Merge pull request #94 from sparkfun/release-candidate

v1.1.11

Author: PaulZC

README.md

@@ -23,6 +23,8 @@ Thanks to all those who have helped improve the library:
 * Filimindji for AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector support - [PR 46](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/46)
 * ya-mouse for the getreadings improvements - [PR 55](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/55)
 * Guillaume for the read-multiple-values helper functions and the interrupt example - [PR56](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/56) & [PR59](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/59)
+* aedancullen for the tap detector - [PR 64](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/64)
+* mattbradford83 for the hasReset code and example - [PR 92](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/92)
 
 Repository Contents
 -------------------

examples/Example20-Sleep/Example20-Sleep.ino

@@ -26,6 +26,9 @@
 #include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
 BNO080 myIMU;
 
+unsigned long lastMillis = 0; // Keep track of time
+bool lastPowerState = true; // Toggle between "On" and "Sleep"
+
 void setup()
 {
   Serial.begin(115200);
@@ -44,46 +47,51 @@ void setup()
 //  Wire.setClockStretchLimit(4000);
 //  //=================================
 
+  //myIMU.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
   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
+  // Enable the Rotation Vector packet ** while the I2C bus is set to 100kHz **
+  myIMU.enableRotationVector(50); //Send RV data update every 50ms
 
-  myIMU.enableRotationVector(50); //Send data update every 50ms
+  Wire.setClock(400000); //Now increase I2C data rate to 400kHz
 
   Serial.println(F("Rotation vector enabled"));
   Serial.println(F("Output in form i, j, k, real, accuracy"));
-}
 
-unsigned long lastMillis = 0; // Keep track of time
-bool lastPowerState = true; // Toggle between "On" and "Sleep"
+  lastMillis = millis(); // Keep track of time
+}
 
 void loop()
 {
-  //Look for reports from the IMU
-  if (myIMU.dataAvailable() == true)
+  //Look for reports from the IMU - ** but only when not asleep ** 
+  if (lastPowerState) // Are we "On"? (Comment this if you are interested in how it effects the sleep current)
   {
-    float quatI = myIMU.getQuatI();
-    float quatJ = myIMU.getQuatJ();
-    float quatK = myIMU.getQuatK();
-    float quatReal = myIMU.getQuatReal();
-    float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
-
-    Serial.print(quatI, 2);
-    Serial.print(F(","));
-    Serial.print(quatJ, 2);
-    Serial.print(F(","));
-    Serial.print(quatK, 2);
-    Serial.print(F(","));
-    Serial.print(quatReal, 2);
-    Serial.print(F(","));
-    Serial.print(quatRadianAccuracy, 2);
-    Serial.print(F(","));
-
-    Serial.println();
+    if (myIMU.dataAvailable() == true) // Is fresh data available?
+    {
+      float quatI = myIMU.getQuatI();
+      float quatJ = myIMU.getQuatJ();
+      float quatK = myIMU.getQuatK();
+      float quatReal = myIMU.getQuatReal();
+      float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
+  
+      Serial.print(quatI, 2);
+      Serial.print(F(","));
+      Serial.print(quatJ, 2);
+      Serial.print(F(","));
+      Serial.print(quatK, 2);
+      Serial.print(F(","));
+      Serial.print(quatReal, 2);
+      Serial.print(F(","));
+      Serial.print(quatRadianAccuracy, 2);
+      Serial.print(F(","));
+  
+      Serial.println();
+    }
   }
 
   //Check if it is time to change the power state
@@ -102,4 +110,6 @@ void loop()
 
     lastPowerState ^= 1; // Invert lastPowerState (using ex-or)
   }
+
+  delay(10); // Don't pound the bus too hard (Comment this if you are interested in how it effects the sleep current)
 }

examples/Example21-ResetCheck/Example21-ResetCheck.ino

@@ -0,0 +1,90 @@
+/*
+  Using the BNO080 IMU hasReset() function
+  By: @mattbradford83
+  Date: 1 August 2021
+  SparkFun code, firmware, and software is released under the MIT License.
+	Please see LICENSE.md for further details.
+
+  This example shows how check for a "Reset Complete" packet from the sensor,
+  which is helpful when used in tandem with resetReason(). The sensor will be
+  reset each time 25 readings are received to demonstrate. 
+
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+
+#define BNO08X_ADDR 0x4B // SparkFun BNO080 Breakout (Qwiic) defaults to 0x4B
+//#define BNO08X_ADDR 0x4A // Alternate address if ADR jumper is closed
+
+BNO080 myIMU;
+
+int cyclecount = 0;
+
+
+// After a reset, reports need to be re-enabled.
+void enableReports() {
+  myIMU.enableGyro(50); //Send data update every 50ms
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+  Wire.flush();
+  if (!myIMU.begin(BNO08X_ADDR)) {
+    Serial.println("Could Not Enable BNO Sensor! Check your I2C Address.");
+    return;
+  }
+  
+  enableReports();
+
+  Serial.println(F("Gyro enabled"));
+  Serial.println(F("Output in form x, y, z, in radians per second"));
+}
+
+void loop()
+{
+  // One of these will appear at the very start because of the power on reset. 
+  // Check resetReason() for the difference between different resets.
+  if (myIMU.hasReset()) {
+      Serial.println(" ------------------ BNO085 has reset. ------------------ ");
+      Serial.print(F(" Reason: "));
+      Serial.println(myIMU.resetReason());
+      enableReports(); // We'll need to re-enable reports after any reset.
+  }
+
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable())
+  {
+    cyclecount++;
+
+    Serial.print(F("["));
+    if (cyclecount < 10) Serial.print(F("0"));
+    Serial.print(cyclecount);
+    Serial.print(F("] "));
+
+    float x = myIMU.getGyroX();
+    float y = myIMU.getGyroY();
+    float z = myIMU.getGyroZ();
+
+    Serial.print(x, 2);
+    Serial.print(F(","));
+    Serial.print(y, 2);
+    Serial.print(F(","));
+    Serial.print(z, 2);
+    Serial.print(F(","));
+
+    Serial.println();
+
+    if (cyclecount == 25) {
+      myIMU.softReset();
+      cyclecount=0;
+    }
+    
+  }
+}

