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‎.gitignore

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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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.DS_Store

‎LICENSE.md

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Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
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NAxisMotion Library
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Date: 2014/09/12
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Usage:Library and example code for the BNO055
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License:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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Neither the name of the copyright holder nor the names of the
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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The information provided is believed to be accurate and reliable.
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The copyright holder assumes no responsibility for the consequences of use
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of such information nor for any infringement of patents or
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other rights of third parties which may result from its use.
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No license is granted by implication or otherwise under any patent or
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patent rights of the copyright holder.

‎README.md

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NAxisMotion
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-----------
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The NAxisMotion.cpp and NAxisMotion.h files are C++ wrapper codes for the
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BNO055.c and BNO055.h Sensor API. The wrapper code has been designed to
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abstract the Sensor API and also to give an idea on how to use the
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advanced features in the Sensor API. Apart from that it acts a bridge
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between the Sensor API and the Arduino framework. Copy this library into
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"yourArduinoInstallation"/libraries folder.
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-------------------------------------------------------------------------------
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There are 4 examples with the NAxisMotion library.
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- BareMinimum: This example code is as the name says the minimum code
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required to use the NAxisMotion sensor shield.
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- Euler: This example code reads out the Euler angles in the NDoF mode to
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the Serial Monitor. It also reads out the Calibration Status. Each sensor
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and the System itself has its own Calibration Status. See below on how to
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calibrate each of the sensors.
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- Accelerometer: This example code reads out the Accelerometer data and
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associated data which are the Linear Acceleration data, which is the
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Accelerometer data without the gravity vector, the other is the Gravity
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Acceleration data, which is only the gravity vector.
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- Motion: This example code is a game to test how steadily you can move an
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object, in this case it is the shield with the Arduino board. The goal is
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to demonstrate on how to use the Any motion and No motion Interrupts.
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Calibration helps the Sensor identify its environment and automatically
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determine offsets. Follow the instructions below to calibrate your sensor.
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- Gyroscope: Keep it steady and do not move it. Preferably keep it on a fixed
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surface such as a table.
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- Accelerometer: Rotate the shield slowly and pause at every 45deg for a
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second. Rotate one 1 axis at a time. Preferably rotate along 2 axes.
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- Magnetometer: Move the magnetometer in a large 8 like pattern a few times
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gently.
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‎examples/Accelerometer/Accelerometer.ino

