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Add support for AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector #46

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May 1, 2020
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Add support for AR/VR Stabilized RotationVector and AR/VR Stabilized GameRotationVector #46

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f71a05f
Add support for AR/VR Stabilized from Rotation Vector and Game Rotati…
Apr 30, 2020
8010200
Update keywords.txt
May 1, 2020
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2 changes: 2 additions & 0 deletions keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ printPacket KEYWORD2

enableRotationVector KEYWORD2
enableGameRotationVector KEYWORD2
enableARVRStabilizedRotationVector KEYWORD2
enableARVRStabilizedGameRotationVector KEYWORD2
enableAccelerometer KEYWORD2
enableGyro KEYWORD2
enableMagnetometer KEYWORD2
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20 changes: 18 additions & 2 deletions src/SparkFun_BNO080_Arduino_Library.cpp
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Expand Up @@ -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)
{
Expand Down Expand Up @@ -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)
{
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4 changes: 4 additions & 0 deletions src/SparkFun_BNO080_Arduino_Library.h
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Expand Up @@ -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
Expand Down Expand Up @@ -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);
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