BNO080 not recovering from power cycle (Qwiic Power Switch) #78
Description
Hi folks,
Given the issues with the BNO080 and Artemis-based boards, I've been focusing my efforts on using this sensor with the SAMD21 platform (i.e. SparkFun Qwiic Micro).
I've read into the issues with the sleep mode, but my plan was always to use a Qwiic Power Switch (QPS).
The issue I'm encountering is that the BNO080 does not reliably recover from being power cycled with the QPS. I am experiencing the same I2C hang-ups that have been described with Artemis-based boards. When the sensor fails to reinitialize, it causes the entire system to hang (i.e. does not gracefully fail). In addition, hitting the reset button, unplugging the power, or even uploading new code doesn't always seem to fix the issue.
I've included the barebones example I'm using to test the power cycling using the QPS. It is based on Example17-EulerAngles. Sometimes it works for a cycle or two, but most often it crashes after the first time the QPS disables/enables power.
This makes me very nervous about using this sensor for any real-world projects. I'm keen to get anyone's thoughts on how to improve the code example below. I'm hoping this problem can actually be fixed, though, given all the other issues plaguing the BNO080, I'm worried that it's not looking good.
Cheers,
Adam
#include <SparkFun_BNO080_Arduino_Library.h>
#include <SparkFun_Qwiic_Power_Switch_Arduino_Library.h>
#include <Wire.h>
BNO080 myIMU;
QWIIC_POWER mySwitch;
#define Serial SerialUSB
void setup()
{
Serial.begin(115200);
while (!Serial);
Serial.println("BNO080 Read Example");
Wire.begin();
Wire.setClock(400000);
if (!mySwitch.begin())
{
Serial.println(F("Qwiic Power Switch not detected at default I2C address. Please check wiring. Freezing."));
}
// Configure IMU
configureImu();
// Disable power to IMU
mySwitch.powerOff();
// Wait 5 seconds
delay(5000);
}
void loop()
{
mySwitch.powerOn(); // Enable power to IMU
delay(1000); // Required?
configureImu(); // Reinitalize IMU
readImu(); // Read IMU
mySwitch.powerOff(); // Disable power to IMU
delay(10000); // Delay
}
void configureImu()
{
if (!myIMU.begin())
{
Serial.println(F("BNO080 not detected at default I2C address. Freezing..."));
}
myIMU.enableRotationVector(50); //Send data update every 50ms
}
void readImu()
{
unsigned long loopStartTime = millis();
while (millis() - loopStartTime < 10000UL)
{
// Look for reports from the IMU
if (myIMU.dataAvailable())
{
float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
Serial.print(roll, 1);
Serial.print(F(","));
Serial.print(pitch, 1);
Serial.print(F(","));
Serial.print(yaw, 1);
Serial.println();
}
}
}