initial commit

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:pico]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = pico
+framework = arduino
+board_build.core = earlephilhower
+lib_deps = 
+	adafruit/Adafruit BNO055@^1.6.4
+	adafruit/Adafruit Unified Sensor@^1.1.15
+
+[env:pico2]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = rpipico2
+framework = arduino
+board_build.core = earlephilhower
+lib_deps = 
+	adafruit/Adafruit BNO055@^1.6.4
+	adafruit/Adafruit Unified Sensor@^1.1.15

src/main.cpp

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+#include <Wire.h>
+#include <Arduino.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BNO055.h>
+
+#define LOCKUP(x) do{Serial.println(x);delay(1000);}while(true)
+
+#define IMU_SDA_PIN 16
+#define IMU_SCL_PIN 17
+
+#define IMU_ADDRESS 0x28
+#define IMU_ID      55
+
+#define TARGET_LOOP_MS 100
+
+Adafruit_BNO055 bno = Adafruit_BNO055(IMU_ID, IMU_ADDRESS);
+
+void printEvent(sensors_event_t* event);
+
+void setup()
+{
+	Serial.begin(9600);
+	Wire.setSDA(IMU_SDA_PIN);
+	Wire.setSCL(IMU_SCL_PIN);
+	Wire.begin();
+	if (!bno.begin()) {
+		LOCKUP("bno init");
+	}
+}
+
+
+void loop()
+{
+	unsigned long tstart = micros();
+
+	sensors_event_t orientation_data, accel_data;
+	bno.getEvent(&orientation_data, Adafruit_BNO055::VECTOR_EULER);
+	bno.getEvent(&accel_data, Adafruit_BNO055::VECTOR_LINEARACCEL);
+
+	Serial.println("orientation_data");
+	printEvent(&orientation_data);
+
+	Serial.println("accel_data");
+	printEvent(&accel_data);
+
+	unsigned long tend = micros();
+	long td = max((tend - tstart) - (TARGET_LOOP_MS * 1000), 0);
+	//delayMicroseconds(td);
+	delay(100);
+}
+
+
+void printEvent(sensors_event_t* event) {
+	Serial.println();
+	Serial.print(event->type);
+	double x = -1000000, y = -1000000 , z = -1000000; //dumb values, easy to spot problem
+	if (event->type == SENSOR_TYPE_LINEAR_ACCELERATION) {
+		x = event->acceleration.x;
+		y = event->acceleration.y;
+		z = event->acceleration.z;
+	} else if (event->type == SENSOR_TYPE_ORIENTATION) {
+		x = event->orientation.x;
+		y = event->orientation.y;
+		z = event->orientation.z;
+	} else if (event->type == SENSOR_TYPE_MAGNETIC_FIELD) {
+		x = event->magnetic.x;
+		y = event->magnetic.y;
+		z = event->magnetic.z;
+	} else if ((event->type == SENSOR_TYPE_GYROSCOPE) || (event->type == SENSOR_TYPE_ROTATION_VECTOR)) {
+		x = event->gyro.x;
+		y = event->gyro.y;
+		z = event->gyro.z;
+	}
+	
+	Serial.print(": x= ");
+	Serial.print(x);
+	Serial.print(" | y= ");
+	Serial.print(y);
+	Serial.print(" | z= ");
+	Serial.println(z);
+}

test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html