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BNO08x_macros.hpp
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#pragma once
// standard library includes
#include <inttypes.h>
// esp-idf includes
#include <freertos/FreeRTOS.h>
#include <freertos/event_groups.h>
#define CHECK_TASKS_RUNNING(evt_grp_task_flow, running_bit) ((xEventGroupGetBits(evt_grp_task_flow) & (running_bit)) != 0)
// packet parsing macros
#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(packet_ptr) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet_ptr->header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_ptr->header[0])))
#define PARSE_PACKET_TIMESTAMP(packet_ptr) \
(UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[4]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]) << 16UL, 2UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[1]), 0UL))
// product id report parsing
#define PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[1]), 0UL)
#define PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet_ptr) \
(UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[7]) << 24UL, 3UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[6]) << 16UL, 2UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[5]) << 8UL, 1UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[4]), 0UL))
#define PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet_ptr) \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[10]) << 16UL, 2UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[8]), 0UL)
#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet_ptr) \
(UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[13]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[12]), 0UL))
#define PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[0]), 0UL)
#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]), 0UL)
#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]), 0UL)
// gyro report parsing
#define PARSE_GYRO_REPORT_RAW_QUAT_I(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[0])))
#define PARSE_GYRO_REPORT_RAW_QUAT_J(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[3]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[2])))
#define PARSE_GYRO_REPORT_RAW_QUAT_K(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[4])))
#define PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[6])))
#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[8])))
#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[10])))
#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[12])))
// input report parsing
#define PARSE_INPUT_REPORT_STATUS_BITS(packet) (packet->body[5 + 2] & 0x03U)
#define PARSE_INPUT_REPORT_REPORT_ID(packet) UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5]))
#define PARSE_INPUT_REPORT_DATA_1(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 4])))
#define PARSE_INPUT_REPORT_DATA_2(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 6])))
#define PARSE_INPUT_REPORT_DATA_3(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 8])))
#define PARSE_INPUT_REPORT_DATA_4(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 10])))
#define PARSE_INPUT_REPORT_DATA_5(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 12])))
#define PARSE_INPUT_REPORT_DATA_6(packet) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 15]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 14])))
#define IS_ROTATION_VECTOR_REPORT(packet) \
((packet)->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || (packet)->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR || \
(packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR || \
(packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR)
// frs read response report parsing
#define PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body) \
(UINT16_CLR_LSB(static_cast<uint16_t>(packet_body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_body[12])))
#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_1(packet_body) \
(UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[7]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[6]) << 16UL, 2UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[5]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[4]), 0UL))
#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_2(packet_body) \
(UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[10]) << 16UL, 2UL) | \
UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[8]), 0UL))