Revert "Adding support for the BNO080 - ** work in progress ** (does not .begin reliably)"

PaulZC · PaulZC · commit cd24c4518b91 · 2020-12-01T16:40:32.000Z
This reverts commit cdaf6af.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,15 +1,6 @@
 Change Log
 ======================
 
-v1.8
----------
-
-* Added a fix to make sure the MS8607 is detected correctly [54](https://github.com/sparkfun/OpenLog_Artemis/issues/54)
-* Added logMicroseconds [49](https://github.com/sparkfun/OpenLog_Artemis/issues/49)
-* Added an option to use autoPVT when logging GNSS data [50](https://github.com/sparkfun/OpenLog_Artemis/issues/50)
-* Started to add support for the BNO080 so users can have access to Quaternions and Euler angles [47](https://github.com/sparkfun/OpenLog_Artemis/issues/47)
-  * This is work in progress. The BNO080 does not currently .begin reliably - especially on the second attempt - and I don't understand why...
-
 v1.7
 ---------
 
diff --git a/Firmware/OpenLog_Artemis/OpenLog_Artemis.ino b/Firmware/OpenLog_Artemis/OpenLog_Artemis.ino
@@ -74,7 +74,6 @@
   (done) Add a fix to make sure the MS8607 is detected correctly: https://github.com/sparkfun/OpenLog_Artemis/issues/54
   (done) Add logMicroseconds: https://github.com/sparkfun/OpenLog_Artemis/issues/49
   (done) Add an option to use autoPVT when logging GNSS data: https://github.com/sparkfun/OpenLog_Artemis/issues/50
-  (work in progress) Add support for the BNO080 so users have access to Quaternions and Euler angles: https://github.com/sparkfun/OpenLog_Artemis/issues/47
 */
 
 const int FIRMWARE_VERSION_MAJOR = 1;
@@ -207,7 +206,6 @@ ICM_20948_SPI myICM;
 #include "SparkFun_ADS122C04_ADC_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_ADS122C04
 #include "SparkFun_MicroPressure.h" // Click here to get the library: http://librarymanager/All#SparkFun_MicroPressure
 #include "SparkFun_Particle_Sensor_SN-GCJA5_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_Particle_Sensor_SN-GCJA5
-#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
 
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
diff --git a/Firmware/OpenLog_Artemis/Sensors.ino b/Firmware/OpenLog_Artemis/Sensors.ino
@@ -803,64 +803,6 @@ void gatherDeviceValues()
             }
           }
           break;
-        case DEVICE_IMU_BNO080:
-          {
-            BNO080 *nodeDevice = (BNO080 *)temp->classPtr;
-            struct_BNO080 *nodeSetting = (struct_BNO080 *)temp->configPtr;
-            if (nodeSetting->log == true)
-            {
-              // Check that at least one set of readings is being logged
-              if ((nodeSetting->logQuat) || (nodeSetting->logAccel) || (nodeSetting->logLinAccel) || (nodeSetting->logGyro) || (nodeSetting->logFastGyro) ||
-                (nodeSetting->logMag) || (nodeSetting->logEuler))
-              {
-                if (nodeDevice->dataAvailable()) // Check if new data is available (dangerous? what happens if data is not available?)
