Cansat
/
esp32_BNO08x
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
Kconfig.projbuild
View File

@ -72,7 +72,7 @@ menu "esp32_BNO08x"
SPI clock speed in Hz, default 2MHz.
config ESP32_BNO08X_SPI_QUEUE_SZ
int "Callback queue size."
int "SPI Callback queue size."
range 1 100
default 5
help
@ -81,6 +81,24 @@ menu "esp32_BNO08x"
endmenu #SPI Configuration
menu "Logging"
config ESP32_BNO08x_LOG_STATEMENTS
bool "Print regular log statements statements (default enabled)."
default "y"
help
Print error statements and info on boot, disable for production code where no log statements are desired. (default enabled)
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
@ -90,9 +108,6 @@ menu "esp32_BNO08x"
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.
config ESP32_BNO08x_DEBUG_STATEMENTS
bool "Print debug statements."
default "n"
help
Print the various debug statements scattered throughout the code when running.
endmenu #Callbacks
endmenu

232
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.
*
* @return void, nothing to return
* @return void, nothing to return.
*/
BNO08x::~BNO08x()
{
@ -69,7 +69,7 @@ BNO08x::~BNO08x()
* 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.
*
* @return true if initialization was success, false if otherwise
* @return True if initialization was success, false if otherwise.
*/
bool BNO08x::initialize()
{
@ -99,11 +99,20 @@ bool BNO08x::initialize()
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.");
#endif
// clang-format on
return false;
}
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Successfully initialized....");
#endif
// clang-format on
return true;
}
@ -116,31 +125,56 @@ esp_err_t BNO08x::init_config_args()
{
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.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG;
}
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.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG;
}
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.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG;
}
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.");
#endif
// clang-format on
return ESP_ERR_INVALID_ARG;
}
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.");
#endif
// clang-format on
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
{
// 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);
#endif
// clang-format on
imu_config.sclk_speed = SCLK_MAX_SPEED;
}
@ -193,9 +232,17 @@ esp_err_t BNO08x::init_gpio_inputs()
ret = gpio_config(&inputs_config);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to configure HINT gpio.");
#endif
// clang-format on
}
else
{
init_status.gpio_inputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
}
return ret;
}
@ -223,9 +270,17 @@ esp_err_t BNO08x::init_gpio_outputs()
ret = gpio_config(&outputs_config);
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.");
#endif
// clang-format on
}
else
{
init_status.gpio_outputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
}
return ret;
}
@ -273,7 +328,12 @@ esp_err_t BNO08x::init_hint_isr()
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to install global ISR service.");
#endif
// clang-format on
return ret;
}
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);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, failed to add hint_handler ISR.");
#endif
// clang-format on
return ret;
}
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);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, SPI bus failed to initialize.");
#endif
// clang-format on
return ret;
}
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);
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.");
#endif
// clang-format on
return ret;
}
else
@ -380,7 +456,13 @@ esp_err_t BNO08x::deinit_gpio_inputs()
ret = gpio_reset_pin(imu_config.io_int);
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;
}
@ -399,7 +481,12 @@ esp_err_t BNO08x::deinit_gpio_outputs()
ret = gpio_reset_pin(imu_config.io_wake);
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.");
#endif
// clang-format on
return ret;
}
}
@ -407,14 +494,24 @@ esp_err_t BNO08x::deinit_gpio_outputs()
ret = gpio_reset_pin(imu_config.io_cs);
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.");
#endif
// clang-format on
return ret;
}
ret = gpio_reset_pin(imu_config.io_rst);
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.");
#endif
// clang-format on
return ret;
}
@ -435,7 +532,12 @@ esp_err_t BNO08x::deinit_hint_isr()
ret = gpio_isr_handler_remove(imu_config.io_int);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could not remove hint ISR handler.");
#endif
// clang-format on
return ret;
}
}
@ -466,7 +568,12 @@ esp_err_t BNO08x::deinit_spi()
ret = spi_bus_remove_device(spi_hdl);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could not remove spi device.");
#endif
// clang-format on
return ret;
}
}
@ -476,7 +583,12 @@ esp_err_t BNO08x::deinit_spi()
ret = spi_bus_free(imu_config.spi_peripheral);
if (ret != ESP_OK)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Deconstruction failed, could free SPI peripheral.");
#endif
// clang-format on
return ret;
}
}
@ -514,7 +626,12 @@ bool BNO08x::wait_for_rx_done()
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Interrupt to host device never asserted.");
#endif
// clang-format on
success = false;
}
@ -556,13 +673,21 @@ bool BNO08x::wait_for_data()
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Invalid packet received.");
#endif
// clang-format on
}
}
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
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);
@ -594,7 +719,11 @@ bool BNO08x::wait_for_tx_done()
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Packet failed to send.");
#endif
// clang-format on
}
return false;
@ -624,21 +753,40 @@ bool BNO08x::hard_reset()
// Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3)
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.");
#endif
// clang-format on
}
else
{
if (first_boot)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
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)
if (!wait_for_rx_done())
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to receive initialize response on boot.");
#endif
// clang-format on
}
else if (first_boot)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGI(TAG, "Received initialize response.");
#endif
// clang-format on
success = true;
}
}
@ -683,14 +831,28 @@ BNO08xResetReason BNO08x::get_reset_reason()
queue_request_product_id_command();
// wait for transmit to finish
if (!wait_for_tx_done())
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to send product ID report request");
#endif
// clang-format on
}
else
{
// receive product ID report
if (wait_for_data())
{
xQueueReceive(queue_reset_reason, &reset_reason, host_int_timeout_ms);
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Failed to receive product ID report.");
#endif
// clang-format on
}
}
return static_cast<BNO08xResetReason>(reset_reason);
@ -1233,9 +1395,13 @@ bool BNO08x::run_full_calibration_routine()
quat_real = get_quat_real();
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, "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));
#endif
// clang-format on
vTaskDelay(5 / portTICK_PERIOD_MS);
@ -1257,7 +1423,12 @@ bool BNO08x::run_full_calibration_routine()
{
if (calibration_complete())
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGW(TAG, "Calibration data successfully stored.");
#endif
// clang-format on
return true;
}
else
@ -1272,7 +1443,13 @@ bool BNO08x::run_full_calibration_routine()
vTaskDelay(1 / portTICK_PERIOD_MS);
if (save_calibration_attempt >= 20)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Calibration data failed to store.");
#endif
// clang-format on
}
return false;
}
@ -1294,7 +1471,12 @@ bool BNO08x::data_available(bool ignore_no_reports_enabled)
if (!ignore_no_reports_enabled)
if (xEventGroupGetBits(evt_grp_report_en) == 0)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "No reports enabled.");
#endif
// clang-format on
return false;
}
@ -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)
{
const uint32_t product_id = PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet);
const uint32_t reset_reason = PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet);
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);
if (first_boot)
{
// print product ID info packet
ESP_LOGI(TAG,
"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"
" ---------------------------\n\r",
product_id, sw_version_major, sw_version_minor, sw_part_number, sw_build_number, sw_version_patch);
#endif
// clang-format on
first_boot = false;
}
@ -1477,6 +1666,20 @@ uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
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 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);
// Store these generic values to their proper global variable
// store these generic values to their proper global variable
switch (report_ID)
{
case SENSOR_REPORT_ID_ACCELEROMETER:
@ -3809,7 +4012,12 @@ esp_err_t BNO08x::launch_tasks()
if (task_created != pdTRUE)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, data_proc_task failed to launch.");
#endif
// clang-format on
return ESP_ERR_INVALID_STATE;
}
else
@ -3822,7 +4030,12 @@ esp_err_t BNO08x::launch_tasks()
if (task_created != pdTRUE)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGE(TAG, "Initialization failed, spi_task failed to launch.");
#endif
// clang-format on
return ESP_ERR_INVALID_STATE;
}
else
@ -3865,7 +4078,12 @@ esp_err_t BNO08x::kill_all_tasks()
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.");
#endif
// clang-format on
return ESP_ERR_TIMEOUT;
}
}