cube
Dependencies: BNO055_fusion_tom FastPWM mbed
main.cpp
- Committer:
- wchurch
- Date:
- 2017-04-05
- Revision:
- 3:6b08122b6ac8
- Parent:
- 2:93c7a7fb3203
- Child:
- 4:ae9e664301dd
File content as of revision 3:6b08122b6ac8:
#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(PE_9); PwmOut P2(PE_11); PwmOut P3(PE_13); 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); } }