serialData.ino

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <EEPROM.h>
#include <SPI.h>
 
#define BNO055_SAMPLERATE_DELAY_MS (16) //16.6666 ms equals 60fps.

Adafruit_BNO055 bno = Adafruit_BNO055(55);

void setup(void){
  /*
        WiFi.softAPdisconnect(true);
    WiFi.disconnect(true);
        ESP.eraseConfig();
    ESP.reset();
  */
  Serial.begin(115200);

  
  sensor_t sensor;
  if (!bno.begin())
  {
        Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
        while (1);
  }
  setHardcodedCalibrationData();
  bno.setExtCrystalUse(true); 
  Serial.println("bno initialized and calibration is set");  
  
  
}

void setHardcodedCalibrationData(){
  adafruit_bno055_offsets_t calibrationData;
  calibrationData.accel_offset_x = 0;
  calibrationData.accel_offset_y = 65500;
  calibrationData.accel_offset_z = 16;
  calibrationData.gyro_offset_x = 4;
  calibrationData.gyro_offset_y = 65535;
  calibrationData.gyro_offset_z = 1;
  calibrationData.mag_offset_z = 16;
  calibrationData.mag_offset_x = 4;
  calibrationData.mag_offset_y = 65535;
  calibrationData.accel_radius = 1000;
  calibrationData.mag_radius = 749;
  bno.setSensorOffsets(calibrationData);

  

}


void getAndSendSensorData(){
      sensors_event_t event;
      bno.getEvent(&event);
      
      imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
      s = "";
      s+= "x";
      s += euler.x();
      s += " y";
      s += euler.y();
      s += " z";
      s += euler.z();
      s += "a";
      
      /*
      s = "";
      s+= "x";
      s += event.orientation.x;
      s += " y";
      s += event.orientation.y;
      s += " z";
      s += event.orientation.z;
      s += "a";
      */
      Serial.print(s);
}

void loop(void){

  getAndSendSensorData();     
  delay(BNO055_SAMPLERATE_DELAY_MS);
}