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Copy pathBNO08x_AOG.cpp
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BNO08x_AOG.cpp
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/*
This is a library written for the BNO080
SparkFun sells these at its website: www.sparkfun.com
Do you like this library? Help support SparkFun. Buy a board!
https://www.sparkfun.com/products/14686
Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
Edited by Math for AgOpenGPS application
The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor
to maintain and complete all the complex calculations for various VR, inertial, step counting,
and movement operations.
This library handles the initialization of the BNO080 and is able to query the sensor
for different readings.
https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
Development environment specifics:
Arduino IDE 1.8.5
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "BNO08x_AOG.h"
//Attempt communication with the device
//Return true if we got a 'Polo' back from Marco
boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
{
_deviceAddress = deviceAddress; //If provided, store the I2C address from user
_i2cPort = &wirePort; //Grab which port the user wants us to use
_int = intPin; //Get the pin that the user wants to use for interrupts. By default, it's NULL and we'll not use it in dataAvailable() function.
//We expect caller to begin their I2C port, with the speed of their choice external to the library
//But if they forget, we start the hardware here.
//_i2cPort->begin();
//Begin by resetting the IMU
softReset();
//Check communication with device
shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
shtpData[1] = 0; //Reserved
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
if (_printDebug == true)
{
_debugPort->print(F("SW Version Major: 0x"));
_debugPort->print(shtpData[2], HEX);
_debugPort->print(F(" SW Version Minor: 0x"));
_debugPort->print(shtpData[3], HEX);
uint32_t SW_Part_Number = ((uint32_t)shtpData[7] << 24) | ((uint32_t)shtpData[6] << 16) | ((uint32_t)shtpData[5] << 8) | ((uint32_t)shtpData[4]);
_debugPort->print(F(" SW Part Number: 0x"));
_debugPort->print(SW_Part_Number, HEX);
uint32_t SW_Build_Number = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]);
_debugPort->print(F(" SW Build Number: 0x"));
_debugPort->print(SW_Build_Number, HEX);
uint16_t SW_Version_Patch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]);
_debugPort->print(F(" SW Version Patch: 0x"));
_debugPort->println(SW_Version_Patch, HEX);
}
return (true);
}
}
return (false); //Something went wrong
}
boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_INTPin, uint8_t user_RSTPin, uint32_t spiPortSpeed, SPIClass &spiPort)
{
_i2cPort = NULL; //This null tells the send/receive functions to use SPI
//Get user settings
_spiPort = &spiPort;
_spiPortSpeed = spiPortSpeed;
if (_spiPortSpeed > 3000000)
_spiPortSpeed = 3000000; //BNO080 max is 3MHz
_cs = user_CSPin;
_wake = user_WAKPin;
_int = user_INTPin;
_rst = user_RSTPin;
pinMode(_cs, OUTPUT);
pinMode(_wake, OUTPUT);
pinMode(_int, INPUT_PULLUP);
pinMode(_rst, OUTPUT);
digitalWrite(_cs, HIGH); //Deselect BNO080
//Configure the BNO080 for SPI communication
digitalWrite(_wake, HIGH); //Before boot up the PS0/WAK pin must be high to enter SPI mode
digitalWrite(_rst, LOW); //Reset BNO080
delay(2); //Min length not specified in datasheet?
digitalWrite(_rst, HIGH); //Bring out of reset
//Wait for first assertion of INT before using WAK pin. Can take ~104ms
waitForSPI();
//if(wakeBNO080() == false) //Bring IC out of sleep after reset
// Serial.println("BNO080 did not wake up");
_spiPort->begin(); //Turn on SPI hardware
//At system startup, the hub must send its full advertisement message (see 5.2 and 5.3) to the
//host. It must not send any other data until this step is complete.
