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Don't resend sensor reset reason unless it changes, light up a diode on reset

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This commit is contained in:
Eiren Rain
2021-05-10 16:18:41 +03:00
parent da8ee48782
commit aab07e3ee4
1 changed files with 8 additions and 4 deletions
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12
src/bno080sensor.cpp
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@@ -71,17 +71,17 @@ void BNO080Sensor::motionSetup(DeviceConfig * config)
imu.enableARVRStabilizedGameRotationVector(10);
else
imu.enableGameRotationVector(10);
uint8_t lastReset = imu.resetReason();
sendResetReason(lastReset);
}
unsigned long lastData = 0;
int8_t lastReset = -1;
void BNO080Sensor::motionLoop()
{
//Look for reports from the IMU
if (imu.dataAvailable())
{
lastReset = -1;
lastData = millis();
quaternion.x = imu.getQuatI();
quaternion.y = imu.getQuatJ();
@@ -92,8 +92,12 @@ void BNO080Sensor::motionLoop()
} else {
if(lastData + 5000 < millis()) {
lastData = millis();
uint8_t lastReset = imu.resetReason();
sendResetReason(lastReset);
uint8_t rr = imu.resetReason();
if(rr != lastReset) {
lastReset = rr;
sendResetReason(rr);
digitalWrite(LOADING_LED, LOW);
}
}
}
}