Kenji Arai / Mbed OS Bosch_BNO055_Fusion_example

Based on F401 example.Changed reset sequence and added RESET control and Power On/Off control. Check several mbed, LPC1768, LPC1114, NucleoF401RE, F411RE, L152RE and GR-PEACH

Dependencies:   BNO055_fusion TextLCD

Please see follows.
/users/kenjiArai/notebook/bno055---orientation-sensor/

main.cpp@6:5f380fbcf849, 2017-08-23 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 23 09:45:18 2017 +0000
Revision:
6:5f380fbcf849
Parent:
5:9594519c9462
Child:
7:f244ea2ab994
on Mbed OS5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:31451519d283 1 /*
kenjiArai 0:31451519d283 2 * mbed Application program for the mbed Nucleo F401
kenjiArai 0:31451519d283 3 * BNO055 Intelligent 9-axis absolute orientation sensor
kenjiArai 0:31451519d283 4 * by Bosch Sensortec
kenjiArai 0:31451519d283 5 *
kenjiArai 6:5f380fbcf849 6 * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
kenjiArai 0:31451519d283 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:31451519d283 8 * http://mbed.org/users/kenjiArai/
kenjiArai 0:31451519d283 9 * Created: March 30th, 2015
kenjiArai 6:5f380fbcf849 10 * Revised: August 23rd, 2017
kenjiArai 0:31451519d283 11 */
kenjiArai 0:31451519d283 12
kenjiArai 0:31451519d283 13 // Include ---------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 14 #include "mbed.h"
kenjiArai 0:31451519d283 15 #include "BNO055.h"
kenjiArai 6:5f380fbcf849 16 #include "TextLCD.h"
kenjiArai 0:31451519d283 17
kenjiArai 0:31451519d283 18 // Definition ------------------------------------------------------------------------------------
kenjiArai 3:f5b5c4d795ce 19 #define NUM_LOOP 100
kenjiArai 3:f5b5c4d795ce 20
kenjiArai 6:5f380fbcf849 21 #if MBED_MAJOR_VERSION == 2
kenjiArai 6:5f380fbcf849 22 #define WAIT_MS(x) wait_ms(x)
kenjiArai 6:5f380fbcf849 23 #elif MBED_MAJOR_VERSION == 5
kenjiArai 6:5f380fbcf849 24 #define WAIT_MS(x) Thread::wait(x)
kenjiArai 6:5f380fbcf849 25 #else
kenjiArai 6:5f380fbcf849 26 #error "Running on Unknown OS"
kenjiArai 6:5f380fbcf849 27 #endif
kenjiArai 6:5f380fbcf849 28
kenjiArai 0:31451519d283 29 // Object ----------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 30 Serial pc(USBTX,USBRX);
kenjiArai 2:cf77282aea7b 31 #if defined(TARGET_LPC1114)
kenjiArai 2:cf77282aea7b 32 DigitalOut pwr_onoff(dp17);
kenjiArai 2:cf77282aea7b 33 I2C i2c(dp5, dp27); // SDA, SCL
kenjiArai 2:cf77282aea7b 34 BNO055 imu(i2c, dp18); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 35 #elif defined(TARGET_LPC1768)
kenjiArai 2:cf77282aea7b 36 DigitalOut pwr_onoff(p30);
kenjiArai 2:cf77282aea7b 37 I2C i2c(p28, p27); // SDA, SCL
kenjiArai 2:cf77282aea7b 38 BNO055 imu(i2c, p29); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 39 #elif defined(TARGET_STM32L152RE) || defined(TARGET_STM32F401RE) || defined(TARGET_STM32F411RE)
kenjiArai 6:5f380fbcf849 40 #if 0
kenjiArai 2:cf77282aea7b 41 DigitalOut pwr_onoff(PB_10);
kenjiArai 6:5f380fbcf849 42 #else
kenjiArai 6:5f380fbcf849 43 DigitalOut pwr_onoff(PA_9);
kenjiArai 6:5f380fbcf849 44 #endif
kenjiArai 0:31451519d283 45 I2C i2c(PB_9, PB_8); // SDA, SCL
kenjiArai 6:5f380fbcf849 46 #if 0
kenjiArai 6:5f380fbcf849 47 BNO055 imu(i2c, PA_8); // Reset = ??, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 6:5f380fbcf849 48 #else
kenjiArai 6:5f380fbcf849 49 BNO055 imu(PB_9, PB_8, PA_8);
