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Project-CETI / whale-tag-embedded

Source code for the software that is used to build the image for the embedded computer inside the Whale Tags to be deployed onto sperm whales for project CETI
Apache License 2.0
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Integrate bit-banged i2c for BNO08x IMU #16

Closed MattCummings0517 closed 2 years ago

MattCummings0517 commented 2 years ago

The built-in Raspberry Pi i2c controller does not support clock stretching, which is required by the BNO085. v2 and v2_1 code used the built-in controller. The IMU reports successfully most of the time, but there are occasional bad data points which are clear outliers in the quaternion stream. Our working theory is that these bad data points result from an i2c comm error associated with the lack of clock stretching.

As a fix, we are looking at the pigpio library bit-banged i2c API. Peter N. has written code to utilize this API, but it needs to be integrated and tested with the main Tag recording application (cetiTagApp).

MattCummings0517 commented 2 years ago

Peter N's implementation was integrated and tested. IMU behavior on the bench is as expected. Closing the issue.