removed imumath.h and other libraries, Just simple data structures

Adafruit_BNO055.cpp

@@ -378,8 +378,8 @@ int8_t Adafruit_BNO055::getTemp() {
  *            VECTOR_GRAVITY]
  *  @return  vector from specified source
  */
-imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
-  imu::Vector<3> xyz;
+imu::Vector Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
+  imu::Vector xyz;
   uint8_t buffer[6];
   memset(buffer, 0, 6);
 
@@ -400,39 +400,39 @@ imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type) {
   switch (vector_type) {
   case VECTOR_MAGNETOMETER:
     /* 1uT = 16 LSB */
-    xyz[0] = ((double)x) / 16.0;
-    xyz[1] = ((double)y) / 16.0;
-    xyz[2] = ((double)z) / 16.0;
+    xyz.x = ((double)x) / 16.0;
+    xyz.y = ((double)y) / 16.0;
+    xyz.z = ((double)z) / 16.0;
     break;
   case VECTOR_GYROSCOPE:
     /* 1dps = 16 LSB */
-    xyz[0] = ((double)x) / 16.0;
-    xyz[1] = ((double)y) / 16.0;
-    xyz[2] = ((double)z) / 16.0;
+    xyz.x = ((double)x) / 16.0;
+    xyz.y = ((double)y) / 16.0;
+    xyz.z = ((double)z) / 16.0;
     break;
   case VECTOR_EULER:
     /* 1 degree = 16 LSB */
-    xyz[0] = ((double)x) / 16.0;
-    xyz[1] = ((double)y) / 16.0;
-    xyz[2] = ((double)z) / 16.0;
+    xyz.x = ((double)x) / 16.0;
+    xyz.y = ((double)y) / 16.0;
+    xyz.z = ((double)z) / 16.0;
     break;
   case VECTOR_ACCELEROMETER:
     /* 1m/s^2 = 100 LSB */
-    xyz[0] = ((double)x) / 100.0;
-    xyz[1] = ((double)y) / 100.0;
-    xyz[2] = ((double)z) / 100.0;
+    xyz.x = ((double)x) / 100.0;
+    xyz.y = ((double)y) / 100.0;
+    xyz.z = ((double)z) / 100.0;
     break;
   case VECTOR_LINEARACCEL:
     /* 1m/s^2 = 100 LSB */
-    xyz[0] = ((double)x) / 100.0;
-    xyz[1] = ((double)y) / 100.0;
-    xyz[2] = ((double)z) / 100.0;
+    xyz.x = ((double)x) / 100.0;
+    xyz.y = ((double)y) / 100.0;
+    xyz.z = ((double)z) / 100.0;
     break;
   case VECTOR_GRAVITY:
     /* 1m/s^2 = 100 LSB */
-    xyz[0] = ((double)x) / 100.0;
-    xyz[1] = ((double)y) / 100.0;
-    xyz[2] = ((double)z) / 100.0;
+    xyz.x = ((double)x) / 100.0;
+    xyz.y = ((double)y) / 100.0;
+    xyz.z = ((double)z) / 100.0;
     break;
   }
 
@@ -505,10 +505,10 @@ bool Adafruit_BNO055::getEvent(sensors_event_t *event) {
   event->timestamp = millis();
 
   /* Get a Euler angle sample for orientation */
-  imu::Vector<3> euler = getVector(Adafruit_BNO055::VECTOR_EULER);
-  event->orientation.x = euler.x();
-  event->orientation.y = euler.y();
-  event->orientation.z = euler.z();
+  imu::Vector euler = getVector(Adafruit_BNO055::VECTOR_EULER);
+  event->orientation.x = euler.x;
+  event->orientation.y = euler.y;
+  event->orientation.z = euler.z;
 
   return true;
 }
@@ -531,49 +531,49 @@ bool Adafruit_BNO055::getEvent(sensors_event_t *event,
   event->timestamp = millis();
 
   // read the data according to vec_type
-  imu::Vector<3> vec;
+  imu::Vector vec;
   if (vec_type == Adafruit_BNO055::VECTOR_LINEARACCEL) {
     event->type = SENSOR_TYPE_LINEAR_ACCELERATION;
     vec = getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
 
-    event->acceleration.x = vec.x();
-    event->acceleration.y = vec.y();
-    event->acceleration.z = vec.z();
+    event->acceleration.x = vec.x;
+    event->acceleration.y = vec.y;
+    event->acceleration.z = vec.z;
   } else if (vec_type == Adafruit_BNO055::VECTOR_ACCELEROMETER) {
     event->type = SENSOR_TYPE_ACCELEROMETER;
     vec = getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
 
-    event->acceleration.x = vec.x();
-    event->acceleration.y = vec.y();
-    event->acceleration.z = vec.z();
+    event->acceleration.x = vec.x;
+    event->acceleration.y = vec.y;
+    event->acceleration.z = vec.z;
   } else if (vec_type == Adafruit_BNO055::VECTOR_GRAVITY) {
     event->type = SENSOR_TYPE_ACCELEROMETER;
     vec = getVector(Adafruit_BNO055::VECTOR_GRAVITY);
 
-    event->acceleration.x = vec.x();
-    event->acceleration.y = vec.y();
-    event->acceleration.z = vec.z();
+    event->acceleration.x = vec.x;
+    event->acceleration.y = vec.y;
+    event->acceleration.z = vec.z;
   } else if (vec_type == Adafruit_BNO055::VECTOR_EULER) {
     event->type = SENSOR_TYPE_ORIENTATION;
     vec = getVector(Adafruit_BNO055::VECTOR_EULER);
 
