130 lines
4.1 KiB
C++
Executable File
130 lines
4.1 KiB
C++
Executable File
#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 uses the Adafruit unified sensor library (Adafruit_Sensor),
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which provides a common 'type' for sensor data and some helper functions.
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To use this driver you will also need to download the Adafruit_Sensor
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library and include it in your libraries folder.
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You should also assign a unique ID to this sensor for use with
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the Adafruit Sensor API so that you can identify this particular
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sensor in any data logs, etc. To assign a unique ID, simply
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provide an appropriate value in the constructor below (12345
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is used by default in this example).
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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 3.3-5V 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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Adafruit_BNO055 bno = Adafruit_BNO055(55);
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/**************************************************************************/
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/*
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Displays some basic information on this sensor from the unified
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sensor API sensor_t type (see Adafruit_Sensor for more information)
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*/
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/**************************************************************************/
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void displaySensorDetails(void)
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{
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sensor_t sensor;
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bno.getSensor(&sensor);
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Serial.println("------------------------------------");
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Serial.print ("Sensor: "); Serial.println(sensor.name);
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Serial.print ("Driver Ver: "); Serial.println(sensor.version);
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Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
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Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" xxx");
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Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" xxx");
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Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" xxx");
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Serial.println("------------------------------------");
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Serial.println("");
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delay(500);
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}
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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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Serial.println("Orientation Sensor 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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/* Use external crystal for better accuracy */
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bno.setExtCrystalUse(true);
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/* Display some basic information on this sensor */
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displaySensorDetails();
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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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/* Get a new sensor event */
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sensors_event_t event;
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bno.getEvent(&event);
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/* Board layout:
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+----------+
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| *| RST PITCH ROLL HEADING
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ADR |* *| SCL
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INT |* *| SDA ^ /->
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PS1 |* *| GND | |
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PS0 |* *| 3VO Y Z--> \-X
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| *| VIN
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+----------+
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*/
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/* The processing sketch expects data as roll, pitch, heading */
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Serial.print(F("Orientation: "));
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Serial.print((float)event.orientation.x);
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Serial.print(F(" "));
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Serial.print((float)event.orientation.y);
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Serial.print(F(" "));
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Serial.print((float)event.orientation.z);
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Serial.println(F(""));
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/* Also send calibration data for each sensor. */
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uint8_t sys, gyro, accel, mag = 0;
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bno.getCalibration(&sys, &gyro, &accel, &mag);
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Serial.print(F("Calibration: "));
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Serial.print(sys, DEC);
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Serial.print(F(" "));
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Serial.print(gyro, DEC);
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Serial.print(F(" "));
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Serial.print(accel, DEC);
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Serial.print(F(" "));
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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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