ESP32 Forum

Code: Select all

/*
  Using the BNO080 IMU
  By: Nathan Seidle
  SparkFun Electronics
  Date: December 21st, 2017
  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).

  Feel like supporting our work? Buy a board from SparkFun!
  https://www.sparkfun.com/products/14586

  This example shows how to output the i/j/k/real parts of the rotation vector.
  https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation

  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.

  Hardware Connections:
  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
  Plug the sensor onto the shield
  Serial.print it out at 9600 baud to serial monitor.
*/

#include <Wire.h>

#include "SparkFun_BNO080_Arduino_Library.h"
BNO080 myIMU;
void(* resetFunc)(void)=0;
void setup()
{
  Serial.begin(115200);
  Serial.println();
  Serial.println("BNO080 Read Example");

  Wire.begin();
  Wire.setClock(400000); //Increase I2C data rate to 400kHz

  myIMU.begin();

  myIMU.enableRotationVector(10); //Send data update every 50ms
 
//myIMU.enableDebugging();
  
  float fquate=0;
  int count=0;
  while(fquate==0){
    count++;
    Serial.print("trying:");
    Serial.println(count);  
    if(count>5){
      count=0;
      resetFunc();
    }
    
    if (myIMU.dataAvailable() == true){ 
      fquate=myIMU.getQuatI();
      Serial.println(fquate);}
    delay(100);
   
    
  }
  Serial.println(F("Rotation vector enabled"));
  Serial.println(F("Output in form i, j, k, real, accuracy"));
}

void loop()
{
  //Look for reports from the IMU
  
  if (myIMU.dataAvailable() == true)
  {
    float quatI = myIMU.getQuatI();
    float quatJ = myIMU.getQuatJ();
    float quatK = myIMU.getQuatK();
    float quatReal = myIMU.getQuatReal();
    float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();

    Serial.print(quatI, 2);
    Serial.print(F(","));
    Serial.print(quatJ, 2);
    Serial.print(F(","));
    Serial.print(quatK, 2);
    Serial.print(F(","));
    Serial.print(quatReal, 2);
    Serial.print(F(","));
    Serial.print(quatRadianAccuracy, 2);
    Serial.print(F(","));

    Serial.println();
  }
  
}

Code: Select all

Rebooting...
ets Jun  8 2016 00:22:57

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0018,len:4
load:0x3fff001c,len:952
load:0x40078000,len:6084
load:0x40080000,len:7936
entry 0x40080310

BNO080 Read Example
trying:1
trying:2
trying:3
trying:4
0.00
trying:5
trying:6
Guru Meditation Error: Core  1 panic'ed (InstrFetchProhibited). Exception was unhandled.
Core 1 register dump:
PC      : 0x00000000  PS      : 0x00060530  A0      : 0x800e6d6e  A1      : 0x3ffb1f70  
A2      : 0x3ffc286c  A3      : 0x3ffc2448  A4      : 0x00000000  A5      : 0x00000000  
A6      : 0x00000000  A7      : 0x00000000  A8      : 0x800d0be0  A9      : 0x3ffb1f50  
A10     : 0x00000003  A11     : 0x00000001  A12     : 0x0000000a  A13     : 0x00000000  
A14     : 0x00000002  A15     : 0x00000000  SAR     : 0x00000015  EXCCAUSE: 0x00000014  
EXCVADDR: 0x00000000  LBEG    : 0x400014fd  LEND    : 0x4000150d  LCOUNT  : 0xffffffff  

Backtrace: 0x00000000:0x3ffb1f70 0x400e6d6b:0x3ffb1fa0

Rebooting...
ets Jun  8 2016 00:22:57

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0018,len:4
load:0x3fff001c,len:952
load:0x40078000,len:6084
load:0x40080000,len:7936
entry 0x40080310

BNO080 Read Example
trying:1
0.00
trying:2
0.00
trying:3
0.24
Rotation vector enabled
Output in form i, j, k, real, accuracy
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,
0.24,-0.78,-0.54,0.20,0.79,

Code: Select all

#include <Wire.h>
//*************************************************
// scl pin 5, sda pin 4, vcc 3.3
// temperature, pressure, altitude, sealevelpressure
#define BMP085_ADDRESS 0x77  // I2C address of BMP085
#define BMP_Interval 65503
const unsigned char OSS = 0;  // Oversampling Setting
// Calibration values
int ac1;
int ac2;
int ac3;
unsigned int ac4;
unsigned int ac5;
unsigned int ac6;
int b1;
int b2;
int mb;
int mc;
int md;
// b5 is calculated in bmp085GetTemperature(...), this variable is also used in bmp085GetPressure(...)
// so ...Temperature(...) must be called before ...Pressure(...).
long b5;
//*********************************************
const String sSeperator = " ";
//*********************************************

void setup()
{
////
  Wire.begin();
  bmp085Calibration();
  ////
}
////
//******************************************
//      bmp085 functions
//******************************************
// Calculate pressure given up
// calibration values must be known
// b5 is also required so bmp085GetTemperature(...) must be called first.
// Value returned will be pressure in units of Pa.
long bmp085GetPressure(unsigned long up)
{
  long x1, x2, x3, b3, b6, p;
  unsigned long b4, b7;

  b6 = b5 - 4000;
  // Calculate B3
  x1 = (b2 * (b6 * b6) >> 12) >> 11;
  x2 = (ac2 * b6) >> 11;
  x3 = x1 + x2;
  b3 = (((((long)ac1) * 4 + x3) << OSS) + 2) >> 2;

