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Merged
merged 3 commits into from
May 11, 2020
Merged

Debug improvements #48

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8037323
Update SparkFun_BNO080_Arduino_Library.cpp
PaulZC May 2, 2020
f84b7c5
Investigating Issue #42 with printPacket
PaulZC May 2, 2020
58b2197
Delete BNO080_SPI_Issue.ino
PaulZC May 11, 2020
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1 change: 1 addition & 0 deletions keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ receivePacket KEYWORD2
getData KEYWORD2
sendPacket KEYWORD2
printPacket KEYWORD2
printHeader KEYWORD2

enableRotationVector KEYWORD2
enableGameRotationVector KEYWORD2
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63 changes: 60 additions & 3 deletions src/SparkFun_BNO080_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,22 @@ boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
{
if (_printDebug == true)
{
_debugPort->print(F("SW Version Major: 0x"));
_debugPort->print(shtpData[2], HEX);
_debugPort->print(F(" SW Version Minor: 0x"));
_debugPort->print(shtpData[3], HEX);
uint32_t SW_Part_Number = ((uint32_t)shtpData[7] << 24) | ((uint32_t)shtpData[6] << 16) | ((uint32_t)shtpData[5] << 8) | ((uint32_t)shtpData[4]);
_debugPort->print(F(" SW Part Number: 0x"));
_debugPort->print(SW_Part_Number, HEX);
uint32_t SW_Build_Number = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]);
_debugPort->print(F(" SW Build Number: 0x"));
_debugPort->print(SW_Build_Number, HEX);
uint16_t SW_Version_Patch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]);
_debugPort->print(F(" SW Version Patch: 0x"));
_debugPort->println(SW_Version_Patch, HEX);
}
return (true);
}
}
Expand Down Expand Up @@ -123,6 +139,22 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
if (receivePacket() == true)
{
if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
if (_printDebug == true)
{
_debugPort->print(F("SW Version Major: 0x"));
_debugPort->print(shtpData[2], HEX);
_debugPort->print(F(" SW Version Minor: 0x"));
_debugPort->print(shtpData[3], HEX);
uint32_t SW_Part_Number = ((uint32_t)shtpData[7] << 24) | ((uint32_t)shtpData[6] << 16) | ((uint32_t)shtpData[5] << 8) | ((uint32_t)shtpData[4]);
_debugPort->print(F(" SW Part Number: 0x"));
_debugPort->print(SW_Part_Number, HEX);
uint32_t SW_Build_Number = ((uint32_t)shtpData[11] << 24) | ((uint32_t)shtpData[10] << 16) | ((uint32_t)shtpData[9] << 8) | ((uint32_t)shtpData[8]);
_debugPort->print(F(" SW Build Number: 0x"));
_debugPort->print(SW_Build_Number, HEX);
uint16_t SW_Version_Patch = ((uint16_t)shtpData[13] << 8) | ((uint16_t)shtpData[12]);
_debugPort->print(F(" SW Version Patch: 0x"));
_debugPort->println(SW_Version_Patch, HEX);
}
return (true);
}

Expand Down Expand Up @@ -346,13 +378,19 @@ void BNO080::parseInputReport(void)
}
else if (shtpData[5] == SHTP_REPORT_COMMAND_RESPONSE)
{
Serial.println("!");
if (_printDebug == true)
{
_debugPort->println(F("!"));
}
//The BNO080 responds with this report to command requests. It's up to use to remember which command we issued.
uint8_t command = shtpData[5 + 2]; //This is the Command byte of the response

if (command == COMMAND_ME_CALIBRATE)
{
Serial.println("ME Cal report found!");
if (_printDebug == true)
{
_debugPort->println(F("ME Cal report found!"));
}
calibrationStatus = shtpData[5 + 5]; //R0 - Status (0 = success, non-zero = fail)
}
}
Expand Down Expand Up @@ -1231,6 +1269,7 @@ boolean BNO080::receivePacket(void)
if (dataLength == 0)
{
//Packet is empty
printHeader();
return (false); //All done
}
dataLength -= 4; //Remove the header bytes from the data count
Expand All @@ -1246,7 +1285,7 @@ boolean BNO080::receivePacket(void)
digitalWrite(_cs, HIGH); //Release BNO080

_spiPort->endTransaction();
//printPacket();
printPacket();
}
else //Do I2C
{
Expand Down Expand Up @@ -1443,3 +1482,21 @@ void BNO080::printPacket(void)
_debugPort->println();
}
}

//Pretty prints the contents of the current shtp header (only)
void BNO080::printHeader(void)
{
if (_printDebug == true)
{
//Print the four byte header
_debugPort->print(F("Header:"));
for (uint8_t x = 0; x < 4; x++)
{
_debugPort->print(F(" "));
if (shtpHeader[x] < 0x10)
_debugPort->print(F("0"));
_debugPort->print(shtpHeader[x], HEX);
}
_debugPort->println();
}
}
1 change: 1 addition & 0 deletions src/SparkFun_BNO080_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,7 @@ class BNO080
boolean getData(uint16_t bytesRemaining); //Given a number of bytes, send the requests in I2C_BUFFER_LENGTH chunks
boolean sendPacket(uint8_t channelNumber, uint8_t dataLength);
void printPacket(void); //Prints the current shtp header and data packets
void printHeader(void); //Prints the current shtp header (only)

void enableRotationVector(uint16_t timeBetweenReports);
void enableGameRotationVector(uint16_t timeBetweenReports);
Expand Down