BNO055 per esp32, esp8266 e Arduino: cablaggio e libreria Bosch avanzata – 2

/*
 ***************************************************************************

    Euler_Streaming.pde - part of sample SW for using BNO055 with Arduino

   (C) All rights reserved by ROBERT BOSCH GMBH

   Copyright (C) 2014 Bosch Sensortec GmbH

 	This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.

 **************************************************************************/
/*	Date: 2014/01/07
 	 Revision: 1.2

*/

#include "BNO055_support.h"		//Contains the bridge code between the API and Arduino
#include <Wire.h>

//The device address is set to BNO055_I2C_ADDR2 in this example. You can change this in the BNO055.h file in the code segment shown below.
// /* bno055 I2C Address */
// #define BNO055_I2C_ADDR1                0x28
// #define BNO055_I2C_ADDR2                0x29
// #define BNO055_I2C_ADDR                 BNO055_I2C_ADDR2

//Pin assignments as tested on the Arduino Due.
//Vdd,Vddio : 3.3V
//GND : GND
//SDA/SCL : SDA/SCL
//PSO/PS1 : GND/GND (I2C mode)

//This structure contains the details of the BNO055 device that is connected. (Updated after initialization)
struct bno055_t myBNO;
struct bno055_euler myEulerData; //Structure to hold the Euler data

unsigned long lastTime = 0;

void setup() //This code is executed once
{
  //Initialize I2C communication
  Wire.begin();

  //Initialization of the BNO055
  BNO_Init(&myBNO); //Assigning the structure to hold information about the device

  //Configuration to NDoF mode
  bno055_set_operation_mode(OPERATION_MODE_NDOF);

  delay(1);

  //Initialize the Serial Port to view information on the Serial Monitor
  Serial.begin(115200);
}

void loop() //This code is looped forever
{
  if ((millis() - lastTime) >= 100) //To stream at 10Hz without using additional timers
  {
    lastTime = millis();

    bno055_read_euler_hrp(&myEulerData);			//Update Euler data into the structure

    Serial.print("Time Stamp: ");				//To read out the Time Stamp
    Serial.println(lastTime);

    Serial.print("Heading(Yaw): ");				//To read out the Heading (Yaw)
    Serial.println(float(myEulerData.h) / 16.00);		//Convert to degrees

    Serial.print("Roll: ");					//To read out the Roll
    Serial.println(float(myEulerData.r) / 16.00);		//Convert to degrees

    Serial.print("Pitch: ");				//To read out the Pitch
    Serial.println(float(myEulerData.p) / 16.00);		//Convert to degrees

    Serial.println();					//Extra line to differentiate between packets
  }
}

Time Stamp: 6500
Heading(Yaw): 182.50
Roll: -3.44
Pitch: -26.00

Time Stamp: 6600
Heading(Yaw): 187.69
Roll: -16.37
Pitch: -18.69

Time Stamp: 6700
Heading(Yaw): 193.50
Roll: -27.75
Pitch: -8.25

Time Stamp: 6800
Heading(Yaw): 197.44
Roll: -34.81
Pitch: 1.19

Time Stamp: 6900
Heading(Yaw): 199.87
Roll: -37.25
Pitch: 9.00

Time Stamp: 7000
Heading(Yaw): 201.25
Roll: -36.88
Pitch: 16.25

Time Stamp: 7100
Heading(Yaw): 199.94
Roll: -30.75
Pitch: 21.94

Time Stamp: 7200
Heading(Yaw): 198.25
Roll: -20.62
Pitch: 27.50

Time Stamp: 7300
Heading(Yaw): 196.50
Roll: -12.44
Pitch: 30.31

Time Stamp: 7400
Heading(Yaw): 196.19
Roll: -4.06
Pitch: 31.44

Time Stamp: 7500
Heading(Yaw): 194.31
Roll: 4.50
Pitch: 31.31

Time Stamp: 7600
Heading(Yaw): 190.56
Roll: 12.75
Pitch: 28.00

Time Stamp: 7700
Heading(Yaw): 186.87
Roll: 22.94
Pitch: 23.12

Time Stamp: 7800
Heading(Yaw): 184.62
Roll: 29.81
Pitch: 19.37

Time Stamp: 7900
Heading(Yaw): 182.75
Roll: 35.19
Pitch: 15.94

Time Stamp: 8000
Heading(Yaw): 181.12
Roll: 42.63
Pitch: 11.63

Time Stamp: 8100
Heading(Yaw): 180.37
Roll: 47.56
Pitch: 9.13

Time Stamp: 8200
Heading(Yaw): 181.69
Roll: 53.44
Pitch: 4.12

Time Stamp: 8300
Heading(Yaw): 184.31
Roll: 57.81
Pitch: -0.94

Time Stamp: 8400
Heading(Yaw): 183.44
Roll: 60.81
Pitch: -3.62

/**
 * Simple example with bosch library for bno055 to work with
 * Adafruit webGL example with euler angles
 * https://adafruit.github.io/Adafruit_WebSerial_3DModelViewer/
 *
 * by Renzo Mischianti <www.mischianti.org>
 *
 * https://mischianti.org/
 */

#include "BNO055_support.h"		//Contains the bridge code between the API and Arduino
#include <Wire.h>

//The device address is set to BNO055_I2C_ADDR2 in this example. You can change this in the BNO055.h file in the code segment shown below.
// /* bno055 I2C Address */
// #define BNO055_I2C_ADDR1                0x28
// #define BNO055_I2C_ADDR2                0x29
// #define BNO055_I2C_ADDR                 BNO055_I2C_ADDR2

//Pin assignments as tested on the Arduino Due.
//Vdd,Vddio : 3.3V
//GND : GND
//SDA/SCL : SDA/SCL
//PSO/PS1 : GND/GND (I2C mode)

//This structure contains the details of the BNO055 device that is connected. (Updated after initialization)
struct bno055_t myBNO;
struct bno055_euler myEulerData; //Structure to hold the Euler data

unsigned char accelCalibStatus = 0;		//Variable to hold the calibration status of the Accelerometer
unsigned char magCalibStatus = 0;		//Variable to hold the calibration status of the Magnetometer
unsigned char gyroCalibStatus = 0;		//Variable to hold the calibration status of the Gyroscope
unsigned char sysCalibStatus = 0;		//Variable to hold the calibration status of the System (BNO055's MCU)

unsigned long lastTime = 0;

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

void setup() //This code is executed once
{
  //Initialize I2C communication
  Wire.begin();

  //Initialization of the BNO055
  BNO_Init(&myBNO); //Assigning the structure to hold information about the device

  //Configuration to NDoF mode
  bno055_set_operation_mode(OPERATION_MODE_NDOF);

  delay(1);

  //Initialize the Serial Port to view information on the Serial Monitor
  Serial.begin(115200);
}

void loop() //This code is looped forever
{
  if ((millis() - lastTime) >= BNO055_SAMPLERATE_DELAY_MS) //To stream at 10Hz without using additional timers
  {
    lastTime = millis();

    bno055_read_euler_hrp(&myEulerData);			//Update Euler data into the structure

    /* The WebSerial 3D Model Viewer expects data as heading, pitch, roll */
    Serial.print(F("Orientation: "));
    Serial.print(360-(float(myEulerData.h) / 16.00));
    Serial.print(F(", "));
    Serial.print(360-(float(myEulerData.p) / 16.00));
    Serial.print(F(", "));
    Serial.print(360-(float(myEulerData.r) / 16.00));
    Serial.println(F(""));

	bno055_get_accelcalib_status(&accelCalibStatus);
	bno055_get_gyrocalib_status(&gyroCalibStatus);
	bno055_get_syscalib_status(&sysCalibStatus);
	bno055_get_magcalib_status(&magCalibStatus);

	Serial.print(F("Calibration: "));
	Serial.print(sysCalibStatus, DEC);
	Serial.print(F(", "));
	Serial.print(gyroCalibStatus, DEC);
	Serial.print(F(", "));
	Serial.print(accelCalibStatus, DEC);
	Serial.print(F(", "));
	Serial.print(magCalibStatus, DEC);
	Serial.println(F(""));


  }
}

https://adafruit.github.io/Adafruit_WebSerial_3DModelViewer/