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more enable_report fxns, evt_grps_bno08x_task

This commit is contained in:
myles-parfeniuk 2024-11-20 11:12:11 -08:00
parent 4ef38a040d
commit 11fc62a398
5 changed files with 288 additions and 48 deletions
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62
include/BNO08x.hpp
View File

@ -49,6 +49,7 @@ class BNO08x
bool enable_gravity(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_linear_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
void get_gravity(float& x, float& y, float& z);
float get_gravity_X();
@ -60,6 +61,11 @@ class BNO08x
float get_linear_accel_Y();
float get_linear_accel_Z();
void get_accel(float& x, float& y, float& z);
float get_accel_X();
float get_accel_Y();
float get_accel_Z();
void register_cb(std::function<void()> cb_fxn);
void print_product_ids();
@ -71,20 +77,23 @@ class BNO08x
bool gpio_inputs; ///< True if GPIO inputs have been initialized.
bool isr_service; ///< True if global ISR service has been initialized.
bool isr_handler; ///< True if HINT ISR handler has been initialized.
bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
bool spi_bus; ///< True if spi_bus_initialize() has been called successfully.
bool spi_device; ///< True if spi_bus_add_device() has been called successfully.
bool sh2_HAL; ///< True if sh2_open() has been called successfully.
bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
uint8_t task_init_cnt; ///< Amount of tasks that have been successfully initialized.
bno08x_init_status_t()
: gpio_outputs(false)
, gpio_inputs(false)
, isr_service(false)
, isr_handler(false)
, data_proc_task(false)
, spi_bus(false)
, spi_device(false)
, data_proc_task(false)
, sh2_HAL_service_task(false)
, task_init_cnt(0)
{
}
} bno08x_init_status_t;
@ -94,12 +103,30 @@ class BNO08x
{
sh2_Accelerometer_t gravity;
sh2_Accelerometer_t linear_acceleration;
sh2_Accelerometer_t acceleration;
bno08x_data_t()
: gravity({0.0f, 0.0f, 0.0f})
, linear_acceleration({0.0f, 0.0f, 0.0f})
, acceleration({0.0f, 0.0f, 0.0f})
{
}
} bno08x_data_t;
typedef struct bno08x_usr_report_periods_t
{
uint32_t gravity;
uint32_t linear_accelerometer;
uint32_t accelerometer;
bno08x_usr_report_periods_t()
: gravity(0U)
, linear_accelerometer(0U)
, accelerometer(0U)
{
}
} bno08x_usr_report_periods_t;
bno08x_data_t data; ///< Holds all data returned from enabled reports.
@ -115,11 +142,19 @@ class BNO08x
static void sh2_HAL_service_task_trampoline(void* arg);
void sh2_HAL_service_task();
SemaphoreHandle_t sh2_HAL_lock;
SemaphoreHandle_t sh2_HAL_lock; ///<Mutex to prevent sh2 HAL lib functions from being accessed at same time.
SemaphoreHandle_t data_lock; ///<Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.
SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
void lock_sh2_HAL();
void unlock_sh2_HAL();
void lock_user_data();
void unlock_user_data();
void handle_sensor_report(sh2_SensorValue_t* sensor_val);
void update_gravity_data(sh2_SensorValue_t* sensor_val);
void update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val);
void update_accelerometer_data(sh2_SensorValue_t* sensor_val);
esp_err_t init_config_args();
esp_err_t init_gpio();
@ -145,8 +180,8 @@ class BNO08x
sh2_Hal_t sh2_HAL; ///< SH2 hardware abstraction layer struct for use with SH2 lib.
EventGroupHandle_t evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed.
EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
EventGroupHandle_t evt_grp_bno08x_task; ///<Event group for indicating various BNO08x related events between tasks.
EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
QueueHandle_t queue_rx_sensor_event; ///< TODO
@ -162,8 +197,6 @@ class BNO08x
sh2_ProductIds_t product_IDs; ///< TODO
bool reset_occurred = false;
static void IRAM_ATTR hint_handler(void* arg);
static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
@ -178,12 +211,13 @@ class BNO08x
static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
// evt_grp_spi bits
static const constexpr EventBits_t EVT_GRP_SPI_HINT_ASSERTED_BIT =
(1U << 0U); ///<When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
(1U << 1U); ///<When this bit is set it indicates a receive procedure has completed.
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE_BIT = (1U << 2U); ///<When this bit is set, it indicates a queued packet has been sent.
// evt_grp_bno08x_task bits
static const constexpr EventBits_t EVT_GRP_BNO08x_TASKS_RUNNING =
(1U << 0U); ///<When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration BNO08x driver object. Cleared in deconstructor for safe task deletion.
static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
(1U << 1U); ///<When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
(1U << 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.
// evt_grp_report_en bits
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT_EN = (1 << 0); ///< When set, rotation vector reports are active.

