Merge pull request #92 from mattbradford83/main

Implement hasReset() to track Reset Complete response.

Author: PaulZC

examples/Example21-ResetCheck/Example21-ResetCheck.ino

@@ -0,0 +1,85 @@
+/*
+  Using the BNO080 IMU hasReset() function
+  By: @mattbradford83
+  Date: 1 August 2021
+  SparkFun code, firmware, and software is released under the MIT License.
+	Please see LICENSE.md for further details.
+
+  This example shows how check for a "Reset Complete" packet from the sensor,
+  which is helpful when used in tandem with resetReason(). The sensor will be
+  reset each time 25 readings are received to demonstrate. 
+
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
+
+#define BNO08X_ADDR 0x4A
+//#define BNO08X_ADDR 0x4B
+
+BNO080 myIMU;
+
+int cyclecount = 0;
+
+
+// After a reset, reports need to be re-enabled.
+void enableReports() {
+  myIMU.enableGyro(50); //Send data update every 50ms
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+  Wire.flush();
+  if (!myIMU.begin(BNO08X_ADDR)) {
+    Serial.println("Could Not Enable BNO Sensor! Check your I2C Address.");
+    return;
+  }
+  
+  enableReports();
+
+  Serial.println(F("Gyro enabled"));
+  Serial.println(F("Output in form x, y, z, in radians per second"));
+}
+
+void loop()
+{
+  // One of these will appear at the very start because of the power on reset. 
+  // Check resetReason() for the difference between different resets.
+  if (myIMU.hasReset()) {
+      Serial.println(" ------------------ BNO085 has reset. ------------------ ");
+      Serial.printf(" Reason: %i\n",myIMU.resetReason());
+      enableReports(); // We'll need to re-enable reports after any reset.
+  }
+
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable())
+  {
+    cyclecount++;
+    Serial.printf("[%2i] ",cyclecount);
+
+    float x = myIMU.getGyroX();
+    float y = myIMU.getGyroY();
+    float z = myIMU.getGyroZ();
+
+    Serial.print(x, 2);
+    Serial.print(F(","));
+    Serial.print(y, 2);
+    Serial.print(F(","));
+    Serial.print(z, 2);
+    Serial.print(F(","));
+
+    Serial.println();
+
+    if (cyclecount == 25) {
+      myIMU.softReset();
+      cyclecount=0;
+    }
+    
+  }
+}

keywords.txt

@@ -19,6 +19,7 @@ enableDebugging	KEYWORD2
 
 softReset	KEYWORD2
 resetReason	KEYWORD2
+hasReset    KEYWORD2
 modeOn	KEYWORD2
 modeSleep	KEYWORD2
 

src/SparkFun_BNO080_Arduino_Library.cpp

@@ -1035,6 +1035,16 @@ void BNO080::modeSleep(void)
 		; //delay(1);
 }
 
+// Indicates if we've received a Reset Complete packet. Once it's been read, 
+// the state will reset to false until another Reset Complete packet is found. 
+bool BNO080::hasReset() {
+	if (_hasReset) {
+		_hasReset = false;
+		return true;
+	}
+	return false; 
+}
+
 //Get the reason for the last reset
 //1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other
 uint8_t BNO080::resetReason()
@@ -1483,6 +1493,15 @@ boolean BNO080::receivePacket(void)
 		getData(dataLength);
 	}
 
+	// Quickly check for reset complete packet. No need for a seperate parser.
+	// This function is also called after soft reset, so we need to catch this
+	// packet here otherwise we need to check for the reset packet in multiple
+	// places.
+	if (shtpHeader[2] == CHANNEL_EXECUTABLE && shtpData[0] == EXECUTABLE_RESET_COMPLETE) 
+	{
+		_hasReset = true;
+	} 
+
 	return (true); //We're done!
 }
 

src/SparkFun_BNO080_Arduino_Library.h

@@ -100,6 +100,9 @@ const byte CHANNEL_GYRO = 5;
 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309
 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B
 
+// Reset complete packet (BNO08X Datasheet p.24 Figure 1-27)
+#define EXECUTABLE_RESET_COMPLETE 0x1
+
 //Command IDs from section 6.4, page 42
 //These are used to calibrate, initialize, set orientation, tare etc the sensor
 #define COMMAND_ERRORS 1
@@ -131,6 +134,7 @@ class BNO080
 	void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used.
 
 	void softReset();	  //Try to reset the IMU via software
+	bool hasReset(); //Returns true if the sensor has reported a reset. Reading this will unflag the reset.
 	uint8_t resetReason(); //Query the IMU for the reason it last reset
 	void modeOn();	  //Use the executable channel to turn the BNO on
 	void modeSleep();	  //Use the executable channel to put the BNO to sleep
@@ -273,6 +277,8 @@ class BNO080
 	uint8_t _int;
 	uint8_t _rst;
 
+	bool _hasReset = false;		// Keeps track of any Reset Complete packets we receive. 
+
 	//These are the raw sensor values (without Q applied) pulled from the user requested Input Report
 	uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
 	uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy;