adafruit_bno055 / examples / sensorapi / sensorapi.ino @ 32ddee6e
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1 | 4bc1c0c1 | Kevin Townsend | #include <Wire.h> |
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2 | #include <Adafruit_Sensor.h> |
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3 | #include <Adafruit_BNO055.h> |
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4 | #include <utility/imumaths.h> |
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5 | |||
6 | /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor), |
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7 | which provides a common 'type' for sensor data and some helper functions. |
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8 | 8ac2d6f6 | Kevin Townsend | |
9 | 4bc1c0c1 | Kevin Townsend | To use this driver you will also need to download the Adafruit_Sensor |
10 | library and include it in your libraries folder. |
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11 | |||
12 | You should also assign a unique ID to this sensor for use with |
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13 | the Adafruit Sensor API so that you can identify this particular |
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14 | sensor in any data logs, etc. To assign a unique ID, simply |
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15 | provide an appropriate value in the constructor below (12345 |
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16 | is used by default in this example). |
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17 | 8ac2d6f6 | Kevin Townsend | |
18 | 4bc1c0c1 | Kevin Townsend | Connections |
19 | =========== |
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20 | Connect SCL to analog 5 |
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21 | Connect SDA to analog 4 |
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22 | c4f272e1 | ladyada | Connect VDD to 3-5V DC |
23 | 4bc1c0c1 | Kevin Townsend | Connect GROUND to common ground |
24 | 8ac2d6f6 | Kevin Townsend | |
25 | 4bc1c0c1 | Kevin Townsend | History |
26 | ======= |
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27 | 2015/MAR/03 - First release (KTOWN) |
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28 | 3237e6e5 | Kevin Townsend | 2015/AUG/27 - Added calibration and system status helpers |
29 | 4bc1c0c1 | Kevin Townsend | */ |
30 | |||
31 | /* Set the delay between fresh samples */ |
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32 | c4f272e1 | ladyada | #define BNO055_SAMPLERATE_DELAY_MS (100) |
33 | 8ac2d6f6 | Kevin Townsend | |
34 | 4bc1c0c1 | Kevin Townsend | Adafruit_BNO055 bno = Adafruit_BNO055(55); |
35 | |||
36 | /**************************************************************************/ |
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37 | /* |
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38 | Displays some basic information on this sensor from the unified |
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39 | sensor API sensor_t type (see Adafruit_Sensor for more information) |
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40 | */ |
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41 | /**************************************************************************/ |
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42 | void displaySensorDetails(void) |
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43 | { |
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44 | sensor_t sensor; |
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45 | bno.getSensor(&sensor); |
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46 | Serial.println("------------------------------------"); |
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47 | Serial.print ("Sensor: "); Serial.println(sensor.name); |
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48 | Serial.print ("Driver Ver: "); Serial.println(sensor.version); |
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49 | Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id); |
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50 | Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" xxx"); |
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51 | Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" xxx"); |
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52 | 8ac2d6f6 | Kevin Townsend | Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" xxx"); |
53 | 4bc1c0c1 | Kevin Townsend | Serial.println("------------------------------------"); |
54 | Serial.println(""); |
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55 | delay(500); |
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56 | } |
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57 | |||
58 | /**************************************************************************/ |
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59 | /* |
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60 | 8ac2d6f6 | Kevin Townsend | Display some basic info about the sensor status |
61 | */ |
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62 | /**************************************************************************/ |
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63 | void displaySensorStatus(void) |
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64 | { |
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65 | /* Get the system status values (mostly for debugging purposes) */ |
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66 | uint8_t system_status, self_test_results, system_error; |
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67 | system_status = self_test_results = system_error = 0; |
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68 | bno.getSystemStatus(&system_status, &self_test_results, &system_error); |
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69 | |||
70 | /* Display the results in the Serial Monitor */ |
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71 | 32ddee6e | Kevin Townsend | Serial.println(""); |
72 | 8ac2d6f6 | Kevin Townsend | Serial.print("System Status: 0x"); |
73 | Serial.println(system_status, HEX); |
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74 | Serial.print("Self Test: 0x"); |
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75 | Serial.println(self_test_results, HEX); |
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76 | Serial.print("System Error: 0x"); |
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77 | Serial.println(system_error, HEX); |
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78 | Serial.println(""); |
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79 | delay(500); |
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80 | } |
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81 | |||
