mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 13:07:40 +03:00
130 lines
3.4 KiB
C++
130 lines
3.4 KiB
C++
![]() |
/*
|
||
|
* 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 <unistd.h>
|
||
|
#include <iostream>
|
||
|
#include <signal.h>
|
||
|
#include "bno055.hpp"
|
||
|
|
||
|
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 = new upm::BNO055();
|
||
|
|
||
|
// 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;
|
||
|
|
||
|
sleep(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;
|
||
|
usleep(250000);
|
||
|
}
|
||
|
|
||
|
//! [Interesting]
|
||
|
|
||
|
cout << "Exiting..." << endl;
|
||
|
|
||
|
delete sensor;
|
||
|
|
||
|
return 0;
|
||
|
}
|