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adafruit_bno055 / examples / rawdata / rawdata.ino @ master

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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 reads raw data from the BNO055
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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 3.3V 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(-1, 0x28);
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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 Raw Data 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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  /* Display the current temperature */
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  int8_t temp = bno.getTemp();
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  Serial.print("Current Temperature: ");
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  Serial.print(temp);
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  Serial.println(" C");
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  Serial.println("");
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  bno.setExtCrystalUse(true);
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  Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");
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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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  // Possible vector values can be:
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  // - VECTOR_ACCELEROMETER - m/s^2
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  // - VECTOR_MAGNETOMETER  - uT
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  // - VECTOR_GYROSCOPE     - rad/s
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  // - VECTOR_EULER         - degrees
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  // - VECTOR_LINEARACCEL   - m/s^2
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  // - VECTOR_GRAVITY       - m/s^2
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  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
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  /* Display the floating point data */
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  Serial.print("X: ");
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  Serial.print(euler.x());
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  Serial.print(" Y: ");
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  Serial.print(euler.y());
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  Serial.print(" Z: ");
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  Serial.print(euler.z());
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  Serial.print("\t\t");
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  /*
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  // Quaternion data
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  imu::Quaternion quat = bno.getQuat();
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  Serial.print("qW: ");
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  Serial.print(quat.w(), 4);
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  Serial.print(" qX: ");
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  Serial.print(quat.x(), 4);
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  Serial.print(" qY: ");
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  Serial.print(quat.y(), 4);
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  Serial.print(" qZ: ");
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  Serial.print(quat.z(), 4);
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  Serial.print("\t\t");
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  */
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  /* Display calibration status for each sensor. */
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  uint8_t system, gyro, accel, mag = 0;
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  bno.getCalibration(&system, &gyro, &accel, &mag);
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  Serial.print("CALIBRATION: Sys=");
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  Serial.print(system, DEC);
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  Serial.print(" Gyro=");
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  Serial.print(gyro, DEC);
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  Serial.print(" Accel=");
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  Serial.print(accel, DEC);
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  Serial.print(" Mag=");
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  Serial.println(mag, DEC);
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  delay(BNO055_SAMPLERATE_DELAY_MS);
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}