204 lines
7.0 KiB
Markdown
204 lines
7.0 KiB
Markdown
<a name="readme-top"></a>
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<summary>Table of Contents</summary>
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<ol>
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<li>
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<a href="#about">About</a>
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</li>
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<li>
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<a href="#getting-started">Getting Started</a>
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<ul>
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<li><a href="#wiring">Wiring</a></li>
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<li><a href="#adding-to-project">Adding to Project</a></li>
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<li><a href="#Examples">Examples</a></li>
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</ul>
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</li>
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<li><a href="#documentation">Documentation</a></li>
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<li><a href="#program-flowcharts">Program Flowcharts</a></li>
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<li><a href="#acknowledgements">Acknowledgements</a></li> <!-- Added this line -->
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<li><a href="#license">License</a></li>
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<li><a href="#contact">Contact</a></li>
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</ol>
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## About
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esp32_BNO08x is a C++ component for esp-idf v5.x, serving as a driver for both BNO080 and BNO085 IMUs.
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Originally based on the SparkFun BNO080 Arduino Library, it has since diverged significantly in implementation while retaining all original features and more, including callback functions enabled by its multi-tasked approach.
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Currently, only SPI is supported. There are no plans to support I2C due to unpredictable behavior caused by an esp32 I2C driver silicon bug. UART support may be implemented in the future.
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## Getting Started
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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### Wiring
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The default wiring is depicted below, it can be changed at driver initialization (see example section).
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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### Adding to Project
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1. Create a "components" directory in the root workspace directory of your esp-idf project if it does not exist already.
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In workspace directory:
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```sh
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mkdir components
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```
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2. Cd into the components directory and clone the esp32_BNO08x repo.
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```sh
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cd components
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git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git
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```
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3. Ensure you clean your esp-idf project before rebuilding.
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Within esp-idf enabled terminal:
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```sh
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idf.py fullclean
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```
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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### Examples
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There are two ways data returned from the BNO08x can be accessed with this library:
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1. Polling Method with `data_available()` Function:
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- Use the `data_available()` function to poll for new data, similar to the SparkFun library.
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- Behavior: It is a blocking function that returns `true` when new data is received or `false` if a timeout occurs.
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- See the **Polling Example** below.
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2. Callback Registration with `register_cb()` Function:
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- Register callback functions that automatically execute upon receiving new data.
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- Behavior: The registered callback will be invoked whenever new data is available.
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- See the **Call-Back Function Example** below.
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#### Polling Example
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```cpp
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#include <stdio.h>
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#include "BNO08x.hpp"
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extern "C" void app_main(void)
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{
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BNO08x imu; //create IMU object with default wiring scheme
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float x, y, z = 0;
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//if a custom wiring scheme is desired instead of default:
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/*
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bno08x_config_t imu_config; //create config struct
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imu_config.io_mosi = GPIO_NUM_X; //assign pin
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imu_config.io_miso = GPIO_NUM_X; //assign pin
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//etc...
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BNO08x imu(imu_config); //pass config to BNO08x constructor
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*/
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imu.initialize(); //initialize IMU
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//enable gyro & game rotation vector
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imu.enable_game_rotation_vector(100000UL); //100,000us == 100ms report interval
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imu.enable_gyro(150000UL); //150,000us == 150ms report interval
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while(1)
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{
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//print absolute heading in degrees and angular velocity in Rad/s
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if(imu.data_available())
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{
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x = imu.get_gyro_calibrated_velocity_X();
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y = imu.get_gyro_calibrated_velocity_Y();
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z = imu.get_gyro_calibrated_velocity_Z();
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ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);
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x = imu.get_roll_deg();
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y = imu.get_pitch_deg();
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z = imu.get_yaw_deg();
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ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z);
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}
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}
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}
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```
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#### Call-Back Function Example
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```cpp
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#include <stdio.h>
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#include "BNO08x.hpp"
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extern "C" void app_main(void)
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{
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BNO08x imu; // create IMU object with default wiring scheme
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// if a custom wiring scheme is desired instead of default:
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/*
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bno08x_config_t imu_config; //create config struct
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imu_config.io_mosi = GPIO_NUM_X; //assign pin
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imu_config.io_miso = GPIO_NUM_X; //assign pin
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//etc...
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BNO08x imu(imu_config); //pass config to BNO08x constructor
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*/
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imu.initialize(); // initialize IMU
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// enable gyro & game rotation vector
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imu.enable_game_rotation_vector(100000UL); // 100,000us == 100ms report interval
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imu.enable_gyro(150000UL); // 150,000us == 150ms report interval
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// register a callback function (in this case a lambda function, but it doesn't have to be)
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imu.register_cb(
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[&imu]()
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{
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// callback function contents, executed whenever new data is parsed
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// print absolute heading in degrees and angular velocity in Rad/s
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float x, y, z = 0;
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x = imu.get_gyro_calibrated_velocity_X();
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y = imu.get_gyro_calibrated_velocity_Y();
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z = imu.get_gyro_calibrated_velocity_Z();
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ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);
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x = imu.get_roll_deg();
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y = imu.get_pitch_deg();
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z = imu.get_yaw_deg();
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ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z);
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});
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while (1)
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{
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vTaskDelay(300 / portTICK_PERIOD_MS); // delay here is irrelevant, we just don't want to trip cpu watchdog
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}
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}
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```
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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## Documentation
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API documentation generated with doxygen can be found in the documentation directory of the master branch.
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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## Program Flowcharts
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The following charts illustrate the program flow this library implements for sending and receiving data from BNO08x.
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These are here to aid development for anyone looking to modify, fork, or contribute.
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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## Acknowledgements
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Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming.
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https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
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Special thanks to Anton Babiy, aka hwBirdy007 for helping with debugging SPI.
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https://github.com/hwBirdy007
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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## License
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Distributed under the MIT License. See `LICENSE.md` for more information.
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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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## Contact
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Myles Parfeniuk - myles.parfenyuk@gmail.com
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Project Link: [https://github.com/myles-parfeniuk/esp32_BNO08x.git](https://github.com/myles-parfeniuk/esp32_BNO08x.git)
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<p align="right">(<a href="#readme-top">back to top</a>)</p> |