-                {
-                  if (nodeSetting->logQuat)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,%.02f,%d,", nodeDevice->getQuatI(), nodeDevice->getQuatJ(), nodeDevice->getQuatK(),
-                      nodeDevice->getQuatReal(), nodeDevice->getQuatRadianAccuracy());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logAccel)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,%d,", nodeDevice->getAccelX(), nodeDevice->getAccelY(), nodeDevice->getAccelZ(),
-                      nodeDevice->getAccelAccuracy());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logLinAccel)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,%d,", nodeDevice->getLinAccelX(), nodeDevice->getLinAccelY(), nodeDevice->getLinAccelZ(),
-                      nodeDevice->getLinAccelAccuracy());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logGyro)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,%d,", nodeDevice->getGyroX(), nodeDevice->getGyroY(), nodeDevice->getGyroZ(),
-                      nodeDevice->getGyroAccuracy());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logFastGyro)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,", nodeDevice->getFastGyroX(), nodeDevice->getFastGyroY(), nodeDevice->getFastGyroZ());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logMag)
-                  {
-                    sprintf(tempData, "%.02f,%.02f,%.02f,%d,", nodeDevice->getMagX(), nodeDevice->getMagY(), nodeDevice->getMagZ(),
-                      nodeDevice->getMagAccuracy());
-                    strcat(outputData, tempData);
-                  }
-                  if (nodeSetting->logEuler)
-                  {
-                    sprintf(tempData, "%.01f,%.01f,%.01f,", nodeDevice->getRoll() * 180.0 / PI, nodeDevice->getPitch() * 180.0 / PI,
-                      nodeDevice->getYaw() * 180.0 / PI);
-                    strcat(outputData, tempData);
-                  }
-                }
-              }
-            }
-          }
-          break;
         default:
           Serial.printf("printDeviceValue unknown device type: %s\r\n", getDeviceName(temp->deviceType));
           break;
@@ -1230,28 +1172,6 @@ void printHelperText(bool terminalOnly)
             }
           }
           break;
-        case DEVICE_IMU_BNO080:
-          {
-            struct_BNO080 *nodeSetting = (struct_BNO080 *)temp->configPtr;
-            if (nodeSetting->log)
-            {
-              if (nodeSetting->logQuat)
-                strcat(helperText, "QuatI,QuatJ,QuatK,QuatR,QuatAcc,");
-              if (nodeSetting->logAccel)
-                strcat(helperText, "AccelX,AccelY,AccelZ,AccelAcc,");
-              if (nodeSetting->logLinAccel)
-                strcat(helperText, "LinAccelX,LinAccelY,LinAccelZ,LinAccelAcc,");
-              if (nodeSetting->logGyro)
-                strcat(helperText, "GyroX,GyroY,GyroZ,GyroAcc,");
-              if (nodeSetting->logFastGyro)
-                strcat(helperText, "FastGyroX,FastGyroY,FastGyroZ,");
-              if (nodeSetting->logMag)
-                strcat(helperText, "MagX,MagY,MagZ,MagAcc,");
-              if (nodeSetting->logEuler)
-                strcat(helperText, "Roll,Pitch,Yaw,");
-            }
-          }
-          break;
         default:
           Serial.printf("\nprinterHelperText device not found: %d\r\n", temp->deviceType);
           break;
diff --git a/Firmware/OpenLog_Artemis/autoDetect.ino b/Firmware/OpenLog_Artemis/autoDetect.ino
@@ -237,12 +237,6 @@ bool addDevice(deviceType_e deviceType, uint8_t address, uint8_t muxAddress, uin
         temp->configPtr = new struct_SNGCJA5;
       }
       break;
-    case DEVICE_IMU_BNO080:
-      {
-        temp->classPtr = new BNO080;
-        temp->configPtr = new struct_BNO080;
-      }
-      break;
     default:
       Serial.printf("addDevice Device type not found: %d\r\n", deviceType);
       break;
@@ -465,18 +459,6 @@ bool beginQwiicDevices()
             temp->online = true;
         }
         break;
-      case DEVICE_IMU_BNO080:
-        {
-          BNO080 *tempDevice = (BNO080 *)temp->classPtr;
-          struct_BNO080 *nodeSetting = (struct_BNO080 *)temp->configPtr; //Create a local pointer that points to same spot as node does
-          if (nodeSetting->powerOnDelayMillis > qwiicPowerOnDelayMillis) qwiicPowerOnDelayMillis = nodeSetting->powerOnDelayMillis; // Increase qwiicPowerOnDelayMillis if required
-          //if(settings.printDebugMessages == true) tempDevice->enableDebugging();
-          if (tempDevice->begin(temp->address, qwiic) == true) //Address, Wire port. Returns true on success.
