Merge pull request #46 from Filimindji/master

Add support for AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector
sparkfun · May 1, 2020 · 0b3c4af · 0b3c4af
2 parents 52bcc37 + 8010200
commit 0b3c4af
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Showing 3 changed files with 24 additions and 2 deletions.
diff --git a/keywords.txt b/keywords.txt
@@ -31,6 +31,8 @@ printPacket	KEYWORD2
 
 enableRotationVector	KEYWORD2
 enableGameRotationVector	KEYWORD2
+enableARVRStabilizedRotationVector	KEYWORD2
+enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
 enableMagnetometer	KEYWORD2

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -295,14 +295,18 @@ void BNO080::parseInputReport(void)
 		rawMagY = data2;
 		rawMagZ = data3;
 	}
-	else if (shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR)
+	else if (shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR ||
+			 shtpData[5] == SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR)
 	{
 		quatAccuracy = status;
 		rawQuatI = data1;
 		rawQuatJ = data2;
 		rawQuatK = data3;
 		rawQuatReal = data4;
-		rawQuatRadianAccuracy = data5; //Only available on rotation vector, not game rot vector
+
+		//Only available on rotation vector and ar/vr stabilized rotation vector,
+		// not game rot vector and not ar/vr stabilized rotation vector	
+		rawQuatRadianAccuracy = data5;
 	}
 	else if (shtpData[5] == SENSOR_REPORTID_STEP_COUNTER)
 	{
@@ -878,12 +882,24 @@ void BNO080::enableRotationVector(uint16_t timeBetweenReports)
 	setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports);
 }
 
+//Sends the packet to enable the ar/vr stabilized rotation vector
+void BNO080::enableARVRStabilizedRotationVector(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR, timeBetweenReports);
+}
+
 //Sends the packet to enable the rotation vector
 void BNO080::enableGameRotationVector(uint16_t timeBetweenReports)
 {
 	setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports);
 }
 
+//Sends the packet to enable the ar/vr stabilized rotation vector
+void BNO080::enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, timeBetweenReports);
+}
+
 //Sends the packet to enable the accelerometer
 void BNO080::enableAccelerometer(uint16_t timeBetweenReports)
 {

diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
@@ -95,6 +95,8 @@ const byte CHANNEL_GYRO = 5;
 #define SENSOR_REPORTID_RAW_GYROSCOPE 0x15
 #define SENSOR_REPORTID_RAW_MAGNETOMETER 0x16
 #define SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER 0x1E
+#define SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR 0x28
+#define SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR 0x29
 
 //Record IDs from figure 29, page 29 reference manual
 //These are used to read the metadata for each sensor type
@@ -147,6 +149,8 @@ class BNO080
 
 	void enableRotationVector(uint16_t timeBetweenReports);
 	void enableGameRotationVector(uint16_t timeBetweenReports);
+	void enableARVRStabilizedRotationVector(uint16_t timeBetweenReports);
+	void enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports);
 	void enableAccelerometer(uint16_t timeBetweenReports);
 	void enableLinearAccelerometer(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);