//When BNO080 first boots it broadcasts big startup packet
//Read it and dump it
waitForSPI(); //Wait for assertion of INT before reading advert message.
receivePacket();
//The BNO080 will then transmit an unsolicited Initialize Response (see 6.4.5.2)
//Read it and dump it
waitForSPI(); //Wait for assertion of INT before reading Init response
receivePacket();
//Check communication with device
shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
shtpData[1] = 0; //Reserved
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
waitForSPI();
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
if (_printDebug == true)
{
_debugPort->print(F("SW Version Major: 0x"));
_debugPort->print(shtpData[2], HEX);
_debugPort->print(F(" SW Version Minor: 0x"));
_debugPort->print(shtpData[3], HEX);
uint32_t SW_Part_Number = ((uint32_t)shtpData[7] << 24) | ((uint32_t)shtpData[6] << 16) | ((uint32_t)shtpData[5] << 8) | ((uint32_t)shtpData[4]);
_debugPort->print(F(" SW Part Number: 0x"));
_debugPort->print(SW_Part_Number, HEX);
uint32_t SW_Build_Number = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]);
_debugPort->print(F(" SW Build Number: 0x"));
_debugPort->print(SW_Build_Number, HEX);
uint16_t SW_Version_Patch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]);
_debugPort->print(F(" SW Version Patch: 0x"));
_debugPort->println(SW_Version_Patch, HEX);
}
return (true);
}
return (false); //Something went wrong
}
//Calling this function with nothing sets the debug port to Serial
//You can also call it with other streams like Serial1, SerialUSB, etc.
void BNO080::enableDebugging(Stream &debugPort)
{
_debugPort = &debugPort;
_printDebug = true;
}
//Updates the latest variables if possible
//Returns false if new readings are not available
bool BNO080::dataAvailable(void)
{
//If we have an interrupt pin connection available, check if data is available.
//If int pin is not set, then we'll rely on receivePacket() to timeout
//See issue 13: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/13
if (_int != 255)
{
if (digitalRead(_int) == HIGH)
return (false);
}
if (receivePacket() == true)
{
//Check to see if this packet is a sensor reporting its data to us
if (shtpHeader[2] == CHANNEL_REPORTS && shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP)
{
parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found
return (true);
}
else if (shtpHeader[2] == CHANNEL_CONTROL)
{
parseCommandReport(); //This will update responses to commands, calibrationStatus, etc.
return (true);
}
else if (shtpHeader[2] == CHANNEL_GYRO)
{
parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found
return (true);
}
}
return (false);
}
//This function pulls the data from the command response report or get feature response report
//Unit responds with packet that contains the following:
// Command response report | Get feature respond report
//shtpHeader[0:3]: First, a 4 byte header | First, a 4 byte header
//shtpData[0]: The Report ID | The Report ID
//shtpData[1]: Sequence number (See 6.5.18.2) | Feature report ID
//shtpData[2]: Command | Feature flags
//shtpData[3]: Command Sequence Number | Change sensitivity [absolute | relative] LSB
//shtpData[4]: Response Sequence Number | Change sensitivity [absolute | relative] MSB
//shtpData[5 + 0]: R0 | Report Interval LSB
//shtpData[5 + 1]: R1 | Report Interval
//shtpData[5 + 2]: R2 | Report Interval
//shtpData[5 + 3]: R3 | Report Interval MSB
//shtpData[5 + 4]: R4 | Batch Interval LSB
//shtpData[5 + 5]: R5 | Batch Interval
//shtpData[5 + 6]: R6 | Batch Interval
//shtpData[5 + 7]: R7 | Batch Interval MSB
//shtpData[5 + 8]: R8
void BNO080::parseCommandReport(void)
{
if (shtpData[0] == SHTP_REPORT_COMMAND_RESPONSE)
{
//The BNO080 responds with this report to command requests. It's up to use to remember which command we issued.
uint8_t command = shtpData[2]; //This is the Command byte of the response
if (command == COMMAND_ME_CALIBRATE)
{
calibrationStatus = shtpData[5 + 0]; //R0 - Status (0 = success, non-zero = fail)
//Add by Math : 4 followings lines for printMECalibrationRespond() function
calibrationAccEnable = shtpData[5 + 1]; // R1 - Accel Cal Enable (1 – enabled, 0 – disabled)
calibrationGyroEnable = shtpData[5 + 2]; // R2 - Gyro Cal Enable (1 – enabled, 0 – disabled)
calibrationMagnEnable = shtpData[5 + 3]; // R3 - Mag Cal Enable (1 – enabled, 0 – disabled)
calibrationPlanEnable = shtpData[5 + 4]; // R4 - Planar Accel Cal Enable (1 – enabled, 0 – disabled)
}
}
//Add by Math: retrieve of the BNO08x report Get Feature Response
else if (shtpData[0] == SHTP_REPORT_GET_FEATURE_RESPONSE)
{
featureReportId = shtpData[1];
reportInterval = (long)shtpData[8] << 24 | (long)shtpData[7] << 16 | (uint16_t)shtpData[6] << 8 | shtpData[5];
}
//Add by Math: end
else
{
//This sensor report ID is unhandled.