keywords.txt

@@ -19,6 +19,7 @@ enableDebugging	KEYWORD2
 
 softReset	KEYWORD2
 resetReason	KEYWORD2
+hasReset    KEYWORD2
 modeOn	KEYWORD2
 modeSleep	KEYWORD2
 

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun BNO080 Cortex Based IMU
-version=1.1.10
+version=1.1.11
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for the SparkFun Qwiic VR IMU - BNO080/BNO085

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -504,20 +504,56 @@ void BNO080::getQuat(float &i, float &j, float &k, float &real, float &radAccura
 float BNO080::getQuatI()
 {
 	float quat = qToFloat(rawQuatI, rotationVector_Q1);
+	if (_printDebug == true)
+	{
+		if ((quat < -1.0) || (quat > 1.0))
+		{
+			_debugPort->print(F("getQuatI: quat: ")); // Debug the occasional non-unitary Quat
+			_debugPort->print(quat, 2);
+			_debugPort->print(F(" rawQuatI: "));
+			_debugPort->print(rawQuatI);
+			_debugPort->print(F(" rotationVector_Q1: "));
+			_debugPort->println(rotationVector_Q1);
+		}
+	}
 	return (quat);
 }
 
 //Return the rotation vector quaternion J
 float BNO080::getQuatJ()
 {
 	float quat = qToFloat(rawQuatJ, rotationVector_Q1);
+	if (_printDebug == true)
+	{
+		if ((quat < -1.0) || (quat > 1.0)) // Debug the occasional non-unitary Quat
+		{
+			_debugPort->print(F("getQuatJ: quat: "));
+			_debugPort->print(quat, 2);
+			_debugPort->print(F(" rawQuatJ: "));
+			_debugPort->print(rawQuatJ);
+			_debugPort->print(F(" rotationVector_Q1: "));
+			_debugPort->println(rotationVector_Q1);
+		}
+	}
 	return (quat);
 }
 
 //Return the rotation vector quaternion K
 float BNO080::getQuatK()
 {
 	float quat = qToFloat(rawQuatK, rotationVector_Q1);
+	if (_printDebug == true)
+	{
+		if ((quat < -1.0) || (quat > 1.0)) // Debug the occasional non-unitary Quat
+		{
+			_debugPort->print(F("getQuatK: quat: "));
+			_debugPort->print(quat, 2);
+			_debugPort->print(F(" rawQuatK: "));
+			_debugPort->print(rawQuatK);
+			_debugPort->print(F(" rotationVector_Q1: "));
+			_debugPort->println(rotationVector_Q1);
+		}
+	}
 	return (quat);
 }
 
@@ -999,6 +1035,16 @@ void BNO080::modeSleep(void)
 		; //delay(1);
 }
 
+// Indicates if we've received a Reset Complete packet. Once it's been read, 
+// the state will reset to false until another Reset Complete packet is found. 
+bool BNO080::hasReset() {
+	if (_hasReset) {
+		_hasReset = false;
+		return true;
+	}
+	return false; 
+}
+
 //Get the reason for the last reset
 //1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other
 uint8_t BNO080::resetReason()
@@ -1447,6 +1493,15 @@ boolean BNO080::receivePacket(void)
 		getData(dataLength);
 	}
 
+	// Quickly check for reset complete packet. No need for a seperate parser.
+	// This function is also called after soft reset, so we need to catch this
+	// packet here otherwise we need to check for the reset packet in multiple
+	// places.
+	if (shtpHeader[2] == CHANNEL_EXECUTABLE && shtpData[0] == EXECUTABLE_RESET_COMPLETE) 
+	{
+		_hasReset = true;
+	} 
+
 	return (true); //We're done!
 }
 

src/SparkFun_BNO080_Arduino_Library.h

@@ -100,6 +100,9 @@ const byte CHANNEL_GYRO = 5;
 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309
 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B
 
+// Reset complete packet (BNO08X Datasheet p.24 Figure 1-27)
+#define EXECUTABLE_RESET_COMPLETE 0x1
+
 //Command IDs from section 6.4, page 42
 //These are used to calibrate, initialize, set orientation, tare etc the sensor
 #define COMMAND_ERRORS 1
@@ -131,6 +134,7 @@ class BNO080
 	void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used.
 
 	void softReset();	  //Try to reset the IMU via software
+	bool hasReset(); //Returns true if the sensor has reported a reset. Reading this will unflag the reset.
 	uint8_t resetReason(); //Query the IMU for the reason it last reset
 	void modeOn();	  //Use the executable channel to turn the BNO on
 	void modeSleep();	  //Use the executable channel to put the BNO to sleep
@@ -273,6 +277,8 @@ class BNO080
 	uint8_t _int;
 	uint8_t _rst;
 
+	bool _hasReset = false;		// Keeps track of any Reset Complete packets we receive. 
+
 	//These are the raw sensor values (without Q applied) pulled from the user requested Input Report
 	uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
 	uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy;