Added getters for multiple variables at the same time #56
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Hi @guihomework ,
Thank you for submitting this PR.
Some changes are required...
We already have an Example16. Please change the title of this file to Example18-AccessMultiple.ino.
We have separate examples for I2C and SPI. Please change this example so it uses I2C. You can include a separate SPI example in the SPI\examples folder.
Please comment out the Teensy-specific setMOSI commands etc.. Please see the other SPI examples and use the same format - using generic SPI. It is OK to leave the Teensy code in - so long as it is commented.
I think you missed an '&'? (See comment below.
Thank you!
Paul
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This is a nice PR. Great work!
Please make the suggested changes and I will be happy to merge it.
Best wishes,
Paul
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| // set up the SPI pins utilized on Teensy 4.0 | ||
| SPI1.setMOSI(imuMOSIPin); |
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Please comment these lines.
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Also, please use the new SPI terminology:
We don't use the terms Master and Slave any more. We now use Controller and Peripheral. We would like all new code to use the new terms: CIPO and COPI.
https://www.oshwa.org/2020/06/29/a-resolution-to-redefine-spi-pin-names/
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(You cannot do anything about setMOSI but you can change imuMOSIPin to imuCOPIPin etc.)
| SPI1.begin(); | ||
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| //Setup BNO080 to use SPI1 interface with max BNO080 clk speed of 3MHz | ||
| imu_initialized = myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 3000000, SPI1); //changed from slaveCPin |
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Please comment this line and add a line without the 3000000, SPI1 to make the example generic to SPI.
| Serial.println(F("Gyro enabled, Output in form x, y, z, in radians per second")); | ||
| Serial.println(F("Rotation vector, Output in form i, j, k, real, accuracy")); | ||
| //Serial.println(F("Magnetometer enabled, Output in form x, y, z, in uTesla")); | ||
| } |
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It might be best to add a warning here that the IMU did not initialize (instead of doing it in the main loop?)?
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| return (yaw); | |||
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| //Gets the full quaternion | |||
| //i,j,k,real output floats | |||
| void BNO080::getQuat(float &i, float &j, float &k, float &real, float radaccuracy, uint8_t &accuracy) | |||
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I think you forgot the & and capital A for &radAccuracy?
| @@ -169,32 +169,38 @@ class BNO080 | |||
| uint16_t parseInputReport(void); //Parse sensor readings out of report | |||
| uint16_t parseCommandReport(void); //Parse command responses out of report | |||
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| void getQuat(float &i, float &j, float &k, float &real, float radAccuracy, uint8_t &accuracy); | |||
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Same comment: I think you forgot the & for radAccuracy?
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Hi @PaulZC thanks for reviewing and sorry for the bad PR, not looking carefully about the existing examples, not noticing there were SPI separate examples and not being aware that a renaming campaign is underway in the world of programming/electronics. I hope I tackled all your remarks, but cannot test i2c or spi code in generic fashion. I re-tested with my teensy4.0 while uncommenting the required lines. |
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Hi @guihomework , |
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Thanks again for this PR - and for making the changes! |
As discussed here #55 , this PR adds getters for multiple variables at the same time, also avoiding extra data copy.
Example was tested on SPI1 on a teensy 4.0 but can be modified to test on a standard i2c bus that I cannot test right now immediately