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reworked menuconfig new option to disable logging

This commit is contained in:
myles-parfeniuk 2024-11-17 16:37:32 -08:00
parent acb7372699
commit 0dc0c2ecc7
2 changed files with 279 additions and 46 deletions
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55
Kconfig.projbuild
View File

@ -31,12 +31,12 @@ menu "esp32_BNO08x"
help help
Clock GPIO pin connected to BNO08x SCL pin. Clock GPIO pin connected to BNO08x SCL pin.
config ESP32_BNO08X_GPIO_DI config ESP32_BNO08X_GPIO_DI
int "DI GPIO NUM" int "DI GPIO NUM"
range 0 50 range 0 50
default 23 default 23
help help
MOSI GPIO pin connected to BNO08x DI pin. MOSI GPIO pin connected to BNO08x DI pin.
config ESP32_BNO08X_GPIO_SDA config ESP32_BNO08X_GPIO_SDA
int "SDA GPIO NUM" int "SDA GPIO NUM"
@ -72,7 +72,7 @@ menu "esp32_BNO08x"
SPI clock speed in Hz, default 2MHz. SPI clock speed in Hz, default 2MHz.
config ESP32_BNO08X_SPI_QUEUE_SZ config ESP32_BNO08X_SPI_QUEUE_SZ
int "Callback queue size." int "SPI Callback queue size."
range 1 100 range 1 100
default 5 default 5
help help
@ -81,18 +81,33 @@ menu "esp32_BNO08x"
endmenu #SPI Configuration endmenu #SPI Configuration
config ESP32_BNO08X_DATA_PROC_TASK_SZ menu "Logging"
int "Callback task size, (data_proc_task())"
range 1024 20480 config ESP32_BNO08x_LOG_STATEMENTS
default 4096 bool "Print regular log statements statements (default enabled)."
help default "y"
Stack size of task responsible for parsing packets and executing callbacks. help
Note that callbacks should remain as short as possible, pass the data out of Print error statements and info on boot, disable for production code where no log statements are desired. (default enabled)
the callback with a queue or save it to different variables for longer operations.
config ESP32_BNO08x_DEBUG_STATEMENTS
bool "Print debug statements (default disabled)."
default "n"
help
Print the various debug statements scattered throughout the code when running.
endmenu #Logging
menu "Callbacks"
config ESP32_BNO08X_DATA_PROC_TASK_SZ
int "Callback task size, (data_proc_task())"
range 1024 20480
default 4096
help
Stack size of task responsible for parsing packets and executing callbacks.
Note that callbacks should remain as short as possible, pass the data out of
the callback with a queue or save it to different variables for longer operations.
endmenu #Callbacks
config ESP32_BNO08x_DEBUG_STATEMENTS
bool "Print debug statements."
default "n"
help
Print the various debug statements scattered throughout the code when running.
endmenu endmenu

270
source/BNO08x.cpp
View File

@ -29,7 +29,7 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
* *
* Deconstructs a BNO08x object and releases any utilized resources. * Deconstructs a BNO08x object and releases any utilized resources.
* *
* @return void, nothing to return * @return void, nothing to return.
*/ */
BNO08x::~BNO08x() BNO08x::~BNO08x()
{ {
@ -69,7 +69,7 @@ BNO08x::~BNO08x()
* Resets sensor and goes through initialization process. * Resets sensor and goes through initialization process.
* Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data. * Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.
* *
* @return true if initialization was success, false if otherwise * @return True if initialization was success, false if otherwise.