-            temp->online = true;
-          else
-            printDebug(F("beginQwiicDevices: BNO080.begin failed.\r\n"));
-        }
-        break;
       default:
         Serial.printf("beginQwiicDevices: device type not found: %d\r\n", temp->deviceType);
         break;
@@ -701,7 +683,7 @@ void configureDevice(node * temp)
         SFE_ADS122C04 *sensor = (SFE_ADS122C04 *)temp->classPtr;
         struct_ADS122C04 *sensorSetting = (struct_ADS122C04 *)temp->configPtr;
 
-        //Configure the wire mode for readPT100Centigrade and readPT100Fahrenheit
+        //Configure the wite mode for readPT100Centigrade and readPT100Fahrenheit
         //(readInternalTemperature and readRawVoltage change and restore the mode automatically)
         if (sensorSetting->useFourWireMode)
           sensor->configureADCmode(ADS122C04_4WIRE_MODE);
@@ -723,23 +705,6 @@ void configureDevice(node * temp)
     case DEVICE_PARTICLE_SNGCJA5:
       //Nothing to configure
       break;
-    case DEVICE_IMU_BNO080:
-      {
-        BNO080 *sensor = (BNO080 *)temp->classPtr;
-        struct_BNO080 *sensorSetting = (struct_BNO080 *)temp->configPtr;
-
-        if ((sensorSetting->logQuat) || (sensorSetting->logEuler))
-          sensor->enableRotationVector((uint16_t)(settings.usBetweenReadings / 1000));
-        if (sensorSetting->logAccel)
-          sensor->enableAccelerometer((uint16_t)(settings.usBetweenReadings / 1000));
-        if (sensorSetting->logLinAccel)
-          sensor->enableLinearAccelerometer((uint16_t)(settings.usBetweenReadings / 1000));
-        if ((sensorSetting->logGyro) || (sensorSetting->logFastGyro))
-          sensor->enableGyro((uint16_t)(settings.usBetweenReadings / 1000));
-        if (sensorSetting->logMag)
-          sensor->enableMagnetometer((uint16_t)(settings.usBetweenReadings / 1000));
-      }
-      break;
     default:
       Serial.printf("configureDevice: Unknown device type %d: %s\r\n", deviceType, getDeviceName((deviceType_e)deviceType));
       break;
@@ -830,9 +795,6 @@ FunctionPointer getConfigFunctionPtr(uint8_t nodeNumber)
     case DEVICE_PARTICLE_SNGCJA5:
       ptr = (FunctionPointer)menuConfigure_SNGCJA5;
       break;
-    case DEVICE_IMU_BNO080:
-      ptr = (FunctionPointer)menuConfigure_BNO080;
-      break;
     default:
       Serial.println(F("getConfigFunctionPtr: Unknown device type"));
       Serial.flush();
@@ -970,7 +932,6 @@ void swap(struct node * a, struct node * b)
 #define ADR_UBLOX 0x42 //But can be set to any address
 #define ADR_ADS122C04 0x45 //Alternates: 0x44, 0x41 and 0x40
 #define ADR_TMP117 0x48 //Alternates: 0x49, 0x4A, and 0x4B
-#define ADR_BNO080 0x4B //Alternate: 0x4A
 #define ADR_SGP30 0x58
 #define ADR_CCS811 0x5B //Alternates: 0x5A
 #define ADR_LPS25HB 0x5D //Alternates: 0x5C
@@ -1102,14 +1063,6 @@ deviceType_e testDevice(uint8_t i2cAddress, uint8_t muxAddress, uint8_t portNumb
       break;
     case 0x4A:
       {
-        //Confidence: High - Checks product ID report
-        BNO080 sensor1;
-        if(settings.printDebugMessages == true) sensor1.enableDebugging();
-        if (sensor1.begin(i2cAddress, qwiic) == true) //Address, Wire port
-          return (DEVICE_IMU_BNO080);
-        else
-          printDebug(F("testDevice: BNO080.begin failed.\r\n"));
-
         //Confidence: High - Checks 16 bit ID
         TMP117 sensor;
         if (sensor.begin(i2cAddress, qwiic) == true) //Address, Wire port
