Diff: BNO080.h

Revision:

1:aac28ffd63ed

Parent:

0:f677e13975d0

Child:

2:2269b723d16a

--- a/BNO080.h	Sun Dec 23 05:23:21 2018 +0000
+++ b/BNO080.h	Sat Dec 29 03:31:00 2018 -0800
@@ -1,453 +1,725 @@
-/*
- * This is USC RPL's ARM MBed BNO080 IMU driver, by Jamie Smith.
- *
- * It is based on SparkFun and Nathan Seidle's Arduino driver for this chip, but is substantially rewritten and adapted.
- * It also supports some extra features, such as setting the mounting orientation and
- * enabling some additional data reports.
- *
- * This driver uses no dynamic allocation, but does allocate a couple hundred bytes of class variables as buffers.
- * This should allow you to monitor its memory usage using MBed's size printout.
- *
- * The BNO080 is a very complex chip; it's capable of monitoring and controlling other sensors and making
- * intelligent decisions and calculations using its data.  Accordingly, the protocol for communicating with it
- * is quite complex, and it took me quite a while to wrap my head around it.  If you need to modify or debug
- * this driver, look at the CPP file for an overview of the chip's communication protocol.
- *
- * Note: this driver only supports I2C.  I attempted to create an SPI version, but as far as I can tell,
- * the BNO's SPI interface has a bug that causes you to be unable to wake the chip from sleep in some conditions.
- * Until this is fixed, SPI on it is virtually unusable.
- */
-
-#ifndef HAMSTER_BNO080_H
-#define HAMSTER_BNO080_H
-
-#include <mbed.h>
-#include <quaternion.h>
-
-#include "BNO080Constants.h"
-
-class BNO080
-{
-    /**
-     * Serial stream to print debug info to.  Used for errors, and debugging output if debugging is enabled.
-     */
-    Serial * _debugPort;
-
-    /**
-     * I2C port object
-     */
-    I2C _i2cPort;
-
-    /// user defined port speed
-    int  _i2cPortSpeed;
-
-    /// i2c address of IMU (7 bits)
-    uint8_t _i2cAddress;
-
-    DigitalIn _int;
-    DigitalOut _rst;
-
-    DigitalOut _scope;
-
-    // packet storage
-    //-----------------------------------------------------------------------------------------------------------------
-
-#define SHTP_HEADER_SIZE 4
-#define STORED_PACKET_SIZE 128
-
-    /// Each packet has a header of 4 uint8_ts
-    uint8_t shtpHeader[SHTP_HEADER_SIZE];
-
-    /// Stores data contained in each packet.  Packets can contain an arbitrary amount of data, but we shouldn't need to read more than a few hundred bytes of them.
-    /// The only long packets we actually care about are batched sensor data packets, and with how this driver handles batching, we *should* only have to deal
-    /// with at most 9 reports at a time = ~90 bytes + a few bytes of padding
-    uint8_t shtpData[STORED_PACKET_SIZE];
-
-    /// Length of packet that was received into buffer.  Does NOT include header bytes.
-    uint16_t packetLength;
-
-    /// There are 6 com channels. Each channel has its own seqnum
-    uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0};
-
-    /// Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel
-    uint8_t commandSequenceNumber = 0;
-
-    // data storage
-    //-----------------------------------------------------------------------------------------------------------------
-
-    // 1 larger than the largest sensor report ID
-#define STATUS_ARRAY_LEN 0x1A
-
-    /// stores status of each sensor, indexed by report ID
-    uint8_t reportStatus[STATUS_ARRAY_LEN] = {};
-
-public:
-
-    /// List of all sensor reports that the IMU supports.
-    enum class Report : uint8_t
-    {
-        /**
-         * Total acceleration of the IMU in world space.
-         * See BNO datasheet section 2.1.1
-         */
-        TOTAL_ACCELERATION = SENSOR_REPORTID_ACCELEROMETER,
-
-        /**
-         * Acceleration of the IMU not including the acceleration of gravity.
-         * See BNO datasheet section 2.1.1
-         */
-        LINEAR_ACCELERATION = SENSOR_REPORTID_LINEAR_ACCELERATION,
-
-        /**
-         * Acceleration of gravity felt by the IMU.
-         * See BNO datasheet section 2.1.1
-         */
-        GRAVITY_ACCELERATION = SENSOR_REPORTID_GRAVITY,
-
-        /**
-         * (calibrated) gyroscope reading of the rotational speed of the IMU.
-         * See BNO datasheet section 2.1.2
-         */
-        GYROSCOPE = SENSOR_REPORTID_GYROSCOPE_CALIBRATED,
-
-        /**
-         * (calibrated) reading of magnetic field levels.
-         * See BNO datasheet section 2.1.3
-         */
-        MAG_FIELD = SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED,
-
-        /**
-         * Fused reading of the IMU's rotation in space using all three sensors.  This is the most accurate reading
-         * of absolute orientation that the IMU can provide.
-         * See BNO datasheet section 2.2.4
-         */
-        ROTATION = SENSOR_REPORTID_ROTATION_VECTOR,
-
-        /**
-         * Fused reading of rotation from accelerometer and magnetometer readings.  This report is designed to decrease
-         * power consumption (by turning off the gyroscope) in exchange for reduced responsiveness.