//See reference manual to add additional feature reports as needed
}
//TODO additional feature reports may be strung together. Parse them all.
}
//This function pulls the data from the input report
//The input reports vary in length so this function stores the various 16-bit values as globals
//Unit responds with packet that contains the following:
//shtpHeader[0:3]: First, a 4 byte header
//shtpData[0:4]: Then a 5 byte timestamp of microsecond clicks since reading was taken
//shtpData[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector)
//shtpData[5 + 1]: Sequence number (See 6.5.18.2)
//shtpData[5 + 2]: Status
//shtpData[3]: Delay
//shtpData[4:5]: i/accel x/gyro x/etc
//shtpData[6:7]: j/accel y/gyro y/etc
//shtpData[8:9]: k/accel z/gyro z/etc
//shtpData[10:11]: real/gyro temp/etc
//shtpData[12:13]: Accuracy estimate
void BNO080::parseInputReport(void)
{
//Calculate the number of data bytes in this packet
int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]);
dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last.
//Ignore it for now. TODO catch this as an error and exit
dataLength -= 4; //Remove the header bytes from the data count
timeStamp = ((uint32_t)shtpData[4] << (8 * 3)) | ((uint32_t)shtpData[3] << (8 * 2)) | ((uint32_t)shtpData[2] << (8 * 1)) | ((uint32_t)shtpData[1] << (8 * 0));
// The gyro-integrated input reports are sent via the special gyro channel and do no include the usual ID, sequence, and status fields
if (shtpHeader[2] == CHANNEL_GYRO) {
rawQuatI = (uint16_t)shtpData[1] << 8 | shtpData[0];
rawQuatJ = (uint16_t)shtpData[3] << 8 | shtpData[2];
rawQuatK = (uint16_t)shtpData[5] << 8 | shtpData[4];
rawQuatReal = (uint16_t)shtpData[7] << 8 | shtpData[6];
rawFastGyroX = (uint16_t)shtpData[9] << 8 | shtpData[8];
rawFastGyroY = (uint16_t)shtpData[11] << 8 | shtpData[10];
rawFastGyroZ = (uint16_t)shtpData[13] << 8 | shtpData[12];
return;
}
uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits
uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4];
uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6];
uint16_t data3 = (uint16_t)shtpData[5 + 9] << 8 | shtpData[5 + 8];
uint16_t data4 = 0;
uint16_t data5 = 0; //We would need to change this to uin32_t to capture time stamp value on Raw Accel/Gyro/Mag reports
if (dataLength - 5 > 9)
{
data4 = (uint16_t)shtpData[5 + 11] << 8 | shtpData[5 + 10];
}
if (dataLength - 5 > 11)
{
data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12];
}
//Store these generic values to their proper global variable
if (shtpData[5] == SENSOR_REPORTID_ACCELEROMETER)
{
accelAccuracy = status;
rawAccelX = data1;
rawAccelY = data2;
rawAccelZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION)
{
accelLinAccuracy = status;
rawLinAccelX = data1;
rawLinAccelY = data2;
rawLinAccelZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_GYROSCOPE)
{
gyroAccuracy = status;
rawGyroX = data1;
rawGyroY = data2;
rawGyroZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD)
{
magAccuracy = status;
rawMagX = data1;
rawMagY = data2;
rawMagZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR ||
shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR ||
shtpData[5] == SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR ||
