upm/examples/c/bno055.c
Mihai Tudor Panu 89d5de43e0 license: update to SPDX style license text throughout
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
2020-03-05 15:13:36 -08:00

107 lines
2.5 KiB
C

/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* The MIT License
*
* This program and the accompanying materials are made available under the
* terms of the The MIT License which is available at
* https://opensource.org/licenses/MIT.
*
* SPDX-License-Identifier: MIT
*/
#include <unistd.h>
#include <stdbool.h>
#include <stdio.h>
#include <upm_utilities.h>
#include <signal.h>
#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;
}