From b1ab503c89bbf7f0681277d603102cc7b346c17a Mon Sep 17 00:00:00 2001
From: bastienboudet <bastien.boudet@neuf.fr>
Date: Thu, 3 Feb 2022 10:21:49 +0100
Subject: [PATCH 01/11] addition of uncalibrated gyroscope reports

Add the uncalibrated gyroscope report with the full set of related functions
---
 src/SparkFun_BNO080_Arduino_Library.cpp | 81 ++++++++++++++++++++++++-
 src/SparkFun_BNO080_Arduino_Library.h   | 13 ++++
 2 files changed, 93 insertions(+), 1 deletion(-)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 1ebdfe7..a6c510c 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -291,6 +291,7 @@ uint16_t BNO080::parseInputReport(void)
 	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
+	uint16_t data6 = 0;
 
 	if (dataLength - 5 > 9)
 	{
@@ -300,6 +301,11 @@ uint16_t BNO080::parseInputReport(void)
 	{
 		data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12];
 	}
+	if (dataLength - 5 > 13)
+	{
+		data6 = (uint16_t)shtpData[5 + 15] << 8 | shtpData[5 + 14];
+	}
+
 
 	//Store these generic values to their proper global variable
 	if (shtpData[5] == SENSOR_REPORTID_ACCELEROMETER)
@@ -317,12 +323,22 @@ uint16_t BNO080::parseInputReport(void)
 		rawLinAccelZ = data3;
 	}
 	else if (shtpData[5] == SENSOR_REPORTID_GYROSCOPE)
-	{
+	{	
 		gyroAccuracy = status;
 		rawGyroX = data1;
 		rawGyroY = data2;
 		rawGyroZ = data3;
 	}
+	else if (shtpData[5] == SENSOR_REPORTID_UNCALIBRATED_GYRO)
+	{
+		UncalibGyroAccuracy = status;
+		rawUncalibGyroX = data1;
+		rawUncalibGyroY = data2;
+		rawUncalibGyroZ = data3;
+		rawBiasX  = data4;
+		rawBiasY  = data5;
+		rawBiasZ  = data6;
+	}
 	else if (shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD)
 	{
 		magAccuracy = status;
@@ -690,6 +706,62 @@ uint8_t BNO080::getGyroAccuracy()
 	return (gyroAccuracy);
 }
 
+//Gets the full uncalibrated gyro vector
+//x,y,z,bx,by,bz output floats
+void BNO080::getUncalibratedGyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)
+{
+	x = qToFloat(rawUncalibGyroX, gyro_Q1);
+	y = qToFloat(rawUncalibGyroY, gyro_Q1);
+	z = qToFloat(rawUncalibGyroZ, gyro_Q1);
+	bx = qToFloat(rawBiasX, gyro_Q1);
+	by = qToFloat(rawBiasY, gyro_Q1);
+	bz = qToFloat(rawBiasZ, gyro_Q1);
+	accuracy = UncalibGyroAccuracy;
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroX()
+{
+	float gyro = qToFloat(rawUncalibGyroX, gyro_Q1);
+	return (gyro);
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroY()
+{
+	float gyro = qToFloat(rawUncalibGyroY, gyro_Q1);
+	return (gyro);
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroZ()
+{
+	float gyro = qToFloat(rawUncalibGyroZ, gyro_Q1);
+	return (gyro);
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroBiasX()
+{
+	float gyro = qToFloat(rawBiasX, gyro_Q1);
+	return (gyro);
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroBiasY()
+{
+	float gyro = qToFloat(rawBiasY, gyro_Q1);
+	return (gyro);
+}
+//Return the gyro component
+float BNO080::getUncalibratedGyroBiasZ()
+{
+	float gyro = qToFloat(rawBiasZ, gyro_Q1);
+	return (gyro);
+}
+
+//Return the gyro component
+uint8_t BNO080::getUncalibratedGyroAccuracy()
+{
+	return (UncalibGyroAccuracy);
+}
+
+
 //Gets the full mag vector
 //x,y,z output floats
 void BNO080::getMag(float &x, float &y, float &z, uint8_t &accuracy)
@@ -1071,6 +1143,7 @@ uint8_t BNO080::resetReason()
 //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);
@@ -1118,6 +1191,12 @@ void BNO080::enableGyro(uint16_t timeBetweenReports)
 	setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports);
 }
 
