/* * Author: Jon Trulson * 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 #include #include #include #include #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, NULL); 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; }