kenjiArai 6:5f380fbcf849 50 #endif
kenjiArai 6:5f380fbcf849 51 TextLCD_I2C_N lcd(&i2c, 0x7c, TextLCD::LCD8x2); // LCD(Akizuki AQM0802A)
kenjiArai 2:cf77282aea7b 52 #elif defined(TARGET_RZ_A1H)
kenjiArai 2:cf77282aea7b 53 DigitalOut pwr_onoff(P8_11);
kenjiArai 2:cf77282aea7b 54 I2C i2c(P1_3, P1_2); // SDA, SCL
kenjiArai 2:cf77282aea7b 55 BNO055 imu(i2c, P8_13); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
kenjiArai 2:cf77282aea7b 56 #else
kenjiArai 2:cf77282aea7b 57 #error "Not cheched yet"
kenjiArai 2:cf77282aea7b 58 #endif
kenjiArai 3:f5b5c4d795ce 59 Timer t;
kenjiArai 0:31451519d283 60
kenjiArai 0:31451519d283 61 // RAM -------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 62 BNO055_ID_INF_TypeDef bno055_id_inf;
kenjiArai 0:31451519d283 63 BNO055_EULER_TypeDef euler_angles;
kenjiArai 0:31451519d283 64 BNO055_QUATERNION_TypeDef quaternion;
kenjiArai 0:31451519d283 65 BNO055_LIN_ACC_TypeDef linear_acc;
kenjiArai 0:31451519d283 66 BNO055_GRAVITY_TypeDef gravity;
kenjiArai 0:31451519d283 67 BNO055_TEMPERATURE_TypeDef chip_temp;
kenjiArai 0:31451519d283 68
kenjiArai 0:31451519d283 69 // ROM / Constant data ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 70
kenjiArai 0:31451519d283 71 // Function prototypes ---------------------------------------------------------------------------
kenjiArai 0:31451519d283 72
kenjiArai 0:31451519d283 73 //-------------------------------------------------------------------------------------------------
kenjiArai 0:31451519d283 74 // Control Program
kenjiArai 3:f5b5c4d795ce 75 //-------------------------------------------------------------------------------------------------
kenjiArai 4:6d1118089a36 76 // Calibration
kenjiArai 4:6d1118089a36 77 // Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
kenjiArai 4:6d1118089a36 78 void bno055_calbration(void){
kenjiArai 4:6d1118089a36 79 uint8_t d;
kenjiArai 3:f5b5c4d795ce 80
kenjiArai 4:6d1118089a36 81 pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
kenjiArai 4:6d1118089a36 82 //---------- Gyroscope Caliblation ------------------------------------------------------------
kenjiArai 4:6d1118089a36 83 // (a) Place the device in a single stable position for a period of few seconds to allow the
kenjiArai 4:6d1118089a36 84 // gyroscope to calibrate
kenjiArai 4:6d1118089a36 85 pc.printf("Step1) Please wait few seconds\r\n");
kenjiArai 4:6d1118089a36 86 t.start();
kenjiArai 4:6d1118089a36 87 while (t.read() < 10){
kenjiArai 4:6d1118089a36 88 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 89 pc.printf("Calb dat = 0x%x target = 0x30(at least)\r\n", d);
kenjiArai 4:6d1118089a36 90 if ((d & 0x30) == 0x30){
kenjiArai 4:6d1118089a36 91 break;
kenjiArai 4:6d1118089a36 92 }
kenjiArai 6:5f380fbcf849 93 WAIT_MS(1000);
kenjiArai 4:6d1118089a36 94 }
kenjiArai 4:6d1118089a36 95 pc.printf("-> Step1) is done\r\n\r\n");
kenjiArai 4:6d1118089a36 96 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 4:6d1118089a36 97 // (a) Make some random movements (for example: writing the number ‘8’ on air) until the
kenjiArai 4:6d1118089a36 98 // CALIB_STAT register indicates fully calibrated.
kenjiArai 4:6d1118089a36 99 // (b) It takes more calibration movements to get the magnetometer calibrated than in the
kenjiArai 4:6d1118089a36 100 // NDOF mode.