-         */
-        GEOMAGNETIC_ROTATION = SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR,
-
-        /**
-         * Fused reading of the IMU's rotation in space.  Unlike the regular rotation vector, the Game Rotation Vector
-         * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
-         * See BNO datasheet section 2.2.2
-         */
-        GAME_ROTATION = SENSOR_REPORTID_GAME_ROTATION_VECTOR,
-
-        /**
-         * Detects a user tapping on the device containing the IMU.
-         * See BNO datasheet section 2.4.2
-         */
-        TAP_DETECTOR = SENSOR_REPORTID_TAP_DETECTOR,
-
-        /**
-         * Detects whether the device is on a table, being held stably, or being moved.
-         * See BNO datasheet section 2.4.1
-         */
-        STABILITY_CLASSIFIER = SENSOR_REPORTID_STABILITY_CLASSIFIER,
-
-        /**
-         * Detects a user taking a step with the IMU worn on their person.
-         * See BNO datasheet section 2.4.3
-         */
-        STEP_DETECTOR = SENSOR_REPORTID_STEP_DETECTOR,
-
-        /**
-         * Detects how many steps a user has taken.
-         * See BNO datasheet section 2.4.4
-         */
-        STEP_COUNTER = SENSOR_REPORTID_STEP_COUNTER,
-
-        /**
-         * Detects when the IMU has made a "significant" motion, defined as moving a few steps and/or accelerating significantly.
-         * See BNO datasheet section 2.4.6
-         */
-        SIGNIFICANT_MOTION = SENSOR_REPORTID_SIGNIFICANT_MOTION,
-
-        /**
-         * Detects when the IMU is being shaken.
-         * See BNO datasheet section 2.4.7
-         */
-        SHAKE_DETECTOR = SENSOR_REPORTID_SHAKE_DETECTOR
-    };
-
-    // data variables to read reports from
-    //-----------------------------------------------------------------------------------------------------------------
-
-    // @{
-    /// Version info read from the IMU when it starts up
-    uint8_t majorSoftwareVersion;
-    uint8_t minorSoftwareVersion;
-    uint16_t patchSoftwareVersion;
-    uint32_t partNumber;
-    uint32_t buildNumber;
-    // @}
-
-
-    /**
-     * Readout from Accleration report.
-     * Represents total acceleration in m/s^2 felt by the BNO's accelerometer.
-     */
-    TVector3 totalAcceleration;
-
-    /**
-     * Readout from Linear Acceleration report.
-     * Represents acceleration felt in m/s^2 by the BNO's accelerometer not including the force of gravity.
-     */
-    TVector3 linearAcceleration;
-
-    /**
-     * Readout from Gravity report.
-     * Represents the force of gravity in m/s^2 felt by the BNO's accelerometer.
-     */
-    TVector3 gravityAcceleration;
-
-    /**
-     * Readout from Calibrated Gyroscope report
-     * Represents the angular velocities of the chip in rad/s in the X, Y, and Z axes
-     */
-    TVector3 gyroRotation;
-
-    /**
-     * Readout from the Magnetic Field Calibrated report.
-     * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes
-     */
-    TVector3 magField;
-
-    /**
-     * Readout from the Rotation Vector report.
-     * Represents the rotation of the IMU (relative to magnetic north) in radians.
-     */
-    Quaternion rotationVector;
-
-    /**
-     * Auxillary accuracy readout from the Rotation Vector report.
-     * Represents the estimated accuracy of the rotation vector in radians.
-     */
-    float rotationAccuracy;
-
-    /**
-     * Readout from the Game Rotation Vector report.
-     * Represents the rotation of the IMU in radians.  Unlike the regular rotation vector, the Game Rotation Vector
-     * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
-     */
-    Quaternion gameRotationVector;
-
-    /**
-     * Readout from the Geomagnetic Rotation Vector report.
-     * Represents the geomagnetic rotation of the IMU (relative to magnetic north) in radians.
-     */
-    Quaternion geomagneticRotationVector;
-
-    /**
-     * Auxillary accuracy readout from the Geomagnetic Rotation Vector report.
-     * Represents the estimated accuracy of the rotation vector in radians.
-     */
-    float geomagneticRotationAccuracy;
-
-    /**
-     * Tap readout from the Tap Detector report.  This flag is set to true whenever a tap is detected, and you should
-     * manually clear it when you have processed the tap.
-     */
-    bool tapDetected;
-
-    /**
-     * Whether the last tap detected was a single or double tap.
-     */
-    bool doubleTap;
-
-
-    // Management functions
-    //-----------------------------------------------------------------------------------------------------------------
-
-    /**
-     * Construct a BNO080, providing pins and parameters.
-     *
-     * NOTE: while some schematics tell you to connect the BOOTN and WAKEN pins to the processor, this driver does not use or require them.
-     * Just tie them both to VCC per the datasheet.
-     *
-     * @param debugPort Serial port to write output to.  Cannot be nullptr.
-     * @param user_SDApin Hardware SPI MOSI pin
-     * @param user_SCLpin Hardware SPI MISO pin
-     * @param user_SCLKPin Hardware SPI SCLK pin
-     * @param user_CSPin SPI CS pin.  Can be any IO pin, no restrictions.
-     * @param user_INTPin Input pin connected to HINTN
-     * @param user_RSTPin Output pin connected to NRST
-     * @param i2cPortSpeed SPI frequency.  The BNO's max is 3Mhz, we default to 300Khz for safety.
