Adding example to address issue 18

Author: nseidle

examples/SPI/Example3-AccelAndRotationVector/Example3-AccelAndRotationVector.ino

@@ -0,0 +1,110 @@
+/*
+  Using the BNO080 IMU
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: July 27th, 2018
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14686
+
+  This example shows how to use the SPI interface and print two records at the same time:
+  Accel and Quat. 
+
+  This example shows how to output the i/j/k/real parts of the rotation vector.
+  https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
+
+  Hardware modifications:
+  The PS1 jumper must be closed
+  The PS0 jumper must be open. PS0/WAKE is connected and the WAK pin is used to bring the IC out of sleep.
+  The I2C pull up jumper must be cleared/open
+
+  Hardware Connections:
+  Don't hook the BNO080 to a normal 5V Uno! Either use the Qwiic system or use a
+  microcontroller that runs at 3.3V.
+  Arduino 13 = BNO080 SCK
+  12 = SO
+  11 = SI
+  10 = !CS
+  9 = WAK
+  8 = !INT
+  7 = !RST
+  3.3V = 3V3
+  GND = GND
+*/
+
+#include <SPI.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h"
+BNO080 myIMU;
+
+//These pins can be any GPIO
+byte imuCSPin = 10;
+byte imuWAKPin = 9;
+byte imuINTPin = 8;
+byte imuRSTPin = 7;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 SPI Read Example");
+
+  myIMU.enableDebugging(Serial); //Pipe debug messages to Serial port
+
+  if (myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin) == false)
+  {
+    Serial.println("BNO080 over SPI not detected. Are you sure you have all 6 connections? Freezing...");
+    while (1);
+  }
+
+  //You can also call begin with SPI clock speed and SPI port hardware
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000);
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000, SPI1);
+
+  //The IMU is now connected over SPI
+  //Please see the other examples for library functions that you can call
+
+  myIMU.enableAccelerometer(10); //Send data update at 100Hz
+  myIMU.enableRotationVector(10); //Send data update at 100Hz
+
+  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 x = myIMU.getAccelX();
+    float y = myIMU.getAccelY();
+    float z = myIMU.getAccelZ();
+
+    float quatI = myIMU.getQuatI();
+    float quatJ = myIMU.getQuatJ();
+    float quatK = myIMU.getQuatK();
+    float quatReal = myIMU.getQuatReal();
+    float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
+
+    Serial.print(x, 2);
+    Serial.print(F(","));
+    Serial.print(y, 2);
+    Serial.print(F(","));
+    Serial.print(z, 2);
+
+    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();
+  }
+
+}