BNO08xPrivateTypes.hpp

Go to the documentation of this file.

 
#pragma once
 
// etl includes
#include <etl/vector.h>
#include <etl/variant.h>
// esp-idf includes
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <freertos/event_groups.h>
// in-house includes
#include "BNO08xGlobalTypes.hpp"
#include "BNO08xCbParamRptID.hpp"
#include "BNO08xCbParamVoid.hpp"
 
namespace BNO08xPrivateTypes
{
    using bno08x_cb_list_t = etl::vector<etl::variant<BNO08xCbParamVoid, BNO08xCbParamRptID>,
            CONFIG_ESP32_BNO08X_CB_MAX>; 
 
    typedef struct bno08x_init_status_t
    {
            bool gpio_outputs;         
            bool gpio_inputs;          
            bool isr_service;          
            bool isr_handler;          
            bool spi_bus;              
            bool spi_device;           
            bool data_proc_task;       
            bool sh2_HAL_service_task; 
            bool cb_task;              
            bool sh2_HAL;              
 
            bno08x_init_status_t()
                : gpio_outputs(false)
                , gpio_inputs(false)
                , isr_service(false)
                , isr_handler(false)
                , spi_bus(false)
                , spi_device(false)
                , data_proc_task(false)
                , sh2_HAL_service_task(false)
                , cb_task(false)
                , sh2_HAL(false)
            {
            }
    } bno08x_init_status_t;
 
    typedef struct bno08x_sync_ctx_t
    {
            SemaphoreHandle_t sh2_HAL_lock; 
            SemaphoreHandle_t
                    data_lock; 
            EventGroupHandle_t evt_grp_rpt_en; 
            EventGroupHandle_t
                    evt_grp_rpt_data_available; 
            EventGroupHandle_t evt_grp_task; 
            etl::vector<uint8_t, TOTAL_RPT_COUNT> en_report_ids; 
            bno08x_cb_list_t cb_list;                            
 
            bno08x_sync_ctx_t()
                : sh2_HAL_lock(xSemaphoreCreateMutex())
                , data_lock(xSemaphoreCreateMutex())
                , evt_grp_rpt_en(xEventGroupCreate())
                , evt_grp_rpt_data_available(xEventGroupCreate())
                , evt_grp_task(xEventGroupCreate())
            {
            }
    } bno08x_sync_ctx_t;
 
    enum bno08x_rpt_bit_t : EventBits_t
    {
        EVT_GRP_RPT_RV_BIT = (1UL << 0U),                 
        EVT_GRP_RPT_RV_GAME_BIT = (1UL << 1U),            
        EVT_GRP_RPT_RV_ARVR_S_BIT = (1UL << 2U),          
        EVT_GRP_RPT_RV_ARVR_S_GAME_BIT = (1UL << 3U),     
        EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT = (1UL << 4U), 
        EVT_GRP_RPT_GEOMAG_RV_BIT = (1UL << 5U),          
        EVT_GRP_RPT_ACCELEROMETER_BIT = (1UL << 6U),      
        EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1UL << 7U),  
        EVT_GRP_RPT_GRAVITY_BIT = (1UL << 8U),               
        EVT_GRP_RPT_CAL_GYRO_BIT = (1UL << 9U),              
        EVT_GRP_RPT_UNCAL_GYRO_BIT = (1UL << 10U),           
        EVT_GRP_RPT_CAL_MAGNETOMETER_BIT = (1UL << 11U),     
        EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT = (1UL << 12U),   
        EVT_GRP_RPT_TAP_DETECTOR_BIT = (1UL << 13U),         
        EVT_GRP_RPT_STEP_COUNTER_BIT = (1UL << 14U),         
        EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1UL << 15U), 
        EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1UL << 16U),  
        EVT_GRP_RPT_SHAKE_DETECTOR_BIT = (1UL << 17U),       
        EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U),    
        EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U),             
        EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U),     
 
        EVT_GRP_RPT_ALL = EVT_GRP_RPT_RV_BIT | EVT_GRP_RPT_RV_GAME_BIT | EVT_GRP_RPT_RV_ARVR_S_BIT |
                          EVT_GRP_RPT_RV_ARVR_S_GAME_BIT | EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT |
                          EVT_GRP_RPT_CAL_GYRO_BIT | EVT_GRP_RPT_UNCAL_GYRO_BIT | EVT_GRP_RPT_CAL_MAGNETOMETER_BIT |
                          EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
                          EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT |
                          EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT | EVT_GRP_RPT_SHAKE_DETECTOR_BIT |
                          EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT | EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT
    };
 
    enum bno08x_tsk_bit_t : EventBits_t
    {
        EVT_GRP_BNO08x_TASKS_RUNNING =
                (1UL << 0U), 
        EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
                (1UL << 1U), 
        EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
                (1UL << 2U), 
        EVT_GRP_BNO08x_TASK_DATA_AVAILABLE =
                (1UL << 3U) 
    };
 
    inline static sh2_SensorConfig default_sensor_cfg = { 
            .changeSensitivityEnabled = false,
            .changeSensitivityRelative = false,
            .wakeupEnabled = false,
            .alwaysOnEnabled = false,
            .changeSensitivity = 0,
            .reportInterval_us = 0,
            .batchInterval_us = 0,
            .sensorSpecific = 0};
}; // namespace BNO08xPrivateTypes