Merge pull request #16 from sparkfun/geomagnetic_rotation_vector

Geomagnetic rotation vector

Author: lewispg228

README.md

@@ -15,8 +15,14 @@ In addition the BNO08x IMU provides a built-in step counter, tap detector, activ
 
 This Arduino Library was built off the [original library](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library) written by Nathan Seidle ([SparkFun](http://www.sparkfun.com)).
 
-Thanks to all those who have helped improve the original library:
+Thanks to all those who have helped improve this library!
 
+This BNO086 Library - CEVA-DSP Sh2 Driver-based improvements:
+* SFSailor for providing code for Geomagnetic Rotation Vector [issue #10](https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/issues/10)
+* LazaroFilm for adding setReorientation() [PR15](https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/pull/15)
+* rah2501 for fixing an INT/RST pin bug [PR13](https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/pull/13)
+
+Original BNO080 Library improvements:
 * blendmaster for adding [Linear Accel report](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/4)
 * per1234 for fixing our [keywords file](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/12)
 * fm4dd for typo - [PR 19](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/19)

examples/Example_19_GeomagneticRotationVector_to_EulerAngles/Example_19_GeomagneticRotationVector_to_EulerAngles.ino

@@ -0,0 +1,142 @@
+
+/*
+  Using the BNO08x IMU
+
+  Example : Geomagnetic Rotation Vector to Euler Angles
+
+  This example was initially created by github user SFSailor November 2023
+  https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/issues/10
+  https://forum.sparkfun.com/viewtopic.php?f=83&t=60523&p=245145#p245145
+
+  Modified from original example of Euler Angles
+  By: Paul Clark
+  Date: April 28th, 2020
+
+  Using the Geomagnetic Rotation vectors,
+  This example shows how to output the Euler angles: roll, pitch and yaw.
+  The yaw (compass heading) is tilt-compensated, which is nice.
+  https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+  https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
+
+  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.
+
+  Originally written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
+
+  Adjusted by Pete Lewis @ SparkFun Electronics, June 2023 to incorporate the
+  CEVA Sensor Hub Driver, found here:
+  https://github.com/ceva-dsp/sh2
+
+  Also, utilizing code from the Adafruit BNO08x Arduino Library by Bryan Siepert
+  for Adafruit Industries. Found here:
+  https://github.com/adafruit/Adafruit_BNO08x
+
+  Also, utilizing I2C and SPI read/write functions and code from the Adafruit
+  BusIO library found here:
+  https://github.com/adafruit/Adafruit_BusIO
+
+  Hardware Connections:
+  IoT RedBoard --> BNO08x
+  QWIIC --> QWIIC
+  A4  --> INT
+  A5  --> RST
+
+  BNO08x "mode" jumpers set for I2C (default):
+  PSO: OPEN
+  PS1: OPEN
+
+  Serial.print it out at 115200 baud to serial monitor.
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/22857
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO08x_Arduino_Library.h"  // CTRL+Click here to get the library: http://librarymanager/All#SparkFun_BNO08x
+BNO08x myIMU;
+
+// For the most reliable interaction with the SHTP bus, we need
+// to use hardware reset control, and to monitor the H_INT pin.
+// The H_INT pin will go low when its okay to talk on the SHTP bus.
+// Note, these can be other GPIO if you like.
+// Define as -1 to disable these features.
+#define BNO08X_INT  A4
+//#define BNO08X_INT  -1
+#define BNO08X_RST  A5
+//#define BNO08X_RST  -1
+
+#define BNO08X_ADDR 0x4B  // SparkFun BNO08x Breakout (Qwiic) defaults to 0x4B
+//#define BNO08X_ADDR 0x4A // Alternate address if ADR jumper is closed
+
+void setup() {
+  Serial.begin(115200);
+  
+  while(!Serial) delay(10); // Wait for Serial to become available.
+  // Necessary for boards with native USB (like the SAMD51 Thing+).
+  // For a final version of a project that does not need serial debug (or a USB cable plugged in),
+  // Comment out this while loop, or it will prevent the remaining code from running.
+  
+  Serial.println();
+  Serial.println("BNO08x Read Example");
+
+  Wire.begin();
+
+  //if (myIMU.begin() == false) {  // Setup without INT/RST control (Not Recommended)
+  if (myIMU.begin(BNO08X_ADDR, Wire, BNO08X_INT, BNO08X_RST) == false) {
+    Serial.println("BNO08x not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
+    while (1)
+      ;
+  }
+  Serial.println("BNO08x found!");
+
+  // Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  setReports();
+
+  Serial.println("Reading events");
+  delay(100);
+}
+
+// Here is where you define the sensor outputs you want to receive
+void setReports(void) {
+  Serial.println("Setting desired reports");
+  if (myIMU.enableGeomagneticRotationVector() == true) {
+    Serial.println(F("Geomagnetic Rotation vector enabled"));
+    Serial.println(F("Output in form roll, pitch, yaw"));
+  } else {
+    Serial.println("Could not enable geomagnetic rotation vector");
+  }
+}
+
+void loop() {
+  delay(10);
+
+  if (myIMU.wasReset()) {
+    Serial.print("sensor was reset ");
+    setReports();
+  }
+
+  // Has a new event come in on the Sensor Hub Bus?
+  if (myIMU.getSensorEvent() == true) {
+
+    // is it the correct sensor data we want?
+    if (myIMU.getSensorEventID() == SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR) {
+
+    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();
+    }
+  }
+}

keywords.txt

@@ -26,6 +26,7 @@ modeSleep	KEYWORD2
 qToFloat	KEYWORD2
 
 enableRotationVector	KEYWORD2
+enableGeomagneticRotationVector	KEYWORD2
 enableGameRotationVector	KEYWORD2
 enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2

src/SparkFun_BNO08x_Arduino_Library.cpp

@@ -796,6 +796,13 @@ bool BNO08x::enableRotationVector(uint16_t timeBetweenReports)
 	return enableReport(SH2_ROTATION_VECTOR, timeBetweenReports);
 }
 
+//Sends the packet to enable the geomagnetic rotation vector
+bool BNO08x::enableGeomagneticRotationVector(uint16_t timeBetweenReports)
+{
+	timeBetweenReports  = timeBetweenReports * 1000; // ms to us
+	return enableReport(SH2_GEOMAGNETIC_ROTATION_VECTOR, timeBetweenReports);
+}
+
 //Sends the packet to enable the ar/vr stabilized rotation vector
 bool BNO08x::enableARVRStabilizedRotationVector(uint16_t timeBetweenReports)
 {

src/SparkFun_BNO08x_Arduino_Library.h

@@ -171,6 +171,7 @@ class BNO08x
 	float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number
 
 	bool enableRotationVector(uint16_t timeBetweenReports = 10);
+	bool enableGeomagneticRotationVector(uint16_t timeBetweenReports = 10);
 	bool enableGameRotationVector(uint16_t timeBetweenReports = 10);
 	bool enableARVRStabilizedRotationVector(uint16_t timeBetweenReports);
 	bool enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports);