jepler/Adafruit_CircuitPython_BNO055
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_read_register now uses loop in uart mode to increase stability and speed

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This commit is contained in:
dherrada 2020-07-03 17:06:53 -04:00
parent 0879db5326
commit 843480682b
3 changed files with 19 additions and 35 deletions
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24
adafruit_bno055.py
View file

@ -402,28 +402,20 @@ class BNO055_UART(BNO055):
raise RuntimeError("UART write error: {}".format(resp[1]))
def _read_register(self, register, length=1): # pylint: disable=arguments-differ
self._uart.write(bytes([0xAA, 0x01, register, length]))
now = time.monotonic()
while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.25:
pass
resp = self._uart.read(self._uart.in_waiting)
if resp[0] != 0xBB: # Recursion
i = 0
while i < 3:
self._uart.write(bytes([0xAA, 0x01, register, length]))
now = time.monotonic()
while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.25:
while self._uart.in_waiting < length + 2 and time.monotonic() - now < 0.1:
pass
resp = self._uart.read(self._uart.in_waiting)
if len(resp) < 2:
raise OSError("UART access error.")
if resp[0] != 0xBB:
raise RuntimeError("UART read error: {}".format(resp[1]))
if length > 1:
return resp[2:]
return int(resp[2])
if len(resp) >= 2 and resp[0] == 0xBB:
i = 3
i += 1
if len(resp) < 2:
raise OSError("UART access error.")
if resp[0] != 0xBB:
raise RuntimeError("UART read error: {}".format(resp[1]))
if length > 1:
return resp[2:]
return int(resp[2])

10
docs/conf.py
View file

@ -10,11 +10,7 @@ sys.path.insert(0, os.path.abspath(".."))
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
"sphinx.ext.autodoc",
"sphinx.ext.intersphinx",
"sphinx.ext.viewcode",
]
extensions = ["sphinx.ext.autodoc", "sphinx.ext.intersphinx", "sphinx.ext.viewcode"]
# Uncomment the below if you use native CircuitPython modules such as
# digitalio, micropython and busio. List the modules you use. Without it, the
@ -144,7 +140,7 @@ latex_documents = [
"Adafruit BNO055 Library Documentation",
"Radomir Dopieralski",
"manual",
),
)
]
# -- Options for manual page output ---------------------------------------
@ -175,5 +171,5 @@ texinfo_documents = [
"AdafruitBNO055Library",
"One line description of project.",
"Miscellaneous",
),
)
]

20
examples/bno055_simpletest.py
View file

@ -12,17 +12,13 @@ sensor = adafruit_bno055.BNO055_I2C(i2c)
# sensor = adafruit_bno055.BNO055_UART(uart)
while True:
# Try/except only necessary when usuing UART mode
try:
print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
print("Magnetometer (microteslas): {}".format(sensor.magnetic))
print("Gyroscope (rad/sec): {}".format(sensor.gyro))
print("Euler angle: {}".format(sensor.euler))
print("Quaternion: {}".format(sensor.quaternion))
print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
print("Gravity (m/s^2): {}".format(sensor.gravity))
print()
except RuntimeError as e:
print(e)
print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
print("Magnetometer (microteslas): {}".format(sensor.magnetic))
print("Gyroscope (rad/sec): {}".format(sensor.gyro))
print("Euler angle: {}".format(sensor.euler))
print("Quaternion: {}".format(sensor.quaternion))
print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
print("Gravity (m/s^2): {}".format(sensor.gravity))
print()
time.sleep(1)