PaulZC
commented
4 years ago Hi @DaudiGabriel , Just an update to let you know that we are investigating this issue. I can replicate your issue using a SparkFun RedBoard (ATmega328P) and the following code:
#include <SPI.h>
#include "SparkFun_BNO080_Arduino_Library.h"
BNO080 myIMU;
//These pins can be any GPIO
byte imuCSPin = 10;
byte imuWAKPin = 9;
byte imuINTPin = 8;
byte imuRSTPin = 7;
unsigned long startTime; //Used for calc'ing Hz
long measurements = 0; //Used for calc'ing Hz
void setup()
{
Serial.begin(115200);
Serial.println();
Serial.println("BNO080 SPI Read Example");
myIMU.enableDebugging(Serial); //Pipe debug messages to Serial port
if(myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin) == false)
{
Serial.println("BNO080 over SPI not detected. Are you sure you have all 6 connections? Freezing...");
while(1);
}
//You can also call begin with SPI clock speed and SPI port hardware
//myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000);
//myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000, SPI1);
//The IMU is now connected over SPI
//Please see the other examples for library functions that you can call
myIMU.enableRotationVector(10); //Send data update every 10ms
Serial.println(F("Rotation vector enabled"));
Serial.println(F("Output in form i, j, k, real, accuracy"));
startTime = millis();
}
void loop()
{
Serial.println("Doing other things");
delay(6); //You can do many other things. We spend most of our time printing and delaying.
//Look for reports from the IMU
if (myIMU.dataAvailable() == true)
{
float quatI = myIMU.getQuatI();
float quatJ = myIMU.getQuatJ();
float quatK = myIMU.getQuatK();
float quatReal = myIMU.getQuatReal();
float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
measurements++;
Serial.print(quatI, 2);
Serial.print(F(","));
Serial.print(quatJ, 2);
Serial.print(F(","));
Serial.print(quatK, 2);
Serial.print(F(","));
Serial.print(quatReal, 2);
Serial.print(F(","));
Serial.print(quatRadianAccuracy, 2);
Serial.print(F(","));
Serial.print((float)measurements / ((millis() - startTime) / 1000.0), 2);
Serial.print(F("Hz"));
Serial.println();
}
}If I decrease the delay inside the loop to 5ms, the code works as expected. With the delay set to 6ms, the updates freeze after 1 or 2 seconds. I will keep investigating! Best wishes, Paul
FidencioYzaguirreIII
DaudiGabriel
Subject of the issue
If the main loop evaluation time in an Arduino sketch is slightly larger than the update rate of the sensor, the Sensor will not report any updates via SPI any more. Not sure, whether this is a library problem or whether there is some internal (inside the BNO080) buffer overflow, which stops the sensor from working properly.
Your workbench
Steps to reproduce
Slightly modified version of SPI example "Example1-RotationVector"
//These pins can be any GPIO byte imuCSPin = 10; byte imuWAKPin = 14; byte imuINTPin = 16; byte imuRSTPin = 15;
unsigned long startTime; //Used for calc'ing Hz long measurements = 0; //Used for calc'ing Hz
void setup() { Serial.begin(115200); Serial.println(); Serial.println("BNO080 SPI Read Example");
if(myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin) == false) { Serial.println("BNO080 over SPI not detected. Are you sure you have all 6 connections? Freezing..."); while(1); }
myIMU.enableRotationVector(10); //Send data update every 10ms
startTime = millis(); }
void loop() { Serial.println("Doing other things"); delay(9); //You can do many other things. We spend most of our time printing and delaying.
//Look for reports from the IMU if (myIMU.dataAvailable() == true) { measurements++;
} }
Expected behavior
Measurements over SPI should still be available
Actual behavior
Can not read any data from sensor