119 lines
3.9 KiB
Markdown
119 lines
3.9 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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</ul>
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</li>
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<li><a href="#example">Example</a></li>
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<li><a href="#documentation">Documentation</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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## About
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esp32_BNO08x is a C++ esp-idf v5.x component, intended to serve as a driver for both the BNO080 and BNO085 IMUs.
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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.
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Currently, only SPI is supported, there is no plans to support I2C (esp32 has I2C driver silicone bug, leading to unpredictable behavior).
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I may implement UART at some point 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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<p align="right">(<a href="#readme-top">back to top</a>)</p>
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### 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(100);
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imu.enable_gyro(150);
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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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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());
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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());
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}
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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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## 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> |