-     */
-    BNO080(Serial *debugPort, PinName user_SDApin, PinName user_SCLpin, PinName user_INTPin, PinName user_RSTPin,
-           uint8_t i2cAddress=0x4a, int i2cPortSpeed=400000);
-
-    /**
-     * Resets and connects to the IMU.
-     *
-     * If this function is failing, it would be a good idea to turn on BNO_DEBUG in the cpp file to get detailed output
-     *
-     * @return whether or not initialization was successful
-     */
-    bool begin();
-
-    /**
-     * Tells the IMU to use its current rotation vector as the "zero" rotation vector and to reorient
-     * all outputs accordingly.
-     *
-     * @param zOnly If true, only the rotation about the Z axis (the heading) will be tared.
-     */
-    void tare(bool zOnly = false);
-
-    /**
-     * Tells the IMU to begin a dynamic sensor calibration.  To calibrate the IMU, call this function and move
-     * the IMU according to the instructions in the "BNO080 Sensor Calibration Procedure" app note
-     * (http://www.hillcrestlabs.com/download/59de9014566d0727bd002ae7).
-     *
-     * To tell when the calibration is complete, look at the status bits for Game Rotation Vector (for accel and gyro)
-     * and Magnetic Field (for the magnetometer).
-     *
-     * The gyro and accelerometer should only need to be calibrated once, but the magnetometer will need to be recalibrated
-     * every time the orientation of ferrous metals around the IMU changes (e.g. when it is put into a new enclosure).
-     *
-     * The new calibration will not be saved in flash until you call saveCalibration().
-     *
-     * @param calibrateAccel Whether to calibrate the accelerometer.
-     * @param calibrateGyro Whether to calibrate the gyro.
-     * @param calibrateMag Whether to calibrate the magnetometer.
-     */
-    void startCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag);
-
-    /**
-     * Saves the calibration started with startCalibration() and ends the calibration.
-     * You will want to call this once the status bits read as "accuracy high".
-     *
-     * WARNING: if you paid for a factory calibrated IMU, then this WILL OVERWRITE THE FACTORY CALIBRATION in whatever sensors
-     * are being calibrated.  Use with caution!
-     */
-    void saveCalibration();
-
-    // Report functions
-    //-----------------------------------------------------------------------------------------------------------------
-
-    /**
-     * Checks for new data packets queued on the IMU.
-     * If there are packets queued, receives all of them and updates
-     * the class variables with the results.
-     *
-     * @return true iff new data was received
-     */
-    bool updateData();
-
-
-    /**
-     * Gets the status of a report as a 2 bit number.
-     * per SH-2 section 6.5.1, this is interpreted as: <br>
-     * 0 - unreliable <br>
-     * 1 - accuracy low <br>
-     * 2 - accuracy medium <br>
-     * 3 - accuracy high <br>
-     * of course, these are only updated if a given report is enabled.
-     * @param report
-     * @return
-     */
-    uint8_t getReportStatus(Report report);
-
-
-    /**
-     * Enable a data report from the IMU.  Look at the comments above to see what the reports do.
-     *
-     * @param timeBetweenReports time in milliseconds between data updates.
-     */
-    void enableReport(Report report, uint16_t timeBetweenReports);
-
-private:
-
-    // internal utility functions
-    //-----------------------------------------------------------------------------------------------------------------
-
-    /**
-     * Processes the packet currently stored in the buffer, and updates class variables to reflect the data it contains
-     */
-    void processPacket();
-
-    /**
-     * Processes the sensor data packet currently stored in the buffer.
-     * Only called from processPacket()
-     */
-    void parseSensorDataPacket();
-
-    /**
-     * Call to wait for a packet with the given parameters to come in.
-     *
-     * @param channel Channel of the packet
-     * @param reportID Report ID (first data byte) of the packet
-     * @param timeout how long to wait for the packet
-     * @return true if the packet has been received, false if it timed out
-     */
-    bool waitForPacket(int channel, uint8_t reportID, float timeout = .125f);
-
-    /**
-     * Given a Q value, converts fixed point floating to regular floating point number.
-     * @param fixedPointValue
-     * @param qPoint
-     * @return
-     */
-    float qToFloat(int16_t fixedPointValue, uint8_t qPoint);
-
-    /**
-     * Given a floating point value and a Q point, convert to Q
-     * See https://en.wikipedia.org/wiki/Q_(number_format)
-     * @param qFloat
-     * @param qPoint
-     * @return
-     */
-    int16_t floatToQ(float qFloat, uint8_t qPoint);
-
-    /**
-     *  Tell the sensor to do a command.
-     *  See SH-2 Reference Manual section 6.3.8 page 42, Command request
-     *  The caller is expected to set shtpData 3 though 11 prior to calling
-     */
-    void sendCommand(uint8_t command);
-
-    /**
-     * Given a sensor's report ID, this tells the BNO080 to begin reporting the values.
-     *
-     * @param reportID
-     * @param timeBetweenReports
-     * @param specificConfig the specific config word. Useful for personal activity classifier.
-     */
-    void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig = 0);
-
-    /**
-     * Reads a packet from the IMU and stores it in the class variables.
-     *
-     * @param timeout how long to wait for there to be a packet
-     *
-     * @return whether a packet was recieved.
-     */
-    bool receivePacket(float timeout=.2f);
-
-    /**
-     * Sends the current shtpData contents to the BNO.  It's a good idea to disable interrupts before you call this.
