Statistics
| Branch: | Revision:

adafruit_bno055 / examples / sensorapi / sensorapi.ino @ a64dd7d6

History | View | Annotate | Download (5.574 KB)

1
#include <Wire.h>
2
#include <Adafruit_Sensor.h>
3
#include <Adafruit_BNO055.h>
4
#include <utility/imumaths.h>
5

    
6
/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
7
   which provides a common 'type' for sensor data and some helper functions.
8

    
9
   To use this driver you will also need to download the Adafruit_Sensor
10
   library and include it in your libraries folder.
11

    
12
   You should also assign a unique ID to this sensor for use with
13
   the Adafruit Sensor API so that you can identify this particular
14
   sensor in any data logs, etc.  To assign a unique ID, simply
15
   provide an appropriate value in the constructor below (12345
16
   is used by default in this example).
17

    
18
   Connections
19
   ===========
20
   Connect SCL to SCL pin (analog 5 on Arduino UNO)
21
   Connect SDA to SDA pin (analog 4 on Arduino UNO)
22
   Connect VDD to 3-5V DC (depending on your board's logic level)
23
   Connect GROUND to common ground
24

    
25
   History
26
   =======
27
   2015/MAR/03  - First release (KTOWN)
28
   2015/AUG/27  - Added calibration and system status helpers
29
*/
30

    
31
/* Set the delay between fresh samples */
32
#define BNO055_SAMPLERATE_DELAY_MS (100)
33

    
34
// Check I2C device address and correct line below (by default address is 0x29 or 0x28)
35
//                                   id, address
36
Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
37

    
38
/**************************************************************************/
39
/*
40
    Displays some basic information on this sensor from the unified
41
    sensor API sensor_t type (see Adafruit_Sensor for more information)
42
*/
43
/**************************************************************************/
44
void displaySensorDetails(void)
45
{
46
  sensor_t sensor;
47
  bno.getSensor(&sensor);
48
  Serial.println("------------------------------------");
49
  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
50
  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
51
  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
52
  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");
53
  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");
54
  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");
55
  Serial.println("------------------------------------");
56
  Serial.println("");
57
  delay(500);
58
}
59

    
60
/**************************************************************************/
61
/*
62
    Display some basic info about the sensor status
63
*/
64
/**************************************************************************/
65
void displaySensorStatus(void)
66
{
67
  /* Get the system status values (mostly for debugging purposes) */
68
  uint8_t system_status, self_test_results, system_error;
69
  system_status = self_test_results = system_error = 0;
70
  bno.getSystemStatus(&system_status, &self_test_results, &system_error);
71

    
72
  /* Display the results in the Serial Monitor */
73
  Serial.println("");
74
  Serial.print("System Status: 0x");
75
  Serial.println(system_status, HEX);
76
  Serial.print("Self Test:     0x");
77
  Serial.println(self_test_results, HEX);
78
  Serial.print("System Error:  0x");
79
  Serial.println(system_error, HEX);
80
  Serial.println("");
81
  delay(500);
82
}
83

    
84
/**************************************************************************/
85
/*
86
    Display sensor calibration status
87
*/
88
/**************************************************************************/
89
void displayCalStatus(void)
90
{
91
  /* Get the four calibration values (0..3) */
92
  /* Any sensor data reporting 0 should be ignored, */
93
  /* 3 means 'fully calibrated" */
94
  uint8_t system, gyro, accel, mag;
95
  system = gyro = accel = mag = 0;
96
  bno.getCalibration(&system, &gyro, &accel, &mag);
97

    
98
  /* The data should be ignored until the system calibration is > 0 */
99
  Serial.print("\t");
100
  if (!system)
101
  {
102
    Serial.print("! ");
103
  }
104

    
105
  /* Display the individual values */
106
  Serial.print("Sys:");
107
  Serial.print(system, DEC);
108
  Serial.print(" G:");
109
  Serial.print(gyro, DEC);
110
  Serial.print(" A:");
111
  Serial.print(accel, DEC);
112
  Serial.print(" M:");
113
  Serial.print(mag, DEC);
114
}
115

    
116
/**************************************************************************/
117
/*
118
    Arduino setup function (automatically called at startup)
119
*/
120
/**************************************************************************/
121
void setup(void)
122
{
123
  Serial.begin(115200);
124
  Serial.println("Orientation Sensor Test"); Serial.println("");
125

    
126
  /* Initialise the sensor */
127
  if(!bno.begin())
128
  {
129
    /* There was a problem detecting the BNO055 ... check your connections */
130
    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
131
    while(1);
132
  }
133

    
134
  delay(1000);
135

    
136
  /* Display some basic information on this sensor */
137
  displaySensorDetails();
138

    
139
  /* Optional: Display current status */
140
  displaySensorStatus();
141

    
142
  bno.setExtCrystalUse(true);
143
}
144

    
145
/**************************************************************************/
146
/*
147
    Arduino loop function, called once 'setup' is complete (your own code
148
    should go here)
149
*/
150
/**************************************************************************/
151
void loop(void)
152
{
153
  /* Get a new sensor event */
154
  sensors_event_t event;
155
  bno.getEvent(&event);
156

    
157
  /* Display the floating point data */
158
  Serial.print("X: ");
159
  Serial.print(event.orientation.x, 4);
160
  Serial.print("\tY: ");
161
  Serial.print(event.orientation.y, 4);
162
  Serial.print("\tZ: ");
163
  Serial.print(event.orientation.z, 4);
164

    
165
  /* Optional: Display calibration status */
166
  displayCalStatus();
167

    
168
  /* Optional: Display sensor status (debug only) */
169
  //displaySensorStatus();
170

    
171
  /* New line for the next sample */
172
  Serial.println("");
173

    
174
  /* Wait the specified delay before requesting nex data */
175
  delay(BNO055_SAMPLERATE_DELAY_MS);
176
}