*/ */
bool BNO08x::initialize() bool BNO08x::initialize()
{ {
@ -99,11 +99,20 @@ bool BNO08x::initialize()
if (get_reset_reason() == BNO08xResetReason::UNDEFINED) if (get_reset_reason() == BNO08xResetReason::UNDEFINED)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, undefined reset reason returned after reset."); ESP_LOGE(TAG, "Initialization failed, undefined reset reason returned after reset.");
#endif
// clang-format on
return false; return false;
} }
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Successfully initialized...."); ESP_LOGI(TAG, "Successfully initialized....");
#endif
// clang-format on
return true; return true;
} }
@ -116,31 +125,56 @@ esp_err_t BNO08x::init_config_args()
{ {
if ((imu_config.io_cs == GPIO_NUM_NC)) if ((imu_config.io_cs == GPIO_NUM_NC))
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, CS GPIO cannot be unassigned."); ESP_LOGE(TAG, "Initialization failed, CS GPIO cannot be unassigned.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG; return ESP_ERR_INVALID_ARG;
} }
if ((imu_config.io_miso == GPIO_NUM_NC)) if ((imu_config.io_miso == GPIO_NUM_NC))
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, MISO GPIO cannot be unassigned."); ESP_LOGE(TAG, "Initialization failed, MISO GPIO cannot be unassigned.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG; return ESP_ERR_INVALID_ARG;
} }
if ((imu_config.io_mosi == GPIO_NUM_NC)) if ((imu_config.io_mosi == GPIO_NUM_NC))
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, MOSI GPIO cannot be unassigned."); ESP_LOGE(TAG, "Initialization failed, MOSI GPIO cannot be unassigned.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG; return ESP_ERR_INVALID_ARG;
} }
if ((imu_config.io_sclk == GPIO_NUM_NC)) if ((imu_config.io_sclk == GPIO_NUM_NC))
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, SCLK GPIO cannot be unassigned."); ESP_LOGE(TAG, "Initialization failed, SCLK GPIO cannot be unassigned.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG; return ESP_ERR_INVALID_ARG;
} }
if ((imu_config.io_rst == GPIO_NUM_NC)) if ((imu_config.io_rst == GPIO_NUM_NC))
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "RST GPIO cannot be unassigned."); ESP_LOGE(TAG, "RST GPIO cannot be unassigned.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG; return ESP_ERR_INVALID_ARG;
} }
@ -158,7 +192,12 @@ esp_err_t BNO08x::init_config_args()
if (imu_config.sclk_speed > SCLK_MAX_SPEED) // max sclk speed of 3MHz for BNO08x if (imu_config.sclk_speed > SCLK_MAX_SPEED) // max sclk speed of 3MHz for BNO08x
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Max SPI clock speed exceeded, %ld overwritten with 3MHz", imu_config.sclk_speed); ESP_LOGE(TAG, "Max SPI clock speed exceeded, %ld overwritten with 3MHz", imu_config.sclk_speed);
#endif
// clang-format on
imu_config.sclk_speed = SCLK_MAX_SPEED; imu_config.sclk_speed = SCLK_MAX_SPEED;
} }
@ -193,9 +232,17 @@ esp_err_t BNO08x::init_gpio_inputs()
ret = gpio_config(&inputs_config); ret = gpio_config(&inputs_config);
if (ret != ESP_OK) if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to configure HINT gpio."); ESP_LOGE(TAG, "Initialization failed, failed to configure HINT gpio.");
#endif
// clang-format on
}
else else
{
init_status.gpio_inputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up init_status.gpio_inputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
}
return ret; return ret;
} }
@ -223,9 +270,17 @@ esp_err_t BNO08x::init_gpio_outputs()
ret = gpio_config(&outputs_config); ret = gpio_config(&outputs_config);
if (ret != ESP_OK) if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to configure CS, RST, and WAKE (if used) gpio."); ESP_LOGE(TAG, "Initialization failed, failed to configure CS, RST, and WAKE (if used) gpio.");
#endif
// clang-format on
}
else else
{
init_status.gpio_outputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up init_status.gpio_outputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
}
return ret; return ret;
} }
@ -273,7 +328,12 @@ esp_err_t BNO08x::init_hint_isr()
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to install global ISR service."); ESP_LOGE(TAG, "Initialization failed, failed to install global ISR service.");
#endif
// clang-format on
return ret; return ret;
} }
else else
@ -285,7 +345,13 @@ esp_err_t BNO08x::init_hint_isr()
ret = gpio_isr_handler_add(imu_config.io_int, hint_handler, (void*) this); ret = gpio_isr_handler_add(imu_config.io_int, hint_handler, (void*) this);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to add hint_handler ISR."); ESP_LOGE(TAG, "Initialization failed, failed to add hint_handler ISR.");