2
include/BNO08xSH2HAL.hpp
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@ -36,5 +36,5 @@ class BNO08xSH2HAL
static uint16_t spi_read_sh2_packet_header(uint8_t* pBuffer);
static int spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz);
static const constexpr char *TAG = "BNO08xSH2HAL";
static const constexpr char* TAG = "BNO08xSH2HAL";
};

4
include/BNO08x_macros.hpp
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@ -55,6 +55,4 @@
* @param packet Pointer to bno08x_rx_packet_t containing data.
* @return Length of SHTP packet.
*/
#define PARSE_PACKET_LENGTH(header) \
(UINT16_CLR_LSB(static_cast<uint16_t>(header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(header[0])))
#define PARSE_PACKET_LENGTH(header) (UINT16_CLR_LSB(static_cast<uint16_t>(header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(header[0])))

266
source/BNO08x.cpp
View File

@ -13,7 +13,9 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
: data_proc_task_hdl(NULL)
, sh2_HAL_service_task_hdl(NULL)
, sh2_HAL_lock(xSemaphoreCreateMutex())
, evt_grp_spi(xEventGroupCreate())
, data_lock(xSemaphoreCreateMutex())
, sem_kill_tasks(NULL)
, evt_grp_bno08x_task(xEventGroupCreate())
, evt_grp_report_en(xEventGroupCreate())
, queue_rx_sensor_event(xQueueCreate(5, sizeof(sh2_SensorEvent_t)))
, imu_config(imu_config)
@ -47,8 +49,14 @@ BNO08x::~BNO08x()
// deinitialize tasks if they have been initialized
ESP_ERROR_CHECK(deinit_tasks());
// delete all semaphores
vSemaphoreDelete(sh2_HAL_lock);
vSemaphoreDelete(data_lock);
if (sem_kill_tasks != NULL)
vSemaphoreDelete(sem_kill_tasks);
// delete event groups
vEventGroupDelete(evt_grp_spi);
vEventGroupDelete(evt_grp_bno08x_task);
vEventGroupDelete(evt_grp_report_en);
// delete all queues
@ -123,6 +131,7 @@ void BNO08x::data_proc_task_trampoline(void* arg)
*/
void BNO08x::data_proc_task()
{
EventBits_t evt_grp_bno08x_task_bits = 0U;
sh2_SensorEvent_t sensor_evt;
sh2_SensorValue_t sensor_val;
@ -130,10 +139,23 @@ void BNO08x::data_proc_task()
{
if (xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY) == pdTRUE)
{
if (sh2_decodeSensorEvent(&sensor_val, &sensor_evt) != SH2_ERR)
handle_sensor_report(&sensor_val);
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
{
if (sh2_decodeSensorEvent(&sensor_val, &sensor_evt) != SH2_ERR)
handle_sensor_report(&sensor_val);
}
else
{
break; // exit loop, deconstructor requested task to commit self-deletion
}
}
}
xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
vTaskDelete(NULL);
}
void BNO08x::sh2_HAL_service_task_trampoline(void* arg)
@ -144,20 +166,73 @@ void BNO08x::sh2_HAL_service_task_trampoline(void* arg)
void BNO08x::sh2_HAL_service_task()
{
EventBits_t evt_grp_bno08x_task_bits = 0U;
while (1)
{
xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_HINT_ASSERTED_BIT, pdFALSE, pdFALSE, portMAX_DELAY);
xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, pdFALSE, pdFALSE, portMAX_DELAY);
if (reset_occurred)
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
{
reset_occurred = false;
re_enable_reports();
}
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
{
re_enable_reports();
}
xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY);
sh2_service();
xSemaphoreGive(sh2_HAL_lock);
lock_sh2_HAL();
sh2_service();
unlock_sh2_HAL();
}
else
{
break; // exit loop, deconstructor requested task to commit self-deletion
}
}
xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
vTaskDelete(NULL);
}
/**
* @brief Locks sh2 HAL lib to only allow the calling task to call its APIs.
*
* @return void, nothing to return
*/
void BNO08x::lock_sh2_HAL()
{
xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY);
}
/**
* @brief Unlocks sh2 HAL lib to allow other tasks to call its APIs.
*
* @return void, nothing to return
*/
void BNO08x::unlock_sh2_HAL()
{
xSemaphoreGive(sh2_HAL_lock);
}
/**
* @brief Locks bno08x_data_t data member struct to only allow the calling task to read/modify it.
*
* @return void, nothing to return
*/
void BNO08x::lock_user_data()
{
xSemaphoreTake(data_lock, portMAX_DELAY);
