upm/examples/c++/bno055.cxx

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <signal.h>
#include "bno055.hpp"
#include "upm_utilities.h"
using namespace std;
int shouldRun = true;
void
sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int
main(int argc, char** argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BNO055 using default parameters (bus 0, addr
// 0x28). The default running mode is NDOF absolute orientation
// mode.
upm::BNO055 sensor;
// First we need to calibrate....
cout << "First we need to calibrate. 4 numbers will be output every" << endl;
cout << "second for each sensor. 0 means uncalibrated, and 3 means" << endl;
cout << "fully calibrated." << endl;
cout << "See the UPM documentation on this sensor for instructions on" << endl;
cout << "what actions are required to calibrate." << endl;
cout << endl;
// do the calibration...
while (shouldRun && !sensor.isFullyCalibrated()) {
int mag, acc, gyr, sys;
sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
<< " System: " << sys << endl;
upm_delay(1);
}
cout << endl;
cout << "Calibration complete." << endl;
cout << endl;
// now output various fusion data every 250 milliseconds
while (shouldRun) {
float w, x, y, z;
sensor.update();
sensor.getEulerAngles(&x, &y, &z);
cout << "Euler: Heading: " << x << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
sensor.getQuaternions(&w, &x, &y, &z);
cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
sensor.getLinearAcceleration(&x, &y, &z);
cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
sensor.getGravityVectors(&x, &y, &z);
cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
cout << endl;
upm_delay_us(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
return 0;
}