Merge pull request #47 from sparkfun/release-candidate

Adding AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector support (#46)

Author: PaulZC

README.md

@@ -20,6 +20,7 @@ Thank to all those who have helped improve the library:
 * fm4dd for typo - [PR 19](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/19)
 * tstellanova for heading accuracy correction - [PR 40](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/40)
 * badVibes for gyro integrated rotation vector support - [PR 41](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/41)
+* Filimindji for AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector support - [PR 46](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/46)
 
 Repository Contents
 -------------------

keywords.txt

@@ -31,6 +31,8 @@ printPacket	KEYWORD2
 
 enableRotationVector	KEYWORD2
 enableGameRotationVector	KEYWORD2
+enableARVRStabilizedRotationVector	KEYWORD2
+enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
 enableMagnetometer	KEYWORD2

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -149,7 +149,7 @@ bool BNO080::dataAvailable(void)
 		if (digitalRead(_int) == HIGH)
 			return (false);
 	}
-   
+
 	if (receivePacket() == true)
 	{
 		//Check to see if this packet is a sensor reporting its data to us
@@ -163,11 +163,11 @@ bool BNO080::dataAvailable(void)
 			parseCommandReport(); //This will update responses to commands, calibrationStatus, etc.
 			return (true);
 		}
-        else if(shtpHeader[2] == CHANNEL_GYRO)
-        {
-            parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found
-            return (true);
-        }
+    else if(shtpHeader[2] == CHANNEL_GYRO)
+    {
+      parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found
+      return (true);
+    }
 	}
 	return (false);
 }
@@ -232,12 +232,12 @@ void BNO080::parseInputReport(void)
 	int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]);
 	dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last.
 	//Ignore it for now. TODO catch this as an error and exit
-     
+
 	dataLength -= 4; //Remove the header bytes from the data count
 
 	timeStamp = ((uint32_t)shtpData[4] << (8 * 3)) | ((uint32_t)shtpData[3] << (8 * 2)) | ((uint32_t)shtpData[2] << (8 * 1)) | ((uint32_t)shtpData[1] << (8 * 0));
 
-	// The gyro-integrated input reports are sent via the special gyro channel and do no include the usual ID, sequence, and status fields 
+	// The gyro-integrated input reports are sent via the special gyro channel and do no include the usual ID, sequence, and status fields
 	if(shtpHeader[2] == CHANNEL_GYRO) {
 		rawQuatI = (uint16_t)shtpData[1] << 8 | shtpData[0];
 		rawQuatJ = (uint16_t)shtpData[3] << 8 | shtpData[2];
@@ -246,7 +246,7 @@ void BNO080::parseInputReport(void)
 		rawFastGyroX = (uint16_t)shtpData[9] << 8 | shtpData[8];
 		rawFastGyroY = (uint16_t)shtpData[11] << 8 | shtpData[10];
 		rawFastGyroZ = (uint16_t)shtpData[13] << 8 | shtpData[12];
-        
+
 		return;
 	}
 
@@ -295,14 +295,20 @@ 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 +884,24 @@ 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)
 {
@@ -1198,13 +1216,13 @@ boolean BNO080::receivePacket(void)
 		uint8_t packetMSB = _spiPort->transfer(0);
 		uint8_t channelNumber = _spiPort->transfer(0);
 		uint8_t sequenceNumber = _spiPort->transfer(0); //Not sure if we need to store this or not
-        
+
 		//Store the header info
 		shtpHeader[0] = packetLSB;
 		shtpHeader[1] = packetMSB;
 		shtpHeader[2] = channelNumber;
 		shtpHeader[3] = sequenceNumber;
-        
+
 		//Calculate the number of data bytes in this packet
 		uint16_t dataLength = ((uint16_t)packetMSB << 8 | packetLSB);
 		dataLength &= ~(1 << 15); //Clear the MSbit.
@@ -1226,7 +1244,7 @@ boolean BNO080::receivePacket(void)
 		}
 
 		digitalWrite(_cs, HIGH); //Release BNO080
-        
+
 		_spiPort->endTransaction();
         //printPacket();
 	}

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);