@@ -1118,14 +1071,6 @@ deviceType_e testDevice(uint8_t i2cAddress, uint8_t muxAddress, uint8_t portNumb
       break;
     case 0x4B:
       {
-        //Confidence: High - Checks product ID report
-        BNO080 sensor1;
-        if(settings.printDebugMessages == true) sensor1.enableDebugging();
-        if (sensor1.begin(i2cAddress, qwiic) == true) //Address, Wire port
-          return (DEVICE_IMU_BNO080);
-        else
-          printDebug(F("testDevice: BNO080.begin failed.\r\n"));
-
         //Confidence: High - Checks 16 bit ID
         TMP117 sensor;
         if (sensor.begin(i2cAddress, qwiic) == true) //Address, Wire port
@@ -1525,9 +1470,6 @@ const char* getDeviceName(deviceType_e deviceNumber)
     case DEVICE_PARTICLE_SNGCJA5:
       return "Particle-SNGCJA5";
       break;
-    case DEVICE_IMU_BNO080:
-      return "IMU-BNO080";
-      break;
 
     case DEVICE_UNKNOWN_DEVICE:
       return "Unknown device";
diff --git a/Firmware/OpenLog_Artemis/menuAttachedDevices.ino b/Firmware/OpenLog_Artemis/menuAttachedDevices.ino
@@ -315,9 +315,6 @@ void menuAttachedDevices()
           case DEVICE_PARTICLE_SNGCJA5:
             Serial.printf("%s SN-GCJA5 Particle Sensor %s\r\n", strDeviceMenu, strAddress);
             break;
-          case DEVICE_IMU_BNO080:
-            Serial.printf("%s BNO080 IMU %s\r\n", strDeviceMenu, strAddress);
-            break;
           default:
             Serial.printf("Unknown device type %d in menuAttachedDevices\r\n", temp->deviceType);
             break;
@@ -2154,83 +2151,3 @@ void menuConfigure_SNGCJA5(void *configPtr)
       printUnknown(incoming);
   }
 }
-
-void menuConfigure_BNO080(void *configPtr)
-{
-  struct_BNO080 *sensorSetting = (struct_BNO080*)configPtr;
-  while (1)
-  {
-    Serial.println();
-    Serial.println(F("Menu: Configure BNO080 IMU"));
-
-    Serial.print(F("1) Sensor Logging: "));
-    if (sensorSetting->log == true) Serial.println(F("Enabled"));
-    else Serial.println(F("Disabled"));
-
-    if (sensorSetting->log == true)
-    {
-      Serial.print(F("2) Log Rotation Vector (Quaternions): "));
-      if (sensorSetting->logQuat == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("3) Log Accelerometer: "));
-      if (sensorSetting->logAccel == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("4) Log Linear Acceleration (Minus Gravity): "));
-      if (sensorSetting->logLinAccel == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("5) Log Gyro: "));
-      if (sensorSetting->logGyro == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("6) Log FastGyro: "));
-      if (sensorSetting->logFastGyro == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("7) Log Magnetometer: "));
-      if (sensorSetting->logMag == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("8) Log Euler Angles (Roll/Pitch/Yaw): "));
-      if (sensorSetting->logEuler == true) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-    }
-    Serial.println(F("x) Exit"));
-
-    byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
-
-    if (incoming == '1')
-      sensorSetting->log ^= 1;
-    else if (sensorSetting->log == true)
-    {
-      if (incoming == '2')
-        sensorSetting->logQuat ^= 1;
-      else if (incoming == '3')
-        sensorSetting->logAccel ^= 1;
-      else if (incoming == '4')
-        sensorSetting->logLinAccel ^= 1;
-      else if (incoming == '5')