+//Sends the packet to enable the uncalibrated gyro
+void BNO080::enableUncalibratedGyro(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_UNCALIBRATED_GYRO, timeBetweenReports);
+}
+
 //Sends the packet to enable the magnetometer
 void BNO080::enableMagnetometer(uint16_t timeBetweenReports)
 {
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 0b1c811..c24811e 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -80,6 +80,7 @@ const byte CHANNEL_GYRO = 5;
 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04
 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05
 #define SENSOR_REPORTID_GRAVITY 0x06
+#define SENSOR_REPORTID_UNCALIBRATED_GYRO 0x07
 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08
 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09
 #define SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR 0x2A
@@ -156,6 +157,7 @@ class BNO080
 	void enableAccelerometer(uint16_t timeBetweenReports);
 	void enableLinearAccelerometer(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);
+	void enableUncalibratedGyro(uint16_t timeBetweenReports);
 	void enableMagnetometer(uint16_t timeBetweenReports);
 	void enableTapDetector(uint16_t timeBetweenReports);
 	void enableStepCounter(uint16_t timeBetweenReports);
@@ -197,6 +199,16 @@ class BNO080
 	float getGyroZ();
 	uint8_t getGyroAccuracy();
 
+	void getUncalibratedGyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy);
+	float getUncalibratedGyroX();
+	float getUncalibratedGyroY();
+	float getUncalibratedGyroZ();
+	float getUncalibratedGyroBiasX();
+	float getUncalibratedGyroBiasY();
+	float getUncalibratedGyroBiasZ();
+	uint8_t getUncalibratedGyroAccuracy();
+
+
 	void getFastGyro(float &x, float &y, float &z);
 	float getFastGyroX();
 	float getFastGyroY();
@@ -283,6 +295,7 @@ class BNO080
 	uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
 	uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy;
 	uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy;
+	uint16_t rawUncalibGyroX, rawUncalibGyroY, rawUncalibGyroZ, rawBiasX, rawBiasY, rawBiasZ, UncalibGyroAccuracy;
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;

From b4b3bacf842901f4978616efa10b1fd5ced97ad8 Mon Sep 17 00:00:00 2001
From: bastienboudet <bastien.boudet@neuf.fr>
Date: Thu, 3 Feb 2022 10:52:23 +0100
Subject: [PATCH 02/11] update keyword + add example

addition of uncalibrated gyro functions
---
 .../Example3-Gyro.ino                         | 74 +++++++++++++++++++
 keywords.txt                                  | 11 +++
 2 files changed, 85 insertions(+)
 create mode 100644 examples/Example22-UncalibratedGyro/Example3-Gyro.ino

diff --git a/examples/Example22-UncalibratedGyro/Example3-Gyro.ino b/examples/Example22-UncalibratedGyro/Example3-Gyro.ino
new file mode 100644
index 0000000..9dd27f2
--- /dev/null
+++ b/examples/Example22-UncalibratedGyro/Example3-Gyro.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();
+  }
+}
diff --git a/keywords.txt b/keywords.txt
index 318ed33..9ca6541 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -39,6 +39,7 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableUncalibratedGyro	KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +76,16 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getUncalibratedGyro	KEYWORD2
+getUncalibratedGyroX	KEYWORD2
+getUncalibratedGyroY	KEYWORD2
+getUncalibratedGyroZ	KEYWORD2
+getUncalibratedGyroAccuracy	KEYWORD2
+getUncalibratedGyroBiasX	KEYWORD2
+getUncalibratedGyroBiasY	KEYWORD2
+getUncalibratedGyroBiasZ	KEYWORD2
+
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2

From ab0650effd3993fcd090464e17836cf677be7276 Mon Sep 17 00:00:00 2001
From: Sofian Audry <info@sofianaudry.com>
Date: Wed, 2 Mar 2022 15:09:41 -0500
Subject: [PATCH 03/11] Implemented tare functionalities (now, persist/save,
 clear).