#endif
// clang-format on
return ret; return ret;
} }
else else
@ -312,7 +378,12 @@ esp_err_t BNO08x::init_spi()
ret = spi_bus_initialize(imu_config.spi_peripheral, &bus_config, SPI_DMA_CH_AUTO); ret = spi_bus_initialize(imu_config.spi_peripheral, &bus_config, SPI_DMA_CH_AUTO);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, SPI bus failed to initialize."); ESP_LOGE(TAG, "Initialization failed, SPI bus failed to initialize.");
#endif
// clang-format on
return ret; return ret;
} }
else else
@ -324,7 +395,12 @@ esp_err_t BNO08x::init_spi()
ret = spi_bus_add_device(imu_config.spi_peripheral, &imu_spi_config, &spi_hdl); ret = spi_bus_add_device(imu_config.spi_peripheral, &imu_spi_config, &spi_hdl);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus."); ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus.");
#endif
// clang-format on
return ret; return ret;
} }
else else
@ -380,7 +456,13 @@ esp_err_t BNO08x::deinit_gpio_inputs()
ret = gpio_reset_pin(imu_config.io_int); ret = gpio_reset_pin(imu_config.io_int);
if (ret != ESP_OK) if (ret != ESP_OK)
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio HINT pin to default state."); {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus.");
#endif
// clang-format on
}
return ret; return ret;
} }
@ -399,7 +481,12 @@ esp_err_t BNO08x::deinit_gpio_outputs()
ret = gpio_reset_pin(imu_config.io_wake); ret = gpio_reset_pin(imu_config.io_wake);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio WAKE pin to default state."); ESP_LOGE(TAG, "Deconstruction failed, could reset gpio WAKE pin to default state.");
#endif
// clang-format on
return ret; return ret;
} }
} }
@ -407,14 +494,24 @@ esp_err_t BNO08x::deinit_gpio_outputs()
ret = gpio_reset_pin(imu_config.io_cs); ret = gpio_reset_pin(imu_config.io_cs);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio CS pin to default state."); ESP_LOGE(TAG, "Deconstruction failed, could reset gpio CS pin to default state.");
#endif
// clang-format on
return ret; return ret;
} }
ret = gpio_reset_pin(imu_config.io_rst); ret = gpio_reset_pin(imu_config.io_rst);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio RST pin to default state."); ESP_LOGE(TAG, "Deconstruction failed, could reset gpio RST pin to default state.");
#endif
// clang-format on
return ret; return ret;
} }
@ -435,7 +532,12 @@ esp_err_t BNO08x::deinit_hint_isr()
ret = gpio_isr_handler_remove(imu_config.io_int); ret = gpio_isr_handler_remove(imu_config.io_int);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could not remove hint ISR handler."); ESP_LOGE(TAG, "Deconstruction failed, could not remove hint ISR handler.");
#endif
// clang-format on
return ret; return ret;
} }
} }
@ -466,7 +568,12 @@ esp_err_t BNO08x::deinit_spi()
ret = spi_bus_remove_device(spi_hdl); ret = spi_bus_remove_device(spi_hdl);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could not remove spi device."); ESP_LOGE(TAG, "Deconstruction failed, could not remove spi device.");
#endif
// clang-format on
return ret; return ret;
} }
} }
@ -476,7 +583,12 @@ esp_err_t BNO08x::deinit_spi()
ret = spi_bus_free(imu_config.spi_peripheral); ret = spi_bus_free(imu_config.spi_peripheral);
if (ret != ESP_OK) if (ret != ESP_OK)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could free SPI peripheral."); ESP_LOGE(TAG, "Deconstruction failed, could free SPI peripheral.");
#endif
// clang-format on
return ret; return ret;
} }
} }
@ -506,7 +618,7 @@ bool BNO08x::wait_for_rx_done()
{ {
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "int asserted"); ESP_LOGI(TAG, "int asserted");
#endif #endif
// clang-format on // clang-format on
@ -514,7 +626,12 @@ bool BNO08x::wait_for_rx_done()
} }
else else
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Interrupt to host device never asserted."); ESP_LOGE(TAG, "Interrupt to host device never asserted.");
#endif
// clang-format on
success = false; success = false;
} }
@ -548,7 +665,7 @@ bool BNO08x::wait_for_data()
{ {
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Valid packet received."); ESP_LOGI(TAG, "Valid packet received.");
#endif #endif
// clang-format on // clang-format on
@ -556,13 +673,21 @@ bool BNO08x::wait_for_data()
} }
else else
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Invalid packet received."); ESP_LOGE(TAG, "Invalid packet received.");
#endif
// clang-format on
} }
} }
} }
else else
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Interrupt to host device never asserted."); ESP_LOGE(TAG, "Interrupt to host device never asserted.");
#endif
// clang-format on
} }