-        sensorSetting->logGyro ^= 1;
-      else if (incoming == '6')
-        sensorSetting->logFastGyro ^= 1;
-      else if (incoming == '7')
-        sensorSetting->logMag ^= 1;
-      else if (incoming == '8')
-        sensorSetting->logEuler ^= 1;
-      else if (incoming == 'x')
-        break;
-      else if (incoming == STATUS_GETBYTE_TIMEOUT)
-        break;
-      else
-        printUnknown(incoming);
-    }
-    else if (incoming == 'x')
-      break;
-    else if (incoming == STATUS_GETBYTE_TIMEOUT)
-      break;
-    else
-      printUnknown(incoming);
-  }
-}
diff --git a/Firmware/OpenLog_Artemis/nvm.ino b/Firmware/OpenLog_Artemis/nvm.ino
@@ -649,19 +649,6 @@ void recordDeviceSettingsToFile()
             settingsFile.println((String)base + "logFanStatus=" + nodeSetting->logFanStatus);
           }
           break;
-        case DEVICE_IMU_BNO080:
-          {
-            struct_BNO080 *nodeSetting = (struct_BNO080 *)temp->configPtr;
-            settingsFile.println((String)base + "log=" + nodeSetting->log);
-            settingsFile.println((String)base + "logQuat=" + nodeSetting->logQuat);
-            settingsFile.println((String)base + "logAccel=" + nodeSetting->logAccel);
-            settingsFile.println((String)base + "logLinAccel=" + nodeSetting->logLinAccel);
-            settingsFile.println((String)base + "logGyro=" + nodeSetting->logGyro);
-            settingsFile.println((String)base + "logFastGyro=" + nodeSetting->logFastGyro);
-            settingsFile.println((String)base + "logMag=" + nodeSetting->logMag);
-            settingsFile.println((String)base + "logEuler=" + nodeSetting->logEuler);
-          }
-          break;
         default:
           Serial.printf("recordSettingsToFile Unknown device: %s\r\n", base);
           //settingsFile.println((String)base + "=UnknownDeviceSettings");
@@ -1185,29 +1172,6 @@ bool parseDeviceLine(char* str) {
             Serial.printf("Unknown device setting: %s\r\n", deviceSettingName);
         }
         break;
-      case DEVICE_IMU_BNO080:
-        {
-          struct_BNO080 *nodeSetting = (struct_BNO080 *)deviceConfigPtr; //Create a local pointer that points to same spot as node does
-          if (strcmp(deviceSettingName, "log") == 0)
-            nodeSetting->log = d;
-          else if (strcmp(deviceSettingName, "logQuat") == 0)
-            nodeSetting->logQuat = d;
-          else if (strcmp(deviceSettingName, "logAccel") == 0)
-            nodeSetting->logAccel = d;
-          else if (strcmp(deviceSettingName, "logLinAccel") == 0)
-            nodeSetting->logLinAccel = d;
-          else if (strcmp(deviceSettingName, "logGyro") == 0)
-            nodeSetting->logGyro = d;
-          else if (strcmp(deviceSettingName, "logFastGyro") == 0)
-            nodeSetting->logFastGyro = d;
-          else if (strcmp(deviceSettingName, "logMag") == 0)
-            nodeSetting->logMag = d;
-          else if (strcmp(deviceSettingName, "logEuler") == 0)
-            nodeSetting->logEuler = d;
-          else
-            Serial.printf("Unknown device setting: %s\r\n", deviceSettingName);
-        }
-        break;
       default:
         Serial.printf("Unknown device type: %d\r\n", deviceType);
         Serial.flush();
diff --git a/Firmware/OpenLog_Artemis/settings.h b/Firmware/OpenLog_Artemis/settings.h
diff --git a/SENSOR_UNITS.md b/SENSOR_UNITS.md
