BRIX5

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),

   which provides a common 'type' for sensor data and some helper functions.

   To use this driver you will also need to download the Adafruit_Sensor

   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with

   the Adafruit Sensor API so that you can identify this particular

   sensor in any data logs, etc.  To assign a unique ID, simply

   provide an appropriate value in the constructor below (12345

   is used by default in this example).

   Connections

   ===========

   Connect SCL to analog 5

   Connect SDA to analog 4

   Connect VDD to 3.3-5V DC

   Connect GROUND to common ground

   History

   =======

   2015/MAR/03  - First release (KTOWN)

*/

/* Set the delay between fresh samples */

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno = Adafruit_BNO055(55);

/**************************************************************************/

/*

    Displays some basic information on this sensor from the unified

    sensor API sensor_t type (see Adafruit_Sensor for more information)

*/

/**************************************************************************/

void displaySensorDetails(void)

{

  sensor_t sensor;

  bno.getSensor(&sensor);

  Serial.println("------------------------------------");

  Serial.print  ("Sensor:       "); Serial.println(sensor.name);

  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);

  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);

  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");

  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");

  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");

  Serial.println("------------------------------------");

  Serial.println("");

  delay(500);

}

/**************************************************************************/

/*

    Arduino setup function (automatically called at startup)

*/

/**************************************************************************/

void setup(void)

{

  Serial.begin(115200);

  Serial.println("Orientation Sensor Test"); Serial.println("");

  /* Initialise the sensor */

  if(!bno.begin())

  {

    /* There was a problem detecting the BNO055 ... check your connections */

    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");

    while(1);

  }

  delay(1000);

  /* Display some basic information on this sensor */

  displaySensorDetails();

}

/**************************************************************************/

/*

    Arduino loop function, called once 'setup' is complete (your own code

    should go here)

*/

/**************************************************************************/

void loop(void)

{

  /* Get a new sensor event */

  sensors_event_t event;

  bno.getEvent(&event);

  /* Board layout:

         +----------+

         |         *| RST   PITCH  ROLL  HEADING

     ADR |*        *| SCL

     INT |*        *| SDA     ^            /->

     PS1 |*        *| GND     |            |

     PS0 |*        *| 3VO     Y    Z-->    \-X

         |         *| VIN

         +----------+

  */

  /* The processing sketch expects data as roll, pitch, heading */

  Serial.print(F("Orientation: "));

  Serial.print((float)event.orientation.x);

  Serial.print(F(" "));

  Serial.print((float)event.orientation.y);

  Serial.print(F(" "));

  Serial.print((float)event.orientation.z);

  Serial.println(F(""));

  /* Also send calibration data for each sensor. */

  uint8_t sys, gyro, accel, mag = 0;

  bno.getCalibration(&sys, &gyro, &accel, &mag);

  Serial.print(F("Calibration: "));

  Serial.print(sys, DEC);

  Serial.print(F(" "));

  Serial.print(gyro, DEC);

  Serial.print(F(" "));

  Serial.print(accel, DEC);

  Serial.print(F(" "));

  Serial.println(mag, DEC);

  delay(BNO055_SAMPLERATE_DELAY_MS);

}