82 | /**************************************************************************/ |
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83 | /* |
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84 | 3237e6e5 | Kevin Townsend | Display sensor calibration status |
85 | */ |
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86 | /**************************************************************************/ |
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87 | void displayCalStatus(void) |
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88 | { |
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89 | /* Get the four calibration values (0..3) */ |
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90 | /* Any sensor data reporting 0 should be ignored, */ |
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91 | /* 3 means 'fully calibrated" */ |
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92 | uint8_t system, gyro, accel, mag; |
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93 | system = gyro = accel = mag = 0; |
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94 | bno.getCalibration(&system, &gyro, &accel, &mag); |
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95 | |||
96 | /* The data should be ignored until the system calibration is > 0 */ |
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97 | Serial.print("\t"); |
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98 | if (!system) |
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99 | { |
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100 | Serial.print("! "); |
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101 | } |
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102 | |||
103 | /* Display the individual values */ |
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104 | Serial.print("Sys:"); |
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105 | Serial.print(system, DEC); |
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106 | Serial.print(" G:"); |
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107 | Serial.print(gyro, DEC); |
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108 | Serial.print(" A:"); |
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109 | Serial.print(accel, DEC); |
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110 | Serial.print(" M:"); |
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111 | 32ddee6e | Kevin Townsend | Serial.print(mag, DEC); |
112 | 3237e6e5 | Kevin Townsend | } |
113 | |||
114 | /**************************************************************************/ |
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115 | /* |
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116 | 4bc1c0c1 | Kevin Townsend | Arduino setup function (automatically called at startup) |
117 | */ |
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118 | /**************************************************************************/ |
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119 | 8ac2d6f6 | Kevin Townsend | void setup(void) |
120 | 4bc1c0c1 | Kevin Townsend | { |
121 | Serial.begin(9600); |
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122 | Serial.println("Orientation Sensor Test"); Serial.println(""); |
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123 | 8ac2d6f6 | Kevin Townsend | |
124 | 4bc1c0c1 | Kevin Townsend | /* Initialise the sensor */ |
125 | if(!bno.begin()) |
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126 | { |
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127 | /* There was a problem detecting the BNO055 ... check your connections */ |
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128 | Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!"); |
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129 | while(1); |
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130 | } |
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131 | 8ac2d6f6 | Kevin Townsend | |
132 | 4bc1c0c1 | Kevin Townsend | delay(1000); |
133 | 8ac2d6f6 | Kevin Townsend | |
134 | 4bc1c0c1 | Kevin Townsend | /* Display some basic information on this sensor */ |
135 | displaySensorDetails(); |
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136 | 67f3cff5 | Kevin Townsend | |
137 | 8ac2d6f6 | Kevin Townsend | /* Optional: Display current status */ |
138 | 32ddee6e | Kevin Townsend | displaySensorStatus(); |
139 | 8ac2d6f6 | Kevin Townsend | |
140 | c4f272e1 | ladyada | bno.setExtCrystalUse(true); |
141 | 4bc1c0c1 | Kevin Townsend | } |
142 | |||
143 | /**************************************************************************/ |
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144 | /* |
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145 | Arduino loop function, called once 'setup' is complete (your own code |
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146 | should go here) |
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147 | */ |
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148 | /**************************************************************************/ |
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149 | 8ac2d6f6 | Kevin Townsend | void loop(void) |
150 | 4bc1c0c1 | Kevin Townsend | { |
151 | 8ac2d6f6 | Kevin Townsend | /* Get a new sensor event */ |
152 | sensors_event_t event; |
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153 | fcd68623 | Kevin Townsend | bno.getEvent(&event); |
154 | 8ac2d6f6 | Kevin Townsend | |
155 | fcd68623 | Kevin Townsend | /* Display the floating point data */ |
156 | 4bc1c0c1 | Kevin Townsend | Serial.print("X: "); |
157 | c4f272e1 | ladyada | Serial.print(event.orientation.x, 4); |
158 | Serial.print("\tY: "); |
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159 | Serial.print(event.orientation.y, 4); |
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160 | Serial.print("\tZ: "); |
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161 | Serial.print(event.orientation.z, 4); |
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162 | 3237e6e5 | Kevin Townsend | |
163 | /* Optional: Display calibration status */ |
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164 | 32ddee6e | Kevin Townsend | displayCalStatus(); |
165 | |||
166 | /* Optional: Display sensor status (debug only) */ |
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167 | //displaySensorStatus(); |
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168 | 3237e6e5 | Kevin Townsend | |
169 | /* New line for the next sample */ |
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170 | 48741e1f | Kevin Townsend | Serial.println(""); |
171 | 8ac2d6f6 | Kevin Townsend | |
172 | 3237e6e5 | Kevin Townsend | /* Wait the specified delay before requesting nex data */ |
173 | 4bc1c0c1 | Kevin Townsend | delay(BNO055_SAMPLERATE_DELAY_MS); |
174 | 48741e1f | Kevin Townsend | } |