 BNO055_LIN_ACC_TypeDef linear_acc;
kenjiArai 0:31451519d283 53 BNO055_GRAVITY_TypeDef gravity;
kenjiArai 0:31451519d283 54 BNO055_TEMPERATURE_TypeDef chip_temp;
kenjiArai 0:31451519d283 55
kenjiArai 0:31451519d283 56 // ROM / Constant data ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 57
kenjiArai 0:31451519d283 58 // Function prototypes ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 59
kenjiArai 0:31451519d283 60 //-------------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 61 // Control Program
kenjiArai 0:31451519d283 62 //-------------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 63 int main() {
kenjiArai 0:31451519d283 64 uint8_t i;
kenjiArai 0:31451519d283 65
kenjiArai 2:cf77282aea7b 66 pwr_onoff = 0;
kenjiArai 0:31451519d283 67 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 0:31451519d283 68 // Is BNO055 avairable?
kenjiArai 0:31451519d283 69 if (imu.chip_ready() == 0){
kenjiArai 2:cf77282aea7b 70 do {
kenjiArai 2:cf77282aea7b 71 pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 2:cf77282aea7b 72 pwr_onoff = 1; // Power off
kenjiArai 2:cf77282aea7b 73 wait(0.1);
kenjiArai 2:cf77282aea7b 74 pwr_onoff = 0; // Power on
kenjiArai 2:cf77282aea7b 75 wait(0.02);
kenjiArai 2:cf77282aea7b 76 } while(imu.reset());
kenjiArai 0:31451519d283 77 }
kenjiArai 0:31451519d283 78 imu.set_mounting_position(MT_P6);
kenjiArai 0:31451519d283 79 pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 0:31451519d283 80 imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
kenjiArai 0:31451519d283 81 imu.read_id_inf(&bno055_id_inf);
kenjiArai 0:31451519d283 82 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 83 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
kenjiArai 0:31451519d283 84 bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 0:31451519d283 85 while(1) {
kenjiArai 0:31451519d283 86 pc.printf("Euler Angles data\r\n");
kenjiArai 2:cf77282aea7b 87 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 88 imu.get_Euler_Angles(&euler_angles);
kenjiArai 0:31451519d283 89 pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n",
kenjiArai 0:31451519d283 90 euler_angles.h, euler_angles.r, euler_angles.p, i);
kenjiArai 0:31451519d283 91 wait(0.5);
kenjiArai 0:31451519d283 92 }
kenjiArai 0:31451519d283 93 pc.printf("Quaternion data\r\n");
kenjiArai 2:cf77282aea7b 94 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 95 imu.get_quaternion(&quaternion);
kenjiArai 0:31451519d283 96 pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
kenjiArai 0:31451519d283 97 quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
kenjiArai 0:31451519d283 98 wait(0.5);
kenjiArai 0:31451519d283 99 }
kenjiArai 0:31451519d283 100 pc.printf("Linear accel data\r\n");
kenjiArai 2:cf77282aea7b 101 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 102 imu.get_linear_accel(&linear_acc);
kenjiArai 0:31451519d283 103 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 104 linear_acc.x, linear_acc.y, linear_acc.z, i);
kenjiArai 0:31451519d283 105 wait(0.5);
kenjiArai 0:31451519d283 106 }
kenjiArai 0:31451519d283 107 pc.printf("Gravity vector data\r\n");
kenjiArai 2:cf77282aea7b 108 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 109 imu.get_gravity(&gravity);
kenjiArai 0:31451519d283 110 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 111 gravity.x, gravity.y, gravity.z, i);
kenjiArai 0:31451519d283 112 wait(0.5);
kenjiArai 0:31451519d283 113 }
kenjiArai 0:31451519d283 114 pc.printf("Chip temperature data\r\n");
kenjiArai 2:cf77282aea7b 115 for (i = 0; i < (NUM_LOOP / 4); i++){
kenjiArai 0:31451519d283 116 imu.get_chip_temperature(&chip_temp);
kenjiArai 0:31451519d283 117 pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
kenjiArai 0:31451519d283 118 chip_temp.acc_chip, chip_temp.gyr_chip, i);
kenjiArai 0:31451519d283 119 wait(0.5);
kenjiArai 0:31451519d283 120 }
kenjiArai 0:31451519d283 121 }
kenjiArai 0:31451519d283 122 }