Read and Plot Real-Time Data from BNO055 Sensor in NDOF Mode - MATLAB & Simulink Example - MathWorks 中国 (2024)

arduinoObj = arduino('COM7', 'Uno', 'Libraries', 'I2C');bno = bno055(arduinoObj, 'OperatingMode', 'ndof');

% Accelerometer calibration flagaccCalib = 0; % Gyroscope calibration flaggyrCalib = 0; % Magnetometer calibration flagmagCalib = 0; fprintf('Calibrating the BNO055 sensor . . . \n');while(prod([accCalib, gyrCalib, magCalib]) ~= 1) if strcmpi(bno.readCalibrationStatus.Accelerometer, "full") && isequal(accCalib, 0) accCalib = 1; fprintf('Accelerometer is calibrated! . . .\n'); end if strcmpi(bno.readCalibrationStatus.Gyroscope, "full") && isequal(gyrCalib, 0) gyrCalib = 1; fprintf('Gyroscope is calibrated! . . .\n'); end if(strcmpi(bno.readCalibrationStatus.Magnetometer, "full"))&& isequal(magCalib, 0) magCalib = 1; fprintf('Magnetometer is calibrated! . . .\n'); endendfprintf('BNO055 sensor is fully calibrated!\n');

% Provide time frame in secondssenseFrame = 60; % Measure approximate execution time of a single read cycletic;readOrientation(bno);readAcceleration(bno);readAngularVelocity(bno);readMagneticField(bno);tDelta = toc;% Number of samples to be collected in the senseFrame time framenumSamples = floor(senseFrame/tDelta); % Time vectortVector = linspace(0, senseFrame, numSamples); tCorrection = 0;recordedData = zeros(numSamples, 3, 4);

subplot(4, 1, 1)hold on% Create handle to Azimuth animatedline objecthAzimuth = animatedline('color', 'r', 'linewidth', 1.25); % Create handle to Pitch animatedline object hPitch = animatedline('color', 'k', 'linewidth', 1.25); % Create handle to Roll animatedline object hRoll = animatedline('color', 'b', 'linewidth', 1.25); legend('Azimuth (rad)','Pitch (rad)','Roll (rad)');ylabel('Euler Angles (rad)');xlabel('Time (s)');title('Reading Orientation of the BNO055 sensor', 'fontsize', 12);axis([0 senseFrame -6.5 6.5])grid minorhold offsubplot(4, 1, 2)hold on% Create handle to X-axis acceleration animatedline objecthAx = animatedline('color', 'r', 'linewidth', 1.25); % Create handle to Y-axis acceleration animatedline objecthAy = animatedline('color', 'k', 'linewidth', 1.25); % Create handle to Z-axis acceleration animatedline objecthAz = animatedline('color', 'b', 'linewidth', 1.25); legend('A_x (m/s^2)','A_y (m/s^2)','A_z (m/s^2)');ylabel('Acceleration (m/s^2)');xlabel('Time (s)');title('Reading Accelerometer values from BNO055 sensor', 'fontsize', 12);axis([0 senseFrame -30 30]);hold offgrid minorsubplot(4, 1, 3)% Create handle to X-axis angular velocity animatedline objecthVx = animatedline('color', 'r', 'linewidth', 1.25); % Create handle to Y-axis angular velocity animatedline objecthVy = animatedline('color', 'k', 'linewidth', 1.25); % Create handle to Z-axis angular velocity animatedline objecthVz = animatedline('color', 'b', 'linewidth', 1.25); legend('\omega_x (rad/s)','\omega_y (rad/s)','\omega_z (rad/s)');ylabel('Angular Velocity (rad/s)');xlabel('Time (s)');title('Reading Angular velocity values from BNO055 sensor', 'fontsize', 12);axis([0 senseFrame -10 10]);hold offgrid minorsubplot(4, 1, 4)% Create handle to X-axis magnetic field animatedline objecthMagx = animatedline('color', 'r', 'linewidth', 1.25); % Create handle to Y-axis magnetic field animatedline objecthMagy = animatedline('color', 'k', 'linewidth', 1.25); % Create handle to Z-axis magnetic field animatedline objecthMagz = animatedline('color', 'b', 'linewidth', 1.5); legend('\mu_x (\muT)','\mu_y (\muT)','\mu_z (\muT)');ylabel('Magnetic Field (\muT)');xlabel('Time (s)');title('Reading Magnetometer values from BNO055 sensor', 'fontsize', 12);axis([0 senseFrame -50 50]);hold offgrid minor

for i = 1:numSamples % Read Orientation values (Euler angles) from the sensor [sensorVal, ~] = readOrientation(bno); % Read Acceleration values from the sensor [AccelVal, ~] = readAcceleration(bno); % Read Angular velocity values from the sensor [AngVelVal, ~] = readAngularVelocity(bno); % Read Magnetic field strength values from the sensor [MagVal, ~] = readMagneticField(bno); tic; addpoints(hAzimuth, tVector(i) + tCorrection,sensorVal(1)); addpoints(hPitch, tVector(i) + tCorrection,sensorVal(2)); addpoints(hRoll, tVector(i) + tCorrection,sensorVal(3)); addpoints(hAx, tVector(i) + tCorrection, AccelVal(1)); addpoints(hAy, tVector(i) + tCorrection, AccelVal(2)); addpoints(hAz, tVector(i) + tCorrection, AccelVal(3)); addpoints(hVx, tVector(i) + tCorrection, AngVelVal(1)); addpoints(hVy, tVector(i) + tCorrection, AngVelVal(2)); addpoints(hVz, tVector(i) + tCorrection, AngVelVal(3)); addpoints(hMagx, tVector(i) + tCorrection, MagVal(1)); addpoints(hMagy, tVector(i) + tCorrection, MagVal(2)); addpoints(hMagz, tVector(i) + tCorrection, MagVal(3)); recordedData(i, :, 1) = sensorVal; recordedData(i, :, 2) = AccelVal; recordedData(i, :, 3) = AngVelVal; recordedData(i, :, 4) = MagVal; tCorrection = toc; drawnow;end

release(bno);clear arduinoObj;clear bno;