Adafruit_BNO08x_RVC.h

/*!
 *  @file Adafruit_BNO08x_RVC.h
 *
 * 	I2C Driver for the Adafruit BNO08x RVC A simple library to use the
 *UART-RVC mode of the BNO08x sensors from Hillcrest Laboratories
 *
 * 	This is a library for use with thethe Adafruit BNO08x breakout:
 * 	https://www.adafruit.com/products/4754
 *
 * 	Adafruit invests time and resources providing this open source code,
 *  please support Adafruit and open-source hardware by purchasing products from
 * 	Adafruit!
 *
 *
 *	BSD license (see license.txt)
 */

#ifndef _ADAFRUIT_BNO08x_RVC_H
#define _ADAFRUIT_BNO08x_RVC_H

#define MILLI_G_TO_MS2 0.0098067 ///< Scalar to convert milli-gs to m/s^2
#define DEGREE_SCALE 0.01        ///< To convert the degree values

#include "Arduino.h"

/*!
 *    @brief  Class that stores state and functions for interacting with
 *            the BNO08x_RVC A simple library to use the UART-RVC mode of the
 * BNO08x sensors from Hillcrest Laboratories
 */
/**! Struct to hold a UART-RVC packet **/
typedef struct BNO08xRVCData {
  float yaw,     ///< Yaw in Degrees
      pitch,     ///< Pitch in Degrees
      roll;      ///< Roll in Degrees
  float x_accel, ///< The X acceleration value in m/s^2
      y_accel,   ///< The Y acceleration value in m/s^2
      z_accel;   ///< The Z acceleration value in m/s^2

} BNO08x_RVC_Data;

/**
 * @brief A class to interact with the BNO08x sensors from Hillcrest
 * Laboritories using the UART-RVC mode
 *
 */
class Adafruit_BNO08x_RVC {
public:
  Adafruit_BNO08x_RVC();
  ~Adafruit_BNO08x_RVC();

  bool begin(Stream *theStream);
  bool read(BNO08x_RVC_Data *heading);

private:
  Stream *serial_dev;
};

#endif