I touchs: 2015

2015年12月29日星期二

Raspberry Pi: Pi 2 with Pi Mapper update

since: 2015/12/29
update: 2016/02/18
reference:
1. PiMapper
2. openFrameworks
3. Raspberry Pi: Pi 2 with Pi Mapper ---- 1/3
4. Raspberry Pi: Pi 2 with Pi Mapper ---- 2/3
5. Raspberry Pi: Pi 2 with Pi Mapper ---- 3/3

A. 更新版本:
     1. Raspberry Pi 2: Raspbian Jessie OS (Release date: 2015-11-21)
     2. openFrameworks: v0.9.0 for linuxarmv7

-----------------------------------------------------------------------------------------------

B. 安裝作業系統影像檔:
    1. 主要參考: Raspberry Pi: Pi 2 with Pi Mapper ---- 1/3

    2. 更新部分:
        a. 下載 Raspbian 映像檔, 版本為: Raspbian Jessie (Release date: 2015-11-21)

        b. 安裝好 Pi 後, 登入系統預設為桌面環境.

        c. 可以直接在 Pi 的組態設定中, 設定自動使用 pi 帳號登入文字模式.
           $ sudo raspi-config

           > 3 Boot Options

> B2 Console Autologin Text console, automatically logged in as 'pi' user

-----------------------------------------------------------------------------------------------

C. 安裝 openFrameworks
    1. 主要參考: Raspberry Pi: Pi 2 with Pi Mapper ---- 2/3

    2. 更新部分:
        a. download openFrameworks 0.9.0 linuxarmv7 distribution
$ cd
$ curl -O http://www.openframeworks.cc/versions/v0.9.0/of_v0.9.0_linuxarmv7l_release.tar.gz
$ mkdir openFrameworks
$ tar vxfz of_v0.9.0_linuxarmv7l_release.tar.gz -C openFrameworks --strip-components 1

        b. Install packages
$ cd /home/pi/openFrameworks/scripts/linux/debian
$ sudo ./install_dependencies.sh

        c. compile openFrameworks
$ make Release -j4 -C /home/pi/openFrameworks/libs/openFrameworksCompiled/project

        d. 不需要再額外增加 Raspberry Pi 2 makefiles
            說明: makefiles 預設已經是 Pi 2 的了, 連結也移除了

        e. 也不需要設定環境變數來告知編譯器使用 4 核與使用 armv7 來編譯

        f. 編譯範例與執行:
$ cd /home/pi/openFrameworks/examples/graphics/polygonExample
$ make
$ make run

        g. 在 Pi 上新增專案方式:
$ cp -R /home/pi/openFrameworks/examples/empty/emptyExample /home/pi/openFrameworks/apps/myApps/myRpiApp
$ cd /home/pi/openFrameworks/apps/myApps/myRpiApp
$ make
$ make run

-----------------------------------------------------------------------------------------------

D. 安裝 Pi Mapper
     1. 主要參考: Raspberry Pi: Pi 2 with Pi Mapper ---- 3/3

     2. 更新部分:
         a. 下載軟體:
$ cd ~/openFrameworks/addons
$ git clone https://github.com/kr15h/ofxPiMapper.git

         b. 安裝相依軟體:
$ git clone https://github.com/jvcleave/ofxOMXPlayer.git && git clone https://github.com/bakercp/ofxIO.git

         c. 編譯與執行:
$ cd ~/openFrameworks/addons/ofxPiMapper/example
$ make
$ make run

         d. create a symbolic link:
$ ln -s ~/openFrameworks/addons/ofxPiMapper ./PiMapper
-----------------------------------------------------------------------------------------------

E. 在 Mac 上安裝 Pi Mapper
     1. 先安裝好 openframeworks
         http://openframeworks.cc/download/

     2. 安裝 Pi Mapper:
         $ cd /Lanli/RD/project/openFrameworks/of_v0.9.0/addons
         $ git clone https://github.com/jvcleave/ofxOMXPlayer.git
         $ git clone https://github.com/bakercp/ofxIO.git
         $ git clone https://github.com/kr15h/ofxPiMapper.git

-----------------------------------------------------------------------------------------------

F. 在 Mac 上建立你的 Pi Mapper 專案
     1. 執行 projectGenerator app
         .... of_v0.9.0/projectGenerator-osx/projectGenerator.app

     2. 設定內容:
         Project name: myPiMapper
         Addons: ofxPiMapper, ofxIO, ofxXmlSettings, ofxGui
          > Generate

         說明: ofxOMXPlayer 只會在 Pi 上用到, 在此處不需要加入.

3. 新增成功後, 按下 "Close", 並關閉 projectGenerator app

     4. 完成後, 可以在 of_v0.9.0/apps/myApps/ 目錄下看到:
         myPiMapper 專案資料夾, 底下有二個接著會用到的檔案:
         addons.make ---- 編譯時會 addons 的內容
         myPiMapper.xcodeproj ---- Xcode 專案檔

5. 用文字編輯器開啟 addons.make 檔案, 於最後面增加 ofxOMXPlayer
說明: ofxOMXPlayer 為 Raspberry Pi 上 openFrameworks 的 video player

     6. 開啟 myPiMapper.xcodeproj 專案檔:
         a. 於 src 目錄下新增以下檔案:
             CustomSource.h, CustomSource.cpp
             CrossSource.h, CrossSource.cpp

         b. 將 of_v0.9.0/addons/ofxPiMapper/example/src 下的所有程式原始碼,
             覆蓋到 of_v0.9.0/apps/myApps/myPiMapper/src 下的所有程式原始碼.

     7. 拷貝 of_v0.9.0/addons/ofxPiMapper/example/bin/data 下的所有檔案與資料夾:
         defaultSurfaces.xml
         sources
         到 of_v0.9.0/apps/myApps/myPiMapper/bin/data 下

   8. 確認在 Mac 上編譯與執行成功後, 即可將整個 myPiMapper 資料夾上傳到 Pi 的
         ~/openFrameworks/apps/myApps 目錄下

     9. 建立 soft link 並編譯執行:
         $ cd
         $ ln -s ~/openFrameworks/apps/myApps/myPiMapper ./myPiMapper
         $ cd myPiMapper
         $ make
         $ make run

-----------------------------------------------------------------------------------------------
G. openFrameworks 0.9.2
     1. 參考:
         a. http://openframeworks.cc/setup/raspberrypi/
         b. http://openframeworks.cc/setup/raspberrypi/raspberry-pi-getting-started/

     2. 說明:
         On the Raspberry 2 although it's architecture is arm7 raspbian only supports arm6 by now

     3. 安裝步驟:
$ curl -O http://openframeworks.cc/versions/v0.9.2/of_v0.9.2_linuxarmv6l_release.tar.gz
$ sudo chmod 777 of_v0.9.2_linuxarmv6l_release.tar.gz
$ mkdir of_v0.9.2
$ tar vxfz of_v0.9.2_linuxarmv6l_release.tar.gz -C of_v0.9.2 --strip-components 1
$ cd /home/pi/of_v0.9.2/scripts/linux/debian
$ sudo ./install_dependencies.sh
$ sudo ./install_codecs.sh
$ make Release -C /home/pi/of_v0.9.2/libs/openFrameworksCompiled/project

    4. Install PiMapper
$ cd ~/of_v0.9.2/addons
$ git clone https://github.com/kr15h/ofxPiMapper.git
$ git clone https://github.com/jvcleave/ofxOMXPlayer.git && git clone https://github.com/bakercp/ofxIO.git
$ git clone https://github.com/jvcleave/ofxRPiCameraVideoGrabber
(for example-camera used)

    5. 內建相機模組: fixed bug for example-camera: check addons.make file
ofxPiMapper
ofxIO
ofxXmlSettings
ofxGui
ofxRPiCameraVideoGrabber
ofxOMXPlayer

    6. Reuse the example app by copying it to your apps directory
$ cd

$ cp -R of_v0.9.2/addons/ofxPiMapper/example of_v0.9.2/apps/myApps/
$ cd of_v0.9.2/apps/myApps

$ mv example PiMapper
$ cd
$ ln -s /home/pi/of_v0.9.2/apps/myApps/PiMapper ./PiMapper
$ cd PiMapper
$ make
$ make run

-----------------------------------------------------------------------------------------------
H. 備份與回復 Pi SD 卡資料:
     1. 參考:
         備份與回復樹莓派 Raspberry Pi 的 MicroSD 記憶卡 - G. T. Wang

