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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 SCL pin (analog 5 on Arduino UNO)
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   Connect SDA to SDA pin (analog 4 on Arduino UNO)
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   Connect VDD to 3-5V DC (depending on your board's logic level)
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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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   2015/AUG/27  - Added calibration and system status helpers
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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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    Display some basic info about the sensor status
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*/
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/**************************************************************************/
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void displaySensorStatus(void)
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{
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  /* Get the system status values (mostly for debugging purposes) */
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  uint8_t system_status, self_test_results, system_error;
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  system_status = self_test_results = system_error = 0;
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  bno.getSystemStatus(&system_status, &self_test_results, &system_error);
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  /* Display the results in the Serial Monitor */
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  Serial.println("");
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  Serial.print("System Status: 0x");
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  Serial.println(system_status, HEX);
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  Serial.print("Self Test:     0x");
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  Serial.println(self_test_results, HEX);
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  Serial.print("System Error:  0x");
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  Serial.println(system_error, HEX);
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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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    Display sensor calibration status
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*/
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/**************************************************************************/
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void displayCalStatus(void)
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{
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  /* Get the four calibration values (0..3) */
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  /* Any sensor data reporting 0 should be ignored, */
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  /* 3 means 'fully calibrated" */
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  uint8_t system, gyro, accel, mag;
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  system = gyro = accel = mag = 0;
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  bno.getCalibration(&system, &gyro, &accel, &mag);
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  /* The data should be ignored until the system calibration is > 0 */
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  Serial.print("\t");
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  if (!system)
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  {
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    Serial.print("! ");
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  }
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  /* Display the individual values */
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  Serial.print("Sys:");
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  Serial.print(system, DEC);
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  Serial.print(" G:");
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  Serial.print(gyro, DEC);
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  Serial.print(" A:");
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  Serial.print(accel, DEC);
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  Serial.print(" M:");
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  Serial.print(mag, DEC);
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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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  /* Display some basic information on this sensor */
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  displaySensorDetails();
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  /* Optional: Display current status */
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  displaySensorStatus();
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  bno.setExtCrystalUse(true);
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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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  /* Display the floating point data */
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  Serial.print("X: ");
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  Serial.print(event.orientation.x, 4);
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  Serial.print("\tY: ");
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  Serial.print(event.orientation.y, 4);
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  Serial.print("\tZ: ");
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  Serial.print(event.orientation.z, 4);
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  /* Optional: Display calibration status */
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  displayCalStatus();
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  /* Optional: Display sensor status (debug only) */
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  //displaySensorStatus();
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  /* New line for the next sample */
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  Serial.println("");
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  /* Wait the specified delay before requesting nex data */
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  delay(BNO055_SAMPLERATE_DELAY_MS);
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}