Diff: main.cpp

Revision:

6:5f380fbcf849

Parent:

5:9594519c9462

Child:

7:f244ea2ab994

--- a/main.cpp	Thu Apr 16 11:25:47 2015 +0000
+++ b/main.cpp	Wed Aug 23 09:45:18 2017 +0000
@@ -3,26 +3,29 @@
  *  BNO055 Intelligent 9-axis absolute orientation sensor
  *  by Bosch Sensortec
  *
- * Copyright (c) 2015 Kenji Arai / JH1PJL
+ * Copyright (c) 2015,'17 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: March     30th, 2015
- *      Revised: April     16th, 2015
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
- * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
- * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *      Revised: August    23rd, 2017
  */
 
 //  Include ---------------------------------------------------------------------------------------
 #include    "mbed.h"
 #include    "BNO055.h"
+#include    "TextLCD.h"
 
 //  Definition ------------------------------------------------------------------------------------
 #define NUM_LOOP    100
 
+#if MBED_MAJOR_VERSION == 2
+#define WAIT_MS(x)       wait_ms(x)
+#elif  MBED_MAJOR_VERSION == 5
+#define WAIT_MS(x)       Thread::wait(x)
+#else
+#error "Running on Unknown OS"
+#endif
+
 //  Object ----------------------------------------------------------------------------------------
 Serial pc(USBTX,USBRX);
 #if defined(TARGET_LPC1114)
@@ -34,9 +37,18 @@
 I2C    i2c(p28, p27); // SDA, SCL
 BNO055 imu(i2c, p29);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
 #elif defined(TARGET_STM32L152RE) || defined(TARGET_STM32F401RE) || defined(TARGET_STM32F411RE)
+#if 0
 DigitalOut pwr_onoff(PB_10);
+#else
+DigitalOut pwr_onoff(PA_9);
+#endif
 I2C    i2c(PB_9, PB_8); // SDA, SCL
-BNO055 imu(i2c, PA_8);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
+#if 0
+BNO055 imu(i2c, PA_8);  // Reset = ??, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
+#else
+BNO055 imu(PB_9, PB_8, PA_8);
+#endif
+TextLCD_I2C_N lcd(&i2c, 0x7c, TextLCD::LCD8x2);  // LCD(Akizuki AQM0802A)
 #elif defined(TARGET_RZ_A1H)
 DigitalOut pwr_onoff(P8_11);
 I2C    i2c(P1_3, P1_2); // SDA, SCL
@@ -78,7 +90,7 @@
         if ((d & 0x30) == 0x30){
             break;
         }
-        wait(1.0);
+        WAIT_MS(1000);
     }
     pc.printf("-> Step1) is done\r\n\r\n");
     //---------- Magnetometer Caliblation ---------------------------------------------------------
@@ -94,7 +106,7 @@
         if ((d & 0x03) == 0x03){
             break;
         }
-        wait(1.0);   
+        WAIT_MS(1000);   
     }
     pc.printf("-> Step2) is done\r\n\r\n");
     //---------- Magnetometer Caliblation ---------------------------------------------------------
@@ -109,6 +121,16 @@
     pc.printf("(4)ACC:X-9,Y0,Z0,(5)ACC:X0,Y-9,Z0,(6)ACC:X0,Y9,Z0,\r\n");
     pc.printf(" If you will give up, hit any key.\r\n", d);
     t.stop();
+
+    // lcd
+    lcd.locate(0, 0);    // 1st line top
+    //          12345678
+    lcd.printf(" BNO055 ");
+    lcd.locate(0, 1);    // 2nd line top
+    //        12345678
+    lcd.puts(" JH1PJL ");
+    lcd.setContrast(0x14);
+
     while (true){
         d = imu.read_calib_status();
         imu.get_gravity(&gravity);
@@ -116,7 +138,7 @@
                    d, gravity.x, gravity.y, gravity.z);
         if (d == 0xff){     break;}
         if (pc.readable()){ break;}
-        wait(1.0);
+        WAIT_MS(1000);
     }
     if (imu.read_calib_status() == 0xff){
         pc.printf("-> All of Calibration steps are done successfully!\r\n\r\n");
@@ -128,7 +150,7 @@
 
 int main(){
     imu.set_mounting_position(MT_P6);
-    pwr_onoff = 0;
+    pwr_onoff = 1;
     pc.printf("\r\n\r\nIf pc terminal soft is ready, please hit any key!\r\n");
     char c = pc.getc();
     pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
@@ -136,10 +158,10 @@
     if (imu.chip_ready() == 0){
         do {
             pc.printf("Bosch BNO055 is NOT avirable!!\r\n Reset\r\n");
-            pwr_onoff = 1;  // Power off
-            wait(0.1);
-            pwr_onoff = 0;  // Power on
-            wait(0.02);
+            pwr_onoff = 0;  // Power off
+            WAIT_MS(100);
+            pwr_onoff = 1;  // Power on
+            WAIT_MS(20);
         } while(imu.reset());
     }
     pc.printf("Bosch BNO055 is available now!!\r\n");
@@ -185,16 +207,16 @@
 int main() {
     uint8_t i;
 
-    pwr_onoff = 0;
+    pwr_onoff = 1;
     pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
     // Is BNO055 avairable?
     if (imu.chip_ready() == 0){
         do {
             pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
-            pwr_onoff = 1;  // Power off
-            wait(0.1);
-            pwr_onoff = 0;  // Power on
-            wait(0.02);
+            pwr_onoff = 0;  // Power off
+            WAIT_MS(100);
+            pwr_onoff = 1;  // Power on
+            WAIT_MS(20);
         } while(imu.reset());
     }
     imu.set_mounting_position(MT_P6);
@@ -210,35 +232,35 @@
             imu.get_Euler_Angles(&euler_angles);
             pc.printf("Heading:%+6.1f [deg], Roll:%+6.1f [deg], Pich:%+6.1f [deg], #%02d\r\n",
                        euler_angles.h, euler_angles.r, euler_angles.p, i);
-            wait(0.5);
+            WAIT_MS(500);
         }
         pc.printf("Quaternion data\r\n");
         for (i = 0; i < NUM_LOOP; i++){
             imu.get_quaternion(&quaternion);
             pc.printf("W:%d, X:%d, Y:%d, Z:%d, #%02d\r\n",
                        quaternion.w, quaternion.x, quaternion.y, quaternion.z, i);
-            wait(0.5);
+            WAIT_MS(500);
         }
         pc.printf("Linear accel data\r\n");
         for (i = 0; i < NUM_LOOP; i++){
             imu.get_linear_accel(&linear_acc);
             pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
                        linear_acc.x, linear_acc.y, linear_acc.z, i);
-            wait(0.5);
+            WAIT_MS(500);
         }
         pc.printf("Gravity vector data\r\n");
         for (i = 0; i < NUM_LOOP; i++){
             imu.get_gravity(&gravity);
             pc.printf("X:%+6.1f [m/s*s], Y:%+6.1f [m/s*s], Z:%+6.1f [m/s*s], #%02d\r\n",
                        gravity.x, gravity.y, gravity.z, i);
-            wait(0.5);
+            WAIT_MS(500);
         }
         pc.printf("Chip temperature data\r\n");
         for (i = 0; i < (NUM_LOOP / 4); i++){
             imu.get_chip_temperature(&chip_temp);
             pc.printf("Acc chip:%+d [degC], Gyr chip:%+d [degC], #%02d\r\n",
                        chip_temp.acc_chip, chip_temp.gyr_chip, i);
-            wait(0.5);
+            WAIT_MS(500);
         }
     }
 }