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Allow uart to go ~100Hz versus 10Hz #50

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Merged
merged 6 commits into from
Jul 7, 2020
Merged

Allow uart to go ~100Hz versus 10Hz #50

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9820d4d
Allow uart to go ~100Hz versus 10Hz
evaherrada Jun 29, 2020
8483415
Allow UART to go even faster with some janky recursion
evaherrada Jul 1, 2020
7147de8
Formatted
evaherrada Jul 1, 2020
0879db5
Changed time.time to time.monotonic
evaherrada Jul 2, 2020
8434806
_read_register now uses loop in uart mode to increase stability and s…
evaherrada Jul 3, 2020
d73e432
Added break, reverted simpletest
evaherrada Jul 6, 2020
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25 changes: 21 additions & 4 deletions adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -392,7 +392,9 @@ def _write_register(self, register, data): # pylint: disable=arguments-differ
if not isinstance(data, bytes):
data = bytes([data])
self._uart.write(bytes([0xAA, 0x00, register, len(data)]) + data)
time.sleep(0.1)
now = time.time()
while self._uart.in_waiting < 2 and time.time() - now < 0.25:
pass
resp = self._uart.read(self._uart.in_waiting)
if len(resp) < 2:
raise OSError("UART access error.")
Expand All @@ -401,12 +403,27 @@ def _write_register(self, register, data): # pylint: disable=arguments-differ

def _read_register(self, register, length=1): # pylint: disable=arguments-differ
self._uart.write(bytes([0xAA, 0x01, register, length]))
time.sleep(0.1)
now = time.time()
while self._uart.in_waiting < length + 2 and time.time() - now < 0.25:
pass
resp = self._uart.read(self._uart.in_waiting)

if resp[0] != 0xBB: # Recursion
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This is not recursion because recursion would call _read_register. Why did you add this? It wasn't needed before.

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My initial plan was to actually do that, but I couldn't think of a good way to add in an exit condition so it didn't just keep going until it reached the recursion limit, and I guess I forgot to remove the comment.

It's needed because the, when running in UART mode, even in the version that's currently on master, it raises a UART read error every 3 or 4 reads when you're trying to use the simpletest. I think that before it may have mostly been tested by getting a single value, such as acceleration, at a time. That being said, even though I know the majority of people aren't using this with UART, I am quite surprised that I haven't seen anyone else encountering that issue, so it may be worthwhile for some other people with the sensor to do some testing to ensure that issue doesn't only affect me.

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Do the errors go away if you increase the timeout? If you really need it, I think you could just have an outer loop and count how many tries you want to do before raising an error. No need to copy things a second time.

self._uart.write(bytes([0xAA, 0x01, register, length]))
now = time.time()
while self._uart.in_waiting < length + 2 and time.time() - now < 0.25:
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:
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])
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21 changes: 12 additions & 9 deletions examples/bno055_simpletest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,17 @@
# sensor = adafruit_bno055.BNO055_UART(uart)

while True:
print("Temperature: {} degrees C".format(sensor.temperature))
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()
# 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)

time.sleep(1)