BNO080 Driver

Diff: BNO080.h

Revision:

3:197ad972fb7c

Parent:

2:2269b723d16a

Child:

6:5ba996be5312

--- a/BNO080.h	Sat Dec 29 04:09:34 2018 -0800
+++ b/BNO080.h	Fri Jun 14 20:31:37 2019 -0700
@@ -27,7 +27,7 @@
 #include "BNO080Constants.h"
 
 // useful define when working with orientation quaternions
-#define SQRT_2 1.414213562
+#define SQRT_2 1.414213562f
 
 /**
   Class to drive the BNO080 9-axis IMU.
@@ -63,8 +63,8 @@
 
 #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.
+	// 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
@@ -397,7 +397,7 @@
 		   PinName user_INTPin, 
 		   PinName user_RSTPin,
 		   uint8_t i2cAddress=0x4a, 
-		   int i2cPortSpeed=400000);
+		   int i2cPortSpeed=100000);
 
 	/**
 	 * Resets and connects to the IMU.  Verifies that it's connected, and reads out its version
@@ -460,13 +460,25 @@
 	 * 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,
+	 * Use setPermanentOrientation() for that.
 	 *
 	 * @param orientation quaternion mapping from IMU space to world space.
 	 */
 	void setSensorOrientation(Quaternion orientation);
 
+	/**
+	 * Sets the orientation quaternion, telling the sensor how it's mounted
+	 * in relation to world space. See page 40 of the BNO080 datasheet.
+	 *
+	 * Unlike setSensorOrientation(), this setting will persist across sensor restarts.
+	 * However, it will also take a few hundred milliseconds to write.
+	 *
+	 * @param orientation quaternion mapping from IMU space to world space.
+	 *
+	 * @return true if the operation succeeded, false if it failed.
+ 	*/
+	bool setPermanentOrientation(Quaternion orientation);
+    
 	// Report functions
 	//-----------------------------------------------------------------------------------------------------------------
 
@@ -654,6 +666,18 @@
 	int16_t floatToQ(float qFloat, uint8_t qPoint);
 
 	/**
+	 * Given a floating point value and a Q point, convert to Q
+	 * See https://en.wikipedia.org/wiki/Q_(number_format)
+	 *
+	 * This version is used for the signed 32-bit values in metadata records.
+     *
+	 * @param qFloat
+	 * @param qPoint
+	 * @return
+	 */
+	int32_t floatToQ_dword(float qFloat, uint16_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
@@ -684,6 +708,20 @@
 	bool readFRSRecord(uint16_t recordID, uint32_t* readBuffer, uint16_t readLength);
 
 	/**
+	 * Write a record to 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 written.
+	 * @param recordID Record ID to write.  See SH-2 figures 28 and 29 for a list of these.  Sometimes also called
+	 * the "FRS Type" by the datasheet (???).
+	 * @param buffer Buffer to write data into.
+	 * @param length Amount of words to write to the record.  Must be <= the length of the record.
+	 *
+	 * @return whether the request succeeded
+	 */
+	bool writeFRSRecord(uint16_t recordID, uint32_t* buffer, uint16_t length);
+
+	/**
 	 * 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