     2. 備份:
         $ diskutil list ---> 查詢 SD 卡的磁碟代碼
            ex: /dev/disk1

$ sudo dd if=/dev/rdisk1 of=~/Desktop/ofx_0.9.2_PiMapper.img bs=1m

3. 回復:

    $ sudo dd if=~/Desktop/ofx_0.9.2_PiMapper.img of=/dev/rdisk1 bs=1m

4. Windows 方式:
工具: Win32 Disk Imager

2015年12月23日星期三

openFrameworks: Kinect For Windows V2

since: 2015/12/23
update: 2015/12/23
reference:
1. Setting up Kinect 2 for OpenFrameworks | rbarraza.com
2. elliotwoods/ofxKinectForWindows2 at 0.8.4

A. 系統需求:
     1. A Kinect for Windows v2 Device (K4W2)
     2. 64bit computer with a dedicated USB 3.0
     3. Windows 10, 8, 8.1
     4. Update your latest video card driver
     5. Install DirectX 11

     備註:
      a. How to Check Direct X Version in Windows:
      (1). Click “Start” > “Run” or hold down the “Windows Key” and press “R“.
      (2). Type “dxdiag“, then click “OK“.
      (3). The version of DirectX you are currently running will be displayed on your screen.

       b. check your system: run the Kinect Configuration Verifier tool

-----------------------------------------------------------------------------------------------

B. 安裝軟體:
     1. Kinect SDK v2
     2. Visual Studio Express 2012
     3. openframeworks v0.8.4
     4. ofxKinectForWindows2 addon

-----------------------------------------------------------------------------------------------

C. 執行範例專案:
     1. 開啟範例專案
         .... openFrameworks\of_v0.8.4\addons\ofxKinectForWindows2\
         example\example.sln

2. 設定為啟始專案:

     3. 調整 example 與 ofxKinect4Windows2Lib 專案的 "平台工具組":
         分別對 example 與 ofxKinect4Windows2Lib 專案作以下的調整:

         "點選該專案" > 屬性:
          所有組態 > 一般 > 平台工具組 > Visual Studio 2012 (v110)

   example:

ofxKinect4Windows2Lib:

     4. 建置方案與除錯:
         a. 建置 > 建置方案
             檢視 > 錯誤清單

         b. 將紅線框內的三行程式碼作註解

     5. 啟動程式:
         建置 > 建置方案 > (啟動)本機 Winows 偵錯工具

-----------------------------------------------------------------------------------------------

D. 建立新的 ofxKinect For Windows2 專案:
1. 使用 OpenFrameworks 的 Project Generator 來產生新的專案:
.... openFrameworks\of_v0.8.4\projectGenerator\projectGenerator.exe

     2. 設定專案名稱與要使用的 Addons:
         專案名稱: KinectTest
         Addons: ofxKinectForWindows2
         > CREATE PROJECT

     2. 開啟剛剛建立的方案:
         .... openFrameworks\of_v0.8.4\apps\myApps\
         KinectTest\KinectTest.sln

3. 加入 addons 的 ofxKinectForWindows2 專案:
a. 方案 > 加入 > 現有專案...

         b. 瀏覽選取 ....
             > ....openFrameworks\of_v0.8.4\addons\ofxKinectForWindows2
                \ofxKinectForWindows2Lib\ofxKinectForWindows2Lib.vcxproj

c. 完成後, 可以看到多出了一個新的專案:
ofxKinectForWindows2Lib

     4. 幫專案新增 ofxKinectForWindows2.props 屬性工作表:
         a. 檢視 > 屬性管理員

         b. 加入現有屬性工作表

         c. 瀏覽選取屬性工作表:
             .... openFrameworks\of_v0.8.4\addons\
             ofxKinectForWindows2\ofxKinectForWindows2.props

d. 儲存:

-----------------------------------------------------------------------------------------------

E. 調整專案配置
     KinectTest 專案 > 屬性:

     1. 所有組態 > 組態屬性 > VC++ 目錄 > Include 目錄 >
         加入: $(KINECTSDK20_DIR)\inc

2. 所有組態 > 組態屬性 > VC++ 目錄 > 程式庫目錄 >
加入: $(KINECTSDK20_DIR)\lib\x86

3. 所有組態 > 組態屬性 > 連結器 > 一般 > 其他程式庫目錄 >
加入: $(KINECTSDK20_DIR)\Lib\x86

4. 所有組態 > 組態屬性 > 連結器 > 輸入> 其他相依性 >
加入: $(KINECTSDK20_DIR)\Lib\x86\Kinect20.lib

-----------------------------------------------------------------------------------------------

F. 撰寫程式:
    1. 開啟 ofApp.h 程式, 修改如下：
#pragma once

#include "ofMain.h"
#include "ofxKinectForWindows2.h"

class ofApp : public ofBaseApp{

    public:
        void setup();
        void update();
        void draw();

        void keyPressed(int key);
        void keyReleased(int key);
        void mouseMoved(int x, int y );
        void mouseDragged(int x, int y, int button);
        void mousePressed(int x, int y, int button);
        void mouseReleased(int x, int y, int button);
        void windowResized(int w, int h);
        void dragEvent(ofDragInfo dragInfo);
        void gotMessage(ofMessage msg);

        ofxKFW2::Device kinect;
};

    2. 開啟 ofApp.cpp 程式, 修改如下：
#include "ofApp.h"

//--------------------------------------------------------------
void ofApp::setup(){
    kinect.open();
    kinect.initBodyIndexSource();
    kinect.initColorSource();
}

//--------------------------------------------------------------
void ofApp::update(){
    this->kinect.update();
}

//--------------------------------------------------------------
void ofApp::draw(){
    this->kinect.getBodyIndexSource()->draw(0,0,512,424)
　 this->kinect.getColorSource()->draw(532,0,640,360);
}
....
-----------------------------------------------------------------------------------------------

G. 建置與執行: (只取部份畫面)

2015年12月21日星期一

Processing 3: Kinect for Windows v2

since: 2015/12/21
update: 2015/12/21
reference:
1. ThomasLengeling/KinectPV2

A. 系統需求:
     1. A Kinect for Windows v2 Device (K4W2)
     2. 64bit computer with a dedicated USB 3.0
     3. Windows 10, 8, 8.1
     4. Update your latest video card driver
     5. Install DirectX 11

     備註:
      a. How to Check Direct X Version in Windows:
      (1). Click “Start” > “Run” or hold down the “Windows Key” and press “R“.
      (2). Type “dxdiag“, then click “OK“.
      (3). The version of DirectX you are currently running will be displayed on your screen.

       b. check your system: run the Kinect Configuration Verifier tool

-----------------------------------------------------------------------------------------------

B. 安裝軟體:
     1. Kinect SDK v2
     2. Processing 3.0

-----------------------------------------------------------------------------------------------

C. 安裝 Kinect v2 for Processing Library
     1. Sketch > Import Library... > Add Library...

2. find: Kinect v2 for Processing > Install

-----------------------------------------------------------------------------------------------

D. 執行範例程式:
1. File > Examples... > Contributed Libraries > Kinect v2 for Processing
> DepthTest > Run

2. 執行結果:

2015年12月20日星期日

How to Enable TRIM on Third Party SSDs in Mac OS X

since: 2015/12/20
update: 2015/12/20
reference:
1. How to Enable TRIM on Third Party SSDs in Mac OS X with trimforce

A. 檢查目前 Mac 上 SSD 的 TRIM 支援情況:

-----------------------------------------------------------------------------------------------

B. 開啟終端機, 輸入以下的指令:
    $ sudo trimforce enable
       ....
       Are you sure you wish to proceed (y/N)? y
       ....
       Your system will immediately reboot when this is complete.
       Is this OK (y/N)? y

-----------------------------------------------------------------------------------------------

C. 開機後, 再次檢查目前 Mac 上 SSD 的 TRIM 支援情況:

2015年12月5日星期六

Raspberry Pi: 校時, 開機自動執行, 特定重開機, 排程

since: 2015/12/05
update: 2015/12/05

A. 手動校時:     $ date
     $ date --help | more
        // date MMDDhhmm
     $ sudo date 11201458

-----------------------------------------------------------------------------------------------

B. 開機後自動執行 python 程式:
     1. 撰寫執行 python 的 shell script:
         /home/pi/project/run_my_job.sh
#!/bin/sh
cd /home/pi/project
python main_script.py

