Removing blocking SPI waits from main functions.

Author: nseidle

examples/SPI/Example1-RotationVector/Example1-RotationVector.ino

@@ -33,7 +33,6 @@
   7 = !RST
   3.3V = 3V3
   GND = GND
-
 */
 
 #include <SPI.h>
@@ -47,9 +46,12 @@ 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(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 SPI Read Example");
 
@@ -72,10 +74,15 @@ void setup()
 
   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(10); //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)
   {
@@ -84,6 +91,7 @@ void loop()
     float quatK = myIMU.getQuatK();
     float quatReal = myIMU.getQuatReal();
     float quatRadianAccuracy = myIMU.getQuatRadianAccuracy();
+    measurements++;
 
     Serial.print(quatI, 2);
     Serial.print(F(","));
@@ -95,7 +103,10 @@ void loop()
     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();
   }
+  
 }

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -102,10 +102,12 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
   //host. It must not send any other data until this step is complete.
   //When BNO080 first boots it broadcasts big startup packet
   //Read it and dump it
+  waitForSPI();
   receivePacket();
 
   //The BNO080 will then transmit an unsolicited Initialize Response (see 6.4.5.2)
   //Read it and dump it
+  waitForSPI();
   receivePacket();
 
   //Check communication with device
@@ -116,6 +118,7 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
   sendPacket(CHANNEL_CONTROL, 2);
 
   //Now we wait for response
+  waitForSPI();
   if (receivePacket() == true)
   {
     if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
@@ -950,6 +953,7 @@ boolean BNO080::waitForSPI()
   for (uint8_t counter = 0 ; counter < 125 ; counter++) //Don't got more than 255
   {
     if (digitalRead(_int) == LOW) return (true);
+	if (_printDebug == true) _debugPort->println(F("SPI Wait"));
     delay(1);
   }
 
@@ -963,7 +967,9 @@ boolean BNO080::receivePacket(void)
 {
   if (_i2cPort == NULL) //Do SPI
   {
-    if (waitForSPI() == false) return (false); //Something went wrong
+    if (digitalRead(_int) == HIGH) return (false); //Data is not available
+	  
+    //Old way: if (waitForSPI() == false) return (false); //Something went wrong
 
     //Get first four bytes to find out how much data we need to read