mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00
120 lines
3.4 KiB
C
120 lines
3.4 KiB
C
![]() |
/*
|
||
|
* Author: Jon Trulson <jtrulson@ics.com>
|
||
|
* Copyright (c) 2017 Intel Corporation.
|
||
|
*
|
||
|
* The MIT License
|
||
|
*
|
||
|
* 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 <unistd.h>
|
||
|
#include <stdbool.h>
|
||
|
#include <stdio.h>
|
||
|
#include <upm_utilities.h>
|
||
|
|
||
|
#include <signal.h>
|
||
|
#include "bno055.h"
|
||
|
|
||
|
bool shouldRun = true;
|
||
|
|
||
|
void sig_handler(int signo)
|
||
|
{
|
||
|
if (signo == SIGINT)
|
||
|
shouldRun = false;
|
||
|
}
|
||
|
|
||
|
|
||
|
int main(int argc, char **argv)
|
||
|
{
|
||
|
signal(SIGINT, sig_handler);
|
||
|
//! [Interesting]
|
||
|
|
||
|
// Initialize a BNO055 using default parameters (bus 0, addr
|
||
|
// 0x28). The default running mode is NDOF absolute orientation
|
||
|
// mode.
|
||
|
bno055_context sensor = bno055_init(0, BNO055_DEFAULT_ADDR);
|
||
|
|
||
|
if (!sensor)
|
||
|
{
|
||
|
printf("bno055_init() failed.\n");
|
||
|
return 1;
|
||
|
}
|
||
|
|
||
|
// First we need to calibrate....
|
||
|
printf("First we need to calibrate. 4 numbers will be output every \n"
|
||
|
"second for each sensor. 0 means uncalibrated, and 3 means \n"
|
||
|
"fully calibrated.\n"
|
||
|
"See the UPM documentation on this sensor for instructions on \n"
|
||
|
"what actions are required to calibrate.\n");
|
||
|
|
||
|
// do the calibration...
|
||
|
while (shouldRun && !bno055_is_fully_calibrated(sensor))
|
||
|
{
|
||
|
int mag, acc, gyr, sys;
|
||
|
bno055_get_calibration_status(sensor, &mag, &acc, &gyr, &sys);
|
||
|
|
||
|
printf("Magnetometer: %d Accelerometer: %d Gyroscope: %d System: %d\n",
|
||
|
mag, acc, gyr, sys);
|
||
|
|
||
|
upm_delay(1);
|
||
|
}
|
||
|
|
||
|
printf("\nCalibration complete.\n\n");
|
||
|
|
||
|
// now output various fusion data every 250 milliseconds
|
||
|
while (shouldRun)
|
||
|
{
|
||
|
float w, x, y, z;
|
||
|
|
||
|
if (bno055_update(sensor))
|
||
|
{
|
||
|
printf("bno055_update() failed.\n");
|
||
|
return 1;
|
||
|
}
|
||
|
|
||
|
bno055_get_euler_angles(sensor, &x, &y, &z);
|
||
|
printf("Euler: Heading: %f Roll: %f Pitch: %f degrees\n",
|
||
|
x, y, z);
|
||
|
|
||
|
bno055_get_quaternions(sensor, &w, &x, &y, &z);
|
||
|
printf("Quaternion: W: %f X: %f Y: %f Z: %f\n",
|
||
|
w, x, y, z);
|
||
|
|
||
|
bno055_get_linear_acceleration(sensor, &x, &y, &z);
|
||
|
printf("Linear Acceleration: X: %f Y: %f Z: %f m/s^2\n",
|
||
|
x, y, z);
|
||
|
|
||
|
bno055_get_gravity_vectors(sensor, &x, &y, &z);
|
||
|
printf("Gravity Vector: X: %f Y: %f Z: %f m/s^2\n",
|
||
|
x, y, z);
|
||
|
|
||
|
printf("\n");
|
||
|
upm_delay_ms(250);
|
||
|
}
|
||
|
|
||
|
//! [Interesting]
|
||
|
|
||
|
printf("Exiting...\n");
|
||
|
|
||
|
bno055_close(sensor);
|
||
|
|
||
|
return 0;
|
||
|
}
|