From 1b659571119013a96ed3e083742355e17cfeca4e Mon Sep 17 00:00:00 2001
From: Steven Ruppert <blendmaster@gmail.com>
Date: Thu, 3 May 2018 17:48:13 -0600
Subject: [PATCH 1/2] Add linear (minus gravity) accelerometer reports

Copypasta from the regular accelerometer report. Probably works.
---
 src/SparkFun_BNO080_Arduino_Library.cpp | 44 ++++++++++++++++++++++++-
 src/SparkFun_BNO080_Arduino_Library.h   |  8 +++++
 2 files changed, 51 insertions(+), 1 deletion(-)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 88cb77b..22e77db 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -135,6 +135,13 @@ void BNO080::parseInputReport(void)
 		rawAccelY = data2;
 		rawAccelZ = data3;
 	}
+	else if(shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION)
+	{
+		accelLinAccuracy = status;
+		rawLinAccelX = data1;
+		rawLinAccelY = data2;
+		rawLinAccelZ = data3;
+	}
 	else if(shtpData[5] == SENSOR_REPORTID_GYROSCOPE)
 	{
 		gyroAccuracy = status;
@@ -251,6 +258,35 @@ uint8_t BNO080::getAccelAccuracy()
 	return(accelAccuracy);
 }
 
+// linear acceleration, i.e. minus gravity
+
+//Return the acceleration component
+float BNO080::getLinAccelX()
+{
+    float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1);
+	return(accel);
+}
+
+//Return the acceleration component
+float BNO080::getLinAccelY()
+{
+    float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1);
+	return(accel);
+}
+
+//Return the acceleration component
+float BNO080::getLinAccelZ()
+{
+    float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1);
+	return(accel);
+}
+
+//Return the acceleration component
+uint8_t BNO080::getLinAccelAccuracy()
+{
+	return(accelLinAccuracy);
+}
+
 //Return the gyro component
 float BNO080::getGyroX()
 {
@@ -536,6 +572,12 @@ void BNO080::enableAccelerometer(uint16_t timeBetweenReports)
   setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports);
 }
 
+//Sends the packet to enable the accelerometer
+void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports)
+{
+  setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports);
+}
+
 //Sends the packet to enable the gyro
 void BNO080::enableGyro(uint16_t timeBetweenReports)
 {
@@ -883,4 +925,4 @@ void BNO080::printPacket(void)
 		_debugPort->println();
 	}
 
-}
\ No newline at end of file
+}
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 628b218..ff7c7be 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -152,6 +152,7 @@ class BNO080 {
 	void enableRotationVector(uint16_t timeBetweenReports);
 	void enableGameRotationVector(uint16_t timeBetweenReports);
 	void enableAccelerometer(uint16_t timeBetweenReports);
+	void enableLinearAccelerometer(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);
 	void enableMagnetometer(uint16_t timeBetweenReports);
 	void enableStepCounter(uint16_t timeBetweenReports);
@@ -173,6 +174,11 @@ class BNO080 {
 	float getAccelZ();
 	uint8_t getAccelAccuracy();
 
+	float getLinAccelX();
+	float getLinAccelY();
+	float getLinAccelZ();
+	uint8_t getLinAccelAccuracy();
+
 	float getGyroX();
 	float getGyroY();
 	float getGyroZ();
@@ -228,6 +234,7 @@ class BNO080 {
 
 	//These are the raw sensor values pulled from the user requested Input Report
 	uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
+	uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy;
 	uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy;
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
@@ -240,6 +247,7 @@ class BNO080 {
 	//See the read metadata example for more info
 	int16_t rotationVector_Q1 = 14;
 	int16_t accelerometer_Q1 = 8;
+	int16_t linear_accelerometer_Q1 = 8;
 	int16_t gyro_Q1 = 9;
 	int16_t magnetometer_Q1 = 4;
 };

From 3e9795d079f0be7de2f392a7e1061abd706e4d1d Mon Sep 17 00:00:00 2001
From: Steven Ruppert <blendmaster@gmail.com>
Date: Thu, 3 May 2018 19:13:13 -0600
Subject: [PATCH 2/2] getQuatAccuracy: actually return quatAccuracy

whoops.
---
 src/SparkFun_BNO080_Arduino_Library.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 22e77db..cf6e4d7 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -228,7 +228,7 @@ float BNO080::getQuatRadianAccuracy()
 //Return the acceleration component
 uint8_t BNO080::getQuatAccuracy()
 {
-	return(accelAccuracy);
+	return(quatAccuracy);
 }
 
 //Return the acceleration component