-     *
-     * @param channelNumber the channel to send on
-     * @param dataLength How many bits of shtpData to send
-     * @return
-     */
-    bool sendPacket(uint8_t channelNumber, uint8_t dataLength);
-
-    /**
-     * Prints the current shtp packet stored in the buffer.
-     * @param length
-     */
-    void printPacket();
-
-    /**
-     * Erases the current SHTP packet buffer so new data can be written
-     */
-     void zeroBuffer();
-
-};
-
-
-#endif //HAMSTER_BNO080_H
+/*
+ * This is USC RPL's ARM MBed BNO080 IMU driver, by Jamie Smith.
+ *
+ * It is based on SparkFun and Nathan Seidle's Arduino driver for this chip, but is substantially rewritten and adapted.
+ * It also supports some extra features, such as setting the mounting orientation and
+ * enabling some additional data reports.
+ *
+ * This driver uses no dynamic allocation, but does allocate a couple hundred bytes of class variables as buffers.
+ * This should allow you to monitor its memory usage using MBed's size printout.
+ *
+ * The BNO080 is a very complex chip; it's capable of monitoring and controlling other sensors and making
+ * intelligent decisions and calculations using its data.  Accordingly, the protocol for communicating with it
+ * is quite complex, and it took me quite a while to wrap my head around it.  If you need to modify or debug
+ * this driver, look at the CPP file for an overview of the chip's communication protocol.
+ *
+ * Note: this driver only supports I2C.  I attempted to create an SPI version, but as far as I can tell,
+ * the BNO's SPI interface has a bug that causes you to be unable to wake the chip from sleep in some conditions.
+ * Until this is fixed, SPI on it is virtually unusable.
+ */
+
+#ifndef HAMSTER_BNO080_H
+#define HAMSTER_BNO080_H
+
+#include <mbed.h>
+#include <quaternion.h>
+
+#include "BNO080Constants.h"
+
+// useful define when working with orientation quaternions
+#define SQRT_2 1.414213562
+
+/**
+  Class to drive the BNO080 9-axis IMU.
+  
+  There should be one instance of this class per IMU chip. I2C address and pin assignments are passed in the constructor.
+*/
+class BNO080
+{
+	/**
+	 * Serial stream to print debug info to.  Used for errors, and debugging output if debugging is enabled.
+	 */
+	Serial * _debugPort;
+
+	/**
+	 * I2C port object.  Provides physical layer communications with the chip.
+	 */
+	I2C _i2cPort;
+
+	/// user defined port speed
+	int  _i2cPortSpeed;
+
+	/// i2c address of IMU (7 bits)
+	uint8_t _i2cAddress;
+
+	/// Interrupt pin -- signals to the host that the IMU has data to send
+	DigitalIn _int;
+	
+	// Reset pin -- resets IMU when held low.
+	DigitalOut _rst;
+
+	// packet storage
+	//-----------------------------------------------------------------------------------------------------------------
+
+#define SHTP_HEADER_SIZE 4
+
+// Arbitrarily chosen, but should hopefully be large enough for all packets we need.
+// If you enable lots of sensor reports and get an error, you might need to increase this.
+#define STORED_PACKET_SIZE 128 
+
+	/// Each SHTP packet has a header of 4 uint8_ts
+	uint8_t shtpHeader[SHTP_HEADER_SIZE];
+
+	/// Stores data contained in each packet.  Packets can contain an arbitrary amount of data, but 
+	/// rarely get over a hundred bytes unless you have a million sensor reports enabled.
+	/// The only long packets we actually care about are batched sensor data packets.
+	uint8_t shtpData[STORED_PACKET_SIZE];
+
+	/// Length of packet that was received into buffer.  Does NOT include header bytes.
+	uint16_t packetLength;
+
+	/// Current sequence number for each channel, incremented after transmission. 
+	uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0};
+
+	/// Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel
+	uint8_t commandSequenceNumber = 0;
+
+
+	// frs metadata
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/// Record ID of the metadata record currently stored in the metadataRecord[] buffer.
+	/// Used so that we can avoid requerying the FRS record if we need to make multiple metadata reads
+	/// in succession.
+	uint16_t bufferMetadataRecord;
+
+	/// currently we only need the first 10 words of the metadata
+#define METADATA_BUFFER_LEN 10
+
+	/// Buffer for current metadata record.
+	uint32_t metadataRecord[METADATA_BUFFER_LEN] = {};
+
+	// data storage
+	//-----------------------------------------------------------------------------------------------------------------
+
+	// 1 larger than the largest sensor report ID
+#define STATUS_ARRAY_LEN MAX_SENSOR_REPORTID + 1
+
+	/// stores status of each sensor, indexed by report ID
+	uint8_t reportStatus[STATUS_ARRAY_LEN] = {};
+
+	/// stores whether a sensor has been updated since the last call to hasNewData()
+	bool reportHasBeenUpdated[STATUS_ARRAY_LEN] = {};
+
+public:
+
+	// list of reports
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/// List of all sensor reports that the IMU supports.
+	enum class Report : uint8_t
+	{
+		/**
+		 * Total acceleration of the IMU in world space.
+		 * See BNO datasheet section 2.1.1
+		 */
+		TOTAL_ACCELERATION = SENSOR_REPORTID_ACCELEROMETER,
+
+		/**
+		 * Acceleration of the IMU not including the acceleration of gravity.