  // Calculate B4
  x1 = (ac3 * b6) >> 13;
  x2 = (b1 * ((b6 * b6) >> 12)) >> 16;
  x3 = ((x1 + x2) + 2) >> 2;
  b4 = (ac4 * (unsigned long)(x3 + 32768)) >> 15;

  b7 = ((unsigned long)(up - b3) * (50000 >> OSS));
  if (b7 < 0x80000000)
    p = (b7 << 1) / b4;
  else
    p = (b7 / b4) << 1;

  x1 = (p >> 8) * (p >> 8);
  x1 = (x1 * 3038) >> 16;
  x2 = (-7357 * p) >> 16;
  p += (x1 + x2 + 3791) >> 4;

  return p;
}
// Calculate temperature given ut.
// Value returned will be in units of 0.1 deg C
short bmp085GetTemperature(unsigned int ut)
{
  long x1, x2;

  x1 = (((long)ut - (long)ac6) * (long)ac5) >> 15;
  x2 = ((long)mc << 11) / (x1 + md);
  b5 = x1 + x2;

  return ((b5 + 8) >> 4);
}
// Read the uncompensated pressure value
unsigned long bmp085ReadUP()
{
  unsigned char msb, lsb, xlsb;
  unsigned long up = 0;

  // Write 0x34+(OSS<<6) into register 0xF4
  // Request a pressure reading w/ oversampling setting
  Wire.beginTransmission(BMP085_ADDRESS);
  Wire.write(0xF4);
  Wire.write(0x4 + (OSS << 6));
  Wire.endTransmission();

  // Wait for conversion, delay time dependent on OSS
  // delay(2 + (3 << OSS));
  vTaskDelay( pdMS_TO_TICKS( 2 + (3 << OSS) ) );
  // Read register 0xF6 (MSB), 0xF7 (LSB), and 0xF8 (XLSB)
  Wire.beginTransmission(BMP085_ADDRESS);
  Wire.write(0xF6);
  Wire.endTransmission();
  Wire.requestFrom(BMP085_ADDRESS, 3);

  // Wait for data to become available
  while (Wire.available() < 3)
    ;
  msb = Wire.read();
  lsb = Wire.read();
  xlsb = Wire.read();
  up = (((unsigned long) msb << 16) | ((unsigned long) lsb << 8) | (unsigned long) xlsb) >> (8 - OSS);

  return up;
}
// Read the uncompensated temperature value
unsigned int bmp085ReadUT()
{
  unsigned int ut;
  // Write 0x2E into Register 0xF4
  // This requests a temperature reading
  Wire.beginTransmission(BMP085_ADDRESS);
  Wire.write(0xF4);
  Wire.write(0x2E);
  Wire.endTransmission();
  // Wait at least 4.5ms
   vTaskDelay( pdMS_TO_TICKS( 5 ) );
  // delay(5);
  // Read two bytes from registers 0xF6 and 0xF7
  ut = bmp085ReadInt(0xF6);
  return ut;
}
// Stores all of the bmp085's calibration values into global variables
// Calibration values are required to calculate temp and pressure
// This function should be called at the beginning of the program
void bmp085Calibration()
{
  ac1 = bmp085ReadInt(0xAA);
  ac2 = bmp085ReadInt(0xAC);
  ac3 = bmp085ReadInt(0xAE);
  ac4 = bmp085ReadInt(0xB0);
  ac5 = bmp085ReadInt(0xB2);
  ac5 = bmp085ReadInt(0xB2);
  ac6 = bmp085ReadInt(0xB4);
  b1 = bmp085ReadInt(0xB6);
  b2 = bmp085ReadInt(0xB8);
  mb = bmp085ReadInt(0xBA);
  mc = bmp085ReadInt(0xBC);
  md = bmp085ReadInt(0xBE);
}
// Read 2 bytes from the BMP085
// First byte will be from 'address'
// Second byte will be from 'address'+1
int bmp085ReadInt(unsigned char address)
{
  unsigned char msb, lsb;

  Wire.beginTransmission(BMP085_ADDRESS);
  Wire.write(address);
  Wire.endTransmission();

  Wire.requestFrom(BMP085_ADDRESS, 2);
  while (Wire.available() < 2);
  msb = Wire.read();
  lsb = Wire.read();

  return (int) msb << 8 | lsb;
}
// Read 1 byte from the BMP085 at 'address'
char bmp085Read(unsigned char address)
{
  unsigned char data;

  Wire.beginTransmission(BMP085_ADDRESS);
  Wire.write(address);
  Wire.endTransmission();
  Wire.requestFrom(BMP085_ADDRESS, 1);
  while (!Wire.available())
    ;

  return Wire.read();
}
void fCheck_Pressure()
{
  short bmp_temperature;
  long bmp_pressure;

      bmp_temperature = bmp085GetTemperature(bmp085ReadUT());
      bmp_pressure = bmp085GetPressure(bmp085ReadUP());
}