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Merge pull request #17 from sparkfun/Calibration_example
Calibration example
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‎examples/Example_20_CalibrationSettings/Example_20_CalibrationSettings.ino‎

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/*
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Using the BNO08x IMU
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This example shows how to adjust settings of the dynamic calibration of the
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BNO08x.
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The BNO08x allows you to turn on/off dynamic calibration for each sensor in
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the IMU (accel, gyro, or mag).
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Please refer to the BNO08X data sheet Section 3 (page 37)
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https://docs.sparkfun.com/SparkFun_VR_IMU_Breakout_BNO086_QWIIC/assets/component_documentation/BNO080_085-Datasheet_v1.16.pdf
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Note, by default, dynamic calibration is enabled for accel and mag.
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Some special use cases may require turning on all or any special combo of sensor
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dynamic calibration.
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After the calibration settings are set, this example will output the
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x/y/z/accuracy of the mag and the i/j/k/real parts of the game rotation vector.
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https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
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Note, the "simple calibration" feature, sh2_startCal(), is not available on
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the BNO08x. See this issue for more info:
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https://github.com/ceva-dsp/sh2/issues/11
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By: Nathan Seidle
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SparkFun Electronics
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Date: December 21st, 2017
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SparkFun code, firmware, and software is released under the MIT License.
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Please see LICENSE.md for further details.
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Originally written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017
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Adjusted by Pete Lewis @ SparkFun Electronics, June 2023 to incorporate the
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CEVA Sensor Hub Driver, found here:
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https://github.com/ceva-dsp/sh2
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Also, utilizing code from the Adafruit BNO08x Arduino Library by Bryan Siepert
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for Adafruit Industries. Found here:
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https://github.com/adafruit/Adafruit_BNO08x
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Also, utilizing I2C and SPI read/write functions and code from the Adafruit
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BusIO library found here:
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https://github.com/adafruit/Adafruit_BusIO
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Hardware Connections:
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IoT RedBoard --> BNO08x
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QWIIC --> QWIIC
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A4 --> INT
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A5 --> RST
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BNO08x "mode" jumpers set for I2C (default):
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PSO: OPEN
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PS1: OPEN
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Serial.print it out at 115200 baud to serial monitor.
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Feel like supporting our work? Buy a board from SparkFun!
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https://www.sparkfun.com/products/22857
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*/
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#include <Wire.h>
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#include "SparkFun_BNO08x_Arduino_Library.h" // CTRL+Click here to get the library: http://librarymanager/All#SparkFun_BNO08x
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BNO08x myIMU;
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// For the most reliable interaction with the SHTP bus, we need
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// to use hardware reset control, and to monitor the H_INT pin.
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// The H_INT pin will go low when its okay to talk on the SHTP bus.
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// Note, these can be other GPIO if you like.
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// Define as -1 to disable these features.
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#define BNO08X_INT A4
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//#define BNO08X_INT -1
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#define BNO08X_RST A5
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//#define BNO08X_RST -1
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#define BNO08X_ADDR 0x4B // SparkFun BNO08x Breakout (Qwiic) defaults to 0x4B
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//#define BNO08X_ADDR 0x4A // Alternate address if ADR jumper is closed
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// variables to store all our incoming values
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// mags
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float mx;
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float my;
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float mz;
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byte magAccuracy;
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// quats
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float quatI;
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float quatJ;
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float quatK;
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float quatReal;
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unsigned long previousDebugMicros = 0;
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#define DEBUG_INTERVAL_MICROSECONDS 10000
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void setup() {
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Serial.begin(115200);
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while(!Serial) delay(10); // Wait for Serial to become available.
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// Necessary for boards with native USB (like the SAMD51 Thing+).
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// For a final version of a project that does not need serial debug (or a USB cable plugged in),
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// Comment out this while loop, or it will prevent the remaining code from running.
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Serial.println();
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Serial.println("BNO08x Calibration Example");
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Wire.begin();
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//if (myIMU.begin() == false) { // Setup without INT/RST control (Not Recommended)
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if (myIMU.begin(BNO08X_ADDR, Wire, BNO08X_INT, BNO08X_RST) == false) {
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Serial.println("BNO08x not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
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while (1)
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;
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}
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Serial.println("BNO08x found!");
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// Wire.setClock(400000); //Increase I2C data rate to 400kHz
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// Enable dynamic calibration for desired sensors (accel, gyro, and mag)
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// uncomment/comment out as needed to try various options
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if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL || SH2_CAL_GYRO || SH2_CAL_MAG) == true) { // all three sensors
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//if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL || SH2_CAL_MAG) == true) { // Default settings
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//if (myIMU.setCalibrationConfig(SH2_CAL_ACCEL) == true) { // only accel
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Serial.println(F("Calibration Command Sent Successfully"));
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} else {
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Serial.println("Could not send Calibration Command. Freezing...");
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while(1) delay(10);
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}
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setReports();
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Serial.println("Reading events");
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delay(100);
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}
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// Here is where you define the sensor outputs you want to receive
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void setReports(void) {
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Serial.println("Setting desired reports");
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if (myIMU.enableMagnetometer(1) == true) {
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Serial.println(F("Magnetometer enabled"));
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Serial.println(F("Output in form x, y, z, in uTesla"));
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} else {
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Serial.println("Could not enable magnetometer");
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}
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if (myIMU.enableGameRotationVector(1) == true) {
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Serial.println(F("Game Rotation vector enabled"));
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Serial.println(F("Output in form i, j, k, real"));
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} else {
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Serial.println("Could not enable game rotation vector");
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}
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}
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void loop() {
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delayMicroseconds(10);
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if (myIMU.wasReset()) {
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Serial.print("sensor was reset ");
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setReports();
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}
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// Has a new event come in on the Sensor Hub Bus?
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if (myIMU.getSensorEvent() == true) {
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// is the event a report of the magnetometer?
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if (myIMU.getSensorEventID() == SENSOR_REPORTID_MAGNETIC_FIELD) {
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mx = myIMU.getMagX();
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my = myIMU.getMagY();
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mz = myIMU.getMagZ();
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magAccuracy = myIMU.getMagAccuracy();
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}
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// is the event a report of the game rotation vector?
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else if (myIMU.getSensorEventID() == SENSOR_REPORTID_GAME_ROTATION_VECTOR) {
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quatI = myIMU.getGameQuatI();
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quatJ = myIMU.getGameQuatJ();
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quatK = myIMU.getGameQuatK();
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quatReal = myIMU.getGameQuatReal();
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}
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}
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// Only print data to the terminal at a user defined interval
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// Each data type (accel or gyro or mag) is reported from the
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// BNO086 as separate messages.
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// To allow for all these separate messages to arrive, and thus
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// have updated data on all axis/types,
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// The report intervals for each datatype must be much faster
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// than our debug interval.
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// time since last debug data printed to terminal
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unsigned long microsSinceLastSerialPrint = (micros() - previousDebugMicros);
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// Only print data to the terminal at a user deficed interval
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if(microsSinceLastSerialPrint > DEBUG_INTERVAL_MICROSECONDS)
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{
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Serial.print(mx, 2);
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Serial.print("\t\t");
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Serial.print(my, 2);
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Serial.print("\t\t");
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Serial.print(mz, 2);
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Serial.print("\t\t");
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printAccuracyLevel(magAccuracy);
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Serial.print("\t\t");
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Serial.print(quatI, 2);
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Serial.print("\t\t");
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Serial.print(quatJ, 2);
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Serial.print("\t\t");
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Serial.print(quatK, 2);
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Serial.print("\t\t");
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Serial.print(quatReal, 2);
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Serial.print("\t\t");
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Serial.print(microsSinceLastSerialPrint);
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Serial.println();
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previousDebugMicros = micros();
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}
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if(Serial.available())
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{
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byte incoming = Serial.read();
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if(incoming == 's')
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{
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// Saves the current dynamic calibration data (DCD) to memory
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// Note, The BNO08X stores updated Dynamic Calibration Data (DCD) to RAM
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// frequently (every 5 seconds), so this command may not be necessary
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// depending on your application.