xEventGroupClearBits(evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET_BIT | EVT_GRP_SPI_RX_INVALID_PACKET_BIT); xEventGroupClearBits(evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET_BIT | EVT_GRP_SPI_RX_INVALID_PACKET_BIT);
@ -586,7 +711,7 @@ bool BNO08x::wait_for_tx_done()
{ {
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Packet sent successfully."); ESP_LOGI(TAG, "Packet sent successfully.");
#endif #endif
// clang-format on // clang-format on
@ -594,7 +719,11 @@ bool BNO08x::wait_for_tx_done()
} }
else else
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Packet failed to send."); ESP_LOGE(TAG, "Packet failed to send.");
#endif
// clang-format on
} }
return false; return false;
@ -624,21 +753,40 @@ bool BNO08x::hard_reset()
// Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3) // Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3)
if (!wait_for_rx_done()) // wait for receive operation to complete if (!wait_for_rx_done()) // wait for receive operation to complete
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Reset Failed, interrupt to host device never asserted."); ESP_LOGE(TAG, "Reset Failed, interrupt to host device never asserted.");
#endif
// clang-format on
} }
else else
{ {
if (first_boot) if (first_boot)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Received advertisement message."); ESP_LOGI(TAG, "Received advertisement message.");
#endif
// clang-format on
}
// The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2) // The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2)
if (!wait_for_rx_done()) if (!wait_for_rx_done())
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to receive initialize response on boot."); ESP_LOGE(TAG, "Failed to receive initialize response on boot.");
#endif
// clang-format on
} }
else if (first_boot) else if (first_boot)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Received initialize response."); ESP_LOGI(TAG, "Received initialize response.");
#endif
// clang-format on
success = true; success = true;
} }
} }
@ -683,14 +831,28 @@ BNO08xResetReason BNO08x::get_reset_reason()
queue_request_product_id_command(); queue_request_product_id_command();
// wait for transmit to finish // wait for transmit to finish
if (!wait_for_tx_done()) if (!wait_for_tx_done())
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to send product ID report request"); ESP_LOGE(TAG, "Failed to send product ID report request");
#endif
// clang-format on
}
else else
{ {
// receive product ID report // receive product ID report
if (wait_for_data()) if (wait_for_data())
{
xQueueReceive(queue_reset_reason, &reset_reason, host_int_timeout_ms); xQueueReceive(queue_reset_reason, &reset_reason, host_int_timeout_ms);
}
else else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to receive product ID report."); ESP_LOGE(TAG, "Failed to receive product ID report.");
#endif
// clang-format on
}
} }
return static_cast<BNO08xResetReason>(reset_reason); return static_cast<BNO08xResetReason>(reset_reason);
@ -761,7 +923,7 @@ esp_err_t BNO08x::receive_packet()
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "packet rx length: %d", packet.length); ESP_LOGW(TAG, "packet rx length: %d", packet.length);
#endif #endif
// clang-format on // clang-format on
@ -1233,9 +1395,13 @@ bool BNO08x::run_full_calibration_routine()
quat_real = get_quat_real(); quat_real = get_quat_real();
quat_accuracy = get_quat_accuracy(); quat_accuracy = get_quat_accuracy();
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Magnetometer: x: %.3f y: %.3f z: %.3f, accuracy: %d", magf_x, magf_y, magf_z, static_cast<uint8_t>(magnetometer_accuracy)); ESP_LOGI(TAG, "Magnetometer: x: %.3f y: %.3f z: %.3f, accuracy: %d", magf_x, magf_y, magf_z, static_cast<uint8_t>(magnetometer_accuracy));
ESP_LOGI(TAG, "Quaternion Rotation Vector: i: %.3f j: %.3f k: %.3f, real: %.3f, accuracy: %d", quat_I, quat_J, quat_K, quat_real, ESP_LOGI(TAG, "Quaternion Rotation Vector: i: %.3f j: %.3f k: %.3f, real: %.3f, accuracy: %d", quat_I, quat_J, quat_K, quat_real,
static_cast<uint8_t>(quat_accuracy)); static_cast<uint8_t>(quat_accuracy));
#endif
// clang-format on
vTaskDelay(5 / portTICK_PERIOD_MS); vTaskDelay(5 / portTICK_PERIOD_MS);
@ -1257,7 +1423,12 @@ bool BNO08x::run_full_calibration_routine()
{ {
if (calibration_complete()) if (calibration_complete())
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGW(TAG, "Calibration data successfully stored."); ESP_LOGW(TAG, "Calibration data successfully stored.");
#endif
// clang-format on
return true; return true;
} }
else else
@ -1272,7 +1443,13 @@ bool BNO08x::run_full_calibration_routine()
vTaskDelay(1 / portTICK_PERIOD_MS); vTaskDelay(1 / portTICK_PERIOD_MS);
