Revision 9:68e4b1932497, committed 2019-07-30

Comitter:

JesiMiranda

Date:

Tue Jul 30 17:23:04 2019 +0000

Parent:

8:92d4109beb3c

Commit message:

Contains added code for stm32-L432KC compatibility

Changed in this revision

--- a/BNO080.cpp	Tue Jul 30 16:44:07 2019 +0000
+++ b/BNO080.cpp	Tue Jul 30 17:23:04 2019 +0000
@@ -513,10 +513,8 @@
 
     } else if(shtpHeader[2] == CHANNEL_REPORTS || shtpHeader[2] == CHANNEL_WAKE_REPORTS) {
         if(shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP) {
-            // sensor data packet 
-            //_debugPort->printf("\r\t\t enter pareseSensorDataPacket \r\n");
             parseSensorDataPacket();
-            //wait(0.002f); //added
+            
         }
     }
 }
@@ -759,7 +757,6 @@
     Timer timeoutTimer;
     timeoutTimer.start();
 
-	//added the 2*
     while(timeoutTimer.read() <= 2*timeout) {
         if(_int.read() == 0) {
             if(!receivePacket(timeout)) {
@@ -956,19 +953,7 @@
 //Returns false if sensor does not ACK
 bool BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength)
 {
-    // start the transaction and contact the IMU
-    //_i2cPort.start();
-
-    // to indicate an i2c read, shift the 7 bit address up 1 bit and keep bit 0 as a 0
-    //int writeResult = _i2cPort.write(_i2cAddress << 1);
-
-    //if(writeResult != 1) {
-    //    _debugPort->printf("BNO I2C write failed!\n");
-    //    _i2cPort.stop();
-    //    return false;
-    //}
-
-
+    
     uint16_t totalLength = dataLength + 4; //Add four bytes for the header
     packetLength = dataLength;
 
@@ -1003,18 +988,7 @@
         return false;
 	}
     
-    //Send the 4 byte packet header
-    //_i2cPort.write(totalLength & 0xFF); //Packet length LSB
-    //_i2cPort.write(totalLength >> 8); //Packet length MSB
-    //_i2cPort.write(channelNumber); //Channel number
-    //_i2cPort.write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel
-    
-    //Send the user's data packet
-    //for (uint8_t i = 0 ; i < dataLength ; i++) {
-    //    _i2cPort.write(shtpData[i]);
-    //}
-    
-    //_i2cPort.stop();
+   
 	
     return (true);
 }
@@ -1046,31 +1020,6 @@
         return false;
 	}
 
-    // start the transaction and contact the IMU
-    //_i2cPort.start();
-
-    // to indicate an i2c read, shift the 7 bit address up 1 bit and set bit 0 to a 1
-    /*int writeResult = _i2cPort.write((_i2cAddress << 1) | 0x1);
-
-    if(writeResult != 1) {
-        _debugPort->printf("BNO I2C read failed!\n");
-        return false;
-    }
-
-	// first read as ints
-	int packetLSBInt = _i2cPort.read(true);
-	
-	int packetMSBInt = _i2cPort.read(true);
-	int channelNumberInt = _i2cPort.read(true);
-	int sequenceNumInt = _i2cPort.read(true);
-
-	_debugPort->printf("Header: %d %d %d %d\n", packetLSBInt, packetMSBInt, channelNumberInt, sequenceNumInt);
-
-	if(packetLSBInt < 0 || packetLSBInt < 0 || packetLSBInt < 0 || packetLSBInt < 0) 
-	{
-		_debugPort->printf("BNO I2C header read failed!\n");
-        return false;
-	}*/
 
     //Get the first four bytes, aka the packet header
     uint8_t packetLSB = headerData[0];
@@ -1078,7 +1027,6 @@
     uint8_t channelNumber = headerData[2];
     uint8_t sequenceNum = headerData[3]; //Not sure if we need to store this or not
 
-	//wait(.005f);
     //Store the header info
     shtpHeader[0] = packetLSB;
     shtpHeader[1] = packetMSB;
@@ -1135,7 +1083,6 @@
     _debugPort->printf("Recieved packet: ----------------\n");
     printPacket(); // note: add 4 for the header length
 #endif
-	//_debugPort->printf("\r\t\t\t We're done!\r\n");
     return (true); //We're done!
 }