switch to full duplex SPI to avoid dropped reports (some tests still fail)
This commit is contained in:
myles-parfeniuk
parent
08d7c26616
commit
2429f109ad
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@ -70,7 +70,8 @@ class BNO08x
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void enable_tap_detector(uint32_t time_between_reports);
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void enable_step_counter(uint32_t time_between_reports);
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void enable_stability_classifier(uint32_t time_between_reports);
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void enable_activity_classifier(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_activity_classifier(
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uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_raw_mems_gyro(uint32_t time_between_reports);
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void enable_raw_mems_accelerometer(uint32_t time_between_reports);
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void enable_raw_mems_magnetometer(uint32_t time_between_reports);
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@ -236,20 +237,13 @@ class BNO08x
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CHANNEL_GYRO
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};
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/// @brief Holds data that is received over spi.
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typedef struct bno08x_rx_packet_t
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/// @brief Holds data that is sent and received over spi.
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typedef struct sh2_packet_t
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{
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uint8_t header[4]; ///< Header of SHTP packet.
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uint8_t body[300]; /// Body of SHTP packet.
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uint16_t length; ///< Packet length in bytes.
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} bno08x_rx_packet_t;
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/// @brief Holds data that is sent over spi.
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typedef struct bno08x_tx_packet_t
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{
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uint8_t body[50]; ///< Body of SHTP the packet (header + body)
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uint16_t length; ///< Packet length in bytes.
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} bno08x_tx_packet_t;
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} sh2_packet_t;
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typedef struct bno08x_report_period_tracker_t
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{
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@ -300,10 +294,9 @@ class BNO08x
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bool wait_for_rx_done();
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bool wait_for_tx_done();
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bool wait_for_data();
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esp_err_t receive_packet();
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esp_err_t receive_packet_header(bno08x_rx_packet_t* packet);
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esp_err_t receive_packet_body(bno08x_rx_packet_t* packet);
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void send_packet(bno08x_tx_packet_t* packet);
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esp_err_t transmit_packet();
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esp_err_t transmit_packet_header(sh2_packet_t* rx_packet, sh2_packet_t* tx_packet);
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esp_err_t transmit_packet_body(sh2_packet_t* rx_packet, sh2_packet_t* tx_packet);
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void flush_rx_packets(uint8_t flush_count);
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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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@ -315,14 +308,14 @@ class BNO08x
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void queue_request_product_id_command();
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// functions to parse packets received from bno08x
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uint16_t parse_packet(bno08x_rx_packet_t* packet, bool& notify_users);
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uint16_t parse_product_id_report(bno08x_rx_packet_t* packet);
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uint16_t parse_frs_read_response_report(bno08x_rx_packet_t* packet);
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uint16_t parse_feature_get_response_report(bno08x_rx_packet_t* packet);
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uint16_t parse_input_report(bno08x_rx_packet_t* packet);
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void parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data, uint16_t data_length);
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uint16_t parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t* packet);
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uint16_t parse_command_report(bno08x_rx_packet_t* packet);
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uint16_t parse_packet(sh2_packet_t* packet, bool& notify_users);
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uint16_t parse_product_id_report(sh2_packet_t* packet);
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uint16_t parse_frs_read_response_report(sh2_packet_t* packet);
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uint16_t parse_feature_get_response_report(sh2_packet_t* packet);
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uint16_t parse_input_report(sh2_packet_t* packet);
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void parse_input_report_data(sh2_packet_t* packet, uint16_t* data, uint16_t data_length);
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uint16_t parse_gyro_integrated_rotation_vector_report(sh2_packet_t* packet);
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uint16_t parse_command_report(sh2_packet_t* packet);
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// functions to update data returned to user
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void update_accelerometer_data(uint16_t* data, uint8_t status);
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@ -336,15 +329,15 @@ class BNO08x
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void update_raw_accelerometer_data(uint16_t* data);
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void update_raw_gyro_data(uint16_t* data);
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void update_raw_magf_data(uint16_t* data);
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void update_tap_detector_data(bno08x_rx_packet_t* packet);
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void update_stability_classifier_data(bno08x_rx_packet_t* packet);
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void update_personal_activity_classifier_data(bno08x_rx_packet_t* packet);
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void update_command_data(bno08x_rx_packet_t* packet);
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void update_integrated_gyro_rotation_vector_data(bno08x_rx_packet_t* packet);
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void update_tap_detector_data(sh2_packet_t* packet);
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void update_stability_classifier_data(sh2_packet_t* packet);
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void update_personal_activity_classifier_data(sh2_packet_t* packet);
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void update_command_data(sh2_packet_t* packet);
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void update_integrated_gyro_rotation_vector_data(sh2_packet_t* packet);
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// for debug
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void print_header(bno08x_rx_packet_t* packet);
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void print_packet(bno08x_rx_packet_t* packet);
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void print_header(sh2_packet_t* packet);
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void print_packet(sh2_packet_t* packet);
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bool first_boot = true; ///< true only for first execution of hard_reset(), used to suppress the printing of product ID report.
