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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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17 changes: 13 additions & 4 deletions adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -392,17 +392,26 @@ 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.monotonic()
while self._uart.in_waiting < 2 and time.monotonic() - now < 0.25:
pass
resp = self._uart.read(self._uart.in_waiting)
if len(resp) < 2:
raise OSError("UART access error.")
if resp[0] != 0xEE or resp[1] != 0x01:
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]))
time.sleep(0.1)
resp = self._uart.read(self._uart.in_waiting)
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 < 0.1:
pass
resp = self._uart.read(self._uart.in_waiting)
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:
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10 changes: 3 additions & 7 deletions docs/conf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,7 @@
# 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
Expand Down Expand Up @@ -144,7 +140,7 @@
"Adafruit BNO055 Library Documentation",
"Radomir Dopieralski",
"manual",
),
)
]

# -- Options for manual page output ---------------------------------------
Expand Down Expand Up @@ -175,5 +171,5 @@
"AdafruitBNO055Library",
"One line description of project.",
"Miscellaneous",
),
)
]
1 change: 0 additions & 1 deletion examples/bno055_simpletest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
# 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))
Expand Down