Adding timestamp function

Author: nseidle

examples/Example13-TimeStamp/Example13-TimeStamp.ino

@@ -0,0 +1,72 @@
+/*
+  Using the BNO080 IMU
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: December 21st, 2017
+  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/14586
+
+  This example shows how to output the timestamp for each reading.
+
+  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
+  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
+
+  Hardware Connections:
+  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
+  Plug the sensor onto the shield
+  Serial.print it out at 9600 baud to serial monitor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h"
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+  myIMU.begin();
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableRotationVector(50); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form time, i, j, k, real, accuracy"));
+}
+
+void loop()
+{
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    unsigned long timeStamp = myIMU.getTimeStamp();
+    float quatI = myIMU.getQuatI();
+    float quatJ = myIMU.getQuatJ();
+    float quatK = myIMU.getQuatK();
+    float quatReal = myIMU.getQuatReal();
+    float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
+
+    Serial.print(timeStamp);
+    Serial.print(F(","));
+    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();
+  }
+}

keywords.txt

@@ -80,6 +80,7 @@ saveCalibration	KEYWORD2
 requestCalibrationStatus	KEYWORD2
 calibrationComplete	KEYWORD2
 
+getTimeStamp	KEYWORD2
 getStepCount	KEYWORD2
 getStabilityClassifier	KEYWORD2
 getActivityClassifier	KEYWORD2

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -218,6 +218,8 @@ void BNO080::parseInputReport(void)
 
   dataLength -= 4; //Remove the header bytes from the data count
 
+  timeStamp = ((uint32_t)shtpData[4] << (8 * 3)) | (shtpData[3] << (8 * 2)) | (shtpData[2] << (8 * 1)) | (shtpData[1] << (8 * 0));
+  
   uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits
   uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4];
   uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6];
@@ -478,6 +480,12 @@ uint8_t BNO080::getActivityClassifier()
   return (activityClassifier);
 }
 
+//Return the time stamp
+uint32_t BNO080::getTimeStamp()
+{
+  return (timeStamp);
+}
+
 //Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated)
 //Q1 is used for all sensor data calculations
 int16_t BNO080::getQ1(uint16_t recordID)

src/SparkFun_BNO080_Arduino_Library.h

@@ -203,7 +203,8 @@ class BNO080 {
 	void requestCalibrationStatus(); //Sends command to get status
 	boolean calibrationComplete(); //Checks ME Cal response for byte 5, R0 - Status
 
-    uint16_t getStepCount();
+    uint32_t getTimeStamp();
+	uint16_t getStepCount();
     uint8_t getStabilityClassifier();
     uint8_t getActivityClassifier();
 
@@ -252,7 +253,8 @@ class BNO080 {
     uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
     uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
     uint16_t stepCount;
-    uint8_t stabilityClassifier;
+    uint32_t timeStamp;
+	uint8_t stabilityClassifier;
     uint8_t activityClassifier;
     uint8_t *_activityConfidences; //Array that store the confidences of the 9 possible activities
 	uint8_t calibrationStatus; //Byte R0 of ME Calibration Response