CalibrationSettings example complete

-Note, this example pertains to turning on/off dynamic calibration for each sensor. It does not demo interactive calibration.

Author: lewispg228

examples/Example_19_Calibrate/Example_19_Calibrate.ino renamed to examples/Example_20_CalibrationSettings/Example_20_CalibrationSettings.ino

@@ -1,13 +1,27 @@
 /*
   Using the BNO08x IMU
 
-  This example shows how to calibrate the sensor. See document 1000-4044.
-  You move the sensor into a sequence of positions, then send it an "S" to save.
+  This example shows how to adjust settings of the dynamic calibration of the 
+  BNO08x. 
+  
+  The BNO08x allows you to turn on/off dynamic calibration for each sensor in 
+  the IMU (accel, gyro, or mag).
+
+  Please refer to the BNO08X data sheet Section 3 (page 37)
+  https://docs.sparkfun.com/SparkFun_VR_IMU_Breakout_BNO086_QWIIC/assets/component_documentation/BNO080_085-Datasheet_v1.16.pdf
 
-  While Calibration is in progress, it will output the x/y/z/accuracy of the mag
-  and the i/j/k/real parts of the game rotation vector.
+  Note, by default, dynamic calibration is enabled for accel and mag.
+  Some special use cases may require turning on all or any special combo of sensor 
+  dynamic calibration.
+  
+  After the calibration settings are set, this example will output the 
+  x/y/z/accuracy of the mag and the i/j/k/real parts of the game rotation vector.
   https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
 
+  Note, the "simple calibration" feature, sh2_startCal(), is not available on 
+  the BNO08x. See this issue for more info:
+  https://github.com/ceva-dsp/sh2/issues/11
+
   By: Nathan Seidle
   SparkFun Electronics
   Date: December 21st, 2017
@@ -102,8 +116,11 @@ void setup() {
 
   // Wire.setClock(400000); //Increase I2C data rate to 400kHz
 
-  //Enable dynamic calibration for accel, gyro, and mag
-  if (myIMU.calibrateAll() == true) {
+  // Enable dynamic calibration for desired sensors (accel, gyro, and mag)
+  // uncomment/comment out as needed to try various options
+  if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL || SH2_CAL_GYRO || SH2_CAL_MAG) == true) { // all three sensors
+  //if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL || SH2_CAL_MAG) == true) { // Default settings
+  //if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL) == true) { // only accel
     Serial.println(F("Calibration Command Sent Successfully"));
   } else {
     Serial.println("Could not send Calibration Command. Freezing...");
@@ -204,51 +221,15 @@ void loop() {
 
     if(incoming == 's')
     {
-      //Saves the current dynamic calibration data (DCD) to memory
+      // Saves the current dynamic calibration data (DCD) to memory
+      // Note, The BNO08X stores updated Dynamic Calibration Data (DCD) to RAM 
+      // frequently (every 5 seconds), so this command may not be necessary
+      // depending on your application.
       if (myIMU.saveCalibration() == true) {
         Serial.println(F("Calibration data was saved successfully"));
       } else {
         Serial.println("Save Calibration Failure");
       }
-
-      ////////////////////////////////////
-      // CODE FROM PREVIOUS BNO080 LIBRARY vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
-      // BEGIN ///////////////////////////
-
-      // myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status
-
-      // //Wait for calibration response, timeout if no response
-      // int counter = 100;
-      // while(1)
-      // {
-      //   if(--counter == 0) break;
-      //   if(myIMU.dataAvailable() == true)
-      //   {
-      //     //The IMU can report many different things. We must wait
-      //     //for the ME Calibration Response Status byte to go to zero
-      //     if(myIMU.calibrationComplete() == true)
-      //     {
-      //       Serial.println("Calibration data successfully stored");
-      //       delay(1000);
-      //       break;
-      //     }
-      //   }
-
-      //   delay(1);
-      // }
-      // if(counter == 0)
-      // {
-      //   Serial.println("Calibration data failed to store. Please try again.");
-      // }
-
-      //myIMU.endCalibration(); //Turns off all calibration
-      //In general, calibration should be left on at all times. The BNO080
-      //auto-calibrates and auto-records cal data roughly every 5 minutes
-
-      ////////////////////////////////////
-      // CODE FROM PREVIOUS BNO080 LIBRARY ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-      // END /////////////////////////////
-
     }
   }
 }

src/SparkFun_BNO08x_Arduino_Library.cpp

@@ -949,51 +949,11 @@ bool BNO08x::enableActivityClassifier(uint16_t timeBetweenReports, uint32_t acti
 	return enableReport(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable);
 }
 
-// //Sends the commands to begin calibration of the accelerometer
-// void BNO08x::calibrateAccelerometer()
-// {
-// 	sendCalibrateCommand(CALIBRATE_ACCEL);
-// }
-
-// //Sends the commands to begin calibration of the gyro
-// void BNO08x::calibrateGyro()
-// {
-// 	sendCalibrateCommand(CALIBRATE_GYRO);
-// }
-
-// //Sends the commands to begin calibration of the magnetometer
-// void BNO08x::calibrateMagnetometer()
-// {
-// 	sendCalibrateCommand(CALIBRATE_MAG);
-// }
-
-// //Sends the commands to begin calibration of the planar accelerometer
-// void BNO08x::calibratePlanarAccelerometer()
-// {
-// 	sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL);
-// }
-
-//See 2.2 of the Calibration Procedure document 1000-4044
-bool BNO08x::calibrateAll()
+// See 2.2 of the Calibration Procedure document 1000-4044
+// Set the desired sensors to have active dynamic calibration
+bool BNO08x::setCalibrationConfig(uint8_t sensors)
 {
-  int status;
-  
-  Serial.print("Attempting sh2_setCalConfig...");
-  //int status = sh2_setCalConfig(SH2_CAL_ACCEL);
-  status = sh2_setCalConfig(SH2_CAL_ACCEL || SH2_CAL_GYRO || SH2_CAL_MAG);
-
-  if (status != SH2_OK) {
-    return false;
-  }
-  //delay(100); // may not be necessary
-
-  Serial.println("complete.");
-
-  Serial.print("Attempting sh2_startCal...");
-  
-  status = sh2_startCal(1000); // argument is report interval in uS
-
-  Serial.println("complete.");
+  int status = sh2_setCalConfig(sensors);
 
   if (status != SH2_OK) {
     return false;
@@ -1002,20 +962,6 @@ bool BNO08x::calibrateAll()
   return true;	
 }
 
-// void BNO08x::endCalibration()
-// {
-// 	sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations
-// }
-
-// //See page 51 of reference manual - ME Calibration Response
-// //Byte 5 is parsed during the readPacket and stored in calibrationStatus
-// boolean BNO08x::calibrationComplete()
-// {
-// 	if (calibrationStatus == 0)
-// 		return (true);
-// 	return (false);
-// }
-
 bool BNO08x::tareNow(bool zAxis, sh2_TareBasis_t basis)
 {
   int status = sh2_setTareNow(zAxis ? TARE_AXIS_Z : TARE_AXIS_ALL, basis);

src/SparkFun_BNO08x_Arduino_Library.h

@@ -250,15 +250,8 @@ class BNO08x
 	float getGravityZ();
 	uint8_t getGravityAccuracy();
 
-	// void calibrateAccelerometer();
-	// void calibrateGyro();
-	// void calibrateMagnetometer();
-	// void calibratePlanarAccelerometer();
-	bool calibrateAll();
-	// void endCalibration();
+	bool setCalibrationConfig(uint8_t sensors);
 	bool saveCalibration();
-	// void requestCalibrationStatus(); //Sends command to get status
-	// boolean calibrationComplete();   //Checks ME Cal response for byte 5, R0 - Status
 
 	bool tareNow(bool zAxis=false, sh2_TareBasis_t basis=SH2_TARE_BASIS_ROTATION_VECTOR);
 	bool saveTare();