adafruit_bno055 / examples / read_all_data / read_all_data.ino @ 5e9f001d
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#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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|
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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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|
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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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|
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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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|
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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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|
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/* Set the delay between fresh samples */ |
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uint16_t BNO055_SAMPLERATE_DELAY_MS = 100; |
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|
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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(55, 0x28); |
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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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|
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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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} |
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void loop(void) |
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{ |
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//could add VECTOR_ACCELEROMETER, VECTOR_MAGNETOMETER,VECTOR_GRAVITY... |
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sensors_event_t orientationData , angVelocityData , linearAccelData; |
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bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER); |
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bno.getEvent(&angVelocityData, Adafruit_BNO055::VECTOR_GYROSCOPE); |
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bno.getEvent(&linearAccelData, Adafruit_BNO055::VECTOR_LINEARACCEL); |
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|
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printEvent(&orientationData); |
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printEvent(&angVelocityData); |
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printEvent(&linearAccelData); |
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int8_t boardTemp = bno.getTemp(); |
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Serial.print(F("temperature: ")); |
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Serial.println(boardTemp); |
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delay(BNO055_SAMPLERATE_DELAY_MS); |
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} |
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void printEvent(sensors_event_t* event) { |
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Serial.println(); |
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Serial.print(event->type); |
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double x = -1000000, y = -1000000 , z = -1000000; //dumb values, easy to spot problem |
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if (event->type == SENSOR_TYPE_ACCELEROMETER) { |
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x = event->acceleration.x; |
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y = event->acceleration.y; |
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z = event->acceleration.z; |
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} |
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else if (event->type == SENSOR_TYPE_ORIENTATION) { |
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x = event->orientation.x; |
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y = event->orientation.y; |
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z = event->orientation.z; |
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} |
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else if (event->type == SENSOR_TYPE_MAGNETIC_FIELD) { |
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x = event->magnetic.x; |
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y = event->magnetic.y; |
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z = event->magnetic.z; |
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} |
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else if ((event->type == SENSOR_TYPE_GYROSCOPE) || (event->type == SENSOR_TYPE_ROTATION_VECTOR)) { |
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x = event->gyro.x; |
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y = event->gyro.y; |
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z = event->gyro.z; |
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} |
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Serial.print(": x= "); |
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Serial.print(x); |
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Serial.print(" | y= "); |
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Serial.print(y); |
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Serial.print(" | z= "); |
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Serial.println(z); |
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} |
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