update keyword + add example

addition of uncalibrated gyro functions

Author: bastienboudet

examples/Example22-UncalibratedGyro/Example3-Gyro.ino

@@ -0,0 +1,74 @@
+/*
+  Using the BNO080 IMU
+  By: Bastien Boudet
+  Date: February 3rd, 2022
+  SparkFun code, firmware, and software is released under the MIT License.
+	Please see LICENSE.md for further details.
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14586
+
+  This example shows how to output the parts of the uncalibrated gyro.
+
+  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 115200 baud to serial monitor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+  myIMU.begin();
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableUncalibratedGyro(50); //Send data update every 50ms
+
+  Serial.println(F("Uncalibrated Gyro enabled"));
+  Serial.println(F("Output in form x, y, z, bx, by, bz in radians per second"));
+}
+
+void loop()
+{
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float x = myIMU.getUncalibratedGyroX();
+    float y = myIMU.getUncalibratedGyroY();
+    float z = myIMU.getUncalibratedGyroZ();
+    float bx = myIMU.getUncalibratedGyroBiasX();
+    float by = myIMU.getUncalibratedGyroBiasY();
+    float bz = myIMU.getUncalibratedGyroBiasZ();
+
+
+    Serial.print(x, 2);
+    Serial.print(F(","));
+    Serial.print(y, 2);
+    Serial.print(F(","));
+    Serial.print(z, 2);
+    Serial.print(F(","));
+    
+    Serial.print(bx, 2);
+    Serial.print(F(","));
+    Serial.print(by, 2);
+    Serial.print(F(","));
+    Serial.print(bz, 2);
+    Serial.print(F(","));
+
+    Serial.println();
+  }
+}

keywords.txt

@@ -39,6 +39,7 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableUncalibratedGyro	KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +76,16 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getUncalibratedGyro	KEYWORD2
+getUncalibratedGyroX	KEYWORD2
+getUncalibratedGyroY	KEYWORD2
+getUncalibratedGyroZ	KEYWORD2
+getUncalibratedGyroAccuracy	KEYWORD2
+getUncalibratedGyroBiasX	KEYWORD2
+getUncalibratedGyroBiasY	KEYWORD2
+getUncalibratedGyroBiasZ	KEYWORD2
+
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2