if (save_calibration_attempt >= 20) if (save_calibration_attempt >= 20)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Calibration data failed to store."); ESP_LOGE(TAG, "Calibration data failed to store.");
#endif
// clang-format on
}
return false; return false;
} }
@ -1294,7 +1471,12 @@ bool BNO08x::data_available(bool ignore_no_reports_enabled)
if (!ignore_no_reports_enabled) if (!ignore_no_reports_enabled)
if (xEventGroupGetBits(evt_grp_report_en) == 0) if (xEventGroupGetBits(evt_grp_report_en) == 0)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "No reports enabled."); ESP_LOGE(TAG, "No reports enabled.");
#endif
// clang-format on
return false; return false;
} }
@ -1328,7 +1510,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "SHTP Header RX'd: 0x%X 0x%X 0x%X 0x%X", packet->header[0], packet->header[1], packet->header[2], packet->header[3]); ESP_LOGW(TAG, "SHTP Header RX'd: 0x%X 0x%X 0x%X 0x%X", packet->header[0], packet->header[1], packet->header[2], packet->header[3]);
#endif #endif
// clang-format on // clang-format on
@ -1371,7 +1553,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
case CHANNEL_CONTROL: case CHANNEL_CONTROL:
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "RX'd packet, channel control"); ESP_LOGI(TAG, "RX'd packet, channel control");
#endif #endif
// clang-format on // clang-format on
@ -1383,7 +1565,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
case CHANNEL_GYRO: case CHANNEL_GYRO:
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Rx packet, channel gyro"); ESP_LOGI(TAG, "Rx packet, channel gyro");
#endif #endif
// clang-format on // clang-format on
@ -1395,7 +1577,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
case CHANNEL_COMMAND: case CHANNEL_COMMAND:
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Rx packet, channel command"); ESP_LOGI(TAG, "Rx packet, channel command");
#endif #endif
// clang-format on // clang-format on
@ -1407,7 +1589,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
case CHANNEL_WAKE_REPORTS: case CHANNEL_WAKE_REPORTS:
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Rx packet, wake reports"); ESP_LOGI(TAG, "Rx packet, wake reports");
#endif #endif
// clang-format on // clang-format on
@ -1433,16 +1615,21 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
*/ */
uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet) uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
{ {
const uint32_t product_id = PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet);
const uint32_t reset_reason = PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet); const uint32_t reset_reason = PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet);
const uint32_t sw_part_number = PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet);
const uint32_t sw_version_major = PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet);
const uint32_t sw_version_minor = PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet);
const uint32_t sw_build_number = PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet);
const uint32_t sw_version_patch = PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet);
if (first_boot) if (first_boot)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
const uint32_t product_id = PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet);
const uint32_t sw_part_number = PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet);
const uint32_t sw_version_major = PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet);
const uint32_t sw_version_minor = PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet);
const uint32_t sw_build_number = PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet);
const uint32_t sw_version_patch = PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet);
// print product ID info packet // print product ID info packet
ESP_LOGI(TAG, ESP_LOGI(TAG,
"Product ID Info: \n\r" "Product ID Info: \n\r"
@ -1455,6 +1642,8 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
" SW Version Patch: 0x%" PRIx32 "\n\r" " SW Version Patch: 0x%" PRIx32 "\n\r"
" ---------------------------\n\r", " ---------------------------\n\r",
product_id, sw_version_major, sw_version_minor, sw_part_number, sw_build_number, sw_version_patch); product_id, sw_version_major, sw_version_minor, sw_part_number, sw_build_number, sw_version_patch);
#endif
// clang-format on
first_boot = false; first_boot = false;
} }
@ -1477,6 +1666,20 @@ uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
return 1; return 1;
} }
/**
* @brief Parses get feature request report received from BNO08x.
