[STM32-64 Ardu] STM32F732 Arduino - BNO055 9축 IMU 센서 테스트

STM32F732 Arduino I2C 테스트를 참고 해서 9축 IMU센서 BNO055 센서 모듈을 테스트 해보자.

 

우선 BNO055 센서 라이브러리를 설치 한다

https://github.com/adafruit/Adafruit_BNO055

 

 

BNO055 기본 예제

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>



/* Set the delay between fresh samples */
#define BNO055_SAMPLERATE_DELAY_MS (100)

// Check I2C device address and correct line below (by default address is 0x29 or 0x28)
//                                   id, address
Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);

/**************************************************************************/
/*
    Displays some basic information on this sensor from the unified
    sensor API sensor_t type (see Adafruit_Sensor for more information)
*/
/**************************************************************************/
void displaySensorDetails(void)
{
  sensor_t sensor;
  bno.getSensor(&sensor);
  Serial.println("------------------------------------");
  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");
  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");
  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");
  Serial.println("------------------------------------");
  Serial.println("");
  delay(500);
}

/**************************************************************************/
/*
    Arduino setup function (automatically called at startup)
*/
/**************************************************************************/
void setup(void)
{
  Serial.begin(9600);
  Serial.println("WebSerial 3D Firmware"); Serial.println("");

  /* Initialise the sensor */
  if(!bno.begin())
  {
    /* There was a problem detecting the BNO055 ... check your connections */
    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
    while(1);
  }
   
  delay(1000);

  /* Use external crystal for better accuracy */
  bno.setExtCrystalUse(true);
   
  /* Display some basic information on this sensor */
  displaySensorDetails();
}

/**************************************************************************/
/*
    Arduino loop function, called once 'setup' is complete (your own code
    should go here)
*/
/**************************************************************************/
void loop(void)
{
  /* Get a new sensor event */
  sensors_event_t event;
  bno.getEvent(&event);


  /* The WebSerial 3D Model Viewer expects data as heading, pitch, roll */
  Serial.print(F("Orientation: "));
  Serial.print(360 - (float)event.orientation.x);
  Serial.print(F(", "));
  Serial.print((float)event.orientation.y);
  Serial.print(F(", "));
  Serial.print((float)event.orientation.z);
  Serial.println(F(""));

  /* The WebSerial 3D Model Viewer also expects data as roll, pitch, heading */
  imu::Quaternion quat = bno.getQuat();
  
  Serial.print(F("Quaternion: "));
  Serial.print((float)quat.w(), 4);
  Serial.print(F(", "));
  Serial.print((float)quat.x(), 4);
  Serial.print(F(", "));
  Serial.print((float)quat.y(), 4);
  Serial.print(F(", "));
  Serial.print((float)quat.z(), 4);
  Serial.println(F(""));

  /* Also send calibration data for each sensor. */
  uint8_t sys, gyro, accel, mag = 0;
  bno.getCalibration(&sys, &gyro, &accel, &mag);
  Serial.print(F("Calibration: "));
  Serial.print(sys, DEC);
  Serial.print(F(", "));
  Serial.print(gyro, DEC);
  Serial.print(F(", "));
  Serial.print(accel, DEC);
  Serial.print(F(", "));
  Serial.print(mag, DEC);
  Serial.println(F(""));

  delay(BNO055_SAMPLERATE_DELAY_MS);
}

 

동작 테스트는 Adafruit 3D Model Viewer로 가능하다.

https://adafruit-3dmodel-viewer.glitch.me/