Merge pull request #45 from sparkfun/release-candidate

Merging release candidate

examples/Example10-PrintPacket/Example10-PrintPacket.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>

examples/Example11-AdvancedConfig/Example11-AdvancedConfig.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,15 +26,15 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
   Wire1.begin();
 
   //The first argument is the I2C address of the sensor, either 0x4B (default) or 0x4A
   //The second is the I2C port to use. Wire, Wire1, softWire, etc.
-  myIMU.begin(0x4A, Wire1); 
+  myIMU.begin(0x4A, Wire1);
 
   Wire1.setClock(400000); //Increase I2C data rate to 400kHz
 

examples/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino

@@ -13,7 +13,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example13-TimeStamp/Example13-TimeStamp.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example14-TwoSensors/Example14-TwoSensors.ino

@@ -17,7 +17,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -28,7 +28,7 @@ BNO080 myIMU2; //Closed I2C ADR jumper - goes to address 0x4A
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example15-RawReadings/Example15-RawReadings.ino

@@ -13,7 +13,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-    Serial.begin(9600);
+    Serial.begin(115200);
     Serial.println();
     Serial.println("BNO080 Read Example");
 
@@ -84,4 +84,4 @@ void loop()
 
         Serial.println();
     }
-}
+}

examples/Example17-EulerAngles/Example17-EulerAngles.ino

@@ -0,0 +1,86 @@
+/*
+  Using the BNO080 IMU
+
+  Example : Euler Angles
+  By: Paul Clark
+  Date: April 28th, 2020
+
+  Based on: Example1-RotationVector
+  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 Euler angles: roll, pitch and yaw.
+  The yaw (compass heading) is tilt-compensated, which is nice.
+  https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+  https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
+
+  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"
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(115200);
+  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(F("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.enableRotationVector(50); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form roll, pitch, yaw"));
+}
+
+void loop()
+{
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
+    float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
+    float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
+
+    Serial.print(roll, 1);
+    Serial.print(F(","));
+    Serial.print(pitch, 1);
+    Serial.print(F(","));
+    Serial.print(yaw, 1);
+
+    Serial.println();
+  }
+}

examples/Example2-Accelerometer/Example2-Accelerometer.ino

@@ -13,7 +13,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example3-Gyro/Example3-Gyro.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example4-Magnetometer/Example4-Magnetometer.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example5-StepCounter/Example5-StepCounter.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example6-MetaData/Example6-MetaData.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Reading Metadata Example");
 

examples/Example7-StabilityClassifier/Example7-StabilityClassifier.ino

@@ -17,7 +17,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -27,7 +27,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 

examples/Example8-ActivityClassifier/Example8-ActivityClassifier.ino

@@ -25,7 +25,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -37,7 +37,7 @@ byte activityConfidences[9]; //This array will be filled with the confidence lev
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -54,7 +54,7 @@ void setup()
 
   //Send data update every 50ms, with sensor specific config word
   //Pass in a pointer to our activityConfidences array as well
-  myIMU.enableActivityClassifier(50, enableActivities, activityConfidences); 
+  myIMU.enableActivityClassifier(50, enableActivities, activityConfidences);
 
   Serial.println(F("Activity Classifier enabled"));
 }
@@ -66,7 +66,7 @@ void loop()
   {
     //getActivityClassifier will modify our activityConfidences array
     //It will return the most likely activity as well.
-    byte mostLikelyActivity = myIMU.getActivityClassifier(); 
+    byte mostLikelyActivity = myIMU.getActivityClassifier();
 
     Serial.print("Most likely activity: ");
     printActivityName(mostLikelyActivity);

examples/Example9-Calibrate/Example9-Calibrate.ino

@@ -16,7 +16,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -84,7 +84,7 @@ void loop()
       {
         Serial.println("Calibration data failed to store. Please try again.");
       }
-      
+
       //myIMU.endCalibration(); //Turns off all calibration
       //In general, calibration should be left on at all times. The BNO080
       //auto-calibrates and auto-records cal data roughly every 5 minutes

examples/SPI/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino

@@ -13,7 +13,7 @@
   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.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -29,7 +29,7 @@ byte imuRSTPin = 7;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -63,4 +63,3 @@ void loop()
     Serial.println();
   }
 }
-