kenjiArai 4:6d1118089a36 101 pc.printf("Step2) random moving (try to change the BNO055 axis)\r\n");
kenjiArai 4:6d1118089a36 102 t.start();
kenjiArai 4:6d1118089a36 103 while (t.read() < 30){
kenjiArai 4:6d1118089a36 104 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 105 pc.printf("Calb dat = 0x%x target = 0x33(at least)\r\n", d);
kenjiArai 4:6d1118089a36 106 if ((d & 0x03) == 0x03){
kenjiArai 4:6d1118089a36 107 break;
kenjiArai 4:6d1118089a36 108 }
kenjiArai 6:5f380fbcf849 109 WAIT_MS(1000);
kenjiArai 4:6d1118089a36 110 }
kenjiArai 4:6d1118089a36 111 pc.printf("-> Step2) is done\r\n\r\n");
kenjiArai 4:6d1118089a36 112 //---------- Magnetometer Caliblation ---------------------------------------------------------
kenjiArai 4:6d1118089a36 113 // a) Place the device in 6 different stable positions for a period of few seconds
kenjiArai 4:6d1118089a36 114 // to allow the accelerometer to calibrate.
kenjiArai 4:6d1118089a36 115 // b) Make sure that there is slow movement between 2 stable positions
kenjiArai 4:6d1118089a36 116 // The 6 stable positions could be in any direction, but make sure that the device is
kenjiArai 4:6d1118089a36 117 // lying at least once perpendicular to the x, y and z axis.
kenjiArai 4:6d1118089a36 118 pc.printf("Step3) Change rotation each X,Y,Z axis KEEP SLOWLY!!");
kenjiArai 4:6d1118089a36 119 pc.printf(" Each 90deg stay a 5 sec and set at least 6 position.\r\n");
kenjiArai 4:6d1118089a36 120 pc.printf(" e.g. (1)ACC:X0,Y0,Z-9,(2)ACC:X9,Y0,Z0,(3)ACC:X0,Y0,Z9,");
kenjiArai 4:6d1118089a36 121 pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
kenjiArai 4:6d1118089a36 122 pc.printf(" If you will give up, hit any key.\r\n", d);
kenjiArai 4:6d1118089a36 123 t.stop();
kenjiArai 6:5f380fbcf849 124
kenjiArai 6:5f380fbcf849 125 // lcd
kenjiArai 6:5f380fbcf849 126 lcd.locate(0, 0); // 1st line top
kenjiArai 6:5f380fbcf849 127 // 12345678
kenjiArai 6:5f380fbcf849 128 lcd.printf(" BNO055 ");
kenjiArai 6:5f380fbcf849 129 lcd.locate(0, 1); // 2nd line top
kenjiArai 6:5f380fbcf849 130 // 12345678
kenjiArai 6:5f380fbcf849 131 lcd.puts(" JH1PJL ");
kenjiArai 6:5f380fbcf849 132 lcd.setContrast(0x14);
kenjiArai 6:5f380fbcf849 133
kenjiArai 4:6d1118089a36 134 while (true){
kenjiArai 4:6d1118089a36 135 d = imu.read_calib_status();
kenjiArai 4:6d1118089a36 136 imu.get_gravity(&gravity);
kenjiArai 5:9594519c9462 137 pc.printf("Calb dat = 0x%x target = 0xff ACC:X %4.1f, Y %4.1f, Z %4.1f\r\n",
kenjiArai 4:6d1118089a36 138 d, gravity.x, gravity.y, gravity.z);
kenjiArai 4:6d1118089a36 139 if (d == 0xff){ break;}
kenjiArai 4:6d1118089a36 140 if (pc.readable()){ break;}
kenjiArai 6:5f380fbcf849 141 WAIT_MS(1000);
kenjiArai 4:6d1118089a36 142 }
kenjiArai 4:6d1118089a36 143 if (imu.read_calib_status() == 0xff){
kenjiArai 4:6d1118089a36 144 pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
kenjiArai 4:6d1118089a36 145 } else {
kenjiArai 4:6d1118089a36 146 pc.printf("-> Calibration steps are suspended!\r\n\r\n");
kenjiArai 4:6d1118089a36 147 }
kenjiArai 4:6d1118089a36 148 t.stop();
kenjiArai 4:6d1118089a36 149 }
kenjiArai 4:6d1118089a36 150
kenjiArai 4:6d1118089a36 151 int main(){
kenjiArai 4:6d1118089a36 152 imu.set_mounting_position(MT_P6);
kenjiArai 6:5f380fbcf849 153 pwr_onoff = 1;
kenjiArai 4:6d1118089a36 154 pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
kenjiArai 4:6d1118089a36 155 char c = pc.getc();
kenjiArai 4:6d1118089a36 156 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 4:6d1118089a36 157 // Is BNO055 avairable?