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/****************************************************************************
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* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
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*
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* Accelerometer.ino
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* Date: 2014/09/09
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* Revision: 3.0 $
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*
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* Usage: Example code to stream Accelerometer data
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*
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****************************************************************************
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/***************************************************************************
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* License:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* Neither the name of the copyright holder nor the names of the
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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*
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* The information provided is believed to be accurate and reliable.
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* The copyright holder assumes no responsibility for the consequences of use
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* of such information nor for any infringement of patents or
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* other rights of third parties which may result from its use.
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* No license is granted by implication or otherwise under any patent or
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* patent rights of the copyright holder.
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*/
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#include "NAxisMotion.h" //Contains the bridge code between the API and the Arduino Environment
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#include <Wire.h>
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NAxisMotion mySensor; //Object that for the sensor
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unsigned long lastStreamTime = 0; //To store the last streamed time stamp
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const int streamPeriod = 40; //To stream at 25Hz without using additional timers (time period(ms) =1000/frequency(Hz))
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bool updateSensorData = true; //Flag to update the sensor data. Default is true to perform the first read before the first stream
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void setup() //This code is executed once
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{
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//Peripheral Initialization
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Serial.begin(115200); //Initialize the Serial Port to view information on the Serial Monitor
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I2C.begin(); //Initialize I2C communication to the let the library communicate with the sensor.
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//Sensor Initialization
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mySensor.initSensor(); //The I2C Address can be changed here inside this function in the library
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mySensor.setOperationMode(OPERATION_MODE_NDOF); //Can be configured to other operation modes as desired
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mySensor.setUpdateMode(MANUAL); //The default is AUTO. Changing to manual requires calling the relevant update functions prior to calling the read functions
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//Setting to MANUAL requires lesser reads to the sensor
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mySensor.updateAccelConfig();
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updateSensorData = true;
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Serial.println();
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Serial.println("Default accelerometer configuration settings...");
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Serial.print("Range: ");
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Serial.println(mySensor.readAccelRange());
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Serial.print("Bandwidth: ");
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Serial.println(mySensor.readAccelBandwidth());
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Serial.print("Power Mode: ");
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Serial.println(mySensor.readAccelPowerMode());
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Serial.println("Streaming in ..."); //Countdown
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Serial.print("3...");
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delay(1000); //Wait for a second
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Serial.print("2...");
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delay(1000); //Wait for a second
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Serial.println("1...");
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delay(1000); //Wait for a second
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}
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void loop() //This code is looped forever
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{
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if (updateSensorData) //Keep the updating of data as a separate task
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{
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mySensor.updateAccel(); //Update the Accelerometer data
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mySensor.updateLinearAccel(); //Update the Linear Acceleration data
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mySensor.updateGravAccel(); //Update the Gravity Acceleration data
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mySensor.updateCalibStatus(); //Update the Calibration Status
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updateSensorData = false;
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}
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if ((millis() - lastStreamTime) >= streamPeriod)
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{
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lastStreamTime = millis();
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Serial.print("Time: ");
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Serial.print(lastStreamTime);
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Serial.print("ms ");
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Serial.print(" aX: ");
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Serial.print(mySensor.readAccelX()); //Accelerometer X-Axis data
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Serial.print("m/s2 ");
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Serial.print(" aY: ");
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Serial.print(mySensor.readAccelY()); //Accelerometer Y-Axis data
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Serial.print("m/s2 ");
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Serial.print(" aZ: ");
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Serial.print(mySensor.readAccelZ()); //Accelerometer Z-Axis data
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Serial.print("m/s2 ");
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Serial.print(" lX: ");
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Serial.print(mySensor.readLinearAccelX()); //Linear Acceleration X-Axis data
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Serial.print("m/s2 ");
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Serial.print(" lY: ");
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Serial.print(mySensor.readLinearAccelY()); //Linear Acceleration Y-Axis data
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Serial.print("m/s2 ");
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Serial.print(" lZ: ");
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Serial.print(mySensor.readLinearAccelZ()); //Linear Acceleration Z-Axis data
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Serial.print("m/s2 ");
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Serial.print(" gX: ");
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Serial.print(mySensor.readGravAccelX()); //Gravity Acceleration X-Axis data
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Serial.print("m/s2 ");
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Serial.print(" gY: ");
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Serial.print(mySensor.readGravAccelY()); //Gravity Acceleration Y-Axis data
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Serial.print("m/s2 ");
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Serial.print(" gZ: ");
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Serial.print(mySensor.readGravAccelZ()); //Gravity Acceleration Z-Axis data
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Serial.print("m/s2 ");
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Serial.print(" C: ");
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Serial.print(mySensor.readAccelCalibStatus()); //Accelerometer Calibration Status (0 - 3)
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Serial.println();
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updateSensorData = true;
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}
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}

‎examples/BareMinimum/BareMinimum.ino

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/****************************************************************************
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* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
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*
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* BareMinimum.ino
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* Date: 2014/08/25
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* Revision: 2.1 $
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*
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* Usage: Example code to describe the Bare Minimum
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*
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****************************************************************************
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/***************************************************************************
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* License:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* Neither the name of the copyright holder nor the names of the
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
34+
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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*
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* The information provided is believed to be accurate and reliable.
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* The copyright holder assumes no responsibility for the consequences of use
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* of such information nor for any infringement of patents or
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* other rights of third parties which may result from its use.
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* No license is granted by implication or otherwise under any patent or
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* patent rights of the copyright holder.
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*/
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#include "NAxisMotion.h" //Contains the bridge code between the API and the Arduino Environment
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#include <Wire.h>
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NAxisMotion mySensor; //Object that for the sensor
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void setup() //This code is executed once
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{
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//Peripheral Initialization
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I2C.begin(); //Initialize I2C communication to the let the library communicate with the sensor.
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//Sensor Initialization
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mySensor.initSensor(); //The I2C Address can be changed here inside this function in the library
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mySensor.setOperationMode(OPERATION_MODE_NDOF); //Can be configured to other operation modes as desired
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}
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void loop() //This code is looped forever
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{
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//Blank
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}

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