From cb188cfd7a757fa1fda2fc3ce5039e8320bdf543 Mon Sep 17 00:00:00 2001 From: Eiren Rain Date: Sun, 25 Dec 2022 21:21:38 +0100 Subject: [PATCH] Fix tests --- lib/bno080/BNO080.cpp | 10 +++++----- src/sensors/bno080sensor.cpp | 1 + src/serial/serialcommands.cpp | 3 ++- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/lib/bno080/BNO080.cpp b/lib/bno080/BNO080.cpp index 9abb40f..a5c9ed2 100644 --- a/lib/bno080/BNO080.cpp +++ b/lib/bno080/BNO080.cpp @@ -72,13 +72,13 @@ boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { + 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]); + swBuildNumber = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]); + swVersionPatch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]); if (_printDebug == 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]); - swBuildNumber = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]); - swVersionPatch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]); _debugPort->print(F("SW Version Major: 0x")); _debugPort->print(swMajor, HEX); _debugPort->print(F(" SW Version Minor: 0x")); diff --git a/src/sensors/bno080sensor.cpp b/src/sensors/bno080sensor.cpp index f39b92f..aad365e 100644 --- a/src/sensors/bno080sensor.cpp +++ b/src/sensors/bno080sensor.cpp @@ -91,6 +91,7 @@ void BNO080Sensor::motionLoop() //Look for reports from the IMU while (imu.dataAvailable()) { + hadData = true; #if ENABLE_INSPECTION { int16_t rX = imu.getRawGyroX(); diff --git a/src/serial/serialcommands.cpp b/src/serial/serialcommands.cpp index 45af442..4a4bb94 100644 --- a/src/serial/serialcommands.cpp +++ b/src/serial/serialcommands.cpp @@ -121,7 +121,7 @@ namespace SerialCommands { if (parser->equalCmdParam(1, "TEST")) { logger.info( - "[TEST]Board: %d, hardware: %d, build: %d, firmware: %s, mac: %s", + "[TEST] Board: %d, hardware: %d, build: %d, firmware: %s, mac: %s", BOARD, HARDWARE_MCU, FIRMWARE_BUILD_NUMBER, @@ -129,6 +129,7 @@ namespace SerialCommands { WiFi.macAddress() ); Sensor* sensor1 = sensorManager.getFirst(); + sensor1->motionLoop(); logger.info( "[TEST] Sensor 1: %s", getIMUNameByType(sensor1->getSensorType())