This is the one where I went back and un-did the cube.cpp file
Dependencies: BNO055_fusion_tom FastPWM mbed
Fork of NucleoCube1 by
Diff: main.cpp
- Revision:
- 0:604ceafb7bb3
- Child:
- 1:d81f93d3f819
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Apr 02 05:20:13 2017 +0000 @@ -0,0 +1,51 @@ +#include "mbed.h" +#include "BNO055.h" + + +//------------------------------------ +// Hyperterminal configuration +// 9600 bauds, 8-bit data, no parity +//------------------------------------ + +Serial pc(SERIAL_TX, SERIAL_RX); + +DigitalOut myled(LED1); +PwmOut P1(D6); +PwmOut P2(PA_0); +PwmOut P3(PB_4); + +int main() +{ + //int i = 1; + pc.printf("Hello World !\n"); + I2C i2c(PB_9, PB_8); // SDA, SCL + BNO055 imu(i2c, PA_8); // Reset + + BNO055_ID_INF_TypeDef bno055_id_inf; + BNO055_EULER_TypeDef euler_angles; + + pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); + if (imu.chip_ready() == 0){ + pc.printf("Bosch BNO055 is NOT avirable!!\r\n"); + } + 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) { +// acc.getAccAllAxis(data); +// pc.printf("Data %d %d %d \n",data[0], data[1], data[2]); + imu.get_Euler_Angles(&euler_angles); + pc.printf("Heading:%+6.4f [deg], Roll:%+6.4f [deg], Pitch:%+6.4f [deg]\r\n", + euler_angles.h, euler_angles.r, euler_angles.p); + wait(0.2); + + //pc.printf("This program runs since %d seconds.\n", i++); + //pc.putc(pc.getc()); + myled = !myled; + P1 = (euler_angles.h/360.0); + P2 = (euler_angles.r/360.0); + P3 = (euler_angles.p/360.0); + } +}