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Adjusted startup sequence of BNO08X sensors to be more flexible regar… (#223)

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This commit is contained in:
Ryan
2023-01-25 06:25:54 -05:00
committed by GitHub
parent dfac95bb7a
commit 62ee873dfd
2 changed files with 40 additions and 14 deletions
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53
lib/bno080/BNO080.cpp
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@@ -67,11 +67,14 @@ boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
//Transmit packet on channel 2, 2 bytes
sendPacket(CHANNEL_CONTROL, 2);
//Now we wait for response
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
uint32_t tInitialResetTimeMS = millis();
bool tBoardInfoReceived = false;
// Wait max 2.5s for the product_id_response and ignore other packets received during that time.
while (millis() - tInitialResetTimeMS < 2500 && (!tBoardInfoReceived)) {
receivePacket();
if (shtpHeader[2] == 2 && shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) {
tBoardInfoReceived = true;
swMajor = shtpData[2];
swMinor = shtpData[3];
swPartNumber = ((uint32_t)shtpData[7] << 24) | ((uint32_t)shtpData[6] << 16) | ((uint32_t)shtpData[5] << 8) | ((uint32_t)shtpData[4]);
@@ -90,11 +93,10 @@ boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
_debugPort->print(F(" SW Version Patch: 0x"));
_debugPort->println(swVersionPatch, HEX);
}
return (true);
}
}
return (false); //Something went wrong
return tBoardInfoReceived;
}
boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_INTPin, uint8_t user_RSTPin, uint32_t spiPortSpeed, SPIClass &spiPort)
@@ -1027,6 +1029,34 @@ bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t words
}
}
// After power on or completed reset, the BNO will send two messages. One
// reply and one unsolicited message.
// 1) Reset message on SHTP channel 1
// 2) Unsolicited initialization message on SHTP channel 2
// See 5.2.1 on BNO08X datasheet.
// Wait For both of these packets specifically up to a max time and exit
// after both packets are read or max waiting time is reached.
void BNO080::waitForCompletedReset(void)
{
uint32_t tInitialResetTimeMS = millis();
bool tResetCompleteReceived = false;
bool tUnsolicitedResponseReceived = false;
shtpHeader[2] = 0; // Make sure we aren't reading old data.
shtpData[0] = 0;
// Wait max 5s for the two packets. OR Until we get both reset responses.
while (millis() - tInitialResetTimeMS < 5000 &&
(!tResetCompleteReceived || !tUnsolicitedResponseReceived)) {
receivePacket();
if (shtpHeader[2] == 1 && shtpData[0] == 0x01) {
tResetCompleteReceived = true;
}
if (shtpHeader[2] == 2 && shtpData[0] == 0xF1) {
tUnsolicitedResponseReceived = true;
}
}
}
//Send command to reset IC
//Read all advertisement packets from sensor
//The sensor has been seen to reset twice if we attempt too much too quickly.
@@ -1038,13 +1068,8 @@ void BNO080::softReset(void)
//Attempt to start communication with sensor
sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte
//Read all incoming data and flush it
delay(50);
while (receivePacket() == true)
; //delay(1);
delay(50);
while (receivePacket() == true)
; //delay(1);
waitForCompletedReset();
waitForCompletedReset();
}
//Set the operating mode to "On"

1
lib/bno080/BNO080.h
View File

@@ -157,6 +157,7 @@ public:
void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used.
void softReset(); //Try to reset the IMU via software
void waitForCompletedReset();
uint8_t resetReason(); //Query the IMU for the reason it last reset
void modeOn(); //Use the executable channel to turn the BNO on
void modeSleep(); //Use the executable channel to put the BNO to sleep