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Add tap detector #64

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Merged
merged 2 commits into from
Dec 29, 2020
Merged

Add tap detector #64

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b807323
Add tap detector
aedancullen Dec 26, 2020
26559d9
Update keywords.txt
aedancullen Dec 26, 2020
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2 changes: 2 additions & 0 deletions keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ enableARVRStabilizedGameRotationVector KEYWORD2
enableAccelerometer KEYWORD2
enableGyro KEYWORD2
enableMagnetometer KEYWORD2
enableTapDetector KEYWORD2
enableStepCounter KEYWORD2
enableStabilityClassifier KEYWORD2
enableActivityClassifier KEYWORD2
Expand Down Expand Up @@ -98,6 +99,7 @@ saveCalibration KEYWORD2
requestCalibrationStatus KEYWORD2
calibrationComplete KEYWORD2

getTapDetector KEYWORD2
getTimeStamp KEYWORD2
getStepCount KEYWORD2
getStabilityClassifier KEYWORD2
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18 changes: 18 additions & 0 deletions src/SparkFun_BNO080_Arduino_Library.cpp
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Expand Up @@ -345,6 +345,10 @@ uint16_t BNO080::parseInputReport(void)
// not game rot vector and not ar/vr stabilized rotation vector
rawQuatRadianAccuracy = data5;
}
else if (shtpData[5] == SENSOR_REPORTID_TAP_DETECTOR)
{
tapDetector = shtpData[5 + 4]; //Byte 4 only
}
else if (shtpData[5] == SENSOR_REPORTID_STEP_COUNTER)
{
stepCount = data3; //Bytes 8/9
Expand Down Expand Up @@ -717,6 +721,14 @@ float BNO080::getFastGyroZ()
return (gyro);
}

//Return the tap detector
uint8_t BNO080::getTapDetector()
{
uint8_t previousTapDetector = tapDetector;
tapDetector = 0; //Reset so user code sees exactly one tap
return (previousTapDetector);
}

//Return the step count
uint16_t BNO080::getStepCount()
{
Expand Down Expand Up @@ -1036,6 +1048,12 @@ void BNO080::enableGyroIntegratedRotationVector(uint16_t timeBetweenReports)
setFeatureCommand(SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR, timeBetweenReports);
}

//Sends the packet to enable the tap detector
void BNO080::enableTapDetector(uint16_t timeBetweenReports)
{
setFeatureCommand(SENSOR_REPORTID_TAP_DETECTOR, timeBetweenReports);
}

//Sends the packet to enable the step counter
void BNO080::enableStepCounter(uint16_t timeBetweenReports)
{
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3 changes: 3 additions & 0 deletions src/SparkFun_BNO080_Arduino_Library.h
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Expand Up @@ -151,6 +151,7 @@ class BNO080
void enableLinearAccelerometer(uint16_t timeBetweenReports);
void enableGyro(uint16_t timeBetweenReports);
void enableMagnetometer(uint16_t timeBetweenReports);
void enableTapDetector(uint16_t timeBetweenReports);
void enableStepCounter(uint16_t timeBetweenReports);
void enableStabilityClassifier(uint16_t timeBetweenReports);
void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]);
Expand Down Expand Up @@ -211,6 +212,7 @@ class BNO080
void requestCalibrationStatus(); //Sends command to get status
boolean calibrationComplete(); //Checks ME Cal response for byte 5, R0 - Status

uint8_t getTapDetector();
uint32_t getTimeStamp();
uint16_t getStepCount();
uint8_t getStabilityClassifier();
Expand Down Expand Up @@ -276,6 +278,7 @@ class BNO080
uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
uint8_t tapDetector;
uint16_t stepCount;
uint32_t timeStamp;
uint8_t stabilityClassifier;
Expand Down