Added getters for multiple variables at the same time

examples/Example18-AccessMultiple/Example18-AccessMultiple.ino

@@ -0,0 +1,132 @@
+/*
+  Using the BNO080 IMU with helper methods
+  By: Guillaume Walck
+
+  Date: September 08th, 2020
+  License: This code is public domain.
+
+  This example shows how to access multiple data of one type using helper methods.
+
+  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 Multiple 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.enableLinearAccelerometer(50);  // m/s^2 no gravity
+  myIMU.enableRotationVector(50);  // quat
+  myIMU.enableGyro(50);  // rad/s
+  //myIMU.enableMagnetometer(50);  // cannot be enabled at the same time as RotationVector (will not produce data)
+
+  Serial.println(F("LinearAccelerometer enabled, Output in form x, y, z, accuracy, in m/s^2"));
+  Serial.println(F("Gyro enabled, Output in form x, y, z, accuracy, in radians per second"));
+  Serial.println(F("Rotation vector, Output in form i, j, k, real, accuracy"));
+  //Serial.println(F("Magnetometer enabled, Output in form x, y, z, accuracy, in uTesla"));
+}
+
+
+void loop() {
+
+  //Look for data from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    // internal copies of the IMU data
+    float ax, ay, az, gx, gy, gz, qx, qy, qz, qw; //  mx, my, mz, (qx, qy, qz, qw = i,j,k, real)
+    byte linAccuracy = 0;
+    byte gyroAccuracy = 0;
+    //byte magAccuracy = 0;
+    float quatRadianAccuracy = 0;
+    byte quatAccuracy = 0;
+
+    // get IMU data in one go for each sensor type
+    myIMU.getLinAccel(ax, ay, az, linAccuracy);
+    myIMU.getGyro(gx, gy, gz, gyroAccuracy);
+    myIMU.getQuat(qx, qy, qz, qw, quatRadianAccuracy, quatAccuracy);
+    //myIMU.getMag(mx, my, mz, magAccuracy);
+
+
+    Serial.print(F("acc :"));
+    Serial.print(ax, 2);
+    Serial.print(F(","));
+    Serial.print(ay, 2);
+    Serial.print(F(","));
+    Serial.print(az, 2);
+    Serial.print(F(","));
+    Serial.print(az, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(linAccuracy);
+
+    Serial.print(F("gyro:"));
+    Serial.print(gx, 2);
+    Serial.print(F(","));
+    Serial.print(gy, 2);
+    Serial.print(F(","));
+    Serial.print(gz, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(gyroAccuracy);
+/*
+    Serial.print(F("mag :"));
+    Serial.print(mx, 2);
+    Serial.print(F(","));
+    Serial.print(my, 2);
+    Serial.print(F(","));
+    Serial.print(mz, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(magAccuracy);
+*/
+
+    Serial.print(F("quat:"));
+    Serial.print(qx, 2);
+    Serial.print(F(","));
+    Serial.print(qy, 2);
+    Serial.print(F(","));
+    Serial.print(qz, 2);
+    Serial.print(F(","));
+    Serial.print(qw, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(quatAccuracy);
+  }
+}
+
+//Given an accuracy number, print what it means
+void printAccuracyLevel(byte accuracyNumber)
+{
+  if (accuracyNumber == 0) Serial.println(F("Unreliable"));
+  else if (accuracyNumber == 1) Serial.println(F("Low"));
+  else if (accuracyNumber == 2) Serial.println(F("Medium"));
+  else if (accuracyNumber == 3) Serial.println(F("High"));
+}

examples/SPI/Example18-AccessMultiple/Example18-AccessMultiple.ino

@@ -0,0 +1,162 @@
+/*
+  Using the BNO080 IMU with helper methods
+  By: Guillaume Walck
+
+  Date: September 08th, 2020
+  License: This code is public domain.
+
+  This example shows how to use the SPI interface on the BNO080. It's fairly involved
+  and requires 7 comm wires (plus 2 power), soldering the PS1 jumper, and clearing
+  the I2C jumper. We recommend using the Qwiic I2C interface, but if you need speed
+  SPI is the way to go.
+
+  This example shows how to access multiple data of one type using helper methods.
+
+  Hardware modifications:
+  The PS1 jumper must be closed
+  The PS0 jumper must be open. PS0/WAKE is connected and the WAK pin is used to bring the IC out of sleep.
+  The I2C pull up jumper must be cleared/open
+
+  Hardware Connections:
+  Don't hook the BNO080 to a normal 5V Uno! Either use the Qwiic system or use a
+  microcontroller that runs at 3.3V.
+  Arduino 13 = BNO080 SCK
+  12 = SO
+  11 = SI
+  10 = !CS
+  9 = WAK
+  8 = !INT
+  7 = !RST
+  3.3V = 3V3
+  GND = GND
+*/
+
+#include <SPI.h>
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h"
+BNO080 myIMU;
+
+//These pins can be any GPIO
+byte imuCSPin = 10;
+byte imuWAKPin = 9;
+byte imuINTPin = 8;
+byte imuRSTPin = 7;
+
+//GPIO pins for SPI1 on teensy4.0
+//byte imuCSPin = 0;
+//byte imuWAKPin = 24;  //PS0
+//byte imuINTPin = 25;  //INT
+//byte imuRSTPin = 2;  //RST
+// SPI1 on Teensy 4.0 uses COPI Pin = 26 CIPO Pin = 1, SCK Pin = 27
+//byte imuCOPIPin = 26;
+//byte imuCIPOPin = 1;
+//byte imuSCKPin = 27;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 SPI Multiple Read Example");
+
+  myIMU.enableDebugging(Serial); //Pipe debug messages to Serial port
+
+  // set up the SPI pins utilized on Teensy 4.0
+  //SPI1.setMOSI(imuCOPIPin);
+  //SPI1.setMISO(imuCIPOPin);
+  //SPI1.setSCK(imuSCKPin);
+  // initialize SPI1:
+  //SPI1.begin();
+
+  if (myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin) == false)
+  {
+    Serial.println("BNO080 over SPI not detected. Are you sure you have all 6 connections? Freezing...");
+    while(1);
+  }
+
+  //You can also call begin with SPI clock speed and SPI port hardware
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000);
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 3000000, SPI1);
+
+  myIMU.enableLinearAccelerometer(50);  // m/s^2 no gravity
+  myIMU.enableRotationVector(50);  // quat
+  myIMU.enableGyro(50);  // rad/s
+  //myIMU.enableMagnetometer(50);  // cannot be enabled at the same time as RotationVector (will not produce data)
+
+  Serial.println(F("LinearAccelerometer enabled, Output in form x, y, z, accuracy, in m/s^2"));
+  Serial.println(F("Gyro enabled, Output in form x, y, z, accuracy, in radians per second"));
+  Serial.println(F("Rotation vector, Output in form i, j, k, real, accuracy"));
+  //Serial.println(F("Magnetometer enabled, Output in form x, y, z, accuracy, in uTesla"));
+}
+
+void loop()
+{
+  Serial.println("Doing other things");
+  delay(10); //You can do many other things. We spend most of our time printing and delaying.
+
+  //Look for data from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    // internal copies of the IMU data
+    float ax, ay, az, gx, gy, gz, qx, qy, qz, qw; // mx, my, mz,  // (qx, qy, qz, qw = i,j,k, real)
+    byte linAccuracy = 0;
+    byte gyroAccuracy = 0;
+    //byte magAccuracy = 0;
+    float quatRadianAccuracy = 0;
+    byte quatAccuracy = 0;
+
+    // get IMU data in one go for each sensor type
+    myIMU.getLinAccel(ax, ay, az, linAccuracy);
+    myIMU.getGyro(gx, gy, gz, gyroAccuracy);
+    myIMU.getQuat(qx, qy, qz, qw, quatRadianAccuracy, quatAccuracy);
+    //myIMU.getMag(mx, my, mz, magAccuracy);
+
+    Serial.print(F("acc :"));
+    Serial.print(ax, 2);
+    Serial.print(F(","));
+    Serial.print(ay, 2);
+    Serial.print(F(","));
+    Serial.print(az, 2);
+    Serial.print(F(","));
+    Serial.print(az, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(linAccuracy);
+
+    Serial.print(F("gyro:"));
+    Serial.print(gx, 2);
+    Serial.print(F(","));
+    Serial.print(gy, 2);
+    Serial.print(F(","));
+    Serial.print(gz, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(gyroAccuracy);
+/*
+    Serial.print(F("mag :"));
+    Serial.print(mx, 2);
+    Serial.print(F(","));
+    Serial.print(my, 2);
+    Serial.print(F(","));
+    Serial.print(mz, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(magAccuracy);
+*/
+    Serial.print(F("quat:"));
+    Serial.print(qx, 2);
+    Serial.print(F(","));
+    Serial.print(qy, 2);
+    Serial.print(F(","));
+    Serial.print(qz, 2);
+    Serial.print(F(","));
+    Serial.print(qw, 2);
+    Serial.print(F(","));
+    printAccuracyLevel(quatAccuracy);
+  }
+}
+
+//Given an accuracy number, print what it means
+void printAccuracyLevel(byte accuracyNumber)
+{
+  if (accuracyNumber == 0) Serial.println(F("Unreliable"));
+  else if (accuracyNumber == 1) Serial.println(F("Low"));
+  else if (accuracyNumber == 2) Serial.println(F("Medium"));
+  else if (accuracyNumber == 3) Serial.println(F("High"));
+}

keywords.txt

@@ -50,33 +50,38 @@ dataAvailable	KEYWORD2
 parseInputReport	KEYWORD2
 parseCommandReport	KEYWORD2
 
+getQuat	KEYWORD2
 getQuatI	KEYWORD2
 getQuatJ	KEYWORD2
 getQuatK	KEYWORD2
 getQuatReal	KEYWORD2
 getQuatRadianAccuracy	KEYWORD2
 getQuatAccuracy	KEYWORD2
 
+getAccel	KEYWORD2
 getAccelX	KEYWORD2
 getAccelY	KEYWORD2
 getAccelZ	KEYWORD2
 getAccelAccuracy	KEYWORD2
 
+getGyro	KEYWORD2
 getGyroX	KEYWORD2
 getGyroY	KEYWORD2
 getGyroZ	KEYWORD2
 getGyroAccuracy	KEYWORD2
 
+getFastGyro	KEYWORD2
 getFastGyroX	KEYWORD2
 getFastGyroY	KEYWORD2
 getFastGyroZ	KEYWORD2
 
-
+getMag	KEYWORD2
 getMagX	KEYWORD2
 getMagY	KEYWORD2
 getMagZ	KEYWORD2
 getMagAccuracy	KEYWORD2
 
+getLinAccel	KEYWORD2
 getLinAccelX	KEYWORD2
 getLinAccelY	KEYWORD2
 getLinAccelZ	KEYWORD2