*
* Note there is no means in this library currently to request feature reports, this is simply to handle the
* unsolicited get feature request reports that come with report rate changes (ie when a report is disabled by setting it 0)
* such that they aren't detected as invalid packets.
*
* "6.5.5 of SH-2 Ref manual: "Note that SH-2 protocol version 1.0.1 and higher will send Get Feature Response messages
* unsolicited if a sensor’s rate changes (e.g. due to change in the rate of a related sensor."
*
* @param packet bno8x_rx_packet_t containing the get feature request report to parse.
*
* @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 0 if invalid.
*/
uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet) uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
{ {
uint16_t report_ID = 0; uint16_t report_ID = 0;
@ -1603,7 +1806,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
parse_input_report_data(packet, data, data_length); parse_input_report_data(packet, data, data_length);
// Store these generic values to their proper global variable // store these generic values to their proper global variable
switch (report_ID) switch (report_ID)
{ {
case SENSOR_REPORT_ID_ACCELEROMETER: case SENSOR_REPORT_ID_ACCELEROMETER:
@ -3683,8 +3886,8 @@ void BNO08x::spi_task()
{ {
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
static uint64_t prev_time = esp_timer_get_time(); static uint64_t prev_time = esp_timer_get_time();
static uint64_t current_time = 0; static uint64_t current_time = 0;
#endif #endif
// clang-format on // clang-format on
@ -3704,9 +3907,9 @@ void BNO08x::spi_task()
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
current_time = esp_timer_get_time(); current_time = esp_timer_get_time();
ESP_LOGI(TAG, "HINT asserted, time since last assertion: %llu", (current_time - prev_time)); ESP_LOGI(TAG, "HINT asserted, time since last assertion: %llu", (current_time - prev_time));
prev_time = current_time; prev_time = current_time;
#endif #endif
// clang-format on // clang-format on
@ -3809,7 +4012,12 @@ esp_err_t BNO08x::launch_tasks()
if (task_created != pdTRUE) if (task_created != pdTRUE)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, data_proc_task failed to launch."); ESP_LOGE(TAG, "Initialization failed, data_proc_task failed to launch.");
#endif
// clang-format on
return ESP_ERR_INVALID_STATE; return ESP_ERR_INVALID_STATE;
} }
else else
@ -3822,7 +4030,12 @@ esp_err_t BNO08x::launch_tasks()
if (task_created != pdTRUE) if (task_created != pdTRUE)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, spi_task failed to launch."); ESP_LOGE(TAG, "Initialization failed, spi_task failed to launch.");
#endif
// clang-format on
return ESP_ERR_INVALID_STATE; return ESP_ERR_INVALID_STATE;
} }
else else
@ -3865,7 +4078,12 @@ esp_err_t BNO08x::kill_all_tasks()
if (kill_count != init_status.task_count) if (kill_count != init_status.task_count)
{ {
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGE(TAG, "Task deletion timed out in deconstructor call."); ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
#endif
// clang-format on
return ESP_ERR_TIMEOUT; return ESP_ERR_TIMEOUT;
} }
} }
@ -3896,7 +4114,7 @@ void BNO08x::update_report_period_trackers(uint8_t report_ID, uint32_t new_perio
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "new hint timeout: %d", static_cast<uint16_t>(host_int_timeout_ms)); ESP_LOGW(TAG, "new hint timeout: %d", static_cast<uint16_t>(host_int_timeout_ms));
#endif #endif
// clang-format on // clang-format on
} }
@ -3917,7 +4135,7 @@ void BNO08x::update_report_period_trackers(uint8_t report_ID, uint32_t new_perio
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "new hint timeout (due to period tracker search): %d", static_cast<uint16_t>(host_int_timeout_ms)); ESP_LOGW(TAG, "new hint timeout (due to period tracker search): %d", static_cast<uint16_t>(host_int_timeout_ms));
#endif #endif
// clang-format on // clang-format on
} }