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 3-5V DC

   Connect GROUND to common ground

   History

   =======

   2015/MAR/03  - First release (KTOWN)

   2015/AUG/27  - Added calibration and system status helpers

*/

/* 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);

}

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

/*

    Display some basic info about the sensor status

*/

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

void displaySensorStatus(void)

{

  /* Get the system status values (mostly for debugging purposes) */

  uint8_t system_status, self_test_results, system_error;

  system_status = self_test_results = system_error = 0;

  bno.getSystemStatus(&system_status, &self_test_results, &system_error);

  /* Display the results in the Serial Monitor */

  Serial.println("");

  Serial.print("System Status: 0x");

  Serial.println(system_status, HEX);

  Serial.print("Self Test:     0x");

  Serial.println(self_test_results, HEX);

  Serial.print("System Error:  0x");

  Serial.println(system_error, HEX);

  Serial.println("");

  delay(500);

}

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

/*

    Display sensor calibration status

*/

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

void displayCalStatus(void)

{

  /* Get the four calibration values (0..3) */

  /* Any sensor data reporting 0 should be ignored, */

  /* 3 means 'fully calibrated" */

  uint8_t system, gyro, accel, mag;

  system = gyro = accel = mag = 0;

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

  /* The data should be ignored until the system calibration is > 0 */

  Serial.print("\t");

  if (!system)

  {

    Serial.print("! ");

  }

  /* Display the individual values */

  Serial.print("Sys:");

  Serial.print(system, DEC);

  Serial.print(" G:");

  Serial.print(gyro, DEC);

  Serial.print(" A:");

  Serial.print(accel, DEC);

  Serial.print(" M:");

  Serial.print(mag, DEC);

}

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

/*

    Arduino setup function (automatically called at startup)

*/

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

void setup(void)

{

  Serial.begin(9600);

  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();

  /* Optional: Display current status */

  displaySensorStatus();

  bno.setExtCrystalUse(true);

}

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

/*

    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);

  /* Display the floating point data */

  Serial.print("X: ");

  Serial.print(event.orientation.x, 4);

  Serial.print("\tY: ");

  Serial.print(event.orientation.y, 4);

  Serial.print("\tZ: ");

  Serial.print(event.orientation.z, 4);

  /* Optional: Display calibration status */

  displayCalStatus();

  /* Optional: Display sensor status (debug only) */

  //displaySensorStatus();

  /* New line for the next sample */

  Serial.println("");

  /* Wait the specified delay before requesting nex data */

  delay(BNO055_SAMPLERATE_DELAY_MS);

}