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adafruit_bno055 / examples / bunny / bunny.ino @ a64dd7d6

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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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   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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// 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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/*
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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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}