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// spi task
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@ -15,8 +15,8 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
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, evt_grp_spi(xEventGroupCreate())
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, evt_grp_report_en(xEventGroupCreate())
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, evt_grp_task_flow(xEventGroupCreate())
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, queue_rx_data(xQueueCreate(1, sizeof(bno08x_rx_packet_t)))
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, queue_tx_data(xQueueCreate(1, sizeof(bno08x_tx_packet_t)))
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, queue_rx_data(xQueueCreate(1, sizeof(sh2_packet_t)))
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, queue_tx_data(xQueueCreate(1, sizeof(sh2_packet_t)))
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, queue_frs_read_data(xQueueCreate(1, RX_DATA_LENGTH * sizeof(uint8_t)))
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, queue_reset_reason(xQueueCreate(1, sizeof(uint32_t)))
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, imu_config(imu_config)
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@ -826,6 +826,7 @@ bool BNO08x::soft_reset()
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BNO08xResetReason BNO08x::get_reset_reason()
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{
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uint32_t reset_reason = 0;
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bool reason_received = false;
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// queue request for product ID command
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queue_request_product_id_command();
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@ -841,11 +842,20 @@ BNO08xResetReason BNO08x::get_reset_reason()
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else
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{
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// receive product ID report
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if (wait_for_data())
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for (int i = 0; i < 3; i++)
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{
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xQueueReceive(queue_reset_reason, &reset_reason, host_int_timeout_ms);
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if(wait_for_data())
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if (xQueueReceive(queue_reset_reason, &reset_reason, 10UL / portTICK_PERIOD_MS))
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{
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reason_received = true;
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break;
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}
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else
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}
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if (xEventGroupGetBits(evt_grp_report_en) == 0)
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gpio_intr_disable(imu_config.io_int); // disable interrupts
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if (!reason_received)
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{
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// clang-format off
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#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
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@ -899,13 +909,13 @@ bool BNO08x::mode_sleep()
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}
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/**
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* @brief Receives a SHTP packet via SPI and sends it to data_proc_task()
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* @brief Receives/sends a SHTP packet via SPI. Sends any received packets to data_proc_task().
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*
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* @return void, nothing to return
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*/
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esp_err_t BNO08x::receive_packet()
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esp_err_t BNO08x::transmit_packet()
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{
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bno08x_rx_packet_t packet;
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static sh2_packet_t rx_packet, tx_packet;
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esp_err_t ret = ESP_OK;
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if (gpio_get_level(imu_config.io_int)) // ensure INT pin is low
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@ -913,8 +923,13 @@ esp_err_t BNO08x::receive_packet()
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gpio_set_level(imu_config.io_cs, 0); // assert chip select
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// receive packet header
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ret = receive_packet_header(&packet);
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if (xQueueReceive(queue_tx_data, &tx_packet, 0) == pdFALSE) // check for queued packet to be sent, non blocking
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{
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memset(&tx_packet, 0U, sizeof(sh2_packet_t)); // no queued packet to send, set everything to 0
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}
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// receive/send packet header
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ret = transmit_packet_header(&rx_packet, &tx_packet);
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if (ret != ESP_OK)
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{
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gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
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@ -923,20 +938,24 @@ esp_err_t BNO08x::receive_packet()
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// clang-format off
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#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
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ESP_LOGW(TAG, "packet rx length: %d", packet.length);
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ESP_LOGW(TAG, "packet rx length: %d", rx_packet.length);
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#endif
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// clang-format on
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if (packet.length == 0)
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if (rx_packet.length == 0)
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{
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gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
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return ESP_ERR_INVALID_RESPONSE;
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}
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ret = receive_packet_body(&packet);
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ret = transmit_packet_body(&rx_packet, &tx_packet);
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if (ret == ESP_OK)
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{
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xQueueSend(queue_rx_data, &packet, 0); // send received data to data_proc_task
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// tx_packet non-zero length implies one was rx'd through queue
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if (tx_packet.length != 0)
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xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE_BIT);
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xQueueSend(queue_rx_data, &rx_packet, 0); // send received data to data_proc_task
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xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT);
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}
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@ -946,21 +965,21 @@ esp_err_t BNO08x::receive_packet()
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}
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/**
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* @brief Receives a SHTP packet header via SPI.