}
/**
* @brief Unlocks bno08x_data_t data member struct to allow other tasks to read/modify it.
*
* @return void, nothing to return
*/
void BNO08x::unlock_user_data()
{
xSemaphoreGive(data_lock);
}
void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
@ -166,13 +241,17 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
{
case SH2_GRAVITY:
update_gravity_data(sensor_val);
ESP_LOGW(TAG, "grav: %.3lf %.3lf %.3lf", sensor_val->un.gravity.x, sensor_val->un.gravity.y, sensor_val->un.gravity.z);
ESP_LOGW(TAG, "grav: %.3lf %.3lf %.3lf", data.gravity.x, data.gravity.y, data.gravity.z);
break;
case SH2_LINEAR_ACCELERATION:
update_linear_accelerometer_data(sensor_val);
ESP_LOGW(TAG, "accl: %.3lf %.3lf %.3lf", sensor_val->un.linearAcceleration.x, sensor_val->un.linearAcceleration.y,
sensor_val->un.linearAcceleration.z);
ESP_LOGW(TAG, "lin_accl: %.3lf %.3lf %.3lf", data.linear_acceleration.x, data.linear_acceleration.y, data.linear_acceleration.z);
break;
case SH2_ACCELEROMETER:
update_accelerometer_data(sensor_val);
ESP_LOGW(TAG, "accl: %.3lf %.3lf %.3lf", data.acceleration.x, data.acceleration.y, data.acceleration.z);
break;
default:
@ -190,9 +269,11 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
*/
void BNO08x::update_gravity_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.gravity.x = sensor_val->un.gravity.x;
data.gravity.y = sensor_val->un.gravity.y;
data.gravity.z = sensor_val->un.gravity.z;
unlock_user_data();
}
/**
@ -204,9 +285,27 @@ void BNO08x::update_gravity_data(sh2_SensorValue_t* sensor_val)
*/
void BNO08x::update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.linear_acceleration.x = sensor_val->un.linearAcceleration.x;
data.linear_acceleration.y = sensor_val->un.linearAcceleration.y;
data.linear_acceleration.z = sensor_val->un.linearAcceleration.z;
unlock_user_data();
}
/**
* @brief Updates accelerometer data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.acceleration.x = sensor_val->un.accelerometer.x;
data.acceleration.y = sensor_val->un.accelerometer.x;
data.acceleration.z = sensor_val->un.accelerometer.x;
unlock_user_data();
}
/**
@ -462,7 +561,7 @@ esp_err_t BNO08x::init_tasks()
{
BaseType_t task_created = pdFALSE;
vTaskDelay(100 / portTICK_PERIOD_MS);
xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);
// launch data processing task
task_created = xTaskCreate(
@ -480,6 +579,7 @@ esp_err_t BNO08x::init_tasks()
}
else
{
init_status.task_init_cnt++;
init_status.data_proc_task = true;
}
@ -498,6 +598,7 @@ esp_err_t BNO08x::init_tasks()
}
else
{
init_status.task_init_cnt++;
init_status.sh2_HAL_service_task = true;
}
@ -791,11 +892,35 @@ esp_err_t BNO08x::deinit_spi()
*/
esp_err_t BNO08x::deinit_tasks()
{
static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 100UL;
uint8_t kill_count = 0;
sh2_SensorEvent_t empty_event;
sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_init_cnt, 0);
// signal tasks to commit self-deletion
xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);
if (init_status.data_proc_task)
vTaskDelete(data_proc_task_hdl);
xQueueSend(queue_rx_sensor_event, &empty_event, 0);
if (init_status.sh2_HAL_service_task)
vTaskDelete(sh2_HAL_service_task_hdl);
xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT);
for (uint8_t i = 0; i < init_status.task_init_cnt; i++)
if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
kill_count++;
if (kill_count != init_status.task_init_cnt)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
#endif
// clang-format on
return ESP_FAIL;
}
return ESP_OK;
}
@ -878,48 +1003,125 @@ bool BNO08x::enable_linear_accelerometer(uint32_t time_between_reports, sh2_Sens
}
}
/**
* @brief Sends command to enable accelerometer reports. (See Ref. Manual 6.5.9)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
if (enable_report(SH2_ACCELEROMETER, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.accelerometer = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_ACCELEROMETER_BIT_EN);
return true;
}
}
void BNO08x::get_gravity(float& x, float& y, float& z)
{