---
 src/SparkFun_BNO080_Arduino_Library.cpp | 32 +++++++++++++++++++++++++
 src/SparkFun_BNO080_Arduino_Library.h   | 19 +++++++++++++++
 2 files changed, 51 insertions(+)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 1ebdfe7..eaa198a 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -1221,6 +1221,21 @@ boolean BNO080::calibrationComplete()
 	return (false);
 }
 
+void BNO080::tareNow(bool zAxis, uint8_t rotationVectorBasis)
+{
+	sendTareCommand(TARE_NOW, zAxis ? TARE_AXIS_Z : TARE_AXIS_ALL, rotationVectorBasis);
+}
+
+void BNO080::saveTare()
+{
+	sendTareCommand(TARE_PERSIST);
+}
+
+void BNO080::clearTare()
+{
+	sendTareCommand(TARE_SET_REORIENTATION);
+}
+
 //Given a sensor's report ID, this tells the BNO080 to begin reporting the values
 void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports)
 {
@@ -1320,6 +1335,23 @@ void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate)
 	sendCommand(COMMAND_ME_CALIBRATE);
 }
 
+void BNO080::sendTareCommand(uint8_t command, uint8_t axis, uint8_t rotationVectorBasis)
+{
+	for (uint8_t x = 3; x < 12; x++) //Clear this section of the shtpData array
+		shtpData[x] = 0;
+
+	shtpData[3] = command;
+	
+	if (command == TARE_NOW)
+	{
+		shtpData[4] = axis; // axis setting
+		shtpData[5] = rotationVectorBasis; // rotation vector
+	}
+	
+	//Using this shtpData packet, send a command
+	sendCommand(COMMAND_TARE);
+}
+
 //Request ME Calibration Status from BNO080
 //See page 51 of reference manual
 void BNO080::requestCalibrationStatus()
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 0b1c811..0cde58f 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -122,6 +122,20 @@ const byte CHANNEL_GYRO = 5;
 #define CALIBRATE_ACCEL_GYRO_MAG 4
 #define CALIBRATE_STOP 5
 
+#define TARE_NOW 0
+#define TARE_PERSIST 1
+#define TARE_SET_REORIENTATION 2
+
+#define TARE_AXIS_ALL 0x07
+#define TARE_AXIS_Z   0x04
+
+#define TARE_ROTATION_VECTOR 0
+#define TARE_GAME_ROTATION_VECTOR 1
+#define TARE_GEOMAGNETIC_ROTATION_VECTOR 2
+#define TARE_GYRO_INTEGRATED_ROTATION_VECTOR 3
+#define TARE_AR_VR_STABILIZED_ROTATION_VECTOR 4
+#define TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR 5
+
 #define MAX_PACKET_SIZE 128 //Packets can be up to 32k but we don't have that much RAM.
 #define MAX_METADATA_SIZE 9 //This is in words. There can be many but we mostly only care about the first 9 (Qs, range, etc)
 
@@ -218,6 +232,10 @@ class BNO080
 	void requestCalibrationStatus(); //Sends command to get status
 	boolean calibrationComplete();   //Checks ME Cal response for byte 5, R0 - Status
 
+	void tareNow(bool zAxis=false, uint8_t rotationVectorBasis=TARE_ROTATION_VECTOR);
+	void saveTare();
+	void clearTare();
+	
 	uint8_t getTapDetector();
 	uint32_t getTimeStamp();
 	uint16_t getStepCount();
@@ -244,6 +262,7 @@ class BNO080
 	void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig);
 	void sendCommand(uint8_t command);
 	void sendCalibrateCommand(uint8_t thingToCalibrate);
+	void sendTareCommand(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotationVectorBasis=TARE_ROTATION_VECTOR);
 
 	//Metadata functions
 	int16_t getQ1(uint16_t recordID);

From df189cc41d34593acd9340b1c5db22c15d426e18 Mon Sep 17 00:00:00 2001
From: Sofian Audry <info@sofianaudry.com>
Date: Wed, 2 Mar 2022 15:10:06 -0500
Subject: [PATCH 04/11] Added an example for tare functions.

---
 examples/Example22-Tare/Example22-Tare.ino | 87 ++++++++++++++++++++++
 1 file changed, 87 insertions(+)
 create mode 100644 examples/Example22-Tare/Example22-Tare.ino

diff --git a/examples/Example22-Tare/Example22-Tare.ino b/examples/Example22-Tare/Example22-Tare.ino
new file mode 100644
index 0000000..cd94131
--- /dev/null
+++ b/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();
+  }
+}

From 611911db6cc62959cf84dac2d7d25a414909c061 Mon Sep 17 00:00:00 2001
From: Anant Sharma <anant@tweek-labs.com>
Date: Mon, 23 Jan 2023 15:17:17 +0530
Subject: [PATCH 05/11] Added functionality to retrieve gravity packets from
 the device.

