Merge pull request adafruit#117 from adafruit/timingtweaks

Timing tweaks for RP2040 & ESP
Maxford10 · Nov 14, 2022 · 7d6600f · 7d6600f
2 parents 8a978b3 + df1b9a3
commit 7d6600f
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Showing 5 changed files with 31 additions and 5 deletions.
diff --git a/Adafruit_BNO055.cpp b/Adafruit_BNO055.cpp
@@ -74,10 +74,26 @@ Adafruit_BNO055::Adafruit_BNO055(int32_t sensorID, uint8_t address,
  *  @return true if process is successful
  */
 bool Adafruit_BNO055::begin(adafruit_bno055_opmode_t mode) {
+  // Start without a detection
+  i2c_dev->begin(false);
 
-  if (!i2c_dev->begin()) {
-    return false;
+#if defined(TARGET_RP2040)
+  // philhower core seems to work with this speed?
+  i2c_dev->setSpeed(50000);
+#endif
+
+  // can take 850 ms to boot!
+  int timeout = 850; // in ms
+  while (timeout > 0) {
+    if (i2c_dev->begin()) {
+      break;
+    }
+    // wasnt detected... we'll retry!
+    delay(10);
+    timeout -= 10;
   }
+  if (timeout <= 0)
+    return false;
 
   /* Make sure we have the right device */
   uint8_t id = read8(BNO055_CHIP_ID_ADDR);

diff --git a/examples/position/position.ino b/examples/position/position.ino
@@ -20,6 +20,9 @@ Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
 void setup(void)
 {
   Serial.begin(115200);
+
+  while (!Serial) delay(10);  // wait for serial port to open!
+
   if (!bno.begin())
   {
     Serial.print("No BNO055 detected");

diff --git a/examples/rawdata/rawdata.ino b/examples/rawdata/rawdata.ino
@@ -22,7 +22,7 @@
 
 // Check I2C device address and correct line below (by default address is 0x29 or 0x28)
 //                                   id, address
-Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28);
+Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28, &Wire);
 
 /**************************************************************************/
 /*
@@ -32,6 +32,9 @@ Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28);
 void setup(void)
 {
   Serial.begin(115200);
+
+  while (!Serial) delay(10);  // wait for serial port to open!
+
   Serial.println("Orientation Sensor Raw Data Test"); Serial.println("");
 
   /* Initialise the sensor */

diff --git a/examples/read_all_data/read_all_data.ino b/examples/read_all_data/read_all_data.ino
@@ -32,11 +32,14 @@ uint16_t BNO055_SAMPLERATE_DELAY_MS = 100;
 
 // Check I2C device address and correct line below (by default address is 0x29 or 0x28)
 //                                   id, address
-Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
+Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28, &Wire);
 
 void setup(void)
 {
   Serial.begin(115200);
+
+  while (!Serial) delay(10);  // wait for serial port to open!
+
   Serial.println("Orientation Sensor Test"); Serial.println("");
 
   /* Initialise the sensor */

diff --git a/examples/sensorapi/sensorapi.ino b/examples/sensorapi/sensorapi.ino
@@ -33,7 +33,7 @@
 
 // Check I2C device address and correct line below (by default address is 0x29 or 0x28)
 //                                   id, address
-Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28);
+Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28, &Wire);
 
 /**************************************************************************/
 /*
@@ -121,6 +121,7 @@ void displayCalStatus(void)
 void setup(void)
 {
   Serial.begin(115200);
+
   while (!Serial) delay(10);  // wait for serial port to open!
 
   Serial.println("Orientation Sensor Test"); Serial.println("");