+		 * See BNO datasheet section 2.1.1
+		 */
+		LINEAR_ACCELERATION = SENSOR_REPORTID_LINEAR_ACCELERATION,
+
+		/**
+		 * Acceleration of gravity felt by the IMU.
+		 * See BNO datasheet section 2.1.1
+		 */
+		GRAVITY_ACCELERATION = SENSOR_REPORTID_GRAVITY,
+
+		/**
+		 * (calibrated) gyroscope reading of the rotational speed of the IMU.
+		 * See BNO datasheet section 2.1.2
+		 */
+		GYROSCOPE = SENSOR_REPORTID_GYROSCOPE_CALIBRATED,
+
+		/**
+		 * (calibrated) reading of Earth's magnetic field levels.
+		 * See BNO datasheet section 2.1.3
+		 */
+		MAG_FIELD = SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED,
+
+		/**
+		* Uncalibrated reading of magnetic field levels, without any hard iron offsets applied
+		* See BNO datasheet section 2.1.3
+		*/
+		MAG_FIELD_UNCALIBRATED = SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED,
+
+		/**
+		 * Fused reading of the IMU's rotation in space using all three sensors.  This is the most accurate reading
+		 * of absolute orientation that the IMU can provide.
+		 * See BNO datasheet section 2.2.4
+		 */
+		ROTATION = SENSOR_REPORTID_ROTATION_VECTOR,
+
+		/**
+		 * Fused reading of rotation from accelerometer and magnetometer readings.  This report is designed to decrease
+		 * power consumption (by turning off the gyroscope) in exchange for reduced responsiveness.
+		 */
+		GEOMAGNETIC_ROTATION = SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR,
+
+		/**
+		 * Fused reading of the IMU's rotation in space.  Unlike the regular rotation vector, the Game Rotation Vector
+	 	 * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
+	 	 * See BNO datasheet section 2.2.2
+		 */
+		GAME_ROTATION = SENSOR_REPORTID_GAME_ROTATION_VECTOR,
+
+		/**
+		 * Detects a user tapping on the device containing the IMU.
+		 * See BNO datasheet section 2.4.2
+		 */
+		TAP_DETECTOR = SENSOR_REPORTID_TAP_DETECTOR,
+
+		/**
+		 * Detects whether the device is on a table, being held stably, or being moved.
+		 * See BNO datasheet section 2.4.1
+		 */
+		STABILITY_CLASSIFIER = SENSOR_REPORTID_STABILITY_CLASSIFIER,
+
+		/**
+		 * Detects a user taking a step with the IMU worn on their person.
+		 * See BNO datasheet section 2.4.3
+		 */
+		STEP_DETECTOR = SENSOR_REPORTID_STEP_DETECTOR,
+
+		/**
+		 * Detects how many steps a user has taken.
+		 * See BNO datasheet section 2.4.4
+		 */
+		STEP_COUNTER = SENSOR_REPORTID_STEP_COUNTER,
+
+		/**
+		 * Detects when the IMU has made a "significant" motion, defined as moving a few steps and/or accelerating significantly.
+		 *
+		 * NOTE: this report automatically disables itself after sending a report, so you'll have to reenable it each time a motion i s detected.
+		 * See BNO datasheet section 2.4.6
+		 */
+	 	SIGNIFICANT_MOTION = SENSOR_REPORTID_SIGNIFICANT_MOTION,
+
+		/**
+		 * Detects when the IMU is being shaken.
+		 * See BNO datasheet section 2.4.7
+		 */
+		SHAKE_DETECTOR = SENSOR_REPORTID_SHAKE_DETECTOR
+	};
+
+	// data variables to read reports from
+	//-----------------------------------------------------------------------------------------------------------------
+
+	// @{
+	/// Version info read from the IMU when it starts up
+	uint8_t majorSoftwareVersion;
+	uint8_t minorSoftwareVersion;
+	uint16_t patchSoftwareVersion;
+	uint32_t partNumber;
+	uint32_t buildNumber;
+	// @}
+
+
+	/**
+	 * Readout from Accleration report.
+	 * Represents total acceleration in m/s^2 felt by the BNO's accelerometer.
+	 */
+	TVector3 totalAcceleration;
+
+	/**
+	 * Readout from Linear Acceleration report.
+	 * Represents acceleration felt in m/s^2 by the BNO's accelerometer not including the force of gravity.
+	 */
+	TVector3 linearAcceleration;
+
+	/**
+	 * Readout from Gravity report.
+	 * Represents the force of gravity in m/s^2 felt by the BNO's accelerometer.
+	 */
+	TVector3 gravityAcceleration;
+
+	/**
+	 * Readout from Calibrated Gyroscope report
+	 * Represents the angular velocities of the chip in rad/s in the X, Y, and Z axes
+	 */
+	TVector3 gyroRotation;
+
+	/**
+	 * Readout from the Magnetic Field Calibrated report.
+	 * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes
+	 */
+	TVector3 magField;
+
+	/**
+	 * Readout from the Magnetic Field Uncalibrated report.
+	 * Represents the magnetic field read by the chip in uT in the X, Y, and Z axes, without hard iron offsets applied
+	 */
+	TVector3 magFieldUncalibrated;
+
+	/**
+	 * Auxiliary readout from the Magnetic Field Uncalibrated report.
+	 * Represents the hard iron offsets that the chip is using in each axis in uT.
+	 */
+	TVector3 hardIronOffset;
+
+	/**
+	 * Readout from the Rotation Vector report.
+	 * Represents the rotation of the IMU (relative to magnetic north) in radians.
+	 */
+	Quaternion rotationVector;
+
+	/**
+	 * Auxiliary accuracy readout from the Rotation Vector report.
+	 * Represents the estimated accuracy of the rotation vector in radians.
+	 */
+	float rotationAccuracy;
+
+	/**
+	 * Readout from the Game Rotation Vector report.
+	 * Represents the rotation of the IMU in radians.  Unlike the regular rotation vector, the Game Rotation Vector
+	 * is not referenced against the magnetic field and the "zero yaw" point is arbitrary.
+	 */
+	Quaternion gameRotationVector;
+
+	/**
+	 * Readout from the Geomagnetic Rotation Vector report.
+	 * Represents the geomagnetic rotation of the IMU (relative to magnetic north) in radians.
+	 */
+	Quaternion geomagneticRotationVector;
+
+	/**
+	 * Auxiliary accuracy readout from the Geomagnetic Rotation Vector report.
+	 * Represents the estimated accuracy of the rotation vector in radians.
+	 */
+	float geomagneticRotationAccuracy;
+
+	/**
+	 * Tap readout from the Tap Detector report.  This flag is set to true whenever a tap is detected, and you should
+	 * manually clear it when you have processed the tap.
+	 */
+	bool tapDetected;
+
+	/**
+	 * Whether the last tap detected was a single or double tap.
+	 */
+	bool doubleTap;
+
+	/**
+	 * Enum to represent the different stability types.
+	 *
+	 * See BNO datasheet section 2.4.1 and SH-2 section 6.5.31.2 for details.
+	 */
+	enum class Stability : uint8_t
+	{
+		/// Unknown stability type.
+		UNKNOWN = 0,
+
+		/// At rest on a stable surface with very little motion
+		ON_TABLE = 1,
+
+		/// Motion is stable, but the duration requirement for stability has not been met.
+		/// Can only occur during gyroscope calibration (why? beats me!)
+		STATIONARY = 2,
+
+		/// Stable (has been below the acceleration threshold for the required duration)
+		STABLE = 3,
+
+		/// IMU is moving.
+		MOTION = 4
+	};
+
+	/**
+	 * Readout from the stability classifier.
+	 * Current stability status of the IMU.
+	 */
+	Stability stability = Stability::UNKNOWN;
+
+	/**
+	 * Readout from the Step Detector report.  This flag is set to true whenever a step is detected, and you should
+	 * manually clear it when you have processed the step.
+	 */
+	bool stepDetected = false;
+
+	/**
+	 * Readout from the Step Counter report.  This count increases as the user takes steps, but can also decrease
+	 * if the IMU decides that a motion was not a step.
+	 */
+	uint16_t stepCount;
+
+	/**
+	 * Readout from the Significant Motion Detector report.  This flag is set to true whenever significant motion is detected, and you should
+	 * manually clear it when you have processed the event.
+	 */
+	bool significantMotionDetected = false;
+
+	/**
+	 * Readout from the Shake Detector report.  This flag is set to true whenever shaking is detected, and you should
+	 * manually clear it when you have processed the event.
+	 */
+	bool shakeDetected = false;
+
+	// @{
+	/// The axis/axes that shaking was detected in in the latest shaking report.
+	bool xAxisShake = false;
+	bool yAxisShake = false;
+	bool zAxisShake = false;
+	// @}
+
+	// Management functions
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/**
+	 * Construct a BNO080, providing pins and parameters.
+	 *
+	 * This doesn't actally initialize the chip, you will need to call begin() for that.
+	 *
+	 * NOTE: while some schematics tell you to connect the BOOTN pin to the processor, this driver does not use or require it.
+	 * Just tie it to VCC per the datasheet.
+	 *
+	 * @param debugPort Serial port to write output to.  Cannot be nullptr.
+	 * @param user_SDApin Hardware I2C SDA pin connected to the IMU
+	 * @param user_SCLpin Hardware I2C SCL pin connected to the IMU
+	 * @param user_INTPin Input pin connected to HINTN
+	 * @param user_RSTPin Output pin connected to NRST
+	 * @param i2cAddress I2C address.  The BNO defaults to 0x4a, but can also be set to 0x4b via a pin.
+	 * @param i2cPortSpeed I2C frequency.  The BNO's max is 400kHz.
+	 */
+	BNO080(Serial *debugPort, 
+	       PinName user_SDApin, 
+		   PinName user_SCLpin, 
+		   PinName user_INTPin, 
+		   PinName user_RSTPin,
+		   uint8_t i2cAddress=0x4a, 
+		   int i2cPortSpeed=400000);
+
+	/**
+	 * Resets and connects to the IMU.  Verifies that it's connected, and reads out its version
+	 * info into the class variables above.
+	 *
+	 * If this function is failing, it would be a good idea to turn on BNO_DEBUG in the cpp file to get detailed output.
+	 *
+	 * @return whether or not initialization was successful
+	 */
+	bool begin();
+
+	/**
+	 * Tells the IMU to use its current rotation vector as the "zero" rotation vector and to reorient
+	 * all outputs accordingly.
+	 *
+	 * @param zOnly If true, only the rotation about the Z axis (the heading) will be tared.
