jerabaul29
commented
3 years ago I closed issues #68 and #69 in favor of this discussion.
I spent quite a bit of time investigating these issues, so I thought I would give a small update here. That may be useful for other users who hit the same issues.
Because of some issues with querying several data feeds with the current SF code (see #70 ), I use the Adafruit code. There is a bit of a hack to get it to work on the Artemis board, see the recipe https://github.com/jerabaul29/Artemis_MbedOS_recipes/blob/main/recipes/recipe_IMU_BNO_Adafruit/recipe_IMU_BNO_Adafruit.ino comment at the start to explain how to get it to work.
I use this script to follow the advices of @PaulZC and restart the board if connection fails (of course the issue is that I then loose all the RAM information; a solution would be to dump user data to Flash through the "EEPROM" library):
#include "Arduino.h"
#include "WDT.h"
#include <Adafruit_BNO08x.h>
Adafruit_BNO08x bno08x{};
sh2_SensorValue_t sensorValue;
unsigned long micros_last;
unsigned long micros_crrt;
void setReports(void) {
if (!bno08x.enableReport(SH2_ROTATION_VECTOR, 500000UL)) {
Serial.println("Could not enable rotation vector");
}
}
APM3_WDT wdt;
void resetArtemis(void)
{
Wire.end(); //Power down I2C
SPI.end(); //Power down SPI
power_adc_disable(); //Power down ADC. It it started by default before setup().
Serial.end(); //Power down UART
//Force the peripherals off
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM0);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM1);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM2);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM3);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM4);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_IOM5);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_ADC);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_UART0);
am_hal_pwrctrl_periph_disable(AM_HAL_PWRCTRL_PERIPH_UART1);
while (1) // That's all folks! Artemis will watchdog reset in 1.25 seconds
;
}
void setup(void) {
wdt.start();
Serial.begin(115200);
while (!Serial){
delay(10);
}
Serial.println();
Serial.println("------ booted ------");
Serial.println();
// initialize
for (int i=0; i<60;i++){
wdt.restart();
if (bno08x.begin_I2C(0x4B, &Wire, 0)){
Serial.println(F("found the Artemis!"));
break;
}
else{
Serial.print("Failed to find BNO08x chip "); Serial.println(i+1);
if (i == 19){
Serial.println(F("reset Artemis"));
resetArtemis();
}
Wire.end();
delay(50);
Wire.begin();
delay(50);
delay(500);
}
}
Wire.setClock(400000);
delay(50);
setReports();
micros_last = micros();
Serial.println("----- Reading events -----");
delay(100);
}
void loop() {
Serial.println(F("start reading"));
while(true){
if (bno08x.wasReset()) {
Serial.print("sensor was reset ");
setReports();
continue;
}
if (!bno08x.getSensorEvent(&sensorValue)) {
continue;
}
else{
wdt.restart();
switch (sensorValue.sensorId) {
case SH2_ROTATION_VECTOR:
micros_crrt = micros();
Serial.print(F("micros: ")); Serial.print(micros_crrt); Serial.println(F(" | micros elapsed: ")); Serial.println(micros_crrt-micros_last);
micros_last = micros_crrt;
Serial.print("Rotation Vector - r: ");
Serial.print(sensorValue.un.rotationVector.real);
Serial.print(" i: ");
Serial.print(sensorValue.un.rotationVector.i);
Serial.print(" j: ");
Serial.print(sensorValue.un.rotationVector.j);
Serial.print(" k: ");
Serial.println(sensorValue.un.rotationVector.k);
// TODO: may want to put a small delay here
break;
}
}
}
}I noticed a few interesting things. I think there may be 2 different bugs that cause hanging. Indeed, I get 2 "flavors" of hanging.
-
One hanging jumps to the
Failed to find BNO08x chipmessage. This issue is of course a bit annoying, but it is benign in practice in my tests: by looping on attempting to connect to the BNO, I usually manage in the end to talk to it. A funny thing here is that there seems to be some form of regularity. For example, if 1) I connect the board, and it goes through the cycles of re-trying until connecting and getting good data. Then if 2) I press the reset (or rather reboot) hardware button on the Artemis, then 3) I have observed "experimentally" that often the same hanging happens, and usually (not always) as many retries are needed each time. -
Another issue, which is much more damaging to me, is that it seems that sometimes the boards hangs altogether. In this case, I do not even get the
Failed to find BNO08x chipchip, and the code hangs in thebno08x.begin_I2C(0x4B, &Wire, 0)function. This is much more problematic, as the whole thing seems to then freeze, and in this case I do need the watchdog reset and I loose the data.
PaulZC
adamgarbo
This is moslty just for discussing / brainstorming.
There is this really annoying issue with the BNO080 hanging when put on I2C to the Artemis.
Any feedback you received about connecting the BNO080 through UART or SPI instead? Does that work without hanging? Of course I would prefer I2C, but if needed, I can use something else.
It is very late, will try tomorrow, but would be great to know if there are some known issues there too / if investigating this would waste my time. In this case, I would stick to I2C and the hard reset solution ^^ .