116 lines
3.1 KiB
C++
116 lines
3.1 KiB
C++
#include <Wire.h>
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#include <Adafruit_Sensor.h>
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#include <Adafruit_BNO055.h>
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#include <utility/imumaths.h>
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/* This driver reads raw data from the BNO055
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Connections
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===========
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Connect SCL to analog 5
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Connect SDA to analog 4
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Connect VDD to 3.3V DC
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Connect GROUND to common ground
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History
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=======
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2015/MAR/03 - First release (KTOWN)
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*/
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/* Set the delay between fresh samples */
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#define BNO055_SAMPLERATE_DELAY_MS (100)
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// Check I2C device address and correct line below (by default address is 0x29 or 0x28)
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// id, address
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Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28, &Wire);
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/**************************************************************************/
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/*
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Arduino setup function (automatically called at startup)
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*/
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/**************************************************************************/
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void setup(void)
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{
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Serial.begin(115200);
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while (!Serial) delay(10); // wait for serial port to open!
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Serial.println("Orientation Sensor Raw Data Test"); Serial.println("");
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/* Initialise the sensor */
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if(!bno.begin())
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{
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/* There was a problem detecting the BNO055 ... check your connections */
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Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
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while(1);
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}
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delay(1000);
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/* Display the current temperature */
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int8_t temp = bno.getTemp();
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Serial.print("Current Temperature: ");
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Serial.print(temp);
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Serial.println(" C");
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Serial.println("");
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bno.setExtCrystalUse(true);
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Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");
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}
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/**************************************************************************/
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/*
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Arduino loop function, called once 'setup' is complete (your own code
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should go here)
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*/
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/**************************************************************************/
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void loop(void)
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{
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// Possible vector values can be:
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// - VECTOR_ACCELEROMETER - m/s^2
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// - VECTOR_MAGNETOMETER - uT
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// - VECTOR_GYROSCOPE - rad/s
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// - VECTOR_EULER - degrees
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// - VECTOR_LINEARACCEL - m/s^2
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// - VECTOR_GRAVITY - m/s^2
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imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
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/* Display the floating point data */
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Serial.print("X: ");
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Serial.print(euler.x());
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Serial.print(" Y: ");
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Serial.print(euler.y());
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Serial.print(" Z: ");
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Serial.print(euler.z());
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Serial.print("\t\t");
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/*
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// Quaternion data
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imu::Quaternion quat = bno.getQuat();
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Serial.print("qW: ");
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Serial.print(quat.w(), 4);
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Serial.print(" qX: ");
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Serial.print(quat.x(), 4);
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Serial.print(" qY: ");
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Serial.print(quat.y(), 4);
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Serial.print(" qZ: ");
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Serial.print(quat.z(), 4);
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Serial.print("\t\t");
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*/
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/* Display calibration status for each sensor. */
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uint8_t system, gyro, accel, mag = 0;
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bno.getCalibration(&system, &gyro, &accel, &mag);
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Serial.print("CALIBRATION: Sys=");
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Serial.print(system, DEC);
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Serial.print(" Gyro=");
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Serial.print(gyro, DEC);
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Serial.print(" Accel=");
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Serial.print(accel, DEC);
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Serial.print(" Mag=");
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Serial.println(mag, DEC);
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delay(BNO055_SAMPLERATE_DELAY_MS);
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}
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