kenjiArai 4:6d1118089a36 158 if (imu.chip_ready() == 0){
kenjiArai 4:6d1118089a36 159 do {
kenjiArai 4:6d1118089a36 160 pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
kenjiArai 6:5f380fbcf849 161 pwr_onoff = 0; // Power off
kenjiArai 6:5f380fbcf849 162 WAIT_MS(100);
kenjiArai 6:5f380fbcf849 163 pwr_onoff = 1; // Power on
kenjiArai 6:5f380fbcf849 164 WAIT_MS(20);
kenjiArai 4:6d1118089a36 165 } while(imu.reset());
kenjiArai 4:6d1118089a36 166 }
kenjiArai 4:6d1118089a36 167 pc.printf("Bosch BNO055 is available now!!\r\n");
kenjiArai 4:6d1118089a36 168 pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 4:6d1118089a36 169 imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
kenjiArai 4:6d1118089a36 170 imu.read_id_inf(&bno055_id_inf);
kenjiArai 4:6d1118089a36 171 pc.printf("CHIP ID:0x%02x, ACC ID:0x%02x, MAG ID:0x%02x, GYR ID:0x%02x, ",
kenjiArai 4:6d1118089a36 172 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, bno055_id_inf.gyr_id);
kenjiArai 4:6d1118089a36 173 pc.printf("SW REV:0x%04x, BL REV:0x%02x\r\n",
kenjiArai 4:6d1118089a36 174 bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 4:6d1118089a36 175 pc.printf("If you would like to calibrate the BNO055, please hit 'y' (No: any other key)\r\n");
kenjiArai 4:6d1118089a36 176 c = pc.getc();
kenjiArai 4:6d1118089a36 177 if (c == 'y'){
kenjiArai 4:6d1118089a36 178 bno055_calbration();
kenjiArai 4:6d1118089a36 179 }
kenjiArai 4:6d1118089a36 180 pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],");
kenjiArai 4:6d1118089a36 181 pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n");
kenjiArai 4:6d1118089a36 182 t.start();
kenjiArai 4:6d1118089a36 183 while(1) {
kenjiArai 4:6d1118089a36 184 imu.get_Euler_Angles(&euler_angles);
kenjiArai 4:6d1118089a36 185 pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,",
kenjiArai 4:6d1118089a36 186 euler_angles.h, euler_angles.r, euler_angles.p);
kenjiArai 4:6d1118089a36 187 imu.get_quaternion(&quaternion);
kenjiArai 4:6d1118089a36 188 pc.printf("[Q],W,%d,X,%d,Y,%d,Z,%d,",
kenjiArai 4:6d1118089a36 189 quaternion.w, quaternion.x, quaternion.y, quaternion.z);
kenjiArai 4:6d1118089a36 190 imu.get_linear_accel(&linear_acc);
kenjiArai 4:6d1118089a36 191 pc.printf("[L],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 4:6d1118089a36 192 linear_acc.x, linear_acc.y, linear_acc.z);
kenjiArai 4:6d1118089a36 193 imu.get_gravity(&gravity);
kenjiArai 4:6d1118089a36 194 pc.printf("[G],X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
kenjiArai 4:6d1118089a36 195 gravity.x, gravity.y, gravity.z);
kenjiArai 4:6d1118089a36 196 imu.get_chip_temperature(&chip_temp);
kenjiArai 4:6d1118089a36 197 pc.printf("[T],%+d,%+d,",
kenjiArai 4:6d1118089a36 198 chip_temp.acc_chip, chip_temp.gyr_chip);
kenjiArai 4:6d1118089a36 199 pc.printf("[S],0x%x,[M],%d\r\n",
kenjiArai 4:6d1118089a36 200 imu.read_calib_status(), t.read_ms());
kenjiArai 4:6d1118089a36 201 }
kenjiArai 4:6d1118089a36 202 }
kenjiArai 4:6d1118089a36 203
kenjiArai 4:6d1118089a36 204
kenjiArai 4:6d1118089a36 205 // Diffrent output format as for your reference
kenjiArai 4:6d1118089a36 206 #if 0
kenjiArai 0:31451519d283 207 int main() {
kenjiArai 0:31451519d283 208 uint8_t i;
kenjiArai 0:31451519d283 209
kenjiArai 6:5f380fbcf849 210 pwr_onoff = 1;
kenjiArai 0:31451519d283 211 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
kenjiArai 0:31451519d283 212 // Is BNO055 avairable?