shtpData[5] == SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR)
{
quatAccuracy = status;
rawQuatI = data1;
rawQuatJ = data2;
rawQuatK = data3;
rawQuatReal = data4;
//Only available on rotation vector and ar/vr stabilized rotation vector,
// not game rot vector and not ar/vr stabilized rotation vector
rawQuatRadianAccuracy = data5;
}
else if (shtpData[5] == SENSOR_REPORTID_STEP_COUNTER)
{
stepCount = data3; //Bytes 8/9
}
else if (shtpData[5] == SENSOR_REPORTID_STABILITY_CLASSIFIER)
{
stabilityClassifier = shtpData[5 + 4]; //Byte 4 only
}
else if (shtpData[5] == SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER)
{
activityClassifier = shtpData[5 + 5]; //Most likely state
//Load activity classification confidences into the array
for (uint8_t x = 0; x < 9; x++) //Hardcoded to max of 9. TODO - bring in array size
_activityConfidences[x] = shtpData[5 + 6 + x]; //5 bytes of timestamp, byte 6 is first confidence byte
}
else if (shtpData[5] == SENSOR_REPORTID_RAW_ACCELEROMETER)
{
memsRawAccelX = data1;
memsRawAccelY = data2;
memsRawAccelZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_RAW_GYROSCOPE)
{
memsRawGyroX = data1;
memsRawGyroY = data2;
memsRawGyroZ = data3;
}
else if (shtpData[5] == SENSOR_REPORTID_RAW_MAGNETOMETER)
{
memsRawMagX = data1;
memsRawMagY = data2;
memsRawMagZ = data3;
}
else if (shtpData[5] == SHTP_REPORT_COMMAND_RESPONSE)
{
if (_printDebug == true)
{
_debugPort->println(F("!"));
}
//The BNO080 responds with this report to command requests. It's up to use to remember which command we issued.
uint8_t command = shtpData[5 + 2]; //This is the Command byte of the response
if (command == COMMAND_ME_CALIBRATE)
{
if (_printDebug == true)
{
_debugPort->println(F("ME Cal report found!"));
}
calibrationStatus = shtpData[5 + 5]; //R0 - Status (0 = success, non-zero = fail)
}
}
else
{
//This sensor report ID is unhandled.
//See reference manual to add additional feature reports as needed
}
//TODO additional feature reports may be strung together. Parse them all.
}
// Quaternion to Euler conversion
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
// https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
// Return the roll (rotation around the x-axis) in Radians
float BNO080::getRoll()
{
float dqw = getQuatReal();
float dqx = getQuatI();
float dqy = getQuatJ();
float dqz = getQuatK();
float norm = sqrt(dqw * dqw + dqx * dqx + dqy * dqy + dqz * dqz);
dqw = dqw / norm;
dqx = dqx / norm;
dqy = dqy / norm;
dqz = dqz / norm;
float ysqr = dqy * dqy;
// roll (x-axis rotation)
float t0 = +2.0 * (dqw * dqx + dqy * dqz);
float t1 = +1.0 - 2.0 * (dqx * dqx + ysqr);
float roll = atan2(t0, t1);
return (roll);
}
// Return the pitch (rotation around the y-axis) in Radians
float BNO080::getPitch()
{
float dqw = getQuatReal();
float dqx = getQuatI();
float dqy = getQuatJ();
float dqz = getQuatK();
float norm = sqrt(dqw * dqw + dqx * dqx + dqy * dqy + dqz * dqz);
dqw = dqw / norm;
dqx = dqx / norm;
dqy = dqy / norm;
dqz = dqz / norm;
// pitch (y-axis rotation)
float t2 = +2.0 * (dqw * dqy - dqz * dqx);
t2 = t2 > 1.0 ? 1.0 : t2;
t2 = t2 < -1.0 ? -1.0 : t2;
float pitch = asin(t2);
return (pitch);
}
// Return the yaw / heading (rotation around the z-axis) in Radians
float BNO080::getYaw()
{
float dqw = getQuatReal();