- Added functionality on the BNO080::parseInputReport(void) to interpret gravity packets.
- Added getGravityX, getGravityY and getGravityZ in the same format as the others reports.
- Added the function BNO080::enableGravity() which also functions like the other reports.

Tested with Teensy 4.0, Adafruit ItsyBitsy and ESP32.
---
 src/SparkFun_BNO080_Arduino_Library.cpp | 35 ++++++++++++++++++++++++-
 src/SparkFun_BNO080_Arduino_Library.h   |  9 ++++++-
 2 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 1ebdfe7..6623d90 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -401,6 +401,12 @@ uint16_t BNO080::parseInputReport(void)
 			calibrationStatus = shtpData[5 + 5]; //R0 - Status (0 = success, non-zero = fail)
 		}
 	}
+	else if(shtpData[5] == SENSOR_REPORTID_GRAVITY)
+	{
+		gravityX = data1;
+		gravityY = data2;
+		gravityZ = data3;
+	}
 	else
 	{
 		//This sensor report ID is unhandled.
@@ -663,6 +669,27 @@ void BNO080::getGyro(float &x, float &y, float &z, uint8_t &accuracy)
 	accuracy = gyroAccuracy;
 }
 
+//Return the gravity component
+float BNO080::getGravityX()
+{
+	float x = qToFloat(gravityX, gravity_Q1);
+	return x;
+}
+
+//Return the gravity component
+float BNO080::getGravityY()
+{
+	float y = qToFloat(gravityY, gravity_Q1);
+	return y;
+}
+
+//Return the gravity component
+float BNO080::getGravityZ()
+{
+	float z = qToFloat(gravityZ, gravity_Q1);
+	return z;
+}
+
 //Return the gyro component
 float BNO080::getGyroX()
 {
@@ -1112,6 +1139,12 @@ void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports)
 	setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports);
 }
 
+//Sends the packet to enable the gravity vector
+void BNO080::enableGravity(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_GRAVITY, timeBetweenReports);
+}
+
 //Sends the packet to enable the gyro
 void BNO080::enableGyro(uint16_t timeBetweenReports)
 {
@@ -1689,4 +1722,4 @@ void BNO080::printHeader(void)
 		}
 		_debugPort->println();
 	}
-}
+}
\ No newline at end of file
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 0b1c811..1e70326 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -155,6 +155,7 @@ class BNO080
 	void enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports);
 	void enableAccelerometer(uint16_t timeBetweenReports);
 	void enableLinearAccelerometer(uint16_t timeBetweenReports);
+	void enableGravity(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);
 	void enableMagnetometer(uint16_t timeBetweenReports);
 	void enableTapDetector(uint16_t timeBetweenReports);
@@ -208,6 +209,10 @@ class BNO080
 	float getMagZ();
 	uint8_t getMagAccuracy();
 
+	float getGravityX();
+	float getGravityY();
+	float getGravityZ();
+
 	void calibrateAccelerometer();
 	void calibrateGyro();
 	void calibrateMagnetometer();
@@ -286,6 +291,7 @@ class BNO080
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
+	uint16_t gravityX, gravityY, gravityZ;
 	uint8_t tapDetector;
 	uint16_t stepCount;
 	uint32_t timeStamp;
@@ -306,4 +312,5 @@ class BNO080
 	int16_t gyro_Q1 = 9;
 	int16_t magnetometer_Q1 = 4;
 	int16_t angular_velocity_Q1 = 10;
-};
+	int16_t gravity_Q1 = 8;
+};
\ No newline at end of file

From 1c1d069f7a9181c9430ff1cd17e7b6acaf9d453d Mon Sep 17 00:00:00 2001
From: Anant Sharma <anant@tweek-labs.com>
Date: Mon, 23 Jan 2023 15:39:09 +0530
Subject: [PATCH 06/11] Added an example for checking gravity packets

---
 .../Example23-Gravity/Example23-Gravity.ino   | 77 +++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 examples/Example23-Gravity/Example23-Gravity.ino

diff --git a/examples/Example23-Gravity/Example23-Gravity.ino b/examples/Example23-Gravity/Example23-Gravity.ino
new file mode 100644
index 0000000..cd0f3d9
--- /dev/null
+++ b/examples/Example23-Gravity/Example23-Gravity.ino
@@ -0,0 +1,77 @@
+/*
+  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();
+
+    Serial.print(gravityX, 2);
+    Serial.print(F(","));
+    Serial.print(gravityY, 2);
+    Serial.print(F(","));
+    Serial.print(gravityZ, 2);
+    Serial.print(F(","));
+
+    Serial.println();
+  }
+}

From e1f2aaa38b9164bd040e8892e1f35efb016f46d6 Mon Sep 17 00:00:00 2001
From: Anant Sharma <anant@tweek-labs.com>
Date: Mon, 23 Jan 2023 15:56:37 +0530
Subject: [PATCH 07/11] Added gravity accuracy tests

---
 .../Example23-Gravity/Example23-Gravity.ino   |  4 ++
 keywords.txt                                  |  7 +++
 src/SparkFun_BNO080_Arduino_Library.cpp       | 57 ++++++++++++-------
 src/SparkFun_BNO080_Arduino_Library.h         |  4 +-
 4 files changed, 50 insertions(+), 22 deletions(-)

diff --git a/examples/Example23-Gravity/Example23-Gravity.ino b/examples/Example23-Gravity/Example23-Gravity.ino
index cd0f3d9..3c96e12 100644
--- a/examples/Example23-Gravity/Example23-Gravity.ino
+++ b/examples/Example23-Gravity/Example23-Gravity.ino
@@ -64,6 +64,7 @@ void loop() {
     float gravityX = myIMU.getGravityX();
     float gravityY = myIMU.getGravityY();
     float gravityZ = myIMU.getGravityZ();
+    float gravityAccuracy = myIMU.getGravityAccuracy();
 
     Serial.print(gravityX, 2);
     Serial.print(F(","));
@@ -71,6 +72,9 @@ void loop() {
     Serial.print(F(","));
     Serial.print(gravityZ, 2);
     Serial.print(F(","));
+    Serial.print(gravityAccuracy, 2);
+    Serial.print(F(","));
+    
 
     Serial.println();
   }
diff --git a/keywords.txt b/keywords.txt
index 318ed33..277eb0d 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -39,6 +39,7 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableGravity KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +76,12 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getGravity KEYWORD2
+getGravityX KEYWORD2
+getGravityY KEYWORD2
+getGravityZ KEYWORD2
+getGravityAccuracy KEYWORD2
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2
diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 6623d90..43bc429 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -403,6 +403,7 @@ uint16_t BNO080::parseInputReport(void)
 	}
 	else if(shtpData[5] == SENSOR_REPORTID_GRAVITY)
 	{
+		gravityAccuracy = status;
 		gravityX = data1;
 		gravityY = data2;
 		gravityZ = data3;
@@ -669,27 +670,6 @@ void BNO080::getGyro(float &x, float &y, float &z, uint8_t &accuracy)
 	accuracy = gyroAccuracy;
 }
 
-//Return the gravity component
-float BNO080::getGravityX()
-{
-	float x = qToFloat(gravityX, gravity_Q1);
-	return x;
-}
-
-//Return the gravity component
-float BNO080::getGravityY()
-{
-	float y = qToFloat(gravityY, gravity_Q1);
-	return y;
-}
-
-//Return the gravity component
-float BNO080::getGravityZ()
-{
-	float z = qToFloat(gravityZ, gravity_Q1);
-	return z;
-}
-
 //Return the gyro component
 float BNO080::getGyroX()
 {
@@ -717,6 +697,41 @@ uint8_t BNO080::getGyroAccuracy()
 	return (gyroAccuracy);
 }
 
+//Gets the full gravity vector
+//x,y,z output floats
+void BNO080::getGravity(float &x, float &y, float &z, uint8_t &accuracy)
+{
+	x = qToFloat(gravityX, gravity_Q1);
+	y = qToFloat(gravityX, gravity_Q1);
+	z = qToFloat(gravityX, gravity_Q1);
+	accuracy = gravityAccuracy;
+}
+
+float BNO080::getGravityX()
+{
+	float x = qToFloat(gravityX, gravity_Q1);
+	return x;
+}
+
+//Return the gravity component
+float BNO080::getGravityY()
+{
+	float y = qToFloat(gravityY, gravity_Q1);
+	return y;
+}
+
+//Return the gravity component
+float BNO080::getGravityZ()
+{
+	float z = qToFloat(gravityZ, gravity_Q1);
+	return z;
+}
+
+uint8_t BNO080::getGravityAccuracy()
+{
+	return (gravityAccuracy);
+}
+
 //Gets the full mag vector
 //x,y,z output floats
 void BNO080::getMag(float &x, float &y, float &z, uint8_t &accuracy)
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 1e70326..ae7a550 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -209,9 +209,11 @@ class BNO080
 	float getMagZ();
 	uint8_t getMagAccuracy();
 