-    event->orientation.x = vec.x();
-    event->orientation.y = vec.y();
-    event->orientation.z = vec.z();
+    event->orientation.x = vec.x;
+    event->orientation.y = vec.y;
+    event->orientation.z = vec.z;
   } else if (vec_type == Adafruit_BNO055::VECTOR_GYROSCOPE) {
     event->type = SENSOR_TYPE_ROTATION_VECTOR;
     vec = getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
 
-    event->gyro.x = vec.x();
-    event->gyro.y = vec.y();
-    event->gyro.z = vec.z();
+    event->gyro.x = vec.x;
+    event->gyro.y = vec.y;
+    event->gyro.z = vec.z;
   } else if (vec_type == Adafruit_BNO055::VECTOR_MAGNETOMETER) {
     event->type = SENSOR_TYPE_MAGNETIC_FIELD;
     vec = getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
 
-    event->magnetic.x = vec.x();
-    event->magnetic.y = vec.y();
-    event->magnetic.z = vec.z();
+    event->magnetic.x = vec.x;
+    event->magnetic.y = vec.y;
+    event->magnetic.z = vec.z;
   }
 
   return true;

Adafruit_BNO055.h

@@ -25,7 +25,7 @@
 #include "Arduino.h"
 #include <Wire.h>
 
-#include "utility/imumaths.h"
+#include "imu.h"
 #include <Adafruit_Sensor.h>
 
 /** BNO055 Address A **/
@@ -294,7 +294,7 @@ class Adafruit_BNO055 : public Adafruit_Sensor {
   void getCalibration(uint8_t *system, uint8_t *gyro, uint8_t *accel,
                       uint8_t *mag);
 
-  imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
+  imu::Vector getVector(adafruit_vector_type_t vector_type);
   imu::Quaternion getQuat();
   int8_t getTemp();
 

examples/bunny/bunny.ino

@@ -1,7 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 
 /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
    which provides a common 'type' for sensor data and some helper functions.
@@ -73,12 +72,12 @@ void setup(void)
     Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
     while(1);
   }
-   
+
   delay(1000);
 
   /* Use external crystal for better accuracy */
   bno.setExtCrystalUse(true);
-   
+
   /* Display some basic information on this sensor */
   displaySensorDetails();
 }

examples/rawdata/rawdata.ino

@@ -1,7 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 
 /* This driver reads raw data from the BNO055
 
@@ -15,6 +14,7 @@
    History
    =======
    2015/MAR/03  - First release (KTOWN)
+   2021/Jan/18  - Modified Vector code (Walchko)
 */
 
 /* Set the delay between fresh samples */
@@ -71,28 +71,28 @@ void loop(void)
   // - VECTOR_EULER         - degrees
   // - VECTOR_LINEARACCEL   - m/s^2
   // - VECTOR_GRAVITY       - m/s^2
-  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
+  imu::Vector euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
 
   /* Display the floating point data */
   Serial.print("X: ");
-  Serial.print(euler.x());
+  Serial.print(euler.x);
   Serial.print(" Y: ");
-  Serial.print(euler.y());
+  Serial.print(euler.y);
   Serial.print(" Z: ");
-  Serial.print(euler.z());
+  Serial.print(euler.z);
   Serial.print("\t\t");
 
   /*
   // Quaternion data
   imu::Quaternion quat = bno.getQuat();
   Serial.print("qW: ");
-  Serial.print(quat.w(), 4);
+  Serial.print(quat.w, 4);
   Serial.print(" qX: ");
-  Serial.print(quat.x(), 4);
+  Serial.print(quat.x, 4);
   Serial.print(" qY: ");
-  Serial.print(quat.y(), 4);
+  Serial.print(quat.y, 4);
   Serial.print(" qZ: ");
-  Serial.print(quat.z(), 4);
+  Serial.print(quat.z, 4);
   Serial.print("\t\t");
   */
 

examples/read_all_data/read_all_data.ino

@@ -1,7 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 
 /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
    which provides a common 'type' for sensor data and some helper functions.
@@ -138,5 +137,3 @@ void printEvent(sensors_event_t* event) {
   Serial.print(" |\tz= ");
   Serial.println(z);
 }
-
-

examples/restore_offsets/restore_offsets.ino

@@ -1,7 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 #include <EEPROM.h>
 
 /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),

examples/sensorapi/sensorapi.ino

@@ -1,7 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 
 /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
    which provides a common 'type' for sensor data and some helper functions.

examples/webserial_3d/webserial_3d.ino

@@ -1,11 +1,10 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
-#include <utility/imumaths.h>
 
 /* Returns the IMU data as both a euler angles and quaternions as the WebSerial
    3D Model viewer at https://adafruit-3dmodel-viewer.glitch.me/ expects.
- 
+
    This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
    which provides a common 'type' for sensor data and some helper functions.
 
@@ -76,12 +75,12 @@ void setup(void)
     Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
     while(1);
   }
-   
+
   delay(1000);
 
   /* Use external crystal for better accuracy */
   bno.setExtCrystalUse(true);
-   
+
   /* Display some basic information on this sensor */
   displaySensorDetails();
 }
@@ -120,15 +119,15 @@ void loop(void)
 
   /* The WebSerial 3D Model Viewer also expects data as roll, pitch, heading */
   imu::Quaternion quat = bno.getQuat();
-  
+
   Serial.print(F("Quaternion: "));
-  Serial.print((float)quat.w());
+  Serial.print((float)quat.w);
   Serial.print(F(", "));
-  Serial.print((float)quat.x());
+  Serial.print((float)quat.x);
   Serial.print(F(", "));
-  Serial.print((float)quat.y());
+  Serial.print((float)quat.y);
   Serial.print(F(", "));
-  Serial.print((float)quat.z());
+  Serial.print((float)quat.z);
   Serial.println(F(""));
 
   /* Also send calibration data for each sensor. */