shake detector rpts on change, ActivityClassifer enable bugfix, removed

circle detector

include/BNO08x.hpp

@@ -92,7 +92,6 @@ class BNO08x
                 BNO08xRptStabilityClassifier stability_classifier;
                 BNO08xRptShakeDetector shake_detector;
                 BNO08xRptTapDetector tap_detector;
-                BNO08xRptCircleDetector circle_detector;
 
                 bno08x_reports_t(BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
                     : accelerometer(SH2_ACCELEROMETER, BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT, sync_ctx)
@@ -122,7 +121,6 @@ class BNO08x
                               SH2_STABILITY_CLASSIFIER, BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT, sync_ctx)
                     , shake_detector(SH2_SHAKE_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT, sync_ctx)
                     , tap_detector(SH2_TAP_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT, sync_ctx)
-                    , circle_detector(SH2_CIRCLE_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_CIRCLE_DETECTOR_BIT, sync_ctx)
                 {
                 }
         } bno08x_reports_t;
@@ -226,7 +224,6 @@ class BNO08x
                 {SH2_STABILITY_CLASSIFIER, &rpt.stability_classifier},
                 {SH2_SHAKE_DETECTOR, &rpt.shake_detector}, 
                 {SH2_TAP_DETECTOR, &rpt.tap_detector},
-                {SH2_CIRCLE_DETECTOR, &rpt.circle_detector},
                 
                 // not implemented, see include/report for existing implementations to add your own
                 {SH2_PRESSURE, nullptr}, // requires auxilary i2c sensor
@@ -243,6 +240,7 @@ class BNO08x
                 {SH2_SLEEP_DETECTOR, nullptr},
                 {SH2_TILT_DETECTOR, nullptr},
                 {SH2_POCKET_DETECTOR, nullptr},
+                {SH2_CIRCLE_DETECTOR, nullptr},
                 {SH2_IZRO_MOTION_REQUEST, nullptr}
         };
         // clang-format on

include/report/BNO08xReports.hpp

@@ -20,5 +20,4 @@
 #include "BNO08xRptActivityClassifier.hpp"
 #include "BNO08xRptStabilityClassifier.hpp"
 #include "BNO08xRptShakeDetector.hpp"
-#include "BNO08xRptTapDetector.hpp"
+#include "BNO08xRptTapDetector.hpp"
-#include "BNO08xRptCircleDetector.hpp"

include/report/BNO08xRptActivityClassifier.hpp

@@ -21,7 +21,7 @@ class BNO08xRptActivityClassifier : public BNO08xRpt
         }
 
         bool enable(
-                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg) override;
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_activity_classifier_t get();
         BNO08xActivity get_most_likely_activity();
         void set_activities_to_enable(BNO08xActivityEnable activities_to_enable);

include/report/BNO08xRptCircleDetector.hpp

@@ -1,31 +0,0 @@
-/**
- * @file BNO08xRptCircleDetector.hpp
- * @author Myles Parfeniuk
- */
-
-#pragma once
-
-#include "BNO08xRpt.hpp"
-
-/**
- * @class BNO08xRptCircleDetector
- *
- * @brief Class to represent circle detector reports. (See Ref. Manual 6.40.2)
- */
-class BNO08xRptCircleDetector : public BNO08xRpt
-{
-    public:
-        BNO08xRptCircleDetector(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
-            : BNO08xRpt(ID, rpt_bit, sync_ctx)
-        {
-        }
-
-        bool enable(
-                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
-        uint16_t get();
-
-    private:
-        void update_data(sh2_SensorValue_t* sensor_val) override;
-        uint16_t data; ///< Total amount of circles detected.
-        static const constexpr char* TAG = "BNO08xRptCircleDetector";
-};

source/BNO08x.cpp

@@ -1178,7 +1178,10 @@ bool BNO08x::disable_all_reports()
         attempts++;
     }
 
-    return true;
+    if (attempts < TOTAL_RPT_COUNT)
+        return true;
+    else
+        return false;
 }
 
 /**
@@ -1552,8 +1555,6 @@ esp_err_t BNO08x::re_enable_reports()
             continue;
         }
 
-        ESP_LOGI(TAG, "Re-enabling. %d", rpt->ID);
-
         if (rpt->rpt_bit & report_en_bits)
         {
             if (!rpt->enable(rpt->period_us))

source/BNO08xRpt.cpp

@@ -48,10 +48,8 @@ bool BNO08xRpt::rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sen
 
