Merge pull request #3 from TeamSunride/restructure

Restructure into library

.github/workflows/workflow.yml

@@ -0,0 +1,54 @@
+name: PlatformIO CI
+
+on: [push]
+
+jobs:
+  build_example:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        examples: [
+            examples/accelmaggyro.cpp,
+            examples/accgyro.cpp,
+            examples/accmag.cpp,
+            examples/acconly.cpp,
+            examples/euler.cpp,
+            examples/gyroonly.cpp,
+            examples/maggyro.cpp,
+            examples/magonly.cpp,
+            examples/quaternion.cpp,
+            examples/interrupts/accelAnyMotionInterrupt.cpp,
+            examples/interrupts/accelHighGInterrupt.cpp,
+            examples/interrupts/gyroAnyMotionInterrupt.cpp,
+            examples/interrupts/gyroHighRateInterrupt.cpp,
+            examples/interrupts/noMotionInterrupt.cpp,
+            examples/interrupts/slowMotionInterrupt.cpp
+        ]
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Cache pip
+        uses: actions/cache@v2
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+      - name: Cache PlatformIO
+        uses: actions/cache@v2
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+
+      - name: Run PlatformIO
+        run: pio ci --lib "." --board teensy41
+        env:
+          PLATFORMIO_CI_SRC: ${{ matrix.examples }}

.gitignore

@@ -2,4 +2,5 @@
 CMakeListsPrivate.txt
 cmake-build-*/ 
 .idea
-pyteaplot.py
+pyteaplot.py
+/test/tmp_pio_test_transport.cpp

CMakeLists.txt

@@ -10,7 +10,7 @@ set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_C_COMPILER_WORKS 1)
 set(CMAKE_CXX_COMPILER_WORKS 1)
 
-project("Arduino-BNO055" C CXX)
+project("BNO055" C CXX)
 
 include(CMakeListsPrivate.txt)
 

README.md

@@ -0,0 +1,141 @@
+# Arduino BNO055 Library
+
+![](resources/BNO055.jpg)
+
+*image credit: Adafruit*
+
+PlatformIO / Arduino library designed to make it easy to use 
+advanced features of the Bosch BNO055 IMU.
+
+Developed by [Tom Danvers](https://github.com/TomD53)
+
+## Features
+
+- Power mode configuration
+- Operation mode configuration
+- Sensor reset
+- Sensor self test
+- Methods to read from all operation modes, converted to useful units
+- Burst read of all data
+- Sensor configuration (set G range, sample rate, power mode - 
+this requires reading of the datasheet)
+- View sensor calibration
+- Implementation of all interrupts
+  - `AccelHighGInterrupt`
+  - `AccelSlowNoMotionInterrupt`
+  - `AccelAnyMotionInterrupt`
+  - `GyroHighRateInterrupt`
+  - `GyroAnyMotionInterrupt`
+
+## TODO
+
+- Sensor configuration could be improved / made more intuitive. You need to work out what value to write to the 
+config register by reading the datasheet.
+- Axis remap is not implemented (yet)
+- Calibration parameters cannot yet be saved and re-applied after a sensor restart
+
+## Examples
+
+Refer to the [examples directory](examples)
+
+To run an example (in PlatformIO), modify platformio.ini to support your board/framework, and then run the following:
+
+    pio ci "examples/accgyro.cpp" --lib "." -c "platformio.ini"
+
+### Read from accelerometer
+
+```cpp
+#include <Arduino.h>
+#include "BNO055.h"
+
+const byte I2C_ADDRESS = 0x28;
+
+BNO055 sensor(I2C_ADDRESS, &Wire);
+
+void setup() {
+    Wire.begin();
+    sensor.begin();
+    sensor.setOperationMode(ACCONLY);
+}
+
+void loop() {
+    Vector<double> accelVector = sensor.getRawAcceleration();
+    Serial.println((String)accelVector.getX() + "," + (String)accelVector.getY() + ","
+                   + (String)accelVector.getZ() + ",");
+}
+```
+
+### Register Accelerometer High G interrupt
+
+```cpp
+#include <Arduino.h>
+#include "BNO055.h"
+
+const byte I2C_ADDRESS = 0x28;
+
+BNO055 sensor(I2C_ADDRESS, &Wire);
+
+// define our callback (known as an ISR, or interrupt service routine) to be called when the interrupt is
+// detected. Note that ISRs have various limitations.
+void myCallback() {
+    digitalWrite(3, !digitalRead(3));
+}
+
+void setup() {
+    // begin I2C communication
+    Wire.begin();
+
+    // reset the sensor to remove any existing configuration
+    sensor.resetSystem();
+
+    // we need to be in configmode to set up the interrupt.
+    // this is not necessary as we just called sensor#resetSystem however it is here for completeness
+    sensor.setOperationMode(CONFIGMODE);
+
+    // define the configuration of our interrupt
+    BNO055::AccelHighGInterrupt interrupt(
+            sensor,
+            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
+            myCallback,
+            2);
+
+    // write the configuration to the BNO055
+    interrupt.setup();
+
+    // enable this interrupt
+    interrupt.enable();
+
+    // route this interrupt to the INT pin on the sensor
+    interrupt.mask();
+
+    // enter the ACCONLY operation mode (note that the above code must run in COMFIGMODE)
+    sensor.setOperationMode(ACCONLY);
+    pinMode(3, OUTPUT);
+}
+
+void loop() {
+    // we constantly clear the interrupt on the sensor. Not an ideal solution and not efficient, but
+    // works for this example
+    sensor.clearInterrupt();
+}
+```
+
+## Documentation
+
+Most/all methods are documented well in [`BNO055.h`](src/BNO055.h).
+
+Refer to the [examples directory](examples) and also the [unit test](test/test_BNO055.cpp) for usage examples.
+
+The best way of understanding how things work is to [read the datasheet](datasheet.pdf)
+
+## Unit testing
+
+This project contains some automated unit tests that you can run to check that everything works.
+You need to do this with PlatformIO.
+
+If you aren't using a Teensy 4.1, modify the configuration in `platformio.ini`
+
+To run the unit tests, run ```pio test```
+
+![](resources/test_result.png)
+