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* @brief Receives/sends a SHTP packet header via SPI.
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*
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* @param packet Pointer to bno08x_rx_packet_t to save header to.
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* @param rx_packet Pointer to packet to receive header into.
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* @param tx_packet Pointer to packet with header to send.
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*
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* @return ESP_OK if receive was success.
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*/
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esp_err_t BNO08x::receive_packet_header(bno08x_rx_packet_t* packet)
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esp_err_t BNO08x::transmit_packet_header(sh2_packet_t* rx_packet, sh2_packet_t* tx_packet)
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{
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esp_err_t ret = ESP_OK;
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uint8_t dummy_header_tx[4] = {0};
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// setup transaction to receive first 4 bytes (packet header)
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spi_transaction.rx_buffer = packet->header;
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spi_transaction.tx_buffer = dummy_header_tx;
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// setup transaction to send/receive first 4 bytes (packet header)
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spi_transaction.rx_buffer = rx_packet->header;
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spi_transaction.tx_buffer = tx_packet->header;
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spi_transaction.length = 4 * 8;
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spi_transaction.rxlength = 4 * 8;
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spi_transaction.flags = 0;
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@ -970,31 +989,34 @@ esp_err_t BNO08x::receive_packet_header(bno08x_rx_packet_t* packet)
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if (ret == ESP_OK)
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{
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// calculate length of packet from received header
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packet->length = PARSE_PACKET_LENGTH(packet);
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packet->length &= ~(1U << 15U); // clear the MSbit
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rx_packet->length = PARSE_PACKET_LENGTH(rx_packet);
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rx_packet->length &= ~(1U << 15U); // clear the MSbit
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rx_packet->length -= 4; // remove 4 header bytes from rx packet length (we already read those)
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if (tx_packet->length != 0)
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tx_packet->length -= 4; // remove 4 header bytes from tx packet length (we already sent those)
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}
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return ret;
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}
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/**
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* @brief Receives a SHTP packet body via SPI.
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* @brief Receives/sends a SHTP packet body via SPI.
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*
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* @param packet Pointer to bno08x_rx_packet_t to save body to.
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* @param rx_packet Pointer to packet to save body to.
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* @param packet_tx Pointer to packet with body to send.
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*
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* @return ESP_OK if receive was success.
