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107 lines
2.5 KiB
C
107 lines
2.5 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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* This program and the accompanying materials are made available under the
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* terms of the The MIT License which is available at
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* https://opensource.org/licenses/MIT.
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*
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* SPDX-License-Identifier: MIT
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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, NULL);
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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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