BRIX5

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

/* This driver reads raw data from the BNO055

   Connections

   ===========

   Connect SCL to analog 5

   Connect SDA to analog 4

   Connect VDD to 3.3V 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)

// Check I2C device address and correct line below (by default address is 0x29 or 0x28)

//                                   id, address

Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28);

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

/*

    Arduino setup function (automatically called at startup)

*/

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

void setup(void)

{

  Serial.begin(115200);

  Serial.println("Orientation Sensor Raw Data 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 the current temperature */

  int8_t temp = bno.getTemp();

  Serial.print("Current Temperature: ");

  Serial.print(temp);

  Serial.println(" C");

  Serial.println("");

  bno.setExtCrystalUse(true);

  Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");

}

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

/*

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

    should go here)

*/

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

void loop(void)

{

  // Possible vector values can be:

  // - VECTOR_ACCELEROMETER - m/s^2

  // - VECTOR_MAGNETOMETER  - uT

  // - VECTOR_GYROSCOPE     - rad/s

  // - VECTOR_EULER         - degrees

  // - VECTOR_LINEARACCEL   - m/s^2

  // - VECTOR_GRAVITY       - m/s^2

  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);

  /* Display the floating point data */

  Serial.print("X: ");

  Serial.print(euler.x());

  Serial.print(" Y: ");

  Serial.print(euler.y());

  Serial.print(" Z: ");

  Serial.print(euler.z());

  Serial.print("\t\t");

  /*

  // Quaternion data

  imu::Quaternion quat = bno.getQuat();

  Serial.print("qW: ");

  Serial.print(quat.w(), 4);

  Serial.print(" qX: ");

  Serial.print(quat.x(), 4);

  Serial.print(" qY: ");

  Serial.print(quat.y(), 4);

  Serial.print(" qZ: ");

  Serial.print(quat.z(), 4);

  Serial.print("\t\t");

  */

  /* Display calibration status for each sensor. */

  uint8_t system, gyro, accel, mag = 0;

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

  Serial.print("CALIBRATION: Sys=");

  Serial.print(system, DEC);

  Serial.print(" Gyro=");

  Serial.print(gyro, DEC);

  Serial.print(" Accel=");

  Serial.print(accel, DEC);

  Serial.print(" Mag=");

  Serial.println(mag, DEC);

  delay(BNO055_SAMPLERATE_DELAY_MS);

}