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*/
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esp_err_t BNO08x::receive_packet_body(bno08x_rx_packet_t* packet)
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esp_err_t BNO08x::transmit_packet_body(sh2_packet_t* rx_packet, sh2_packet_t* tx_packet)
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{
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esp_err_t ret = ESP_OK;
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packet->length -= 4; // remove 4 header bytes from packet length (we already read those)
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const uint16_t transaction_length = (rx_packet->length > tx_packet->length) ? rx_packet->length : tx_packet->length;
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// setup transacton to read the data packet
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spi_transaction.rx_buffer = packet->body;
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spi_transaction.tx_buffer = NULL;
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spi_transaction.length = packet->length * 8;
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spi_transaction.rxlength = packet->length * 8;
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spi_transaction.rx_buffer = rx_packet->body;
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spi_transaction.tx_buffer = tx_packet->body;
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spi_transaction.length = transaction_length * 8;
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spi_transaction.rxlength = rx_packet->length * 8;
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spi_transaction.flags = 0;
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ret = spi_device_polling_transmit(spi_hdl, &spi_transaction); // receive rest of packet
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@ -1099,46 +1121,22 @@ void BNO08x::queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t*
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{
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static uint8_t sequence_number[6] = {0}; // Sequence num of each com channel, 6 in total
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bno08x_tx_packet_t packet;
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sh2_packet_t tx_packet;
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packet.length = data_length + 4; // add 4 bytes for header
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tx_packet.length = data_length + 4; // add 4 bytes for header length
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packet.body[0] = packet.length & 0xFF; // packet length LSB
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packet.body[1] = packet.length >> 8; // packet length MSB
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packet.body[2] = channel_number; // channel number to write to
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packet.body[3] = sequence_number[channel_number]++; // increment and send sequence number (packet counter)
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tx_packet.header[0] = tx_packet.length & 0xFF; // packet length LSB
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tx_packet.header[1] = tx_packet.length >> 8; // packet length MSB
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tx_packet.header[2] = channel_number; // channel number to write to
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tx_packet.header[3] = sequence_number[channel_number]++; // increment and send sequence number (packet counter)
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// save commands to send to tx_buffer
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for (int i = 0; i < data_length; i++)
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{
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packet.body[i + 4] = commands[i];
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tx_packet.body[i] = commands[i];
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}
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xQueueSend(queue_tx_data, &packet, 0);
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}
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/**
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* @brief Sends a queued SHTP packet via SPI.
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*
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* @param packet The packet queued 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::send_packet(bno08x_tx_packet_t* packet)
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{
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// setup transaction to send packet
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spi_transaction.length = packet->length * 8;
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spi_transaction.rxlength = 0;
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spi_transaction.tx_buffer = packet->body;
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spi_transaction.rx_buffer = NULL;
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spi_transaction.flags = 0;
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gpio_set_level(imu_config.io_cs, 0); // assert chip select
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spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
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gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
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xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE_BIT);
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xQueueSend(queue_tx_data, &tx_packet, 0);
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}
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void BNO08x::flush_rx_packets(uint8_t flush_count)
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@ -1403,7 +1401,7 @@ bool BNO08x::run_full_calibration_routine()
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#endif
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// clang-format on
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vTaskDelay(5 / portTICK_PERIOD_MS);
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vTaskDelay(5UL / portTICK_PERIOD_MS);
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if ((magnetometer_accuracy >= BNO08xAccuracy::MED) && (quat_accuracy == BNO08xAccuracy::HIGH))
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high_accuracy++;
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@ -1504,7 +1502,7 @@ void BNO08x::register_cb(std::function<void()> cb_fxn)
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*
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* @return 0 if invalid packet, non-zero if otherwise.
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*/
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uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
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uint16_t BNO08x::parse_packet(sh2_packet_t* packet, bool& notify_users)
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{
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notify_users = true;
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@ -1613,7 +1611,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
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*
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* @return 1, always valid.
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*/
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uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
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uint16_t BNO08x::parse_product_id_report(sh2_packet_t* packet)
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{
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const uint32_t reset_reason = PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet);
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@ -1660,7 +1658,7 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
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*
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* @return 1, always valid, parsing for this happens in frs_read_word()
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*/
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uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
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uint16_t BNO08x::parse_frs_read_response_report(sh2_packet_t* packet)
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{
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xQueueSend(queue_frs_read_data, &packet->body, 0);
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return 1;
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||||
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|
@ -1680,7 +1678,7 @@ uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
|
|||
*
|
||||
* @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 0 if invalid.
|
||||
*/
|
||||
uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
|
||||
uint16_t BNO08x::parse_feature_get_response_report(sh2_packet_t* packet)
|
||||
{
|
||||
uint16_t report_ID = 0;
|
||||
|
||||
|
|
@ -1791,7 +1789,7 @@ uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
|
|||
*
|
||||
* @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 0 if invalid.
|
||||
*/
|
||||
uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
|
||||
uint16_t BNO08x::parse_input_report(sh2_packet_t* packet)
|
||||
{
|
||||
uint8_t status = PARSE_INPUT_REPORT_STATUS_BITS(packet);
|
||||
uint16_t data_length = PARSE_PACKET_LENGTH(packet);
|
||||
|
|
@ -1888,7 +1886,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
|
|||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data, uint16_t data_length)
|
||||
void BNO08x::parse_input_report_data(sh2_packet_t* packet, uint16_t* data, uint16_t data_length)
|
||||
{
|
||||
|
||||
data[0] = PARSE_INPUT_REPORT_DATA_1(packet);
|
||||
|
|
@ -1927,7 +1925,7 @@ void BNO08x::parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data,
|
|||
*
|
||||
* @return Integrated rotation vector report ID (always valid)
|
||||
*/
|
||||
uint16_t BNO08x::parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t* packet)
|
||||
uint16_t BNO08x::parse_gyro_integrated_rotation_vector_report(sh2_packet_t* packet)
|
||||
{
|
||||
// the gyro-integrated input reports are sent via the special gyro channel and do not include the usual ID, sequence, and status fields
|
||||
update_integrated_gyro_rotation_vector_data(packet);
|
||||
|
|
@ -1940,7 +1938,7 @@ uint16_t BNO08x::parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t
|
|||
*
|
||||
* @return The command report ID, 0 if invalid.
|
||||
*/
|
||||
uint16_t BNO08x::parse_command_report(bno08x_rx_packet_t* packet)
|
||||
uint16_t BNO08x::parse_command_report(sh2_packet_t* packet)
|
||||
{
|
||||
uint8_t command = 0;
|
||||
|
||||
|
|
@ -2139,11 +2137,11 @@ void BNO08x::update_raw_magf_data(uint16_t* data)
|
|||
/**
|
||||
* @brief Updates tap detector data from parsed input report.
|
||||
*
|
||||
* @param packet bno08x_rx_packet_t containing the packet with tap detector report.
|
||||
* @param packet sh2_packet_t containing the packet with tap detector report.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::update_tap_detector_data(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::update_tap_detector_data(sh2_packet_t* packet)
|
||||
{
|
||||
tap_detector = packet->body[5 + 4]; // Byte 4 only
|
||||
}
|
||||
|
|
@ -2151,11 +2149,11 @@ void BNO08x::update_tap_detector_data(bno08x_rx_packet_t* packet)
|
|||
/**
|
||||
* @brief Updates stability classifier data from parsed input report.
|
||||
*
|
||||
* @param packet bno08x_rx_packet_t containing the packet with stability classifier report.
|
||||
* @param packet sh2_packet_t containing the packet with stability classifier report.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::update_stability_classifier_data(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::update_stability_classifier_data(sh2_packet_t* packet)
|
||||
{
|
||||
stability_classifier = packet->body[5 + 4]; // Byte 4 only
|
||||
}
|
||||
|
|
@ -2163,11 +2161,11 @@ void BNO08x::update_stability_classifier_data(bno08x_rx_packet_t* packet)
|
|||
/**
|
||||
* @brief Updates activity classifier data from parsed input report.
|
||||
*
|
||||
* @param packet bno08x_rx_packet_t containing the packet with activity classifier report.
|
||||
* @param packet sh2_packet_t containing the packet with activity classifier report.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::update_personal_activity_classifier_data(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::update_personal_activity_classifier_data(sh2_packet_t* packet)
|
||||
{
|
||||
activity_classifier = packet->body[5 + 5]; // Most likely state
|
||||
|
||||
|
|
@ -2181,11 +2179,11 @@ void BNO08x::update_personal_activity_classifier_data(bno08x_rx_packet_t* packet
|
|||
/**
|
||||
* @brief Updates command data from parsed input report.
|
||||
*
|
||||
* @param packet bno08x_rx_packet_t containing the packet with command response report.
|
||||
* @param packet sh2_packet_t containing the packet with command response report.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::update_command_data(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::update_command_data(sh2_packet_t* packet)
|
||||
{
|
||||
uint8_t command = 0;
|
||||
|
||||
|
|
@ -2199,11 +2197,11 @@ void BNO08x::update_command_data(bno08x_rx_packet_t* packet)
|
|||
/**
|
||||
* @brief Updates integrated gyro rotation vector data from SHTP channel 5 (CHANNEL_GYRO) special report data.
|
||||
*
|
||||
* @param packet bno08x_rx_packet_t containing the packet with command response report.
|
||||
* @param packet sh2_packet_t containing the packet with command response report.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::update_integrated_gyro_rotation_vector_data(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::update_integrated_gyro_rotation_vector_data(sh2_packet_t* packet)
|
||||
{
|
||||
raw_quat_I = PARSE_GYRO_REPORT_RAW_QUAT_I(packet);
|
||||
raw_quat_J = PARSE_GYRO_REPORT_RAW_QUAT_J(packet);
|
||||
|
|
@ -2376,7 +2374,8 @@ void BNO08x::enable_stability_classifier(uint32_t time_between_reports)
|
|||
* @param activity_confidence_vals Returned activity level confidences.
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::enable_activity_classifier(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, uint8_t (&activity_confidence_vals)[9])
|
||||
void BNO08x::enable_activity_classifier(
|
||||
uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, uint8_t (&activity_confidence_vals)[9])
|
||||
{
|
||||
activity_confidences = activity_confidence_vals; // Store pointer to array
|
||||
enable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT,
|
||||
|
|
@ -3535,7 +3534,7 @@ BNO08xActivity BNO08x::get_activity_classifier()
|
|||
* @param packet The packet containing the header to be printed.
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::print_header(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::print_header(sh2_packet_t* packet)
|
||||
{
|
||||
// print most recent header
|
||||
ESP_LOGI(TAG,
|
||||
|
|
@ -3562,7 +3561,7 @@ void BNO08x::print_header(bno08x_rx_packet_t* packet)
|
|||
* @param packet The packet to be printed.
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::print_packet(bno08x_rx_packet_t* packet)
|
||||
void BNO08x::print_packet(sh2_packet_t* packet)
|
||||
{
|
||||
uint8_t i = 0;
|
||||
uint16_t print_length = 0;
|
||||
|
|
@ -3891,8 +3890,6 @@ void BNO08x::spi_task()
|
|||
#endif
|
||||
// clang-format on
|
||||
|
||||
bno08x_tx_packet_t tx_packet;
|
||||
|
||||
while (1)
|
||||
{
|
||||
/*only re-enable interrupts if there are reports enabled, if no reports are enabled
|
||||
|
|
@ -3913,10 +3910,7 @@ void BNO08x::spi_task()
|
|||
#endif
|
||||
// clang-format on
|
||||
|
||||
if (xQueueReceive(queue_tx_data, &tx_packet, 0)) // check for queued packet to be sent, non blocking
|
||||
send_packet(&tx_packet); // send packet
|
||||
else
|
||||
receive_packet(); // receive packet
|
||||
transmit_packet();
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -3950,7 +3944,7 @@ void BNO08x::data_proc_task_trampoline(void* arg)
|
|||
*/
|
||||
void BNO08x::data_proc_task()
|
||||
{
|
||||
bno08x_rx_packet_t packet;
|
||||
sh2_packet_t packet;
|
||||
bool notify_users = false;
|
||||
|
||||
while (1) // receive packet from spi_task()
|
||||
|
|
@ -4056,10 +4050,10 @@ esp_err_t BNO08x::kill_all_tasks()
|
|||
{
|
||||
static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 10;
|
||||
uint8_t kill_count = 0;
|
||||
bno08x_rx_packet_t dummy_packet;
|
||||
sh2_packet_t dummy_packet;
|
||||
sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_count, 0);
|
||||
|
||||
memset(&dummy_packet, 0, sizeof(bno08x_rx_packet_t));
|
||||
memset(&dummy_packet, 0, sizeof(sh2_packet_t));
|
||||
|
||||
xEventGroupClearBits(
|
||||
evt_grp_task_flow, EVT_GRP_TSK_FLW_RUNNING_BIT); // clear task running bit in task flow event group to request deletion of tasks
|
||||
|
|
|
|||
Loading…
Reference in New Issue