The SLI drivers for complex drivers will makes the I2C calls probably a lot faster.
This because the write/read calls sequence can be bundled in one function.
SLI makes it possible to make full use of the
Bosch bno055 library including the I2C abstraction and calculations.
This makes also the size of the RoboPro program a lot smaller.
And the RoboPro program can acting at a higher level.
For example: sensor initialization with I2C abstraction (see also the fischertechnik trainings factory software)
This is difficult to do directly in RoboPro.
The extended RoboPro element:
Code: Alles auswählen
/*! RoboPro element
* initialisation of the TBO055 sensor software.
* This set also the I2C communication.
* error workflow -1 = SLI is not init, -2 = sensor is not initialized.
*/
int setInitSensorShort(short v) //RoboPro set element name =InitSensor, type= Short, RoboPro data input (v) is not used
{
if (!IsInit)
{
fprintf(stderr, "libSliTxtBNO055.setOpearationModeShort: Not initialized!\n");
return -1; //make use of the RoboPro element error workflow continuation
}
int res = sensor->initSensor(user_delay_ms);
return res; //make use of the RoboPro element error workflow continuation
}
The underlying code:
Code: Alles auswählen
s32 TxtBNO055::initSensor(void(*f)(uint32_t))
{
bno.bus_read = &(TxtBNO055::user_i2c_read);
bno.bus_write = &(TxtBNO055::user_i2c_write);
bno.delay_msec = &(*f);//user_delay_ms;
bno.dev_addr = BNO055_I2C_ADDR1;
int8_t ret = bno055_init(&bno);
if (ret != BNO055_SUCCESS) {
printf("error: exit bno055_init");
return -2; //make use of the RoboPro element error workflow continuation
}
return 0;
};
Code: Alles auswählen
int8_t TxtBNO055::user_i2c_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint8_t len)
{
int8_t rslt = 0; /* Return 0 for Success, non-zero for failure */
//Adr, Anz Wr, Wr-Data, Anz Read, Rd-Data, Speed
uint32_t u32RetValue = KeLibI2cTransfer(dev_id, 1, ®_addr, len, reg_data, I2C_SPEED_400_KHZ);
rslt = (u32RetValue == 0 ? 0 : -1); //0=success, -1 error
return rslt;
}
==========================Google translate================
Die SLI-Treiber für komplexe Treiber werden die I2C-Aufrufe wahrscheinlich viel schneller machen.
Dies liegt daran, dass die Schreib- / Leseaufrufsequenz in einer Funktion gebündelt werden kann.
SLI ermöglicht die vollständige Nutzung der Bosch bno055-Bibliothek einschließlich der I2C-Abstraktion.
Dies macht auch die Größe des RoboPro-Programms viel kleiner.
Und das RoboPro-Programm kann auf einer höheren Ebene agieren.
Zum Beispiel: Sensorinitialisierung mit I2C-Abstraktion (siehe auch die Fabriksoftware fischertechnik trainings)
Dies ist in RoboPro nur schwer direkt möglich.
Das erweiterte RoboPro-Element:
