Merge pull request #105 from sparkfun/release-candidate

v1.1.12

examples/Example22-Tare/Example22-Tare.ino

@@ -0,0 +1,87 @@
+/*
+  Using the BNO080 IMU
+
+  Example : Tare function
+  By: Sofian Audry
+  Date: March 2nd, 2022
+
+  Based on: Example9-Calibrate
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: December 21st, 2017
+  SparkFun code, firmware, and software is released under the MIT License.
+	Please see LICENSE.md for further details.
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14586
+
+  This example shows how to use the tare functionalities.
+  It is best to run a calibration before using the tare functions.
+  
+  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
+  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
+
+  Hardware Connections:
+  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
+  Plug the sensor onto the shield
+  Serial.print it out at 115200 baud to serial monitor.
+*/
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+  myIMU.begin();
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  //Enable Game Rotation Vector output
+  myIMU.enableRotationVector(100); //Send data update every 100ms
+
+  //Once magnetic field is 2 or 3, run the Save DCD Now command
+  Serial.println(F("'t' to tare according to xyz"));
+  Serial.println(F("'z' to tare according to z axis only"));
+  Serial.println(F("'s' to save tare settings"));
+  Serial.println(F("'r' to reset/clear tare orientation registry"));
+  Serial.println(F("Output in form x, y, z, in uTesla"));
+}
+
+void loop()
+{
+  if(Serial.available())
+  {
+    byte incoming = Serial.read();
+
+    switch (incoming) {
+    case 't': myIMU.tareNow();     break;
+    case 'z': myIMU.tareNow(true); break;
+    case 's': myIMU.saveTare();    break;
+    case 'r': myIMU.clearTare();   break;
+    default:;
+    }
+  }
+
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
+    float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
+    float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
+
+    Serial.print(roll, 1);
+    Serial.print(F(","));
+    Serial.print(pitch, 1);
+    Serial.print(F(","));
+    Serial.print(yaw, 1);
+
+    Serial.println();
+  }
+}

examples/Example23-Gravity/Example23-Gravity.ino

@@ -0,0 +1,81 @@
+/*
+  Using the BNO085 for finding the direction of gravity.
+  By: Anant Sharma
+
+  Date: January 23rd, 2023
+  SparkFun code, firmware, and software is released under the MIT License.
+  Please see LICENSE.md for further details.
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14586
+  This example outputs a vector pointing towards the ground.
+
+  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
+  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
+  
+  Hardware Connections:
+  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
+  Plug the sensor onto the shield
+  
+  Serial.print it out at 9600 baud to serial monitor.
+*/
+
+#include <Wire.h>
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+BNO080 myIMU;
+
+
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+    //Are you using a ESP? Check this issue for more information: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/16
+//  //=================================
+//  delay(100); //  Wait for BNO to boot
+//  // Start i2c and BNO080
+//  Wire.flush();   // Reset I2C
+//  IMU.begin(BNO080_DEFAULT_ADDRESS, Wire);
+//  Wire.begin(4, 5);
+//  Wire.setClockStretchLimit(4000);
+//  //=================================
+
+  if (myIMU.begin() == false)
+  {
+    Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
+    while (1);
+  }
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableGravity(10); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form i, j, k, real, accuracy"));
+
+}
+
+void loop() {
+    //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float gravityX = myIMU.getGravityX();
+    float gravityY = myIMU.getGravityY();
+    float gravityZ = myIMU.getGravityZ();
+    float gravityAccuracy = myIMU.getGravityAccuracy();
+
+    Serial.print(gravityX, 2);
+    Serial.print(F(","));
+    Serial.print(gravityY, 2);
+    Serial.print(F(","));
+    Serial.print(gravityZ, 2);
+    Serial.print(F(","));
+    Serial.print(gravityAccuracy, 2);
+    Serial.print(F(","));
+
+
+    Serial.println();
+  }
+}

examples/Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino

@@ -0,0 +1,74 @@
+/*
+  Using the BNO080 IMU
+  By: Bastien Boudet
+  Date: February 3rd, 2022
+  SparkFun code, firmware, and software is released under the MIT License.
+	Please see LICENSE.md for further details.
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14586
+
+  This example shows how to output the parts of the uncalibrated gyro.
+
+  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
+  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
+
+  Hardware Connections:
+  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
+  Plug the sensor onto the shield
+  Serial.print it out at 115200 baud to serial monitor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+  myIMU.begin();
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableUncalibratedGyro(50); //Send data update every 50ms
+
+  Serial.println(F("Uncalibrated Gyro enabled"));
+  Serial.println(F("Output in form x, y, z, bx, by, bz in radians per second"));
+}
+
+void loop()
+{
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float x = myIMU.getUncalibratedGyroX();
+    float y = myIMU.getUncalibratedGyroY();
+    float z = myIMU.getUncalibratedGyroZ();
+    float bx = myIMU.getUncalibratedGyroBiasX();
+    float by = myIMU.getUncalibratedGyroBiasY();
+    float bz = myIMU.getUncalibratedGyroBiasZ();
+
+
+    Serial.print(x, 2);
+    Serial.print(F(","));
+    Serial.print(y, 2);
+    Serial.print(F(","));
+    Serial.print(z, 2);
+    Serial.print(F(","));
+
+    Serial.print(bx, 2);
+    Serial.print(F(","));
+    Serial.print(by, 2);
+    Serial.print(F(","));
+    Serial.print(bz, 2);
+    Serial.print(F(","));
+
+    Serial.println();
+  }
+}

keywords.txt

@@ -39,6 +39,8 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableUncalibratedGyro	KEYWORD2
+enableGravity KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +77,21 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getUncalibratedGyro	KEYWORD2
+getUncalibratedGyroX	KEYWORD2
+getUncalibratedGyroY	KEYWORD2
+getUncalibratedGyroZ	KEYWORD2
+getUncalibratedGyroAccuracy	KEYWORD2
+getUncalibratedGyroBiasX	KEYWORD2
+getUncalibratedGyroBiasY	KEYWORD2
+getUncalibratedGyroBiasZ	KEYWORD2
+
+getGravity KEYWORD2
+getGravityX KEYWORD2
+getGravityY KEYWORD2
+getGravityZ KEYWORD2
+getGravityAccuracy KEYWORD2
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2
@@ -102,6 +119,11 @@ saveCalibration	KEYWORD2
 requestCalibrationStatus	KEYWORD2
 calibrationComplete	KEYWORD2
 
+tareNow	KEYWORD2
+saveTare	KEYWORD2
+clearTare	KEYWORD2
+sendTareCommand	KEYWORD2
+
 getTapDetector	KEYWORD2
 getTimeStamp	KEYWORD2
 getStepCount	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun BNO080 Cortex Based IMU
-version=1.1.11
+version=1.1.12
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for the SparkFun Qwiic VR IMU - BNO080/BNO085