File content as of revision 5:9594519c9462:

/*
 * mbed Application program for the mbed Nucleo F401
 *  BNO055 Intelligent 9-axis absolute orientation sensor
 *  by Bosch Sensortec
 *
 * Copyright (c) 2015 Kenji Arai / JH1PJL
 *  http://www.page.sannet.ne.jp/kenjia/index.html
 *  http://mbed.org/users/kenjiArai/
 *      Created: March     30th, 2015
 *      Revised: April     16th, 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
 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

//  Include ---------------------------------------------------------------------------------------
#include    "mbed.h"
#include    "BNO055.h"

//  Definition ------------------------------------------------------------------------------------
#define NUM_LOOP    100

//  Object ----------------------------------------------------------------------------------------
Serial pc(USBTX,USBRX);
#if defined(TARGET_LPC1114)
DigitalOut pwr_onoff(dp17);
I2C    i2c(dp5, dp27);   // SDA, SCL
BNO055 imu(i2c, dp18);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
#elif defined(TARGET_LPC1768)
DigitalOut pwr_onoff(p30);
I2C    i2c(p28, p27); // SDA, SCL
BNO055 imu(i2c, p29);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
#elif defined(TARGET_STM32L152RE) || defined(TARGET_STM32F401RE) || defined(TARGET_STM32F411RE)
DigitalOut pwr_onoff(PB_10);
I2C    i2c(PB_9, PB_8); // SDA, SCL
BNO055 imu(i2c, PA_8);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
#elif defined(TARGET_RZ_A1H)
DigitalOut pwr_onoff(P8_11);
I2C    i2c(P1_3, P1_2); // SDA, SCL
BNO055 imu(i2c, P8_13);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
#else
#error "Not cheched yet"
#endif
Timer t;

//  RAM -------------------------------------------------------------------------------------------
BNO055_ID_INF_TypeDef       bno055_id_inf;
BNO055_EULER_TypeDef        euler_angles;
BNO055_QUATERNION_TypeDef   quaternion;
BNO055_LIN_ACC_TypeDef      linear_acc;
BNO055_GRAVITY_TypeDef      gravity;
BNO055_TEMPERATURE_TypeDef  chip_temp;

//  ROM / Constant data ---------------------------------------------------------------------------

//  Function prototypes ---------------------------------------------------------------------------

//-------------------------------------------------------------------------------------------------
//  Control Program
//-------------------------------------------------------------------------------------------------
// 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 %4.1f, Y %4.1f, Z %4.1f\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;

    pwr_onoff = 0;
    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);
    while(1) {
        pc.printf("Euler Angles data\r\n");
        for (i = 0; i < NUM_LOOP; i++){
            imu.get_Euler_Angles(&euler_angles);
            pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n",
                       euler_angles.h, euler_angles.r, euler_angles.p, i);
            wait(0.5);
        }
        pc.printf("Quaternion data\r\n");
        for (i = 0; i < NUM_LOOP; i++){
            imu.get_quaternion(&quaternion);
            pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
                       quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
            wait(0.5);
        }
        pc.printf("Linear accel data\r\n");
        for (i = 0; i < NUM_LOOP; i++){
            imu.get_linear_accel(&linear_acc);
            pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
                       linear_acc.x, linear_acc.y, linear_acc.z, i);
            wait(0.5);
        }
        pc.printf("Gravity vector data\r\n");
        for (i = 0; i < NUM_LOOP; i++){
            imu.get_gravity(&gravity);
            pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
                       gravity.x, gravity.y, gravity.z, i);
            wait(0.5);
        }
        pc.printf("Chip temperature data\r\n");
        for (i = 0; i < (NUM_LOOP / 4); i++){
            imu.get_chip_temperature(&chip_temp);
            pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
                       chip_temp.acc_chip, chip_temp.gyr_chip, i);
            wait(0.5);
        }
    }
}
#endif