|
Readme
This is a C language project that configures
the BNO085 9-DOF accelerometer to sample at about 100 Hz. Internally the BNO085 includes
3-axis accelerometers, gyroscopes, and magnetometers. In the simple UART-RVC (remote vacuum cleaner) mode, these 9 measurements are
fused into 6 usuable measurements.
The yaw is a measure of the rotation around the Z-axis since reset. The yaw has a range of +/- 180°, i.e., a report of 8734 is equivalent to 87.34°.
The pitch is a measure of the rotation around the Y-axis. The pitch has a range of +/- 90°, i.e., a report of 1072 is equivalent to 10.72°.
The roll is a measure of the rotation around the X-axis. The roll has a range of +/- 180°, i.e., a report of 1072 is equivalent to 10.72°.
Each measurement is a 16-bit signed integer with the corresponding decimal fixed point resolution.
- Yaw 0.01°
- Pitch 0.01°
- Roll 0.01°
- X-acceleration 0.001g
- Y-acceleration 0.001g
- Z-acceleration 0.001g
|
Hardware Required
- MSPM0G3507 LaunchPad™ Development Kit (LP-MSPM0G3507)
Pin assignments
- BNO085 Vcc --- 3.3V Power
- BNO085 GND --- GND
- BNO085 SCL,ADD,CS,INT,PS1 left not connected
- BNO085 SDA --- MSPM0 PB13 RxD: is UART3 Rx (BNO085 to MSPM0) baud=115200 bps
- BNO085 RST --- MSPM0 PB12 GPIO output (drive low to reset)
- BNO085 PS0 --- 3.3V to select UART-RVC mode (there is a solder jumper on back)
LaunchPad Jumpers
- Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26
- J5: Connects PB22 to blue LED2
- J6: Connects PB26 to red LED2
- J7: Connects PB27 to green LED2
|
|