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I'm trying to read BNO08x data via UART on a Single Board Computer running Ubuntu 22.04. The problem is that the driver fails during initialization and I think I tracked the error down to a faulty init routine in __init__.py:
definitialize(self) ->None:
"""Initialize the sensor"""for_inrange(3):
self.hard_reset()
self.soft_reset()
try:
ifself._check_id():
breakexceptBaseExceptionase: # pylint:disable=bare-exceptprint(e)
time.sleep(0.5)
else:
raiseRuntimeError("Could not read ID")
My test program is bno08x_simpletest_uart.py with some setup changes (baudrate 3000000, adjusted serial port and debug=True):
# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries## SPDX-License-Identifier: Unlicenseimporttimeimportadafruit_bno08xfromadafruit_bno08x.uartimportBNO08X_UARTimportboard# pylint:disable=wrong-import-orderimportbusio# pylint:disable=wrong-import-order#uart = busio.UART(board.TX, board.RX, baudrate=3000000, receiver_buffer_size=2048)# uncomment and comment out the above for use with Raspberry Piimportserialuart=serial.Serial("/dev/ttyS4", 3000000)
# for a USB Serial cable:# import serial# uart = serial.Serial("/dev/ttyUSB0", baudrate=115200)bno=BNO08X_UART(uart, reset=None, debug=True)
bno.enable_feature(adafruit_bno08x.BNO_REPORT_ACCELEROMETER)
bno.enable_feature(adafruit_bno08x.BNO_REPORT_GYROSCOPE)
bno.enable_feature(adafruit_bno08x.BNO_REPORT_MAGNETOMETER)
bno.enable_feature(adafruit_bno08x.BNO_REPORT_ROTATION_VECTOR)
...
Now when I run the program it stops with an error Could not read ID (full debug output below). Note that I have printed out the actual exception coming from self.check_id() as it would not have been visible in the original program (in the above printed initialize method). So I found this exception to be Didn't find packet end thrown in uart.py in the _read_packet method:
What I believe happens is that the soft_reset method in uart.py is sending out a couple of packets which somehow cause the check_id method to fail. Further, when the check_id method sends out the command to read the product id, the response is read by the soft_reset in the next turn of the for loop. So the response will never be available in the check_id method. Thus, this whole init method fails. The simplest way to solve this is to comment out this line:
Hi all
I'm trying to read BNO08x data via UART on a Single Board Computer running Ubuntu 22.04. The problem is that the driver fails during initialization and I think I tracked the error down to a faulty init routine in
__init__.py:My test program is
bno08x_simpletest_uart.pywith some setup changes (baudrate 3000000, adjusted serial port and debug=True):Now when I run the program it stops with an error
Could not read ID(full debug output below). Note that I have printed out the actual exception coming fromself.check_id()as it would not have been visible in the original program (in the above printedinitializemethod). So I found this exception to beDidn't find packet endthrown inuart.pyin the_read_packetmethod:Adafruit_CircuitPython_BNO08x/adafruit_bno08x/uart.py
Line 138 in cfefd94
What I believe happens is that the
soft_resetmethod inuart.pyis sending out a couple of packets which somehow cause thecheck_idmethod to fail. Further, when thecheck_idmethod sends out the command to read the product id, the response is read by thesoft_resetin the next turn of the for loop. So the response will never be available in thecheck_idmethod. Thus, this whole init method fails. The simplest way to solve this is to comment out this line:Adafruit_CircuitPython_BNO08x/adafruit_bno08x/__init__.py
Line 523 in cfefd94
The question is: What is this
soft_resetgood for? Is it safe to disable?Thank you for any advice.
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