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soft_reset(), hard_reset()

This commit is contained in:
myles-parfeniuk 2024-11-26 00:47:01 -08:00
parent 20f18acc27
commit 0e9c27bfde
5 changed files with 188 additions and 18 deletions
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8
include/BNO08x.hpp
View File

@ -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();

11
include/BNO08x_global_types.hpp
View File

@ -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
{

184
source/BNO08x.cpp
View File

@ -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)
gpio_set_level(imu_config.io_wake, 1);
// 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();
gpio_set_level(imu_config.io_rst, 0); // set reset pin low
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)
gpio_set_level(imu_config.io_rst, 1); // bring out of reset
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, "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;
}
}
}

1
source/BNO08xRpt.cpp
View File

@ -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;

2
source/BNO08xSH2HAL.cpp
View File

@ -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()