soft_reset(), hard_reset()

include/BNO08x.hpp

@@ -67,7 +67,8 @@ class BNO08x
         ~BNO08x();
 
         bool initialize();
-        void hard_reset();
+        bool hard_reset();
+        bool soft_reset();
 
         bool data_available();
         void register_cb(std::function<void(void)> cb_fxn);
@@ -147,7 +148,7 @@ class BNO08x
         void data_proc_task();
 
         // sh2 service task
-        static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ = 2048UL; ///< Size of sh2_HAL_service_task() stack in bytes
+        static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ = 4095UL; ///< Size of sh2_HAL_service_task() stack in bytes
         TaskHandle_t sh2_HAL_service_task_hdl;                                          ///<sh2_HAL_service_task() task handle
         static void sh2_HAL_service_task_trampoline(void* arg);
         void sh2_HAL_service_task();
@@ -187,6 +188,9 @@ class BNO08x
         esp_err_t deinit_sh2_HAL();
 
         esp_err_t wait_for_hint();
+        esp_err_t wait_for_reset();
+
+        void toggle_reset();
 
         esp_err_t re_enable_reports();
 

include/BNO08x_global_types.hpp

@@ -24,6 +24,17 @@
 #define SHAKE_DETECTED_Y(tap) ((tap) & (1U << 1U) ? 1 : 0)
 #define SHAKE_DETECTED_Z(tap) ((tap) & (1U << 2U) ? 1 : 0)
 
+/// @brief Reason for previous IMU reset (returned by get_reset_reason())
+enum class BNO08xResetReason
+{
+    UNDEFINED, ///< Undefined reset reason, this should never occur and is an error.
+    POR,       ///< Previous reset was due to power on reset.
+    INT_RST,   ///< Previous reset was due to internal reset.
+    WTD,       ///< Previous reset was due to watchdog timer.
+    EXT_RST,   ///< Previous reset was due to external reset.
+    OTHER      ///< Previous reset was due to power other reason.
+};
+
 /// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
 enum class BNO08xActivityEnable
 {

source/BNO08x.cpp

@@ -208,7 +208,8 @@ void BNO08x::sh2_HAL_service_task()
 
     while (1)
     {
-        xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, pdFALSE, pdFALSE, portMAX_DELAY);
+        xEventGroupWaitBits(
+                evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
 
         evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
 
@@ -750,7 +751,7 @@ esp_err_t BNO08x::init_sh2_HAL()
     sh2_HAL.getTimeUs = BNO08xSH2HAL::get_time_us;
 
     // reset BNO08x
-    hard_reset();
+    toggle_reset();
 
     if (sh2_open(&sh2_HAL, BNO08xSH2HAL::hal_cb, NULL) != SH2_OK)
     {
@@ -765,7 +766,7 @@ esp_err_t BNO08x::init_sh2_HAL()
 
     init_status.sh2_HAL = true;
 
-    memset(&product_IDs, 0, sizeof(product_IDs));
+    memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
 
     if (sh2_getProdIds(&product_IDs) != SH2_OK)
     {
@@ -1025,24 +1026,136 @@ esp_err_t BNO08x::deinit_sh2_HAL()
 }
 
 /**
- * @brief Hard resets BNO08x sensor.
+ * @brief Hard resets BNO08x device.
  *
- * @return void, nothing to return
+ * @return True if reset was success.
  */
-void BNO08x::hard_reset()
+bool BNO08x::hard_reset()
 {
+    int op_success = SH2_ERR;
 
-    gpio_intr_disable(imu_config.io_int); // disable interrupts before reset
+    toggle_reset();
 
-    gpio_set_level(imu_config.io_cs, 1);
+    // wait for reset and run service to dispatch callbacks
+    if (wait_for_reset() == ESP_OK)
+    {
+        lock_sh2_HAL();
+        sh2_service();
+        unlock_sh2_HAL();
 
-    if (imu_config.io_wake != GPIO_NUM_NC)
+        // get product ids and check reset reason
-        gpio_set_level(imu_config.io_wake, 1);
+        memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
+        lock_sh2_HAL();
+        op_success = sh2_getProdIds(&product_IDs);
+        unlock_sh2_HAL();
 