float dqx = getQuatI();
float dqy = getQuatJ();
float dqz = getQuatK();
float norm = sqrt(dqw * dqw + dqx * dqx + dqy * dqy + dqz * dqz);
dqw = dqw / norm;
dqx = dqx / norm;
dqy = dqy / norm;
dqz = dqz / norm;
float ysqr = dqy * dqy;
// yaw (z-axis rotation)
float t3 = +2.0 * (dqw * dqz + dqx * dqy);
float t4 = +1.0 - 2.0 * (ysqr + dqz * dqz);
float yaw = atan2(t3, t4);
return (yaw);
}
//Return the rotation vector quaternion I
float BNO080::getQuatI()
{
float quat = qToFloat(rawQuatI, rotationVector_Q1);
return (quat);
}
//Return the rotation vector quaternion J
float BNO080::getQuatJ()
{
float quat = qToFloat(rawQuatJ, rotationVector_Q1);
return (quat);
}
//Return the rotation vector quaternion K
float BNO080::getQuatK()
{
float quat = qToFloat(rawQuatK, rotationVector_Q1);
return (quat);
}
//Return the rotation vector quaternion Real
float BNO080::getQuatReal()
{
float quat = qToFloat(rawQuatReal, rotationVector_Q1);
return (quat);
}
//Return the rotation vector accuracy
float BNO080::getQuatRadianAccuracy()
{
float quat = qToFloat(rawQuatRadianAccuracy, rotationVectorAccuracy_Q1);
return (quat);
}
//Return the acceleration component
uint8_t BNO080::getQuatAccuracy()
{
return (quatAccuracy);
}
//Return the acceleration component
float BNO080::getAccelX()
{
float accel = qToFloat(rawAccelX, accelerometer_Q1);
return (accel);
}
//Return the acceleration component
float BNO080::getAccelY()
{
float accel = qToFloat(rawAccelY, accelerometer_Q1);
return (accel);
}
//Return the acceleration component
float BNO080::getAccelZ()
{
float accel = qToFloat(rawAccelZ, accelerometer_Q1);
return (accel);
}
//Return the acceleration component
uint8_t BNO080::getAccelAccuracy()
{
return (accelAccuracy);
}
// linear acceleration, i.e. minus gravity
//Return the acceleration component
float BNO080::getLinAccelX()
{
float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1);
return (accel);
}
//Return the acceleration component
float BNO080::getLinAccelY()
{
float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1);
return (accel);
}
//Return the acceleration component
float BNO080::getLinAccelZ()
{
float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1);
return (accel);
}
//Return the acceleration component
uint8_t BNO080::getLinAccelAccuracy()
{
return (accelLinAccuracy);
}
//Return the gyro component
float BNO080::getGyroX()
{
float gyro = qToFloat(rawGyroX, gyro_Q1);
return (gyro);
}
//Return the gyro component
float BNO080::getGyroY()
{
float gyro = qToFloat(rawGyroY, gyro_Q1);
return (gyro);
}
//Return the gyro component
float BNO080::getGyroZ()
{
float gyro = qToFloat(rawGyroZ, gyro_Q1);
return (gyro);
}
//Return the gyro component
uint8_t BNO080::getGyroAccuracy()
{
return (gyroAccuracy);
}
//Return the magnetometer component
float BNO080::getMagX()
{
float mag = qToFloat(rawMagX, magnetometer_Q1);
return (mag);
}
//Return the magnetometer component
float BNO080::getMagY()
{
float mag = qToFloat(rawMagY, magnetometer_Q1);
return (mag);
}
//Return the magnetometer component
float BNO080::getMagZ()
{
float mag = qToFloat(rawMagZ, magnetometer_Q1);
return (mag);
}
//Return the mag component
uint8_t BNO080::getMagAccuracy()
{
return (magAccuracy);
}
// Return the high refresh rate gyro component
float BNO080::getFastGyroX()