     2. 開機後自動登入 pi 帳號:
         $ sudo nano /etc/inittab
         ....
         #1:2345:respawn:/sbin/getty --noclear 38400 tty1
         1:2345:respawn:/bin/login -f pi tty1 </dev/tty1 >/dev/tty1 2>&1

     3. 設定排程:(關機與啟動程式)
         $ sudo crontab -e
        ....
        # m h dom mon dow   command
        00 17 * * * /sbin/shutdown -h now
       @reboot /home/pi/project/run_my_job.sh

-----------------------------------------------------------------------------------------------

C. 這次開機, 距離上次開機時間超過 60 秒, 會再重新開機一次
     1. 記錄時間的檔案:
         /home/pi/project/check_time.txt
         檔案內容:(格式: YYYYMMDDhhmmss 每次開機後會被覆寫以更新時間)
         20151120115130

     2. 檢查的程式:
         /home/pi/project/check_reboot.sh
         程式內容:

#!/bin/bash

nowtime=`date +%Y%m%d%H%M%S`
lasttime=$(</home/pi/project/check_time.txt)

echo "lasttime: $lasttime"
echo "nowtime: $nowtime"

echo $nowtime > /home/pi/project/check_time.txt

difftime=$(echo $(( nowtime - lasttime )))

echo "difftime: $difftime"

if [ $difftime -gt 60 ]; then
   echo "reboot"
   sudo reboot
fi

說明: -gt: greater then ; -st: smaller then

     3. 加入排程:
        $ sudo crontab -e
        ....
        # m h dom mon dow   command
        00 17 * * * /sbin/shutdown -h now
        @reboot /home/pi/project/run_my_job.sh
        @reboot /home/pi/project/check_reboot.sh

2015年11月12日星期四

CUDA: Query Device Information With The Runtime API

since: 2015/11/12
update: 2015/11/12
reference:
1. Professional CUDA C Programming
2. I touchs: Get Started On NVIDIA Jetson TK1
3. I touchs: How to re-flash your Jetson TK1 Development Kit
4. I touchs: Using the Jetson TK1 as a remote development environment for CUDA
5. CUDA Runtime API :: CUDA Toolkit Documentation

A. 在 Nsight Eclipse Edition 撰寫程式如下:
     // 檔名: checkDeviceInfor.cu
#include <cuda_runtime.h>
#include <stdio.h>

/*
* Display a variety of information on the first CUDA device in this system,
* including driver version, runtime version, compute capability, bytes of
* global memory, etc.
*/

void CHECK(cudaError_t call)
{
    const cudaError_t error = call;
    if (error != cudaSuccess)
    {
        fprintf(stderr, "Error: %s:%d, ", __FILE__, __LINE__);
        fprintf(stderr, "code: %d, reason: %s\n", error,
                cudaGetErrorString(error));
    }
}

int main(int argc, char **argv)
{
    printf("\n%s Starting...\n\n", argv[0]);

    int deviceCount = 0;
    cudaGetDeviceCount(&deviceCount);

    if (deviceCount == 0)
    {
        printf("There are no available device(s) that support CUDA\n");
    }
    else
    {
        printf("Detected %d CUDA Capable device(s)\n", deviceCount);
    }

    int dev = 0, driverVersion = 0, runtimeVersion = 0;
    CHECK(cudaSetDevice(dev));
    cudaDeviceProp deviceProp;
    CHECK(cudaGetDeviceProperties(&deviceProp, dev));
    printf("Device %d: \"%s\"\n\n", dev, deviceProp.name);

    cudaDriverGetVersion(&driverVersion);
    cudaRuntimeGetVersion(&runtimeVersion);

    printf(" CUDA Driver Version / Runtime Version          %d.%d / %d.%d\n",
           driverVersion / 1000, (driverVersion % 100) / 10,
           runtimeVersion / 1000, (runtimeVersion % 100) / 10);

    printf(" CUDA Capability Major/Minor version number:    %d.%d\n\n",
           deviceProp.major, deviceProp.minor);

    printf(" Total amount of global memory:                 %.2f MBytes (%llu "
           "bytes)\n", (float)deviceProp.totalGlobalMem / pow(1024.0, 3),
           (unsigned long long)deviceProp.totalGlobalMem);

    printf(" GPU Clock rate:                                %.0f MHz (%0.2f "
           "GHz)\n", deviceProp.clockRate * 1e-3f,
           deviceProp.clockRate * 1e-6f);