commands.md

@@ -0,0 +1,3 @@
+Run an example and upload / monitor it
+
+    pio ci "examples/accgyro.cpp" --lib "." -c "platformio.ini"

examples/interrupts/accelAnyMotionInterrupt.cpp

@@ -28,7 +28,7 @@ void setup() {
 
     BNO055::AccelAnyMotionInterrupt anyMotionInterrupt(
             sensor,
-            (new BNO055::Interrupt::AxesSetting)->enableX().enableY().enableZ(),
+            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
             myCallback,
             2);
     anyMotionInterrupt.setup();

examples/interrupts/accelHighGInterrupt.cpp

@@ -30,7 +30,7 @@ void setup() {
     // define the configuration of our interrupt
     BNO055::AccelHighGInterrupt interrupt(
             sensor,
-            (new BNO055::Interrupt::AxesSetting)->enableX().enableY().enableZ(),
+            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
             myCallback,
             2);
 

examples/interrupts/noMotionInterrupt.cpp

@@ -28,7 +28,7 @@ void setup() {
 
     BNO055::AccelSlowNoMotionInterrupt slowNoMotionInterrupt(
             sensor,
-            (new BNO055::Interrupt::AxesSetting)->enableX().enableY().enableZ(),
+            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
             myCallback,
             2, BNO055::AccelSlowNoMotionInterrupt::NO_MOTION);
     slowNoMotionInterrupt.setup();

examples/interrupts/slowMotionInterrupt.cpp

@@ -28,7 +28,7 @@ void setup() {
 
     BNO055::AccelSlowNoMotionInterrupt slowNoMotionInterrupt(
             sensor,
-            (new BNO055::Interrupt::AxesSetting)->enableX().enableY().enableZ(),
+            (new BNO055::Interrupt::EnabledAxes)->enableX().enableY().enableZ(),
             myCallback,
             2, BNO055::AccelSlowNoMotionInterrupt::SLOW_MOTION);
     slowNoMotionInterrupt.setup();

library.json

@@ -0,0 +1,19 @@
+{
+  "name": "Arduino-BNO055",
+  "version": "1.0.0",
+  "description": "PlatformIO / Arduino library designed to make it easy to use advanced features of the Bosch BNO055 IMU.",
+  "keywords": "arduino, sensor, BNO055, adafruit, interrupt, IMU",
+  "repository":
+  {
+    "type": "git",
+    "url": "https://github.com/TeamSunride/Arduino-BNO055"
+  },
+  "authors":
+  [
+    {
+      "name": "Tom Danvers",
+      "url": "https://tdanvers.com/",
+      "maintainer": true
+    }
+  ]
+}

platformio.ini

@@ -1,17 +1,12 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
 [env:teensy41]
+; the parameters below will be specific to your board/platform/environment
 platform = teensy
 board = teensy41
 framework = arduino
 upload_protocol = teensy-cli
 extra_scripts = extra_script.py
-test_port = COM3
+test_port = COM3
+
+; the parameters below are required
+test_build_project_src = true
+targets=upload, monitor