{
float gyro = qToFloat(rawFastGyroX, angular_velocity_Q1);
return (gyro);
}
// Return the high refresh rate gyro component
float BNO080::getFastGyroY()
{
float gyro = qToFloat(rawFastGyroY, angular_velocity_Q1);
return (gyro);
}
// Return the high refresh rate gyro component
float BNO080::getFastGyroZ()
{
float gyro = qToFloat(rawFastGyroZ, angular_velocity_Q1);
return (gyro);
}
//Return the step count
uint16_t BNO080::getStepCount()
{
return (stepCount);
}
//Return the stability classifier
uint8_t BNO080::getStabilityClassifier()
{
return (stabilityClassifier);
}
//Return the activity classifier
uint8_t BNO080::getActivityClassifier()
{
return (activityClassifier);
}
//Return the time stamp
uint32_t BNO080::getTimeStamp()
{
return (timeStamp);
}
//Return raw mems value for the accel
int16_t BNO080::getRawAccelX()
{
return (memsRawAccelX);
}
//Return raw mems value for the accel
int16_t BNO080::getRawAccelY()
{
return (memsRawAccelY);
}
//Return raw mems value for the accel
int16_t BNO080::getRawAccelZ()
{
return (memsRawAccelZ);
}
//Return raw mems value for the gyro
int16_t BNO080::getRawGyroX()
{
return (memsRawGyroX);
}
int16_t BNO080::getRawGyroY()
{
return (memsRawGyroY);
}
int16_t BNO080::getRawGyroZ()
{
return (memsRawGyroZ);
}
//Return raw mems value for the mag
int16_t BNO080::getRawMagX()
{
return (memsRawMagX);
}
int16_t BNO080::getRawMagY()
{
return (memsRawMagY);
}
int16_t BNO080::getRawMagZ()
{
return (memsRawMagZ);
}
//Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated)
//Q1 is used for all sensor data calculations
int16_t BNO080::getQ1(uint16_t recordID)
{
//Q1 is always the lower 16 bits of word 7
uint16_t q = readFRSword(recordID, 7) & 0xFFFF; //Get word 7, lower 16 bits
return (q);
}
//Given a record ID, read the Q2 value from the metaData record in the FRS
//Q2 is used in sensor bias
int16_t BNO080::getQ2(uint16_t recordID)
{
//Q2 is always the upper 16 bits of word 7
uint16_t q = readFRSword(recordID, 7) >> 16; //Get word 7, upper 16 bits
return (q);
}
//Given a record ID, read the Q3 value from the metaData record in the FRS
//Q3 is used in sensor change sensitivity
int16_t BNO080::getQ3(uint16_t recordID)
{
//Q3 is always the upper 16 bits of word 8
uint16_t q = readFRSword(recordID, 8) >> 16; //Get word 8, upper 16 bits
return (q);
}
//Given a record ID, read the resolution value from the metaData record in the FRS for a given sensor
float BNO080::getResolution(uint16_t recordID)
{
//The resolution Q value are 'the same as those used in the sensor's input report'
//This should be Q1.
int16_t Q = getQ1(recordID);
//Resolution is always word 2
uint32_t value = readFRSword(recordID, 2); //Get word 2
float resolution = qToFloat(value, Q);
return (resolution);
}
//Given a record ID, read the range value from the metaData record in the FRS for a given sensor
float BNO080::getRange(uint16_t recordID)
{
//The resolution Q value are 'the same as those used in the sensor's input report'
//This should be Q1.
int16_t Q = getQ1(recordID);
//Range is always word 1
uint32_t value = readFRSword(recordID, 1); //Get word 1
float range = qToFloat(value, Q);
return (range);
}
//Given a record ID and a word number, look up the word data
//Helpful for pulling out a Q value, range, etc.