+	 */
+	void tare(bool zOnly = false);
+
+	/**
+	 * Tells the IMU to begin a dynamic sensor calibration.  To calibrate the IMU, call this function and move
+	 * the IMU according to the instructions in the "BNO080 Sensor Calibration Procedure" app note
+	 * (http://www.hillcrestlabs.com/download/59de9014566d0727bd002ae7).
+	 *
+	 * To tell when the calibration is complete, look at the status bits for Game Rotation Vector (for accel and gyro)
+	 * and Magnetic Field (for the magnetometer).
+	 *
+	 * The gyro and accelerometer should only need to be calibrated once, but the magnetometer will need to be recalibrated
+	 * every time the orientation of ferrous metals around the IMU changes (e.g. when it is put into a new enclosure).
+	 *
+	 * The new calibration will not be saved in flash until you call saveCalibration().
+	 *
+	 * NOTE: calling this with all false values will cancel any calibration in progress.  However, the calibration data being created will
+	 * remain in use until the next chip reset (I think!)
+	 *
+	 * @param calibrateAccel Whether to calibrate the accelerometer.
+	 * @param calibrateGyro Whether to calibrate the gyro.
+	 * @param calibrateMag Whether to calibrate the magnetometer.
+	 *
+	 * @return whether the operation succeeded
+	 */
+	bool enableCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag);
+
+	/**
+	 * Saves the calibration started with startCalibration() and ends the calibration.
+	 * You will want to call this once the status bits read as "accuracy high".
+	 *
+	 * WARNING: if you paid for a factory calibrated IMU, then this WILL OVERWRITE THE FACTORY CALIBRATION in whatever sensors
+	 * are being calibrated.  Use with caution!
+	 *
+	 * @return whether the operation succeeded
+	 */
+	bool saveCalibration();
+
+	/**
+	 * Sets the orientation quaternion, telling the sensor how it's mounted
+	 * in relation to world space.
+	 * See page 40 of the BNO080 datasheet.
+	 *
+	 * NOTE: this driver provides the macro SQRT_2 to help with entering values from that table.
+	 *
+	 * NOTE 2: this setting does not persist and will have to be re-applied every time the chip is reset.
+	 * It is possible to set an FRS record and cause it to persist, but that method is not currently
+	 * supported by this driver,
+	 *
+	 * @param orientation quaternion mapping from IMU space to world space.
+	 */
+	void setSensorOrientation(Quaternion orientation);
+
+	// Report functions
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/**
+	 * Checks for new data packets queued on the IMU.
+	 * If there are packets queued, receives all of them and updates
+	 * the class variables with the results.
+	 *
+	 * @return True iff new data packets of any kind were received.  If you need more fine-grained data change reporting,
+	 * check out hasNewData().
+	 */
+	bool updateData();
+
+
+	/**
+	 * Gets the status of a report as a 2 bit number.
+	 * per SH-2 section 6.5.1, this is interpreted as: <br>
+	 * 0 - unreliable <br>
+	 * 1 - accuracy low <br>
+	 * 2 - accuracy medium <br>
+	 * 3 - accuracy high <br>
+	 * of course, these are only updated if a given report is enabled.
+	 * @param report
+	 * @return
+	 */
+	uint8_t getReportStatus(Report report);
+
+	/**
+	 * Get a string for printout describing the status of a sensor.
+	 * @return
+	 */
+	const char* getReportStatusString(Report report);
+
+	/**
+	 * Checks if a specific report has gotten new data since the last call to this function.
+	 * @param report The report to check.
+	 * @return Whether the report has received new data.
+	 */
+	bool hasNewData(Report report);
+
+	/**
+	 * Enable a data report from the IMU.  Look at the comments above to see what the reports do.
+	 * This function checks your polling period against the report's max speed in the IMU's metadata,
+	 * and reports an error if you're trying to poll too fast.
+	 *
+	 * @param timeBetweenReports time in milliseconds between data updates.
+	 */
+	void enableReport(Report report, uint16_t timeBetweenReports);
+
+	/**
+	 * Disable a data report from the IMU.
+	 *
+	 * @param report The report to disable.
+	 */
+	void disableReport(Report report);
+
+	/**
+	 * Gets the serial number (used to uniquely identify each individual device).
+	 *
+	 * NOTE: this function should work according to the datasheet, but the device I was testing with appears to have
+	 * an empty serial number record as shipped, and I could never get anything out of it. Your mileage may vary.
+	 *
+	 * @return The serial number, or 0 on error.
+	 */
+	uint32_t getSerialNumber();
+
+	// Metadata functions
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/**
+	 * Gets the range of a report as reported by the IMU.   Units are the same as the report's output data.
+	 * @return
+	 */
+	float getRange(Report report);
+
+	/**
+	 * Gets the resolution of a report as reported by the IMU.  Units are the same as the report's output data.
+	 * @param report
+	 * @return
+	 */
+	float getResolution(Report report);
+
+	/**
+	 * Get the power used by a report when it's operating, according to the IMU.
+	 * @param report
+	 * @return Power used in mA.
+	 */
+	float getPower(Report report);
+
+	/**
+	 * Gets the smallest polling period that a report supports.
+	 * @return Period in seconds.
+	 */
+	float getMinPeriod(Report report);
+
+	/**
+	 * Gets the larges polling period that a report supports.
+	 * Some reports don't have a max period, in which case this function will return -1.0.
+	 *
+	 * @return Period in seconds, or -1.0 on error.
+	 */
+	float getMaxPeriod(Report report);
+
+	/**
+	 * Prints a summary of a report's metadata to the
+	 * debug stream.  Should be useful for debugging and setting up reports since lots of this data
+	 * isn't given in the datasheets.
+	 *
+	 * Note: to save string constant space, this function is only available when BNO_DEBUG is 1.
+	 */
+	void printMetadataSummary(Report report);
+
+private:
+
+	// Internal metadata functions
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/**
+	 * Gets the version of the metadata stored in the buffer.
+	 * We might see version 3 and 4 records, and they have different layouts.
+	 * @return
+	 */
+	uint16_t getMetaVersion() {return static_cast<uint16_t>(metadataRecord[3] >> 16);}
+
+	// @{
+	/**
+	 * Gets the Q point from a report's metadata, which essentially defines where the decimal point goes in the sensor's output.
+	 * The 1/2/3 Q values are used in different places in the metadata, see SH-2 section 5.1 for details.
+	 * @param report
+	 * @return
+	 */
+	int16_t getQ1(Report report);
+	int16_t getQ2(Report report);
+	int16_t getQ3(Report report);
+	// @}
+
+	// internal utility functions
+	//-----------------------------------------------------------------------------------------------------------------
+
+	/**
+	 * Processes the packet currently stored in the buffer, and updates class variables to reflect the data it contains
+	 */
+	void processPacket();
+
+	/**
+	 * Processes the sensor data packet currently stored in the buffer.
+	 * Only called from processPacket()
+	 */
+	void parseSensorDataPacket();
+
+	/**
+	 * Call to wait for a packet with the given parameters to come in.
+	 *
+	 * @param channel Channel of the packet
+	 * @param reportID Report ID (first data byte) of the packet
+	 * @param timeout how long to wait for the packet
+	 * @return true if the packet has been received, false if it timed out
+	 */
+	bool waitForPacket(int channel, uint8_t reportID, float timeout = .125f);
+
+	/**
+	 * Given a Q value, converts fixed point floating to regular floating point number.
+	 * @param fixedPointValue
+	 * @param qPoint
+	 * @return
+	 */
+	float qToFloat(int16_t fixedPointValue, uint8_t qPoint);
+
+	/**
+	 * Given a Q value, converts fixed point floating to regular floating point number.
+	 * This version is used for the unsigned 32-bit values in metadata records.
+	 * @param fixedPointValue
+	 * @param qPoint
+	 * @return
+	 */
+	float qToFloat_dword(uint32_t fixedPointValue, int16_t qPoint);
+
+	/**
+	 * Given a floating point value and a Q point, convert to Q
+ 	 * See https://en.wikipedia.org/wiki/Q_(number_format)
+	 * @param qFloat
+	 * @param qPoint
+	 * @return
+	 */
+	int16_t floatToQ(float qFloat, uint8_t qPoint);
+
+	/**
+	 * 	Tell the sensor to do a command.
+	 * 	See SH-2 Reference Manual section 6.3.8 page 42, Command request
+	 * 	The caller is expected to set shtpData 3 though 11 prior to calling
+	 */
+	void sendCommand(uint8_t command);
+
+	/**
+	 * Given a sensor's report ID, this tells the BNO080 to begin reporting the values.
+	 *
+	 * @param reportID
+	 * @param timeBetweenReports
+	 * @param specificConfig the specific config word. Useful for personal activity classifier.
+	 */
+	void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig = 0);
+
+	/**
+	 * Read a record from the FRS (Flash Record System) on the IMU.  FRS records are composed of 32-bit words,
+	 * with the size of each record determined by the record type.
+	 *
+	 * Will block until the entire record has been read.
+	 * @param recordID Record ID to read.  See SH-2 figures 28 and 29 for a list of these.  Sometimes also called
+	 * the "FRS Type" by the datasheet (???).
+	 * @param readBuffer Buffer to read data into.
+	 * @param readLength Amount of words to read from the record.  Must be <= the length of the record.
+	 *
+	 * @return whether the request succeeded
+	 */
+	bool readFRSRecord(uint16_t recordID, uint32_t* readBuffer, uint16_t readLength);
+
+	/**
+	 * Reads a packet from the IMU and stores it in the class variables.
+	 *
+	 * @param timeout how long to wait for there to be a packet
+	 *
+	 * @return whether a packet was recieved.
+	 */
+	bool receivePacket(float timeout=.2f);
+
+	/**
+	 * Sends the current shtpData contents to the BNO.  It's a good idea to disable interrupts before you call this.
+	 *
+	 * @param channelNumber the channel to send on
+	 * @param dataLength How many bits of shtpData to send
+	 * @return
+	 */
+	bool sendPacket(uint8_t channelNumber, uint8_t dataLength);
+
+	/**
+	 * Prints the current shtp packet stored in the buffer.
+	 * @param length
+	 */
+	void printPacket();
+
+	/**
+	 * Erases the current SHTP packet buffer so new data can be written
+	 */
+	 void zeroBuffer();
+
+	 /**
+	  * Loads the metadata for this report into the metadata buffer.
+	  * @param report
+	  * @return Whether the operation succeeded.
+	  */
+	 bool loadReportMetadata(Report report);
+
+};
+
+
+#endif //HAMSTER_BNO080_H