+	void getGravity(float &x, float &y, float &z, uint8_t &accuracy);
 	float getGravityX();
 	float getGravityY();
 	float getGravityZ();
+	uint8_t getGravityAccuracy();
 
 	void calibrateAccelerometer();
 	void calibrateGyro();
@@ -291,7 +293,7 @@ class BNO080
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
-	uint16_t gravityX, gravityY, gravityZ;
+	uint16_t gravityX, gravityY, gravityZ, gravityAccuracy;
 	uint8_t tapDetector;
 	uint16_t stepCount;
 	uint32_t timeStamp;

From c5620eaf1d1f968c37756d35d11cc71723b8cbb1 Mon Sep 17 00:00:00 2001
From: Paul <pc235603@gmail.com>
Date: Mon, 23 Jan 2023 11:43:33 +0000
Subject: [PATCH 08/11] Rename the Uncalibrated Gyro example

---
 .../Example24-UncalibratedGyro.ino}                               | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename examples/{Example22-UncalibratedGyro/Example3-Gyro.ino => Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino} (100%)

diff --git a/examples/Example22-UncalibratedGyro/Example3-Gyro.ino b/examples/Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino
similarity index 100%
rename from examples/Example22-UncalibratedGyro/Example3-Gyro.ino
rename to examples/Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino

From 6c5e5e203a43a41e06a54c849302ebcce711e372 Mon Sep 17 00:00:00 2001
From: Paul <pc235603@gmail.com>
Date: Mon, 23 Jan 2023 11:48:31 +0000
Subject: [PATCH 09/11] Update keywords.txt

---
 keywords.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/keywords.txt b/keywords.txt
index 901de25..1bb5798 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -119,6 +119,11 @@ saveCalibration	KEYWORD2
 requestCalibrationStatus	KEYWORD2
 calibrationComplete	KEYWORD2
 
+tareNow	KEYWORD2
+saveTare	KEYWORD2
+clearTare	KEYWORD2
+sendTareCommand	KEYWORD2
+
 getTapDetector	KEYWORD2
 getTimeStamp	KEYWORD2
 getStepCount	KEYWORD2

From 680a09f124e295cc8aeab9b7a8689524e27d79e1 Mon Sep 17 00:00:00 2001
From: Paul <pc235603@gmail.com>
Date: Mon, 23 Jan 2023 11:59:26 +0000
Subject: [PATCH 10/11] v1.1.12

---
 library.properties | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/library.properties b/library.properties
index 357fe5d..45b8c84 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=SparkFun BNO080 Cortex Based IMU
-version=1.1.11
+version=1.1.12
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for the SparkFun Qwiic VR IMU - BNO080/BNO085

From 8e5a9b8d47ab568c461db34516555c1b8e7f5612 Mon Sep 17 00:00:00 2001
From: Paul <pc235603@gmail.com>
Date: Mon, 23 Jan 2023 11:59:59 +0000
Subject: [PATCH 11/11] Resolve warnings-as-errors

---
 src/SparkFun_BNO080_Arduino_Library.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 6fa16a0..d7cf257 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -138,6 +138,7 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
 	if (receivePacket() == true)
 	{
 		if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
+		{
 			if (_printDebug == true)
 			{
 				_debugPort->print(F("SW Version Major: 0x"));
@@ -155,6 +156,7 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
 				_debugPort->println(SW_Version_Patch, HEX);
 			}
 			return (true);
+		}
 	}
 
 	return (false); //Something went wrong
@@ -476,7 +478,7 @@ float BNO080::getPitch()
 	dqy = dqy/norm;
 	dqz = dqz/norm;
 
-	float ysqr = dqy * dqy;
+	//float ysqr = dqy * dqy;
 
 	// pitch (y-axis rotation)
 	float t2 = +2.0 * (dqw * dqy - dqz * dqx);
@@ -1452,7 +1454,9 @@ void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate)
 		shtpData[5] = 1;
 	}
 	else if (thingToCalibrate == CALIBRATE_STOP)
+	{
 		; //Do nothing, bytes are set to zero
+	}
 
 	//Make the internal calStatus variable non-zero (operation failed) so that user can test while we wait
 	calibrationStatus = 1;