    printf(" Memory Clock rate:                             %.0f Mhz\n",
           deviceProp.memoryClockRate * 1e-3f);

    printf(" Memory Bus Width:                              %d-bit\n",
           deviceProp.memoryBusWidth);

    if (deviceProp.l2CacheSize)
    {
        printf(" L2 Cache Size:                                 %d bytes\n\n",
               deviceProp.l2CacheSize);
    }

    printf(" Max Texture Dimension Size (x,y,z)             1D=(%d), "
           "2D=(%d,%d), 3D=(%d,%d,%d)\n", deviceProp.maxTexture1D,
           deviceProp.maxTexture2D[0], deviceProp.maxTexture2D[1],
           deviceProp.maxTexture3D[0], deviceProp.maxTexture3D[1],
           deviceProp.maxTexture3D[2]);

    printf(" Max Layered Texture Size (dim) x layers        1D=(%d) x %d, "
           "2D=(%d,%d) x %d\n\n", deviceProp.maxTexture1DLayered[0],
           deviceProp.maxTexture1DLayered[1], deviceProp.maxTexture2DLayered[0],
           deviceProp.maxTexture2DLayered[1],
           deviceProp.maxTexture2DLayered[2]);

    printf(" Total amount of constant memory:               %lu bytes\n",
           deviceProp.totalConstMem);

    printf(" Total amount of shared memory per block:       %lu bytes\n",
           deviceProp.sharedMemPerBlock);

    printf(" Total number of registers available per block: %d\n\n",
           deviceProp.regsPerBlock);

    printf(" Warp size:                                     %d\n\n",
           deviceProp.warpSize);

    printf(" Maximum number of threads per multiprocessor: %d\n",
           deviceProp.maxThreadsPerMultiProcessor);

    printf(" Maximum number of threads per block:           %d\n",
           deviceProp.maxThreadsPerBlock);

    printf(" Maximum sizes of each dimension of a block:    %d x %d x %d\n",
           deviceProp.maxThreadsDim[0],
           deviceProp.maxThreadsDim[1],
           deviceProp.maxThreadsDim[2]);

    printf(" Maximum sizes of each dimension of a grid:     %d x %d x %d\n",
           deviceProp.maxGridSize[0],
           deviceProp.maxGridSize[1],
           deviceProp.maxGridSize[2]);

    printf(" Maximum memory pitch:                          %lu bytes\n\n",
           deviceProp.memPitch);

    exit(EXIT_SUCCESS);
}
-----------------------------------------------------------------------------------------------

B. 執行結果:

-----------------------------------------------------------------------------------------------

C. 備註:
還可以使用 command-line 的工具: nvidia-smi (System Management Interface),
不過 Jetson TK1 似乎不支援.

2015年10月30日星期五

Processing: Get Datas From Adafruit BNO055 Sensor

since: 2015/10/30
update: 2015/11/01
reference:
1. Adafruit BNO055 Absolute Orientation Sensor

A. 硬體:
    1. Adafruit BNO055 Sensor
    2. Arduino Nano
    3. Mac OS X

-----------------------------------------------------------------------------------------------

B. 軟體:
    1. Arduino IDE
    2. Processing

-----------------------------------------------------------------------------------------------

C. 將 Arduino 程式碼寫入:
     1. 下載 Adafruit_BNO055 driver 與 Adafruit_Sensor

     2. 解壓縮後, 將其資料夾更名為: Adafruit_BNO055 與 Adafruit_Sensor

     3. 複製到 /Users/Lanli/Documents/Arduino/libraries 下:

     4. 打開 Arduino IDE , 參考剛剛 libraries 資料夾下的
         /Adafruit_BNO055/examples/rawdata/rawdata.ino, 撰寫以下的程式碼:

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>

/* This driver reads raw data from the BNO055

   Connections
   ===========
   Connect SCL to analog 5
   Connect SDA to analog 4
   Connect VDD to 3.3V DC
   Connect GROUND to common ground

   History
   =======
   2015/MAR/03 - First release (KTOWN)
*/
/* Set the delay between fresh samples */
#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno = Adafruit_BNO055();

/**************************************************************************/
/*
    Arduino setup function (automatically called at startup)
*/
/**************************************************************************/
void setup(void)
{
Serial.begin(9600);
Serial.println("Orientation Sensor Raw Data 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);
}

delay(1000);

