activity classifier calibration routine bugfix
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myles-parfeniuk
parent
aedfbd846c
commit
18a1a6cff0
28
BNO08x.cpp
28
BNO08x.cpp
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@ -452,9 +452,9 @@ bool BNO08x::receive_packet()
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*
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* @return void, nothing to return
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*/
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void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
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void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit, uint32_t special_config)
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{
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queue_feature_command(report_ID, time_between_reports);
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queue_feature_command(report_ID, time_between_reports, special_config);
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if (wait_for_tx_done()) // wait for transmit operation to complete
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{
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xEventGroupSetBits(evt_grp_report_en, report_evt_grp_bit);
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@ -495,6 +495,10 @@ void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_
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/**
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* @brief Queues an SHTP packet to be sent via SPI.
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*
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* @param SHTP channel number
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* @param data_length data length in bytes
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* @param commands array containing data to be sent
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*
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* @return void, nothing to return
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*/
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void BNO08x::queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands)
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@ -770,10 +774,10 @@ bool BNO08x::run_full_calibration_routine()
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calibrate_all(); // Turn on cal for Accel, Gyro, and Mag
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// Enable Game Rotation Vector output
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enable_game_rotation_vector(100); // Send data update every 100ms
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enable_game_rotation_vector(100000UL); // Send data update every 100ms
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// Enable Magnetic Field output
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enable_magnetometer(100); // Send data update every 100ms
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enable_magnetometer(100000UL); // Send data update every 100ms
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while (1)
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{
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@ -1354,7 +1358,7 @@ void BNO08x::enable_stability_classifier(uint32_t time_between_reports)
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void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9])
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{
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activity_confidences = activity_confidence_vals; // Store pointer to array
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enable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT);
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enable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT, activities_to_enable);
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}
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/**
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@ -2744,20 +2748,6 @@ void BNO08x::queue_tare_command(uint8_t command, uint8_t axis, uint8_t rotation_
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queue_command(COMMAND_TARE, commands);
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}
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/**
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* @brief Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref.
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* Manual 6.5.4)
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*
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* @param report_ID ID of sensor report being requested.
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* @param time_between_reports Desired time between reports.
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*
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* @return void, nothing to return
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*/
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void BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)
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{
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queue_feature_command(report_ID, time_between_reports, 0); // No specific config
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}
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/**
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* @brief Static function used to launch spi task.
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*
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35
BNO08x.hpp
35
BNO08x.hpp
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@ -56,15 +56,15 @@ typedef struct bno08x_config_t
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/// To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration.
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/// Alternatively, edit the default values in "Kconfig.projbuild"
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bno08x_config_t()
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: spi_peripheral((spi_host_device_t)CONFIG_ESP32_BNO08x_SPI_HOST)
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, io_mosi((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_DI) // default:
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, io_miso((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SDA) // default:
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, io_sclk((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SCL) // default:
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, io_cs((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_CS) // default:
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, io_int((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_HINT) // default:
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, io_rst((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_RST) // default:
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, io_wake((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_WAKE) // default: -1 (unused)
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, sclk_speed((uint32_t)CONFIG_ESP32_BNO08X_SCL_SPEED_HZ) // default: 2MH
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: spi_peripheral((spi_host_device_t) CONFIG_ESP32_BNO08x_SPI_HOST)
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, io_mosi((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_DI) // default:
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, io_miso((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_SDA) // default:
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, io_sclk((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_SCL) // default:
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, io_cs((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_CS) // default:
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, io_int((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_HINT) // default:
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, io_rst((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_RST) // default:
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, io_wake((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_WAKE) // default: -1 (unused)
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, sclk_speed((uint32_t) CONFIG_ESP32_BNO08X_SCL_SPEED_HZ) // default: 2MH
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{
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}
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@ -255,6 +255,18 @@ class BNO08x
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static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR =
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0xE30B; ///< Rotation vector record ID, to be passed in metadata functions like get_Q1()
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// Activity classifier bits
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_UNKNOWN_EN = (1 << 0);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_IN_VEHICLE_EN = (1 << 1);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_BICYCLE_EN = (1 << 2);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_FOOT_EN = (1 << 3);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_STILL_EN = (1 << 4);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_TILTING_EN = (1 << 5);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_WALKING_EN = (1 << 6);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_RUNNING_EN = (1 << 7);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_STAIRS_EN = (1 << 8);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ALL_EN = 0x1F;
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static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
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@ -296,12 +308,11 @@ class BNO08x
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bool wait_for_data();
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bool receive_packet();
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void send_packet(bno08x_tx_packet_t* packet);
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void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit);
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void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit, uint32_t special_config = 0);
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void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit);
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void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands);
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void queue_command(uint8_t command, uint8_t* commands);
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void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports);
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void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config);
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void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config = 0);
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void queue_calibrate_command(uint8_t _to_calibrate);
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void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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void queue_request_product_id_command();
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