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456bde0726
This driver implements support for the Bosch BNO055 Absolute Orientation 9DOF Fusion Hub. It was implemented on the Adafruit variant at https://www.adafruit.com/products/2472. The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package. This sensor handles the hard problem of combining various sensor information into a reliable measurement of sensor orientation (refered to as 'sensor fusion'). The onboard MCU runs this software and can provide fusion output in the form of Euler Angles, Quaternions, Linear Acceleration, and Gravity Vectors in 3 axes. The focus on this driver has been on supporting the fusion components. Less support is available for use of this device as a generic accelerometer, gyroscope and magnetometer, however enough infrastructure is available to add any missing functionality. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Noel Eck <noel.eck@intel.com>
130 lines
3.4 KiB
C++
130 lines
3.4 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <signal.h>
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#include "bno055.hpp"
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using namespace std;
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int shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an BNO055 using default parameters (bus 0, addr
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// 0x28). The default running mode is NDOF absolute orientation
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// mode.
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upm::BNO055 *sensor = new upm::BNO055();
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// First we need to calibrate....
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cout << "First we need to calibrate. 4 numbers will be output every"
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<< endl;
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cout << "second for each sensor. 0 means uncalibrated, and 3 means"
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<< endl;
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cout << "fully calibrated."
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<< endl;
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cout << "See the UPM documentation on this sensor for instructions on"
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<< endl;
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cout << "what actions are required to calibrate."
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<< endl;
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cout << endl;
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// do the calibration...
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while (shouldRun && !sensor->isFullyCalibrated())
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{
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int mag, acc, gyr, sys;
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sensor->getCalibrationStatus(&mag, &acc, &gyr, &sys);
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cout << "Magnetometer: " << mag
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<< " Accelerometer: " << acc
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<< " Gyroscope: " << gyr
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<< " System: " << sys
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<< endl;
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sleep(1);
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}
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cout << endl;
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cout << "Calibration complete." << endl;
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cout << endl;
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// now output various fusion data every 250 milliseconds
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while (shouldRun)
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{
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float w, x, y, z;
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sensor->update();
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sensor->getEulerAngles(&x, &y, &z);
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cout << "Euler: Heading: " << x
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<< " Roll: " << y
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<< " Pitch: " << z
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<< " degrees"
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<< endl;
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sensor->getQuaternions(&w, &x, &y, &z);
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cout << "Quaternion: W: " << w
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<< " X: " << x
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<< " Y: " << y
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<< " Z: " << z
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<< endl;
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sensor->getLinearAcceleration(&x, &y, &z);
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cout << "Linear Acceleration: X: " << x
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<< " Y: " << y
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<< " Z: " << z
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<< " m/s^2"
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<< endl;
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sensor->getGravityVectors(&x, &y, &z);
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cout << "Gravity Vector: X: " << x
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<< " Y: " << y
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<< " Z: " << z
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<< " m/s^2"
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<< endl;
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cout << endl;
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usleep(250000);
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}
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete sensor;
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return 0;
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}
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