-    gpio_set_level(imu_config.io_rst, 0); // set reset pin low
+        if (op_success == SH2_OK)
-    gpio_intr_enable(imu_config.io_int);  // enable interrupts before bringing out of reset
+        {
-    vTaskDelay(HARD_RESET_DELAY_MS);      // 10ns min, set to larger delay to let things stabilize(Anton)
+            if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
-    gpio_set_level(imu_config.io_rst, 1); // bring out of reset
+            {
+                return true;
+            }
+            else
+            {
+                // clang-format off
+                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+                ESP_LOGE(TAG, "Hard reset failure, incorrect reset reason returned: %d.", product_IDs.entry[0].resetCause);
+                #endif
+                // clang-format on
+            }
+        }
+        else
+        {
+            // clang-format off
+                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+                ESP_LOGE(TAG, "Hard reset failure, failed to get prodIDs.");
+                #endif
+            // clang-format on
+        }
+    }
+    else
+    {
+        // clang-format off
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            ESP_LOGE(TAG, "Hard reset failure, reset never detected after toggling reset pin");
+            #endif
+        // clang-format on
+    }
+
+    return false;
+}
+
+/**
+ * @brief Soft resets BNO08x device by sending RESET (1) command on "device" channel.
+ *
+ * @return True if soft reset operation succeeded.
+ */
+bool BNO08x::soft_reset()
+{
+    int op_success = SH2_ERR;
+
+    lock_sh2_HAL();
+    op_success = sh2_devReset();
+    unlock_sh2_HAL();
+
+    if (op_success == SH2_OK)
+    {
+        // wait for reset and run service to dispatch callbacks
+        if (wait_for_reset() == ESP_OK)
+        {
+            lock_sh2_HAL();
+            sh2_service();
+            unlock_sh2_HAL();
+
+            // get product ids and check reset reason
+            memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
+            lock_sh2_HAL();
+            op_success = sh2_getProdIds(&product_IDs);
+            unlock_sh2_HAL();
+
+            if (op_success == SH2_OK)
+            {
+                if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
+                {
+                    return true;
+                }
+                else
+                {
+                    // clang-format off
+                    #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+                    ESP_LOGE(TAG, "Soft reset failure, incorrect reset reason returned.");
+                    #endif
+                    // clang-format on
+                }
+            }
+            else
+            {
+                // clang-format off
+                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+                ESP_LOGE(TAG, "Soft reset failure, failed to get prodIDs.");
+                #endif
+                // clang-format on
+            }
+        }
+        else
+        {
+            // clang-format off
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            ESP_LOGE(TAG, "Soft reset failure, reset never detected after sending command.");
+            #endif
+            // clang-format on
+        }
+    }
+    else
+    {
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+        ESP_LOGE(TAG, "Soft reset failure, failed to send reset command");
+        #endif
+        // clang-format on
+    }
+
+    return false;
 }
 
 /**
@@ -1063,6 +1176,42 @@ esp_err_t BNO08x::wait_for_hint()
         return ESP_ERR_TIMEOUT;
 }
 
+/**
+ * @brief Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.
+ *
+ *
+ * @return ESP_OK if reset was detected by SH2 HAL lib.
+ */
+esp_err_t BNO08x::wait_for_reset()
+{
+    if (xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, HOST_INT_TIMEOUT_DEFAULT_MS) &
+            EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
+        return ESP_OK;
+    else
+        return ESP_ERR_TIMEOUT;
+}
+
+/**
+ * @brief Toggles reset gpio pin for hard reset of BNO08x device.
+ *
+ *
+ * @return void, nothing to return
+ */
+void BNO08x::toggle_reset()
+{
+    gpio_intr_disable(imu_config.io_int); // disable interrupts before reset
+
+    gpio_set_level(imu_config.io_cs, 1);
+
+    if (imu_config.io_wake != GPIO_NUM_NC)
+        gpio_set_level(imu_config.io_wake, 1);
+
+    gpio_set_level(imu_config.io_rst, 0); // set reset pin low
+    vTaskDelay(HARD_RESET_DELAY_MS);      // 10ns min, set to larger delay to let things stabilize(Anton)
+    gpio_intr_enable(imu_config.io_int);  // enable interrupts before bringing out of reset
+    gpio_set_level(imu_config.io_rst, 1); // bring out of reset
+}
+
 /**
  * @brief Re-enables all reports enabled by user (called when BNO08x reset is detected by sh2 HAL lib).
  *
@@ -1079,7 +1228,14 @@ esp_err_t BNO08x::re_enable_reports()
         if (rpt->rpt_bit & report_en_bits)
         {
             if (!rpt->enable(rpt->period_us))
+            {
+                // clang-format off
+                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+                ESP_LOGE(TAG, "Failed to re-enable: %d", rpt->ID);
+                #endif
+                // clang-format on
                 return ESP_FAIL;
+            }
         }
     }
 

source/BNO08xRpt.cpp

@@ -27,7 +27,6 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
     }
     else
     {
-        flush();
         period_us = time_between_reports;                    // Update the period
         xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
         return true;

source/BNO08xSH2HAL.cpp

@@ -90,7 +90,7 @@ void BNO08xSH2HAL::sensor_event_cb(void* cookie, sh2_SensorEvent_t* event)
 
 void BNO08xSH2HAL::hardware_reset()
 {
-    imu->hard_reset();
+    imu->toggle_reset();
 }
 
 bool BNO08xSH2HAL::spi_wait_for_int()