145 lines
5.0 KiB
Markdown
145 lines
5.0 KiB
Markdown
<a name="readme-top"></a>
|
|
|
|
<summary>Table of Contents</summary>
|
|
<ol>
|
|
<li>
|
|
<a href="#about">About</a>
|
|
</li>
|
|
<li>
|
|
<a href="#getting-started">Getting Started</a>
|
|
<ul>
|
|
<li><a href="#wiring">Wiring</a></li>
|
|
<li><a href="#adding-to-project">Adding to Project</a></li>
|
|
</ul>
|
|
</li>
|
|
<li><a href="#example">Example</a></li>
|
|
<li><a href="#documentation">Documentation</a></li>
|
|
<li>
|
|
<a href="#program-flowcharts">Program Flowcharts</a>
|
|
<ul>
|
|
<li><a href="#sending-case">Sending Case</a></li>
|
|
<li><a href="#receiving-case">Receiving Case</a></li>
|
|
</ul>
|
|
</li>
|
|
<li><a href="#acknowledgements">Acknowledgements</a></li> <!-- Added this line -->
|
|
<li><a href="#license">License</a></li>
|
|
<li><a href="#contact">Contact</a></li>
|
|
</ol>
|
|
|
|
## About
|
|
|
|
esp32_BNO08x is a C++ esp-idf v5.x component, intended to serve as a driver for both the BNO080 and BNO085 IMUs.
|
|
This library is heavy influenced by the SparkFun BNO080 Arduino Library, it is more or less a port. It supports access to all the same data that the BNO08x provides.
|
|
Currently, only SPI is supported, there is no plans to support I2C (esp32 has I2C driver silicone bug, leading to unpredictable behavior).
|
|
I may implement UART at some point in the future.
|
|
|
|
## Getting Started
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
### Wiring
|
|
The default wiring is depicted below, it can be changed at driver initialization (see example section).
|
|
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
### Adding to Project
|
|
1. Create a "components" directory in the root workspace directory of your esp-idf project if it does not exist already.
|
|
|
|
In workspace directory:
|
|
```sh
|
|
mkdir components
|
|
```
|
|
|
|
|
|
2. Cd into the components directory and clone the esp32_BNO08x repo.
|
|
|
|
```sh
|
|
cd components
|
|
git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git
|
|
```
|
|
|
|
3. Ensure you clean your esp-idf project before rebuilding.
|
|
Within esp-idf enabled terminal:
|
|
```sh
|
|
idf.py fullclean
|
|
```
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
### Example
|
|
```cpp
|
|
#include <stdio.h>
|
|
#include "BNO08x.hpp"
|
|
|
|
extern "C" void app_main(void)
|
|
{
|
|
BNO08x imu; //create IMU object with default wiring scheme
|
|
|
|
//if a custom wiring scheme is desired instead of default:
|
|
|
|
/*
|
|
bno08x_config_t imu_config; //create config struct
|
|
imu_config.io_mosi = GPIO_NUM_X; //assign pin
|
|
imu_config.io_miso = GPIO_NUM_X; //assign pin
|
|
//etc...
|
|
BNO08x imu(imu_config); //pass config to BNO08x constructor
|
|
*/
|
|
|
|
|
|
imu.initialize(); //initialize IMU
|
|
|
|
//enable gyro & game rotation vector
|
|
imu.enable_game_rotation_vector(100000UL); //100,000us == 100ms report interval
|
|
imu.enable_gyro(150000UL); //150,000us == 150ms report interval
|
|
|
|
while(1)
|
|
{
|
|
//print absolute heading in degrees and angular velocity in Rad/s
|
|
if(imu.data_available())
|
|
{
|
|
ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", imu.get_gyro_calibrated_velocity_X(), imu.get_gyro_calibrated_velocity_Y(), imu.get_gyro_calibrated_velocity_Z());
|
|
ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", imu.get_roll_deg(), imu.get_pitch_deg(), imu.get_yaw_deg());
|
|
}
|
|
}
|
|
|
|
}
|
|
```
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
## Documentation
|
|
API documentation generated with doxygen can be found in the documentation directory of the master branch.
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
## Program Flowcharts
|
|
The following charts illustrate the program flow this library implements for sending and receiving data from BNO08x.
|
|
These are here to aid development for anyone looking to modify, fork, or contribute.
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
### Receiving Case
|
|
This assumes the user as initialized the imu and has sent a command to enable a report (for ex. enable_game_rotation_vector).
|
|
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
|
|
### Sending Case
|
|
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
## Acknowledgements
|
|
Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming.
|
|
https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
|
|
|
|
Special thanks to Anton Babiy, aka hwBirdy007 for helping with debugging SPI.
|
|
https://github.com/hwBirdy007
|
|
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
## License
|
|
|
|
Distributed under the MIT License. See `LICENSE.md` for more information.
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p>
|
|
|
|
## Contact
|
|
|
|
Myles Parfeniuk - myles.parfenyuk@gmail.com
|
|
|
|
Project Link: [https://github.com/myles-parfeniuk/esp32_BNO08x.git](https://github.com/myles-parfeniuk/esp32_BNO08x.git)
|
|
<p align="right">(<a href="#readme-top">back to top</a>)</p> |