137 lines
8.1 KiB
C++
137 lines
8.1 KiB
C++
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/**
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* @file BNO08xPrivateTypes.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// etl includes
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#include <etl/vector.h>
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#include <etl/variant.h>
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// esp-idf includes
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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#include <freertos/event_groups.h>
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// in-house includes
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#include "BNO08xGlobalTypes.hpp"
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#include "BNO08xCbParamRptID.hpp"
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#include "BNO08xCbParamVoid.hpp"
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namespace BNO08xPrivateTypes
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{
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using bno08x_cb_list_t = etl::vector<etl::variant<BNO08xCbParamVoid, BNO08xCbParamRptID>,
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CONFIG_ESP32_BNO08X_CB_MAX>; ///< Alias for vector type to contain both cb flavors.
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/// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
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typedef struct bno08x_init_status_t
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{
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bool gpio_outputs; ///< True if GPIO outputs have been initialized.
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bool gpio_inputs; ///< True if GPIO inputs have been initialized.
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bool isr_service; ///< True if global ISR service has been initialized.
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bool isr_handler; ///< True if HINT ISR handler has been initialized.
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bool spi_bus; ///< True if spi_bus_initialize() has been called successfully.
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bool spi_device; ///< True if spi_bus_add_device() has been called successfully.
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bool sh2_HAL; ///< True if sh2_open() has been called successfully.
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
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bool cb_task; ///< True if xTaskCreate has been called successfully for cb_task.
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bno08x_init_status_t()
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: gpio_outputs(false)
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, gpio_inputs(false)
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, isr_service(false)
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, isr_handler(false)
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, spi_bus(false)
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, spi_device(false)
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, data_proc_task(false)
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, sh2_HAL_service_task(false)
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, cb_task(false)
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{
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}
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} bno08x_init_status_t;
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/// @brief Holds info used to initialize report modules.
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typedef struct bno08x_report_info_t
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{
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uint8_t ID;
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EventBits_t rpt_bit;
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SemaphoreHandle_t* _sh2_HAL_lock;
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SemaphoreHandle_t* _data_lock;
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EventGroupHandle_t* _evt_grp_rpt_en;
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EventGroupHandle_t* _evt_grp_rpt_data_available;
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EventGroupHandle_t* _evt_grp_bno08x_task;
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etl::vector<uint8_t, TOTAL_RPT_COUNT>* _en_report_ids;
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bno08x_cb_list_t* _cb_list;
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bno08x_report_info_t(uint8_t ID, EventBits_t rpt_bit, SemaphoreHandle_t* _sh2_HAL_lock, SemaphoreHandle_t* _data_lock,
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EventGroupHandle_t* _evt_grp_rpt_en, EventGroupHandle_t* _evt_grp_rpt_data_available, EventGroupHandle_t* _evt_grp_bno08x_task,
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etl::vector<uint8_t, TOTAL_RPT_COUNT>* _en_report_ids, bno08x_cb_list_t* _cb_list)
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: ID(ID)
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, rpt_bit(rpt_bit)
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, _sh2_HAL_lock(_sh2_HAL_lock)
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, _data_lock(_data_lock)
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, _evt_grp_rpt_en(_evt_grp_rpt_en)
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, _evt_grp_rpt_data_available(_evt_grp_rpt_data_available)
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, _evt_grp_bno08x_task(_evt_grp_bno08x_task)
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, _en_report_ids(_en_report_ids)
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, _cb_list(_cb_list)
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{
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}
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} bno08x_report_info_t;
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inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
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.changeSensitivityRelative = false,
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.wakeupEnabled = false,
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.alwaysOnEnabled = false,
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.changeSensitivity = 0,
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.reportInterval_us = 0,
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.batchInterval_us = 0,
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.sensorSpecific = 0};
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/// @brief Bits for evt_grp_rpt_en & evt_grp_rpt_data_available
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enum bno08x_rpt_bit_t : EventBits_t
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{
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EVT_GRP_RPT_RV_BIT = (1UL << 0U), ///< When set, rotation vector reports are active.
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EVT_GRP_RPT_RV_GAME_BIT = (1UL << 1U), ///< When set, game rotation vector reports are active.
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EVT_GRP_RPT_RV_ARVR_S_BIT = (1UL << 2U), ///< When set, ARVR stabilized rotation vector reports are active.
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EVT_GRP_RPT_RV_ARVR_S_GAME_BIT = (1UL << 3U), ///< When set, ARVR stabilized game rotation vector reports are active.
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EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT = (1UL << 4U), ///< When set, gyro integrator rotation vector reports are active.
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EVT_GRP_RPT_GEOMAG_RV_BIT = (1UL << 5U), ///< When set, geomagnetic rotation vector reports are active.
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EVT_GRP_RPT_ACCELEROMETER_BIT = (1UL << 6U), ///< When set, accelerometer reports are active.
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EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1UL << 7U), ///< When set, linear accelerometer reports are active.
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EVT_GRP_RPT_GRAVITY_BIT = (1UL << 8U), ///< When set, gravity reports are active.
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EVT_GRP_RPT_CAL_GYRO_BIT = (1UL << 9U), ///< When set, calibrated gyro reports are active.
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EVT_GRP_RPT_UNCAL_GYRO_BIT = (1UL << 10U), ///< When set, uncalibrated gyro reports are active.
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EVT_GRP_RPT_CAL_MAGNETOMETER_BIT = (1UL << 11U), ///< When set, calibrated magnetometer reports are active.
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EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT = (1UL << 12U), ///< When set, uncalibrated magnetometer reports are active.
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EVT_GRP_RPT_TAP_DETECTOR_BIT = (1UL << 13U), ///< When set, tap detector reports are active.
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EVT_GRP_RPT_STEP_COUNTER_BIT = (1UL << 14U), ///< When set, step counter reports are active.
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EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1UL << 15U), ///< When set, stability classifier reports are active.
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EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1UL << 16U), ///< When set, activity classifier reports are active.
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EVT_GRP_RPT_SHAKE_DETECTOR_BIT = (1UL << 17U), ///< When set, shake detector reports are active.
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EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U), ///< When set, raw accelerometer reports are active.
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EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U), ///< When set, raw gyro reports are active.
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EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U), ///< When set, raw magnetometer reports are active.
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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 |
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EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_CAL_GYRO_BIT | EVT_GRP_RPT_UNCAL_GYRO_BIT |
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EVT_GRP_RPT_CAL_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT |
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EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT | EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT |
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EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT |
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EVT_GRP_RPT_SHAKE_DETECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT |
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EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT
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};
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/// @brief Bits for evt_grp_bno08x_task
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enum bno08x_tsk_bit_t : EventBits_t
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{
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EVT_GRP_BNO08x_TASKS_RUNNING =
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(1UL << 0U), ///< When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration of the BNO08x driver object. Cleared in the destructor for safe task deletion.
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EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
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(1UL << 1U), ///< When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
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EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
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(1UL << 2U), ///< When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled.
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EVT_GRP_BNO08x_TASK_DATA_AVAILABLE =
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(1UL << 3U) ///< When this bit is set it indicates a report has been received for the user to read, cleared in data_available() set/cleared in handle_sensor_report().
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};
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};
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