BRIX5

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),

   which provides a common 'type' for sensor data and some helper functions.

   To use this driver you will also need to download the Adafruit_Sensor

   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with

   the Adafruit Sensor API so that you can identify this particular

   sensor in any data logs, etc.  To assign a unique ID, simply

   provide an appropriate value in the constructor below (12345

   is used by default in this example).

   Connections

   ===========

   Connect SCL to analog 5

   Connect SDA to analog 4

   Connect VDD to 3.3V DC

   Connect GROUND to common ground

   History

   =======

   2015/MAR/03  - First release (KTOWN)

*/

/* Set the delay between fresh samples */

#define BNO055_SAMPLERATE_DELAY_MS (50)

Adafruit_BNO055 bno = Adafruit_BNO055(55);

/**************************************************************************/

/*

    Displays some basic information on this sensor from the unified

    sensor API sensor_t type (see Adafruit_Sensor for more information)

*/

/**************************************************************************/

void displaySensorDetails(void)

{

  sensor_t sensor;

  bno.getSensor(&sensor);

  Serial.println("------------------------------------");

  Serial.print  ("Sensor:       "); Serial.println(sensor.name);

  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);

  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);

  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");

  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");

  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");  

  Serial.println("------------------------------------");

  Serial.println("");

  delay(500);

}

/**************************************************************************/

/*

    Arduino setup function (automatically called at startup)

*/

/**************************************************************************/

void setup(void) 

{

  Serial.begin(115200);

  Serial.println("Orientation Sensor Test"); Serial.println("");

  /* Initialise the sensor */

  if(!bno.begin())

  {

    /* There was a problem detecting the BNO055 ... check your connections */

    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");

    while(1);

  }

  delay(1000);

  /* Display some basic information on this sensor */

  displaySensorDetails();

}

/**************************************************************************/

/*

    Arduino loop function, called once 'setup' is complete (your own code

    should go here)

*/

/**************************************************************************/

void loop(void) 

{

  /* Get a new sensor event */ 

  sensors_event_t event; 

  bno.getEvent(&event);

  /* Board layout:

         +----------+

         |         *| RST   PITCH  ROLL  HEADING

     ACR |*        *| SCL

     INT |*        *| SDA     ^            <-\

     PS1 |*        *| GND     |              |   

     PS0 |*        *| 3VO     Y    Z-->   X -/

         |         *| VIN 

         +----------+

  */

  /* The processing sketch expects data as roll, pitch, heading */

  Serial.print(F("Orientation: "));

  Serial.print((float)event.orientation.x);

  Serial.print(F(" "));

  Serial.print((float)event.orientation.y);

  Serial.print(F(" "));

  Serial.print((float)event.orientation.z);

  Serial.println(F(""));

  delay(BNO055_SAMPLERATE_DELAY_MS);

}

import processing.serial.*;

import java.awt.datatransfer.*;

import java.awt.Toolkit;

import processing.opengl.*;

import saito.objloader.*;

import g4p_controls.*;

float roll  = 0.0F;

float pitch = 0.0F;

float yaw   = 0.0F;

float temp  = 0.0F;

float alt   = 0.0F;

OBJModel model;

// Serial port state.

Serial       port;

String       buffer = "";

final String serialConfigFile = "serialconfig.txt";

boolean      printSerial = false;

// UI controls.

GPanel    configPanel;

GDropList serialList;

GLabel    serialLabel;

GCheckbox printSerialCheckbox;

void setup()

{

  size(400, 550, OPENGL);

  frameRate(30);

  model = new OBJModel(this);

  model.load("bunny.obj");

  model.scale(20);

  // Serial port setup.

  // Grab list of serial ports and choose one that was persisted earlier or default to the first port.

  int selectedPort = 0;

  String[] availablePorts = Serial.list();

  if (availablePorts == null) {

    println("ERROR: No serial ports available!");

    exit();

  }

  String[] serialConfig = loadStrings(serialConfigFile);

  if (serialConfig != null && serialConfig.length > 0) {

    String savedPort = serialConfig[0];

    // Check if saved port is in available ports.

    for (int i = 0; i < availablePorts.length; ++i) {

      if (availablePorts[i].equals(savedPort)) {

        selectedPort = i;

      } 

    }

  }

  // Build serial config UI.

  configPanel = new GPanel(this, 10, 10, width-20, 90, "Configuration (click to hide/show)");

  serialLabel = new GLabel(this,  0, 20, 80, 25, "Serial port:");

  configPanel.addControl(serialLabel);

  serialList = new GDropList(this, 90, 20, 200, 200, 6);

  serialList.setItems(availablePorts, selectedPort);

  configPanel.addControl(serialList);

  printSerialCheckbox = new GCheckbox(this, 5, 50, 200, 20, "Print serial data");

  printSerialCheckbox.setSelected(printSerial);

  configPanel.addControl(printSerialCheckbox);

  // Set serial port.

  setSerialPort(serialList.getSelectedText());

}

void draw()

{

  background(0,0,0);

  // Set a new co-ordinate space

  pushMatrix();

  // Simple 3 point lighting for dramatic effect.

  // Slightly red light in upper right, slightly blue light in upper left, and white light from behind.

  pointLight(255, 200, 200,  400, 400,  500);

  pointLight(200, 200, 255, -400, 400,  500);

  pointLight(255, 255, 255,    0,   0, -500);

  // Displace objects from 0,0

  translate(200, 300, 0);

  // Rotate shapes around the X/Y/Z axis (values in radians, 0..Pi*2)

  rotateZ(radians(roll * -1.0F));

  rotateX(radians(pitch));

  pushMatrix();

  noStroke();

  model.draw();

  popMatrix();

  popMatrix();

  //print("draw");

}

void serialEvent(Serial p) 

{

  String incoming = p.readString();

  if (printSerial) {

    println(incoming);

  }

  if ((incoming.length() > 8))

  {

    String[] list = split(incoming, " ");

    if ( (list.length > 0) && (list[0].equals("Orientation:")) ) 

    {

      roll  = float(list[3]); // Roll = Z

      pitch = float(list[2]); // Pitch = Y 

      yaw   = float(list[1]); // Yaw/Heading = X

      buffer = incoming;

    }

    if ( (list.length > 0) && (list[0].equals("Alt:")) ) 

    {

      alt  = float(list[1]);

      buffer = incoming;

    }

    if ( (list.length > 0) && (list[0].equals("Temp:")) ) 

    {

      temp  = float(list[1]);

      buffer = incoming;

    }

  }

}

// Set serial port to desired value.

void setSerialPort(String portName) {

  // Close the port if it's currently open.

  if (port != null) {

    port.stop();

  }

  try {

    // Open port.

    port = new Serial(this, portName, 115200);

    port.bufferUntil('\n');

    // Persist port in configuration.

    saveStrings(serialConfigFile, new String[] { portName });

  }

  catch (RuntimeException ex) {

    // Swallow error if port can't be opened, keep port closed.

    port = null; 

  }

}

// UI event handlers

void handlePanelEvents(GPanel panel, GEvent event) {

  // Panel events, do nothing.

}

void handleDropListEvents(GDropList list, GEvent event) { 

  // Drop list events, check if new serial port is selected.

  if (list == serialList) {

    setSerialPort(serialList.getSelectedText()); 

  }

}

void handleToggleControlEvents(GToggleControl checkbox, GEvent event) { 

  // Checkbox toggle events, check if print events is toggled.

  if (checkbox == printSerialCheckbox) {

    printSerial = printSerialCheckbox.isSelected(); 

  }

}

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# File Created: 04.07.2010 10:41:39

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