Added functionality to access the Gravity vector

examples/Example23-Gravity/Example23-Gravity.ino

@@ -0,0 +1,81 @@
+/*
+  Using the BNO085 for finding the direction of gravity.
+  By: Anant Sharma
+
+  Date: January 23rd, 2023
+  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 outputs a vector pointing towards the ground.
+
+  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" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+BNO080 myIMU;
+
+
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+    //Are you using a ESP? Check this issue for more information: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/16
+//  //=================================
+//  delay(100); //  Wait for BNO to boot
+//  // Start i2c and BNO080
+//  Wire.flush();   // Reset I2C
+//  IMU.begin(BNO080_DEFAULT_ADDRESS, Wire);
+//  Wire.begin(4, 5);
+//  Wire.setClockStretchLimit(4000);
+//  //=================================
+
+  if (myIMU.begin() == false)
+  {
+    Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
+    while (1);
+  }
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableGravity(10); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form i, j, k, real, accuracy"));
+
+}
+
+void loop() {
+    //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float gravityX = myIMU.getGravityX();
+    float gravityY = myIMU.getGravityY();
+    float gravityZ = myIMU.getGravityZ();
+    float gravityAccuracy = myIMU.getGravityAccuracy();
+
+    Serial.print(gravityX, 2);
+    Serial.print(F(","));
+    Serial.print(gravityY, 2);
+    Serial.print(F(","));
+    Serial.print(gravityZ, 2);
+    Serial.print(F(","));
+    Serial.print(gravityAccuracy, 2);
+    Serial.print(F(","));
+
+
+    Serial.println();
+  }
+}

keywords.txt

@@ -39,6 +39,7 @@ enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
+enableGravity KEYWORD2
 enableMagnetometer	KEYWORD2
 enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
@@ -75,6 +76,12 @@ getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getGravity KEYWORD2
+getGravityX KEYWORD2
+getGravityY KEYWORD2
+getGravityZ KEYWORD2
+getGravityAccuracy KEYWORD2
+
 getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -401,6 +401,13 @@ uint16_t BNO080::parseInputReport(void)
 			calibrationStatus = shtpData[5 + 5]; //R0 - Status (0 = success, non-zero = fail)
 		}
 	}
+	else if(shtpData[5] == SENSOR_REPORTID_GRAVITY)
+	{
+		gravityAccuracy = status;
+		gravityX = data1;
+		gravityY = data2;
+		gravityZ = data3;
+	}
 	else
 	{
 		//This sensor report ID is unhandled.
@@ -690,6 +697,41 @@ uint8_t BNO080::getGyroAccuracy()
 	return (gyroAccuracy);
 }
 
+//Gets the full gravity vector
+//x,y,z output floats
+void BNO080::getGravity(float &x, float &y, float &z, uint8_t &accuracy)
+{
+	x = qToFloat(gravityX, gravity_Q1);
+	y = qToFloat(gravityX, gravity_Q1);
+	z = qToFloat(gravityX, gravity_Q1);
+	accuracy = gravityAccuracy;
+}
+
+float BNO080::getGravityX()
+{
+	float x = qToFloat(gravityX, gravity_Q1);
+	return x;
+}
+
+//Return the gravity component
+float BNO080::getGravityY()
+{
+	float y = qToFloat(gravityY, gravity_Q1);
+	return y;
+}
+
+//Return the gravity component
+float BNO080::getGravityZ()
+{
+	float z = qToFloat(gravityZ, gravity_Q1);
+	return z;
+}
+
+uint8_t BNO080::getGravityAccuracy()
+{
+	return (gravityAccuracy);
+}
+
 //Gets the full mag vector
 //x,y,z output floats
 void BNO080::getMag(float &x, float &y, float &z, uint8_t &accuracy)
@@ -1112,6 +1154,12 @@ void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports)
 	setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports);
 }
 
+//Sends the packet to enable the gravity vector
+void BNO080::enableGravity(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_GRAVITY, timeBetweenReports);
+}
+
 //Sends the packet to enable the gyro
 void BNO080::enableGyro(uint16_t timeBetweenReports)
 {
@@ -1689,4 +1737,4 @@ void BNO080::printHeader(void)
 		}
 		_debugPort->println();
 	}
-}
+}

src/SparkFun_BNO080_Arduino_Library.h

@@ -155,6 +155,7 @@ class BNO080
 	void enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports);
 	void enableAccelerometer(uint16_t timeBetweenReports);
 	void enableLinearAccelerometer(uint16_t timeBetweenReports);
+	void enableGravity(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);
 	void enableMagnetometer(uint16_t timeBetweenReports);
 	void enableTapDetector(uint16_t timeBetweenReports);
@@ -208,6 +209,12 @@ class BNO080
 	float getMagZ();
 	uint8_t getMagAccuracy();
 
+	void getGravity(float &x, float &y, float &z, uint8_t &accuracy);
+	float getGravityX();
+	float getGravityY();
+	float getGravityZ();
+	uint8_t getGravityAccuracy();
+
 	void calibrateAccelerometer();
 	void calibrateGyro();
 	void calibrateMagnetometer();
@@ -286,6 +293,7 @@ class BNO080
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
+	uint16_t gravityX, gravityY, gravityZ, gravityAccuracy;
 	uint8_t tapDetector;
 	uint16_t stepCount;
 	uint32_t timeStamp;
@@ -306,4 +314,5 @@ class BNO080
 	int16_t gyro_Q1 = 9;
 	int16_t magnetometer_Q1 = 4;
 	int16_t angular_velocity_Q1 = 10;
-};
+	int16_t gravity_Q1 = 8;
+};