tare(), get_sample_count(), has_new_data() features

include/BNO08x.hpp

@@ -70,7 +70,6 @@ class BNO08x
         void hard_reset();
 
         bool data_available();
-        bool data_available(uint8_t& report_ID);
         void register_cb(std::function<void(void)> cb_fxn);
         void register_cb(std::function<void(uint8_t report_ID)> cb_fxn);
 
@@ -195,6 +194,8 @@ class BNO08x
 
         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.
+        EventGroupHandle_t
+                evt_grp_report_data_available; ///< Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report since the last time it was called (note this group is unaffected by data read through callbacks).
 
         QueueHandle_t
                 queue_rx_sensor_event; ///< Queue to send sensor events from sh2 HAL sensor event callback (BNO08xSH2HAL::sensor_event_cb()) to data_proc_task()
@@ -213,8 +214,6 @@ class BNO08x
 
         sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
 
-        uint8_t most_recent_rpt = 0U;
-
         std::map<uint8_t, BNO08xRpt*> usr_reports = {{SH2_ACCELEROMETER, &accelerometer}, {SH2_LINEAR_ACCELERATION, &linear_accelerometer},
                 {SH2_GRAVITY, &gravity}, {SH2_MAGNETIC_FIELD_CALIBRATED, &cal_magnetometer}, {SH2_MAGNETIC_FIELD_UNCALIBRATED, &uncal_magnetometer},
                 {SH2_GYROSCOPE_CALIBRATED, &cal_gyro}, {SH2_GYROSCOPE_UNCALIBRATED, &uncal_gyro}, {SH2_ROTATION_VECTOR, &rv},

include/BNO08xRpt.hpp

@@ -27,7 +27,10 @@ class BNO08xRpt
         bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
         bool disable(sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
         void register_cb(std::function<void(void)> cb_fxn);
+        bool has_new_data();
         bool flush();
+        bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
+        bool clear_sample_counts(); 
 
         virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
 

include/BNO08x_global_types.hpp

@@ -482,6 +482,26 @@ typedef struct bno08x_shake_detector_t
 
 } bno08x_shake_detector_t;
 
+/// @brief Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()
+typedef struct bno08x_sample_counts_t
+{
+        uint32_t offered;   ///< Number of samples produced by underlying data source.
+        uint32_t on;        ///< Number of "offered" samples while this sensor was requested by host.
+        uint32_t accepted;  ///< Number of "on" samples that passed decimation filter.
+        uint32_t attempted; ///< Number of "accepted" samples that passed threshold requirements and had transmission to the host attempted.
+
+        // conversion from sh2_PersonalActivityClassifier_t
+        bno08x_sample_counts_t& operator=(const sh2_Counts_t& source)
+        {
+            this->offered = source.offered;
+            this->on = source.on;
+            this->accepted = source.accepted;
+            this->attempted = source.attempted;
+
+            return *this;
+        }
+} bno08x_sample_counts_t;
+
 typedef sh2_Accelerometer_t bno08x_accel_t; ///< Acceleration data.
 typedef sh2_StepCounter bno08x_step_counter_t;
 typedef sh2_RawGyroscope_t bno08x_raw_gyro_t;

include/report/BNO08xRptGameRV.hpp

@@ -13,6 +13,10 @@ class BNO08xRptGameRV : public BNO08xRptRVGeneric
         {
         }
 
+        bool tare(bool x = true, bool y = true, bool z = true);
+        bool tare_persist();
+        void tare_clear();
+
     private:
         void update_data(sh2_SensorValue_t* sensor_val) override;
         static const constexpr char* TAG = "BNO08xRptGameRV";

include/report/BNO08xRptRV.hpp

@@ -13,6 +13,10 @@ class BNO08xRptRV : public BNO08xRptRVGeneric
         {
         }
 
+        bool tare(bool x = true, bool y = true, bool z = true);
+        bool tare_persist();
+        void tare_clear();
+
     private:
         void update_data(sh2_SensorValue_t* sensor_val) override;
         static const constexpr char* TAG = "BNO08xRptRV";

include/report/BNO08xRptRVGeneric.hpp

@@ -16,6 +16,7 @@ class BNO08xRptRVGeneric : public BNO08xRpt
             : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
         {
         }
+        bool tare(bool x, bool y, bool z, sh2_TareBasis_t basis);
         bno08x_quat_t data;
         static const constexpr char* TAG = "BNO08xRptRVGeneric";
 };

include/report/BNO08xRptRVGeomag.hpp

@@ -13,6 +13,10 @@ class BNO08xRptRVGeomag : public BNO08xRptRVGeneric
         {
         }
 
+        bool tare(bool x = true, bool y = true, bool z = true);
+        bool tare_persist();
+        void tare_clear();
+
     private:
         void update_data(sh2_SensorValue_t* sensor_val) override;
         static const constexpr char* TAG = "BNO08xRptRVGeomag";

source/BNO08x.cpp

@@ -38,6 +38,7 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
     , sem_kill_tasks(NULL)
     , evt_grp_bno08x_task(xEventGroupCreate())
     , evt_grp_report_en(xEventGroupCreate())
+    , evt_grp_report_data_available(xEventGroupCreate())
     , queue_rx_sensor_event(xQueueCreate(5, sizeof(sh2_SensorEvent_t)))
     , queue_cb_report_id(xQueueCreate(5, sizeof(uint8_t)))
     , imu_config(imu_config)
@@ -80,6 +81,7 @@ BNO08x::~BNO08x()
     // delete event groups
     vEventGroupDelete(evt_grp_bno08x_task);
     vEventGroupDelete(evt_grp_report_en);
+    vEventGroupDelete(evt_grp_report_data_available);
 
     // delete all queues
     vQueueDelete(queue_rx_sensor_event);
@@ -1101,27 +1103,6 @@ bool BNO08x::data_available()
     return false;
 }
 
-/**
- * @brief Polls for new data/report to become available, overloaded with param for report identification.
- *
- * @param report_ID Reference to save most recent report ID.
- *
- * @return True if new data/report became available before DATA_AVAILABLE_TIMEOUT_MS.
- */
-bool BNO08x::data_available(uint8_t& report_ID)
-{
-
-    if (xEventGroupWaitBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_DATA_AVAILABLE, pdTRUE, pdFALSE, DATA_AVAILABLE_TIMEOUT_MS) &
-            EVT_GRP_BNO08x_TASK_DATA_AVAILABLE)
-    {
-        report_ID = most_recent_rpt;
-        return true;
-    }
-
-    report_ID = 0U;
-    return false;
-}
-
 /**
  * @brief Registers a callback to execute when new data from a report is received.
  *

source/BNO08xRpt.cpp

@@ -15,8 +15,9 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
 
     xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
 
-    imu->lock_sh2_HAL();
     sensor_cfg.reportInterval_us = time_between_reports;
+
+    imu->lock_sh2_HAL();
     sh2_res = sh2_setSensorConfig(ID, &sensor_cfg);
     imu->unlock_sh2_HAL();
 
@@ -68,6 +69,25 @@ void BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
     imu->cb_list.push_back({ID, cb_fxn});
 }
 
+/**
+ * @brief Checks if a new report has been received since the last time this function was called.
+ *
+ *
+ * @return True if a new report was received since the last time this function was called.
+ */
+bool BNO08xRpt::has_new_data()
+{
+    bool new_data = false;
+
+    if (xEventGroupGetBits(imu->evt_grp_report_data_available) & rpt_bit)
+    {
+        new_data = true;
+        xEventGroupClearBits(imu->evt_grp_report_data_available, rpt_bit);
+    }
+
+    return new_data;
+}
+
 /**
  * @brief Flush all buffered reports for this sensor/report module.
  *
@@ -84,6 +104,49 @@ bool BNO08xRpt::flush()
     return (success != SH2_OK) ? false : true;
 }
 
+/**
+ * @brief Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)
+ *
+ * @param Struct to store requested data.
+ *
+ * @return True get counts operation succeeded.
+ */
+bool BNO08xRpt::get_sample_counts(bno08x_sample_counts_t& sample_counts)
+{
+    int success = SH2_OK;
+    sh2_Counts_t pCounts;
+
+    imu->lock_sh2_HAL();
+    success = sh2_getCounts(ID, &pCounts);
+    imu->unlock_sh2_HAL();
+
+    if (success != SH2_OK)
+    {
+        return false;
+    }
+    else
+    {
+        sample_counts = pCounts;
+        return true;
+    }
+}
+
+/**
+ * @brief Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)
+ *
+ * @return True clear counts operation succeeded.
+ */
+bool BNO08xRpt::clear_sample_counts()
+{
+    int success = SH2_OK;
+
+    imu->lock_sh2_HAL();
+    success = sh2_clearCounts(ID);
+    imu->unlock_sh2_HAL();
+
+    return (success != SH2_OK) ? false : true;
+}
+
 /**
  * @brief Signals to BNO08x::data_available() that a new report has arrived.
  *
@@ -91,7 +154,6 @@ bool BNO08xRpt::flush()
  */
 void BNO08xRpt::signal_data_available()
 {
-    xEventGroupClearBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
+    xEventGroupSetBits(imu->evt_grp_report_data_available, rpt_bit);
-    imu->most_recent_rpt = ID;
     xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
 }

source/report/BNO08xRptGameRV.cpp

@@ -1,4 +1,4 @@
-#include "BNO08xRptRV.hpp"
+#include "BNO08xRptGameRV.hpp"
 #include "BNO08x.hpp"
 
 /**
@@ -17,3 +17,49 @@ void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
         signal_data_available();
 }
+
+/**
+ * @brief Tares game rotation vector axis.
+ *
+ * @param x If true tare x axis (optional, default true).
+ * @param y If true tare y axis (optional, default true).
+ * @param z If true tare z axis (optional, default true).
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptGameRV::tare(bool x, bool y, bool z)
+{
+
+    return BNO08xRptRVGeneric::tare(x, y, z, SH2_TARE_BASIS_GAMING_ROTATION_VECTOR);
+}
+
+/**
+ * @brief Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptGameRV::tare_persist()
+{
+    int success = SH2_ERR;
+
+    imu->lock_sh2_HAL();
+    success = sh2_persistTare();
+    imu->unlock_sh2_HAL();
+
+    if (success != SH2_OK)
+        return false;
+    else
+        return true;
+}
+
+/**
+ * @brief Clears most recent tare operation.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRptGameRV::tare_clear()
+{
+    imu->lock_sh2_HAL();
+    sh2_clearTare();
+    imu->unlock_sh2_HAL();
+}

source/report/BNO08xRptRV.cpp

@@ -17,3 +17,49 @@ void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
         signal_data_available();
 }
+
+/**
+ * @brief Tares rotation vector axis.
+ *
+ * @param x If true tare x axis (optional, default true).
+ * @param y If true tare y axis (optional, default true).
+ * @param z If true tare z axis (optional, default true).
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptRV::tare(bool x, bool y, bool z)
+{
+
+    return BNO08xRptRVGeneric::tare(x, y, z, SH2_TARE_BASIS_ROTATION_VECTOR);
+}
+
+/**
+ * @brief Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptRV::tare_persist()
+{
+    int success = SH2_ERR;
+
+    imu->lock_sh2_HAL();
+    success = sh2_persistTare();
+    imu->unlock_sh2_HAL();
+
+    if (success != SH2_OK)
+        return false;
+    else
+        return true;
+}
+
+/**
+ * @brief Clears most recent tare operation.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRptRV::tare_clear()
+{
+    imu->lock_sh2_HAL();
+    sh2_clearTare();
+    imu->unlock_sh2_HAL();
+}

source/report/BNO08xRptRVGeneric.cpp

@@ -40,3 +40,38 @@ bno08x_euler_angle_t BNO08xRptRVGeneric::get_euler(bool in_degrees)
 
     return rqdata;
 }
+
+/**
+ * @brief Tares vector basis according to axis flags.
+ *
+ * @param x If true tare x axis.
+ * @param y If true tare y axis.
+ * @param z If true tare z axis.
+ * @param basis Rotation vector basis to undergo tare operation.
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptRVGeneric::tare(bool x, bool y, bool z, sh2_TareBasis_t basis)
+{
+    int success = SH2_ERR;
+
+    uint8_t axis_flag = 0U;
+
+    if (x)
+        axis_flag |= SH2_TARE_X;
+
+    if (y)
+        axis_flag |= SH2_TARE_Y;
+
+    if (z)
+        axis_flag |= SH2_TARE_Z;
+
+    imu->lock_sh2_HAL();
+    success = sh2_setTareNow(axis_flag, basis);
+    imu->unlock_sh2_HAL();
+
+    if (success != SH2_OK)
+        return false;
+    else
+        return true;
+}

source/report/BNO08xRptRVGeomag.cpp

@@ -17,3 +17,48 @@ void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
         signal_data_available();
 }
+
+/**
+ * @brief Tares geomagnetic rotation vector.
+ *
+ * @param x If true tare x axis (optional, default true).
+ * @param y If true tare y axis (optional, default true).
+ * @param z If true tare z axis (optional, default true).
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptRVGeomag::tare(bool x, bool y, bool z)
+{
+    return BNO08xRptRVGeneric::tare(x, y, z, SH2_TARE_BASIS_GEOMAGNETIC_ROTATION_VECTOR);
+}
+
+/**
+ * @brief Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.
+ *
+ * @return True if tare operation succeeded.
+ */
+bool BNO08xRptRVGeomag::tare_persist()
+{
+    int success = SH2_ERR;
+
+    imu->lock_sh2_HAL();
+    success = sh2_persistTare();
+    imu->unlock_sh2_HAL();
+
+    if (success != SH2_OK)
+        return false;
+    else
+        return true;
+}
+
+/**
+ * @brief Clears most recent tare operation.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRptRVGeomag::tare_clear()
+{
+    imu->lock_sh2_HAL();
+    sh2_clearTare();
+    imu->unlock_sh2_HAL();
+}