Store values in array

Question

I'm trying to implement the "BNO055 9 Axes Motion Shield". There is an existing Arduino sketch GitHub that reads out the Euler data, I changed it a bit to print out quaternion data.

#include "NAxisMotion.h"        //Contains the bridge code between the API and the Arduino Environment
#include <Wire.h>

NAxisMotion mySensor;         //Object that for the sensor 
unsigned long lastStreamTime = 0;     //To store the last streamed time stamp
const int streamPeriod = 20;          //To stream at 50Hz without using additional timers (time period(ms) =1000/frequency(Hz))

void setup() //This code is executed once
{    
  //Peripheral Initialization
  Serial.begin(115200);           //Initialize the Serial Port to view information on the Serial Monitor
  I2C.begin();                    //Initialize I2C communication to the let the library communicate with the sensor.
  //Sensor Initialization
  mySensor.initSensor();          //The I2C Address can be changed here inside this function in the library
  mySensor.setOperationMode(OPERATION_MODE_NDOF);   //Can be configured to other operation modes as desired
  mySensor.setUpdateMode(MANUAL);   //The default is AUTO. Changing to MANUAL requires calling the relevant update functions prior to calling the read functions
  //Setting to MANUAL requires fewer reads to the sensor  
}

void loop() //This code is looped forever
{
  if ((millis() - lastStreamTime) >= streamPeriod)
  {
    lastStreamTime = millis();    
    mySensor.updateQuat();        //Update the Quat data into the structure of the object
    mySensor.updateCalibStatus();  //Update the Calibration Status

    Serial.print("Time: ");
    Serial.print(lastStreamTime);
    Serial.print("ms ");

    Serial.print(" W: ");
    Serial.print(mySensor.readQuatW()); 

    Serial.print(" X: ");
    Serial.print(mySensor.readQuatX());

    Serial.print(" Y: ");
    Serial.print(mySensor.readQuatY()); 

    Serial.print(" Z: ");
    Serial.print(mySensor.readQuatZ()); 

    Serial.println();
  }
}

Here is a snippet of the "NAxisMotion.h" header file:

    /*******************************************************************************************
    *Description: This function is used to return the w-axis of the quaternion data
    *Input Parameters: None
    *Return Parameter:
    *   int16_t:    W-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
    *******************************************************************************************/
    int16_t readQuatW(void);

    /*******************************************************************************************
    *Description: This function is used to return the x-axis of the quaternion data
    *Input Parameters: None
    *Return Parameter:
    *   int16_t:    X-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
    *******************************************************************************************/
    int16_t readQuatX(void);

    /*******************************************************************************************
    *Description: This function is used to return the y-axis of the quaternion data
    *Input Parameters: None
    *Return Parameter:
    *   int16_t:    Y-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
    *******************************************************************************************/
    int16_t readQuatY(void);

    /*******************************************************************************************
    *Description: This function is used to return the z-axis of the quaternion data
    *Input Parameters: None
    *Return Parameter:
    *   int16_t:    Z-axis quaternion data multiplied by 1000 (for 3 decimal places accuracy)
    *******************************************************************************************/
    int16_t readQuatZ(void);

I understand that the output data type is signed integer, but what syntax do I need to use to store them in an array? Because it seems the only way to access them is through "mySensor.readQuatX()"

Answer 1

If I understand correctly you want to store a number of signed integers in an array. Arrays have fixed sizes so you need to know the number of values you want to store.

// Global declarations
enum QIndex {WAxis, XAxis, YAxi, ZAxis, MaxIndex};
int16_t qData[MaxValues] = {0};

// Code inside loop
qData[WAxis] = readQuatW();
qData[XAxis] = readQuatX();
qData[YAxis] = readQuatY();
qData[ZAxis] = readQuatZ();

// Pass the array  of values to another function with the declaration
// void SomeFunction (int *ar);
// or
// void SomeFunction (int ar[]);
SomeFunction (qData);

Is that what you mean?