lock_user_data();
x = data.gravity.x;
y = data.gravity.y;
z = data.gravity.z;
unlock_user_data();
}
float BNO08x::get_gravity_X()
{
return data.gravity.x;
lock_user_data();
float z = data.gravity.z;
unlock_user_data();
return z;
}
float BNO08x::get_gravity_Y()
{
return data.gravity.y;
lock_user_data();
float y = data.gravity.y;
unlock_user_data();
return y;
}
float BNO08x::get_gravity_Z()
{
return data.gravity.z;
lock_user_data();
float z = data.gravity.z;
unlock_user_data();
return z;
}
void BNO08x::get_linear_accel(float& x, float& y, float& z)
{
lock_user_data();
x = data.linear_acceleration.x;
y = data.linear_acceleration.y;
z = data.linear_acceleration.z;
unlock_user_data();
}
float BNO08x::get_linear_accel_X()
{
return data.linear_acceleration.x;
lock_user_data();
float x = data.linear_acceleration.x;
unlock_user_data();
return x;
}
float BNO08x::get_linear_accel_Y()
{
return data.linear_acceleration.y;
lock_user_data();
float y = data.linear_acceleration.y;
unlock_user_data();
return y;
}
float BNO08x::get_linear_accel_Z()
{
return data.linear_acceleration.z;
lock_user_data();
float z = data.linear_acceleration.z;
unlock_user_data();
return z;
}
void BNO08x::get_accel(float& x, float& y, float& z)
{
lock_user_data();
x = data.acceleration.x;
y = data.acceleration.y;
z = data.acceleration.z;
unlock_user_data();
}
float BNO08x::get_accel_X()
{
lock_user_data();
float x = data.acceleration.x;
unlock_user_data();
return x;
}
float BNO08x::get_accel_Y()
{
lock_user_data();
float y = data.acceleration.y;
unlock_user_data();
return y;
}
float BNO08x::get_accel_Z()
{
lock_user_data();
float z = data.acceleration.z;
unlock_user_data();
return z;
}
/**
@ -932,9 +1134,9 @@ esp_err_t BNO08x::wait_for_hint()
{
EventBits_t spi_evt_bits;
spi_evt_bits = xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_HINT_ASSERTED_BIT, pdTRUE, pdFALSE, HOST_INT_TIMEOUT_DEFAULT_MS);
spi_evt_bits = xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, pdTRUE, pdFALSE, HOST_INT_TIMEOUT_DEFAULT_MS);
if (spi_evt_bits & EVT_GRP_SPI_HINT_ASSERTED_BIT)
if (spi_evt_bits & EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT)
return ESP_OK;
else
return ESP_ERR_TIMEOUT;
@ -953,10 +1155,10 @@ esp_err_t BNO08x::enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_
{
int sh2_res = SH2_ERR;
xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY);
lock_sh2_HAL();
sensor_cfg.reportInterval_us = time_between_reports;
sh2_res = sh2_setSensorConfig(sensor_ID, &sensor_cfg);
xSemaphoreGive(sh2_HAL_lock);
unlock_sh2_HAL();
if (sh2_res != SH2_OK)
return ESP_FAIL;
@ -968,6 +1170,8 @@ esp_err_t BNO08x::re_enable_reports()
{
EventBits_t report_en_bits = xEventGroupGetBits(evt_grp_report_en);
xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
if (report_en_bits & EVT_GRP_RPT_GRAVITY_BIT_EN)
if (!enable_gravity(user_report_periods.gravity))
return ESP_FAIL;
@ -976,6 +1180,10 @@ esp_err_t BNO08x::re_enable_reports()
if (!enable_linear_accelerometer(user_report_periods.linear_accelerometer))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_ACCELEROMETER_BIT_EN)
if (!enable_accelerometer(user_report_periods.accelerometer))
return ESP_FAIL;
return ESP_OK;
}
@ -1028,6 +1236,6 @@ void IRAM_ATTR BNO08x::hint_handler(void* arg)
// created by constructor call)
// notify any tasks/function calls waiting for HINT assertion
xEventGroupSetBitsFromISR(imu->evt_grp_spi, EVT_GRP_SPI_HINT_ASSERTED_BIT, &xHighPriorityTaskWoken);
xEventGroupSetBitsFromISR(imu->evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT, &xHighPriorityTaskWoken);
portYIELD_FROM_ISR(xHighPriorityTaskWoken); // perform context switch if necessary
}

2
source/BNO08xSH2HAL.cpp
View File

@ -81,7 +81,7 @@ uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
void BNO08xSH2HAL::hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent)
{
if (pEvent->eventId == SH2_RESET)
imu->reset_occurred = true;
xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
}
void BNO08xSH2HAL::sensor_event_cb(void* cookie, sh2_SensorEvent_t* event)