         // if not already enabled (ie user called this, not re_enable_reports())
         if (idx == -1)
-        {
-            ESP_LOGI(TAG, "ADDED: %d", ID);
             sync_ctx->en_report_ids.push_back(ID); // add report ID to enabled report IDs
-        }
+
         unlock_user_data();
 
         return true;
@@ -102,10 +100,8 @@ bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
         period_us = 0UL;                       // update the period
 
         if (idx != -1)
-        {
-            ESP_LOGW(TAG, "ERASED: %d", ID);
             sync_ctx->en_report_ids.erase(sync_ctx->en_report_ids.begin() + idx);
-        }
+
         unlock_user_data();
     }
 

source/report/BNO08xRptCircleDetector.cpp

@@ -1,94 +0,0 @@
-/**
- * @file BNO08xRptCircleDetector.cpp
- * @author Myles Parfeniuk
- */
-
-#define SCALE_Q(n) (1.0f / (1 << n))
-
-#include "BNO08xRptCircleDetector.hpp"
-#include "esp_log.h"
-#include "math.h"
-
-/**
- * @brief Enables circle detector reports such that the BNO08x begins sending them (only sends reports
- * when a circle gesture is detected).
- *
- * @param time_between_reports The period/interval of the report in microseconds.
- * @param sensor_cfg Sensor special configuration (optional, see
- * BNO08xPrivateTypes::default_sensor_cfg for defaults).
- *
- * @return True if report was successfully enabled.
- */
-bool BNO08xRptCircleDetector::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
-{
-    static bool configured = false;
-
-    sensor_cfg.changeSensitivity = 0U;
-    sensor_cfg.changeSensitivityRelative = true;
-    sensor_cfg.changeSensitivityEnabled = true;
-    int op_success = SH2_ERR;
-
-    uint32_t settings[3] = {static_cast<uint32_t>(4.0f / SCALE_Q(24)), static_cast<uint32_t>(0.1f / SCALE_Q(30)),
-            static_cast<uint32_t>((3.0f * M_PI) / SCALE_Q(25))};
-
-    if (!configured)
-    {
-        lock_sh2_HAL();
-        op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 0U);
-        unlock_sh2_HAL();
-
-        if (op_success != SH2_OK)
-        {
-            ESP_LOGE(TAG, "%d", op_success);
-            return false;
-        }
-        else
-        {
-            ESP_LOGE(TAG, "erased");
-        }
-
-        lock_sh2_HAL();
-        op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 3U);
-        unlock_sh2_HAL();
-
-        if (op_success != SH2_OK)
-        {
-            ESP_LOGE(TAG, "%d", op_success);
-            return false;
-        }
-
-        configured = true;
-    }
-
-    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
-}
-
-/**
- * @brief Updates circle detector data from decoded sensor event.
- *
- * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
- *
- * @return void, nothing to return
- */
-void BNO08xRptCircleDetector::update_data(sh2_SensorValue_t* sensor_val)
-{
-    lock_user_data();
-    data += sensor_val->un.circleDetector.circle;
-    unlock_user_data();
-
-    if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))
-        signal_data_available();
-}
-
-/**
- * @brief Grabs most recent circle detector detector data.
- *
- * @return Struct containing requested data;
- */
-uint16_t BNO08xRptCircleDetector::get()
-{
-    lock_user_data();
-    uint16_t rqdata = data;
-    unlock_user_data();
-    return rqdata;
-}

source/report/BNO08xRptShakeDetector.cpp

@@ -24,7 +24,8 @@ void BNO08xRptShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
 }
 
 /**
- * @brief Enables shake detector reports such that the BNO08x begins sending them.
+ * @brief Enables shake detector reports such that the BNO08x begins sending them (only sends reports
+ * when a shake is detected).
  *
  * @param report_period_us The period/interval of the report in microseconds.
  * @param sensor_cfg Sensor special configuration (optional, see
@@ -32,9 +33,11 @@ void BNO08xRptShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
  *
  * @return True if report was successfully enabled.
  */
-bool BNO08xRptShakeDetector::enable(
+bool BNO08xRptShakeDetector::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
-        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
 {
+    sensor_cfg.changeSensitivityEnabled = true; // this must be set regardless of user cfg or no reports will be received
+    sensor_cfg.changeSensitivity = 0U;          // this must be set regardless of user cfg or no reports will be received
+
     return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
 }