//Use readFRSdata for pulling out multi-word objects for a sensor (Vendor data for example)
uint32_t BNO080::readFRSword(uint16_t recordID, uint8_t wordNumber)
{
if (readFRSdata(recordID, wordNumber, 1) == true) //Get word number, just one word in length from FRS
return (metaData[0]); //Return this one word
return (0); //Error
}
//Ask the sensor for data from the Flash Record System
//See 6.3.6 page 40, FRS Read Request
void BNO080::frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize)
{
shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; //FRS Read Request
shtpData[1] = 0; //Reserved
shtpData[2] = (readOffset >> 0) & 0xFF; //Read Offset LSB
shtpData[3] = (readOffset >> 8) & 0xFF; //Read Offset MSB
shtpData[4] = (recordID >> 0) & 0xFF; //FRS Type LSB
shtpData[5] = (recordID >> 8) & 0xFF; //FRS Type MSB
shtpData[6] = (blockSize >> 0) & 0xFF; //Block size LSB
shtpData[7] = (blockSize >> 8) & 0xFF; //Block size MSB
//Transmit packet on channel 2, 8 bytes
sendPacket(CHANNEL_CONTROL, 8);
}
//Given a sensor or record ID, and a given start/stop bytes, read the data from the Flash Record System (FRS) for this sensor
//Returns true if metaData array is loaded successfully
//Returns false if failure
bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead)
{
uint8_t spot = 0;
//First we send a Flash Record System (FRS) request
frsReadRequest(recordID, startLocation, wordsToRead); //From startLocation of record, read a # of words
//Read bytes until FRS reports that the read is complete
while (1)
{
//Now we wait for response
while (1)
{
uint8_t counter = 0;
while (receivePacket() == false)
{
if (counter++ > 100)
return (false); //Give up
delay(1);
}
//We have the packet, inspect it for the right contents
//See page 40. Report ID should be 0xF3 and the FRS types should match the thing we requested
if (shtpData[0] == SHTP_REPORT_FRS_READ_RESPONSE)
if (((uint16_t)shtpData[13] << 8 | shtpData[12]) == recordID)
break; //This packet is one we are looking for
}
uint8_t dataLength = shtpData[1] >> 4;
uint8_t frsStatus = shtpData[1] & 0x0F;
uint32_t data0 = (uint32_t)shtpData[7] << 24 | (uint32_t)shtpData[6] << 16 | (uint32_t)shtpData[5] << 8 | (uint32_t)shtpData[4];
uint32_t data1 = (uint32_t)shtpData[11] << 24 | (uint32_t)shtpData[10] << 16 | (uint32_t)shtpData[9] << 8 | (uint32_t)shtpData[8];
//Record these words to the metaData array
if (dataLength > 0)
{
metaData[spot++] = data0;
}
if (dataLength > 1)
{
metaData[spot++] = data1;
}
if (spot >= MAX_METADATA_SIZE)
{
if (_printDebug == true)
_debugPort->println(F("metaData array over run. Returning."));
return (true); //We have run out of space in our array. Bail.
}
if (frsStatus == 3 || frsStatus == 6 || frsStatus == 7)
{
return (true); //FRS status is read completed! We're done!
}
}
}
//Send command to reset IC
//Read all advertisement packets from sensor
//The sensor has been seen to reset twice if we attempt too much too quickly.
//This seems to work reliably.
void BNO080::softReset(void)
{
shtpData[0] = 1; //Reset
//Attempt to start communication with sensor
sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte
//Read all incoming data and flush it
delay(50);
while (receivePacket() == true)
;
delay(50);
while (receivePacket() == true)
;
}
//Get the reason for the last reset
//1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other
uint8_t BNO080::resetReason()
{
shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
shtpData[1] = 0; //Reserved
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
return (shtpData[1]);
}
}
return (0);
}
//Given a register value and a Q point, convert to float
//See https://en.wikipedia.org/wiki/Q_(number_format)
float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint)
{
float qFloat = fixedPointValue;
qFloat *= pow(2, qPoint * -1);
return (qFloat);
}
//Sends the packet to enable the rotation vector
void BNO080::enableRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the ar/vr stabilized rotation vector
void BNO080::enableARVRStabilizedRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the rotation vector
void BNO080::enableGameRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the ar/vr stabilized rotation vector
void BNO080::enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the accelerometer
void BNO080::enableAccelerometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports);
}
//Sends the packet to enable the accelerometer
void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports);
}
//Sends the packet to enable the gyro
void BNO080::enableGyro(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports);
}
//Sends the packet to enable the magnetometer
void BNO080::enableMagnetometer(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_MAGNETIC_FIELD, timeBetweenReports);
}
//Sends the packet to enable the high refresh-rate gyro-integrated rotation vector
void BNO080::enableGyroIntegratedRotationVector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR, timeBetweenReports);
}
//Sends the packet to enable the step counter
void BNO080::enableStepCounter(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_STEP_COUNTER, timeBetweenReports);
}
//Sends the packet to enable the Stability Classifier
void BNO080::enableStabilityClassifier(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_STABILITY_CLASSIFIER, timeBetweenReports);
}
//Sends the packet to enable the raw accel readings
//Note you must enable basic reporting on the sensor as well
void BNO080::enableRawAccelerometer(uint16_t timeBetweenReports)
{