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91 lines
2.4 KiB
C++
91 lines
2.4 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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* 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 <iostream>
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#include <signal.h>
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#include "bno055.hpp"
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#include "upm_utilities.h"
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using namespace std;
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int shouldRun = true;
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void
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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
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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;
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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" << endl;
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cout << "second for each sensor. 0 means uncalibrated, and 3 means" << endl;
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cout << "fully calibrated." << endl;
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cout << "See the UPM documentation on this sensor for instructions on" << endl;
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cout << "what actions are required to calibrate." << 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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int mag, acc, gyr, sys;
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sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
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cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
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<< " System: " << sys << endl;
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upm_delay(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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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 << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
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sensor.getQuaternions(&w, &x, &y, &z);
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cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
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sensor.getLinearAcceleration(&x, &y, &z);
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cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
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sensor.getGravityVectors(&x, &y, &z);
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cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
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cout << endl;
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upm_delay_us(250000);
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}
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//! [Interesting]
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cout << "Exiting..." << endl;
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return 0;
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}
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