v1.0
Dependencies: BNO055_fusion mbed MODSERIAL dsp
Fork of Bosch_BNO055_Fusion_example by
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?
User | Revision | Line number | New 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 | } |