kenjiArai 0:31451519d283 213 if (imu.chip_ready() == 0){
kenjiArai 2:cf77282aea7b 214 do {
kenjiArai 2:cf77282aea7b 215 pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
kenjiArai 6:5f380fbcf849 216 pwr_onoff = 0; // Power off
kenjiArai 6:5f380fbcf849 217 WAIT_MS(100);
kenjiArai 6:5f380fbcf849 218 pwr_onoff = 1; // Power on
kenjiArai 6:5f380fbcf849 219 WAIT_MS(20);
kenjiArai 2:cf77282aea7b 220 } while(imu.reset());
kenjiArai 0:31451519d283 221 }
kenjiArai 0:31451519d283 222 imu.set_mounting_position(MT_P6);
kenjiArai 0:31451519d283 223 pc.printf("AXIS_REMAP_CONFIG:0x%02x, AXIS_REMAP_SIGN:0x%02x\r\n",
kenjiArai 0:31451519d283 224 imu.read_reg0(BNO055_AXIS_MAP_CONFIG), imu.read_reg0(BNO055_AXIS_MAP_SIGN));
kenjiArai 0:31451519d283 225 imu.read_id_inf(&bno055_id_inf);
kenjiArai 0:31451519d283 226 pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
kenjiArai 0:31451519d283 227 bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
kenjiArai 0:31451519d283 228 bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
kenjiArai 0:31451519d283 229 while(1) {
kenjiArai 0:31451519d283 230 pc.printf("Euler Angles data\r\n");
kenjiArai 2:cf77282aea7b 231 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 232 imu.get_Euler_Angles(&euler_angles);
kenjiArai 0:31451519d283 233 pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n",
kenjiArai 0:31451519d283 234 euler_angles.h, euler_angles.r, euler_angles.p, i);
kenjiArai 6:5f380fbcf849 235 WAIT_MS(500);
kenjiArai 0:31451519d283 236 }
kenjiArai 0:31451519d283 237 pc.printf("Quaternion data\r\n");
kenjiArai 2:cf77282aea7b 238 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 239 imu.get_quaternion(&quaternion);
kenjiArai 0:31451519d283 240 pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
kenjiArai 0:31451519d283 241 quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
kenjiArai 6:5f380fbcf849 242 WAIT_MS(500);
kenjiArai 0:31451519d283 243 }
kenjiArai 0:31451519d283 244 pc.printf("Linear accel data\r\n");
kenjiArai 2:cf77282aea7b 245 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 246 imu.get_linear_accel(&linear_acc);
kenjiArai 0:31451519d283 247 pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
kenjiArai 0:31451519d283 248 linear_acc.x, linear_acc.y, linear_acc.z, i);
kenjiArai 6:5f380fbcf849 249 WAIT_MS(500);
kenjiArai 0:31451519d283 250 }
kenjiArai 0:31451519d283 251 pc.printf("Gravity vector data\r\n");
kenjiArai 2:cf77282aea7b 252 for (i = 0; i < NUM_LOOP; i++){
kenjiArai 0:31451519d283 253 imu.get_gravity(&gravity);
kenjiArai 0:31451519d283 254 pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
kenjiArai 0:31451519d283 255 gravity.x, gravity.y, gravity.z, i);
kenjiArai 6:5f380fbcf849 256 WAIT_MS(500);
kenjiArai 0:31451519d283 257 }
kenjiArai 0:31451519d283 258 pc.printf("Chip temperature data\r\n");
kenjiArai 2:cf77282aea7b 259 for (i = 0; i < (NUM_LOOP / 4); i++){
kenjiArai 0:31451519d283 260 imu.get_chip_temperature(&chip_temp);
kenjiArai 0:31451519d283 261 pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
kenjiArai 0:31451519d283 262 chip_temp.acc_chip, chip_temp.gyr_chip, i);
kenjiArai 6:5f380fbcf849 263 WAIT_MS(500);
kenjiArai 0:31451519d283 264 }
kenjiArai 0:31451519d283 265 }
kenjiArai 0:31451519d283 266 }
kenjiArai 3:f5b5c4d795ce 267 #endif