I am using a portenta H7 with your Adafruit IMU BNO055. I want to use the Restore_offset.ino in the mbed OS. In the tutorial of portenta I found this example but I am not able to modify the code properly https://docs.arduino.cc/tutorials/porte ... -ard-flash.
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#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <EEPROM.h>
/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
which provides a common 'type' for sensor data and some helper functions.
To use this driver you will also need to download the Adafruit_Sensor
library and include it in your libraries folder.
You should also assign a unique ID to this sensor for use with
the Adafruit Sensor API so that you can identify this particular
sensor in any data logs, etc. To assign a unique ID, simply
provide an appropriate value in the constructor below (12345
is used by default in this example).
Connections
===========
Connect SCL to analog 5
Connect SDA to analog 4
Connect VDD to 3-5V DC
Connect GROUND to common ground
History
=======
2015/MAR/03 - First release (KTOWN)
2015/AUG/27 - Added calibration and system status helpers
2015/NOV/13 - Added calibration save and restore
*/
/* 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);
}
/**************************************************************************/
/*
Display some basic info about the sensor status
*/
/**************************************************************************/
void displaySensorStatus(void)
{
/* Get the system status values (mostly for debugging purposes) */
uint8_t system_status, self_test_results, system_error;
system_status = self_test_results = system_error = 0;
bno.getSystemStatus(&system_status, &self_test_results, &system_error);
/* Display the results in the Serial Monitor */
Serial.println("");
Serial.print("System Status: 0x");
Serial.println(system_status, HEX);
Serial.print("Self Test: 0x");
Serial.println(self_test_results, HEX);
Serial.print("System Error: 0x");
Serial.println(system_error, HEX);
Serial.println("");
delay(500);
}
/**************************************************************************/
/*
Display sensor calibration status
*/
/**************************************************************************/
void displayCalStatus(void)
{
/* Get the four calibration values (0..3) */
/* Any sensor data reporting 0 should be ignored, */
/* 3 means 'fully calibrated" */
uint8_t system, gyro, accel, mag;
system = gyro = accel = mag = 0;
bno.getCalibration(&system, &gyro, &accel, &mag);
/* The data should be ignored until the system calibration is > 0 */
Serial.print("\t");
if (!system)
{
Serial.print("! ");
}
/* Display the individual values */
Serial.print("Sys:");
Serial.print(system, DEC);
Serial.print(" G:");
Serial.print(gyro, DEC);
Serial.print(" A:");
Serial.print(accel, DEC);
Serial.print(" M:");
Serial.print(mag, DEC);
}
/**************************************************************************/
/*
Display the raw calibration offset and radius data
*/
/**************************************************************************/
void displaySensorOffsets(const adafruit_bno055_offsets_t &calibData)
{
Serial.print("Accelerometer: ");
Serial.print(calibData.accel_offset_x); Serial.print(" ");
Serial.print(calibData.accel_offset_y); Serial.print(" ");
Serial.print(calibData.accel_offset_z); Serial.print(" ");
Serial.print("\nGyro: ");
Serial.print(calibData.gyro_offset_x); Serial.print(" ");
Serial.print(calibData.gyro_offset_y); Serial.print(" ");
Serial.print(calibData.gyro_offset_z); Serial.print(" ");
Serial.print("\nMag: ");
Serial.print(calibData.mag_offset_x); Serial.print(" ");
Serial.print(calibData.mag_offset_y); Serial.print(" ");
Serial.print(calibData.mag_offset_z); Serial.print(" ");
Serial.print("\nAccel Radius: ");
Serial.print(calibData.accel_radius);
Serial.print("\nMag Radius: ");
Serial.print(calibData.mag_radius);
}
/**************************************************************************/
/*
Arduino setup function (automatically called at startup)
*/
/**************************************************************************/
void setup(void)
{
Serial.begin(115200);
delay(1000);
Serial.println("Orientation Sensor Test"); 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);
}
int eeAddress = 0;
long bnoID;
bool foundCalib = false;
EEPROM.get(eeAddress, bnoID);
adafruit_bno055_offsets_t calibrationData;
sensor_t sensor;
/*
* Look for the sensor's unique ID at the beginning oF EEPROM.
* This isn't foolproof, but it's better than nothing.
*/
bno.getSensor(&sensor);
if (bnoID != sensor.sensor_id)
{
Serial.println("\nNo Calibration Data for this sensor exists in EEPROM");
delay(500);
}
else
{
Serial.println("\nFound Calibration for this sensor in EEPROM.");
eeAddress += sizeof(long);
EEPROM.get(eeAddress, calibrationData);
displaySensorOffsets(calibrationData);
Serial.println("\n\nRestoring Calibration data to the BNO055...");
bno.setSensorOffsets(calibrationData);
Serial.println("\n\nCalibration data loaded into BNO055");
foundCalib = true;
}
delay(1000);
/* Display some basic information on this sensor */
displaySensorDetails();
/* Optional: Display current status */
displaySensorStatus();
/* Crystal must be configured AFTER loading calibration data into BNO055. */
bno.setExtCrystalUse(true);
sensors_event_t event;
bno.getEvent(&event);
/* always recal the mag as It goes out of calibration very often */
if (foundCalib){
Serial.println("Move sensor slightly to calibrate magnetometers");
while (!bno.isFullyCalibrated())
{
bno.getEvent(&event);
delay(BNO055_SAMPLERATE_DELAY_MS);
}
}
else
{
Serial.println("Please Calibrate Sensor: ");
while (!bno.isFullyCalibrated())
{
bno.getEvent(&event);
Serial.print("X: ");
Serial.print(event.orientation.x, 4);
Serial.print("\tY: ");
Serial.print(event.orientation.y, 4);
Serial.print("\tZ: ");
Serial.print(event.orientation.z, 4);
/* Optional: Display calibration status */
displayCalStatus();
/* New line for the next sample */
Serial.println("");
/* Wait the specified delay before requesting new data */
delay(BNO055_SAMPLERATE_DELAY_MS);
}
}
Serial.println("\nFully calibrated!");
Serial.println("--------------------------------");
Serial.println("Calibration Results: ");
adafruit_bno055_offsets_t newCalib;
bno.getSensorOffsets(newCalib);
displaySensorOffsets(newCalib);
Serial.println("\n\nStoring calibration data to EEPROM...");
eeAddress = 0;
bno.getSensor(&sensor);
bnoID = sensor.sensor_id;
EEPROM.put(eeAddress, bnoID);
eeAddress += sizeof(long);
EEPROM.put(eeAddress, newCalib);
Serial.println("Data stored to EEPROM.");
Serial.println("\n--------------------------------\n");
delay(500);
}
void loop() {
/* Get a new sensor event */
sensors_event_t event;
bno.getEvent(&event);
/* Display the floating point data */
Serial.print("X: ");
Serial.print(event.orientation.x, 4);
Serial.print("\tY: ");
Serial.print(event.orientation.y, 4);
Serial.print("\tZ: ");
Serial.print(event.orientation.z, 4);
/* Optional: Display calibration status */
displayCalStatus();
/* Optional: Display sensor status (debug only) */
//displaySensorStatus();
/* New line for the next sample */
Serial.println("");
/* Wait the specified delay before requesting new data */
delay(BNO055_SAMPLERATE_DELAY_MS);
}