esp32_BNO08x 1.2
C++ BNO08x IMU driver component for esp-idf.
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BNO08x_macros.hpp
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1
5#pragma once
6
7// standard library includes
8#include <inttypes.h>
9
10// esp-idf includes
11#include <freertos/FreeRTOS.h>
12#include <freertos/event_groups.h>
13
22#define CHECK_TASKS_RUNNING(evt_grp_task_flow, running_bit) ((xEventGroupGetBits(evt_grp_task_flow) & (running_bit)) != 0)
23
24// packet parsing macros
25
32#define UINT16_CLR_MSB(val_16bit) ((val_16bit) & 0x00FFU)
33
40#define UINT16_CLR_LSB(val_16bit) ((val_16bit) & 0xFF00U)
41
49#define UINT32_CLR_BYTE(val_32bit, byte2clear) ((val_32bit) & ~(0xFFUL << (byte2clear * 8UL)))
50
58#define UINT32_MSK_BYTE(val_32bit, byte2mask) ((val_32bit) & (0xFFUL << (byte2mask * 8UL)))
59
60// parsing universal to any packet
61
68#define PARSE_PACKET_LENGTH(packet_ptr) \
69 (UINT16_CLR_LSB(static_cast<uint16_t>(packet_ptr->header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_ptr->header[0])))
70
77#define PARSE_PACKET_TIMESTAMP(packet_ptr) \
78 (UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[4]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]) << 16UL, 2UL) | \
79 UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[1]), 0UL))
80
81// product id report parsing
82
89#define PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[1]), 0UL)
90
97#define PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet_ptr) \
98 (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[7]) << 24UL, 3UL) | \
99 UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[6]) << 16UL, 2UL) | \
100 UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[5]) << 8UL, 1UL) | \
101 UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[4]), 0UL))
102
109#define PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet_ptr) \
110 UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[10]) << 16UL, 2UL) | \
111 UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[8]), 0UL)
112
119#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet_ptr) \
120 (UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[13]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[12]), 0UL))
121
128#define PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[0]), 0UL)
129
136#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]), 0UL)
137
144#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]), 0UL)
145
146// gyro report parsing
147
154#define PARSE_GYRO_REPORT_RAW_QUAT_I(packet) \
155 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[0])))
156
163#define PARSE_GYRO_REPORT_RAW_QUAT_J(packet) \
164 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[3]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[2])))
165
172#define PARSE_GYRO_REPORT_RAW_QUAT_K(packet) \
173 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[4])))
174
181#define PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet) \
182 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[6])))
183
190#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet) \
191 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[8])))
192
199#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet) \
200 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[10])))
201
208#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet) \
209 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[12])))
210
211// input report parsing
212
219#define PARSE_INPUT_REPORT_STATUS_BITS(packet) (packet->body[5 + 2] & 0x03U)
220
227#define PARSE_INPUT_REPORT_REPORT_ID(packet) UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5]))
228
235#define PARSE_INPUT_REPORT_DATA_1(packet) \
236 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 4])))
237
244#define PARSE_INPUT_REPORT_DATA_2(packet) \
245 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 6])))
246
253#define PARSE_INPUT_REPORT_DATA_3(packet) \
254 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 8])))
255
262#define PARSE_INPUT_REPORT_DATA_4(packet) \
263 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 10])))
264
271#define PARSE_INPUT_REPORT_DATA_5(packet) \
272 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 12])))
273
280#define PARSE_INPUT_REPORT_DATA_6(packet) \
281 (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 15]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 14])))
282
289#define IS_ROTATION_VECTOR_REPORT(packet) \
290 ((packet)->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || (packet)->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR || \
291 (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR || \
292 (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR)
293
294// frs read response report parsing
295
302#define PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body) \
303 (UINT16_CLR_LSB(static_cast<uint16_t>(packet_body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_body[12])))
304
311#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_1(packet_body) \
312 (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[7]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[6]) << 16UL, 2UL) | \
313 UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[5]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[4]), 0UL))
314
321#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_2(packet_body) \
322 (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[10]) << 16UL, 2UL) | \
323 UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[8]), 0UL))