/* Display the current temperature */
/*
int8_t temp = bno.getTemp();
Serial.print("Current Temperature: ");
Serial.print(temp);
Serial.println(" C");
Serial.println("");
*/
bno.setExtCrystalUse(true);

Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");
}

/**************************************************************************/
/*
    Arduino loop function, called once 'setup' is complete (your own code
    should go here)
*/
/**************************************************************************/
void loop(void)
{
// Possible vector values can be:
// - VECTOR_ACCELEROMETER - m/s^2
// - VECTOR_MAGNETOMETER - uT
// - VECTOR_GYROSCOPE     - rad/s
// - VECTOR_EULER         - degrees
// - VECTOR_LINEARACCEL   - m/s^2
// - VECTOR_GRAVITY       - m/s^2

// EULER
imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);

/* Display the floating point data */
/*
Serial.print("X: ");
Serial.print(euler.x());
Serial.print(" Y: ");
Serial.print(euler.y());
Serial.print(" Z: ");
Serial.print(euler.z());
Serial.print("\t\t");
*/
Serial.print("euler: ");
Serial.print(euler.x());
Serial.print(" ");
Serial.print(euler.y());
Serial.print(" ");
Serial.print(euler.z());
Serial.print(" ");

// GYROSCOPE
imu::Vector<3> gyroscope = bno.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

Serial.print("gyro: ");
Serial.print(gyroscope.x());
Serial.print(" ");
Serial.print(gyroscope.y());
Serial.print(" ");
Serial.print(gyroscope.z());
Serial.print(" ");

// ACCELEROMETER
imu::Vector<3> accelerometer = bno.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

Serial.print("acc: ");
Serial.print(accelerometer.x());
Serial.print(" ");
Serial.print(accelerometer.y());
Serial.print(" ");
Serial.print(accelerometer.z());
Serial.print(" ");

/*
// Quaternion data
imu::Quaternion quat = bno.getQuat();
Serial.print("qW: ");
Serial.print(quat.w(), 4);
Serial.print(" qX: ");
Serial.print(quat.y(), 4);
Serial.print(" qY: ");
Serial.print(quat.x(), 4);
Serial.print(" qZ: ");
Serial.print(quat.z(), 4);
Serial.print("\t\t");
*/

/* Display calibration status for each sensor. */
uint8_t system, gyro, accel, mag = 0;
bno.getCalibration(&system, &gyro, &accel, &mag);
//Serial.print("CALIBRATION: Sys=");
Serial.print("CAL: Sys=");
Serial.print(system, DEC);
Serial.print(" Gyro=");
Serial.print(gyro, DEC);
Serial.print(" Accel=");
Serial.print(accel, DEC);
Serial.print(" Mag=");
Serial.println(mag, DEC);

delay(BNO055_SAMPLERATE_DELAY_MS);
}
     4. 選取板子:
         Arduino > 工具 > 板子 > Arduino Nano

5. 選取序列埠:
Arduino > 工具 > 序列埠 > /dev/cu.usbserial-AJ02WWCS

6. 上傳:
Arduino > 檔案 > 上傳

7. 完成:

-----------------------------------------------------------------------------------------------

D. Processing:
    1. 相關程式碼如下:

void setup() {
....
// initial Serial
println(Serial.list());
Serial port;
// baudRate: 從一裝置發到另一裝置的位元率，即每秒鐘多少位元(bit/s)。
int arduinoBaudRate = 9600;
int arduinoPortIndex;
int lineFeed= 10;         // ASCII: line feed (new line)
String arduinoSerialName = "usbserial";
String arduinoPort;
// automatic set arduino port index
for (int i = 0; i < Serial.list ().length; i++) {
    if (Serial.list()[i].indexOf(arduinoSerialName) > 0) { // if find string "usbserial"
      arduinoPortIndex = i;
      println(">>> arduino Port Index = " + arduinoPortIndex)
      break;
    }
}

    arduinoPort = Serial.list()[arduinoPortIndex];
    port = new Serial(this, arduinoPort, arduinoBaudRate);
    port.bufferUntil(lineFeed);
....
}

void serialEvent(Serial p) {
String rawStr = p.readString();
println(">>> BNO055 = " + rawStr);
}

    2. 執行結果:

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