BNO08xSH2HAL.hpp

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#pragma once
 
// hill-crest labs includes (apache 2.0 license, compatible with MIT)
#include "sh2.h"
#include "sh2_SensorValue.h"
#include "sh2_err.h"
// esp-idf includes
#include <esp_log.h>
#include <esp_timer.h>
// in-house includes
#include "BNO08xPrivateTypes.hpp"
 
#define UINT16_CLR_MSB(val_16bit) ((val_16bit) & 0x00FFU)
 
#define UINT16_CLR_LSB(val_16bit) ((val_16bit) & 0xFF00U)
 
#define UINT32_CLR_BYTE(val_32bit, byte2clear) ((val_32bit) & ~(0xFFUL << (byte2clear * 8UL)))
 
#define UINT32_MSK_BYTE(val_32bit, byte2mask) ((val_32bit) & (0xFFUL << (byte2mask * 8UL)))
 
// parsing universal to any packet
 
#define PARSE_PACKET_LENGTH(header)                                                                                              \
    (UINT16_CLR_LSB(static_cast<uint16_t>(header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(header[0])))
 
// forward dec to prevent compile errors
class BNO08x;
 
class BNO08xSH2HAL
{
    public:
        static void set_hal_imu(BNO08x* hal_imu);
 
        static int spi_open(sh2_Hal_t* self);
        static void spi_close(sh2_Hal_t* self);
        static int spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint32_t* t_us);
        static int spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len);
        static uint32_t get_time_us(sh2_Hal_t* self);
        static void hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent);
        static void sensor_event_cb(void* cookie, sh2_SensorEvent_t* event);
 
    private:
        static BNO08x* imu;
        static void hardware_reset();
        static bool spi_wait_for_int();
        static uint16_t spi_read_sh2_packet_header(uint8_t* pBuffer);
        static int spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz);
 
        static const constexpr char* TAG = "BNO08xSH2HAL";
};