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if (myIMU.saveCalibration() == true) {
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Serial.println(F("Calibration data was saved successfully"));
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} else {
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Serial.println("Save Calibration Failure");
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}
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}
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}
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}
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//Given a accuracy number, print what it means
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void printAccuracyLevel(byte accuracyNumber)
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{
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if(accuracyNumber == 0) Serial.print(F("Unreliable"));
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else if(accuracyNumber == 1) Serial.print(F("Low"));
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else if(accuracyNumber == 2) Serial.print(F("Medium"));
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else if(accuracyNumber == 3) Serial.print(F("High"));
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}

‎src/SparkFun_BNO08x_Arduino_Library.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -328,6 +328,30 @@ uint8_t BNO08x::getQuatAccuracy()
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return _sensor_value->status;
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}
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//Return the game rotation vector quaternion I
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float BNO08x::getGameQuatI()
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{
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return _sensor_value->un.gameRotationVector.i;
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}
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//Return the game rotation vector quaternion J
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float BNO08x::getGameQuatJ()
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{
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return _sensor_value->un.gameRotationVector.j;
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}
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//Return the game rotation vector quaternion K
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float BNO08x::getGameQuatK()
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{
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return _sensor_value->un.gameRotationVector.k;
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}
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//Return the game rotation vector quaternion Real
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float BNO08x::getGameQuatReal()
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{
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return _sensor_value->un.gameRotationVector.real;
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}
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//Gets the full acceleration
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//x,y,z output floats
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void BNO08x::getAccel(float &x, float &y, float &z, uint8_t &accuracy)
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return enableReport(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable);
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}
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// //Sends the commands to begin calibration of the accelerometer
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// void BNO08x::calibrateAccelerometer()
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// {
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// sendCalibrateCommand(CALIBRATE_ACCEL);
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// }
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// //Sends the commands to begin calibration of the gyro
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// void BNO08x::calibrateGyro()
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// {
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// sendCalibrateCommand(CALIBRATE_GYRO);
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// }
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// //Sends the commands to begin calibration of the magnetometer
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// void BNO08x::calibrateMagnetometer()
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// {
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// sendCalibrateCommand(CALIBRATE_MAG);
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// }
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// //Sends the commands to begin calibration of the planar accelerometer
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// void BNO08x::calibratePlanarAccelerometer()
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// {
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// sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL);
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// }
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// //See 2.2 of the Calibration Procedure document 1000-4044
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// void BNO08x::calibrateAll()
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// {
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// sendCalibrateCommand(CALIBRATE_ACCEL_GYRO_MAG);
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// }
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// See 2.2 of the Calibration Procedure document 1000-4044
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// Set the desired sensors to have active dynamic calibration
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bool BNO08x::setCalibrationConfig(uint8_t sensors)
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{
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int status = sh2_setCalConfig(sensors);
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// void BNO08x::endCalibration()
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// {
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// sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations
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// }
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if (status != SH2_OK) {
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return false;
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}
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// //See page 51 of reference manual - ME Calibration Response
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// //Byte 5 is parsed during the readPacket and stored in calibrationStatus
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// boolean BNO08x::calibrationComplete()
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// {
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// if (calibrationStatus == 0)
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// return (true);
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// return (false);
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// }
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return true;
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}
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bool BNO08x::tareNow(bool zAxis, sh2_TareBasis_t basis)
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{
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// sendCommand(COMMAND_ME_CALIBRATE);
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// }
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// //This tells the BNO08x to save the Dynamic Calibration Data (DCD) to flash
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// //See page 49 of reference manual and the 1000-4044 calibration doc
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// void BNO08x::saveCalibration()
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// {
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// /*shtpData[3] = 0; //P0 - Reserved
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// shtpData[4] = 0; //P1 - Reserved
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// shtpData[5] = 0; //P2 - Reserved
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// shtpData[6] = 0; //P3 - Reserved
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// shtpData[7] = 0; //P4 - Reserved
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// shtpData[8] = 0; //P5 - Reserved
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// shtpData[9] = 0; //P6 - Reserved
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// shtpData[10] = 0; //P7 - Reserved
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// shtpData[11] = 0; //P8 - Reserved*/
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// for (uint8_t x = 3; x < 12; x++) //Clear this section of the shtpData array
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// shtpData[x] = 0;
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// //Using this shtpData packet, send a command
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// sendCommand(COMMAND_DCD); //Save DCD command
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// }
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//This tells the BNO08x to save the Dynamic Calibration Data (DCD) to flash
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//See page 49 of reference manual and the 1000-4044 calibration doc
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bool BNO08x::saveCalibration()
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{
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int status = sh2_saveDcdNow();
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if (status != SH2_OK) {
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return false;
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}
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return true;
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}
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/*! @brief Initializer for post i2c/spi init
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* @param sensor_id Optional unique ID for the sensor set

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