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d4b536b593
The API has been changed in some cases - see the apichanges.md
document.
In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.
This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.
The Python, JS, and Java examples have been changed to use these
methods. Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.
As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:
...
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
...
sensor.getEulerAngles(x, y, z)
...
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
print(" Roll:", sensorObj.floatp_value(y), end=' ')
...
Now the equivalent code is simply:
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], ...
print(" Roll:", floatData[1], end=' ')
...
Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .
Signed-off-by: Jon Trulson <jtrulson@ics.com>
120 lines
3.4 KiB
C
120 lines
3.4 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* The MIT License
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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 <stdbool.h>
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#include <stdio.h>
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#include <upm_utilities.h>
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#include <signal.h>
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#include "bno055.h"
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bool 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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// Initialize a 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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bno055_context sensor = bno055_init(0, BNO055_DEFAULT_ADDR);
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if (!sensor)
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{
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printf("bno055_init() failed.\n");
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return 1;
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}
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// First we need to calibrate....
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printf("First we need to calibrate. 4 numbers will be output every \n"
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"second for each sensor. 0 means uncalibrated, and 3 means \n"
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"fully calibrated.\n"
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"See the UPM documentation on this sensor for instructions on \n"
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"what actions are required to calibrate.\n");
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// do the calibration...
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while (shouldRun && !bno055_is_fully_calibrated(sensor))
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{
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int mag, acc, gyr, sys;
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bno055_get_calibration_status(sensor, &mag, &acc, &gyr, &sys);
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printf("Magnetometer: %d Accelerometer: %d Gyroscope: %d System: %d\n",
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mag, acc, gyr, sys);
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upm_delay(1);
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}
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printf("\nCalibration complete.\n\n");
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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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if (bno055_update(sensor))
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{
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printf("bno055_update() failed.\n");
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return 1;
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}
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bno055_get_euler_angles(sensor, &x, &y, &z);
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printf("Euler: Heading: %f Roll: %f Pitch: %f degrees\n",
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x, y, z);
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bno055_get_quaternions(sensor, &w, &x, &y, &z);
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printf("Quaternion: W: %f X: %f Y: %f Z: %f\n",
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w, x, y, z);
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bno055_get_linear_acceleration(sensor, &x, &y, &z);
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printf("Linear Acceleration: X: %f Y: %f Z: %f m/s^2\n",
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x, y, z);
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bno055_get_gravity_vectors(sensor, &x, &y, &z);
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printf("Gravity Vector: X: %f Y: %f Z: %f m/s^2\n",
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x, y, z);
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printf("\n");
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upm_delay_ms(250);
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}
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//! [Interesting]
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printf("Exiting...\n");
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bno055_close(sensor);
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return 0;
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}
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