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input report status field as accuracy

This commit is contained in:
myles-parfeniuk 2024-11-26 13:28:27 -08:00
parent 0e9c27bfde
commit 2d20a89b07
27 changed files with 404 additions and 82 deletions
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7
include/BNO08x.hpp
View File

@ -69,6 +69,12 @@ class BNO08x
bool initialize();
bool hard_reset();
bool soft_reset();
BNO08xResetReason get_reset_reason();
bool on();
bool sleep();
bool get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz);
bool data_available();
void register_cb(std::function<void(void)> cb_fxn);
@ -79,6 +85,7 @@ class BNO08x
// enum helper fxns
static const char* activity_to_str(BNO08xActivity activity);
static const char* stability_to_str(BNO08xStability stability);
static const char* accuracy_to_str(BNO08xAccuracy accuracy);
BNO08xRptAcceleration accelerometer;
BNO08xRptLinearAcceleration linear_accelerometer;

245
include/BNO08x_global_types.hpp
View File

@ -35,6 +35,42 @@ enum class BNO08xResetReason
OTHER ///< Previous reset was due to power other reason.
};
/// @brief Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1)
enum class BNO08xAccuracy
{
UNRELIABLE,
LOW,
MED,
HIGH,
UNDEFINED
};
using IMUAccuracy = BNO08xAccuracy; // legacy version compatibility
enum class BNO08xFRSID
{
RawAccelerometer = 0xE301,
Accelerometer = 0xE302,
LinearAcceleration = 0xE303,
Gravity = 0xE304,
RawGyroscope = 0xE305,
CalGyro = 0xE306,
UncalGyro = 0xE307,
RawMagnetometer = 0xE308,
CalMagnetometer = 0xE309,
UncalMagnetometer = 0xE30A,
RV = 0xE30B,
RVGame = 0xE30C,
RVGeomagnetic = 0xE30D,
TapDetector = 0xE313,
StepCounter = 0xE315,
StabilityClassifier = 0xE317,
ShakeDetector = 0xE318,
ActivityClassifier = 0xE31C,
RVARVRStabilizedRotation = 0xE322,
RVARVRStabilizedGame = 0xE323,
RVGyroIntegrated = 0xE324,
};
/// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
enum class BNO08xActivityEnable
{
@ -134,49 +170,49 @@ typedef struct bno08x_quat_t
float i;
float j;
float k;
float accuracy;
BNO08xAccuracy accuracy;
float rad_accuracy;
bno08x_quat_t()
: real(0.0f)
, i(0.0f)
, j(0.0f)
, k(0.0f)
, accuracy(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
, rad_accuracy(0.0f)
{
}
// overloaded assignment operator to handle RV with accuracy
// overloaded assignment operator to handle RV with rad accuracy
bno08x_quat_t& operator=(const sh2_RotationVectorWAcc_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->accuracy = source.accuracy;
this->rad_accuracy = source.accuracy;
return *this;
}
// overloaded assignment operator to handle RV with w/o accuracy
// overloaded assignment operator to handle RV with w/o rad accuracy
bno08x_quat_t& operator=(const sh2_RotationVector_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->accuracy = 0.0f;
this->rad_accuracy = 0.0f;
return *this;
}
// overloaded assignment operator to handle IRV report
// overloaded assignment operator to handle RV with w/o accuracy
bno08x_quat_t& operator=(const sh2_GyroIntegratedRV_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->accuracy = 0.0f;
this->rad_accuracy = 0.0f;
return *this;
}
@ -188,13 +224,15 @@ typedef struct bno08x_euler_angle_t
float x;
float y;
float z;
float accuracy;
BNO08xAccuracy accuracy;
float rad_accuracy;
bno08x_euler_angle_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
, rad_accuracy(0.0f)
{
}
@ -204,6 +242,7 @@ typedef struct bno08x_euler_angle_t
this->x = atan2(2.0f * (source.real * source.i + source.j * source.k), 1.0f - 2.0f * (source.i * source.i + source.j * source.j));
this->y = asin(2.0f * (source.real * source.j - source.k * source.i));
this->z = atan2(2.0f * (source.real * source.k + source.i * source.j), 1.0f - 2.0f * (source.j * source.j + source.k * source.k));
this->rad_accuracy = source.rad_accuracy;
this->accuracy = source.accuracy;
return *this;
}
@ -215,7 +254,7 @@ typedef struct bno08x_euler_angle_t
x *= static_cast<float>(value);
y *= static_cast<float>(value);
z *= static_cast<float>(value);
accuracy *= static_cast<float>(value);
rad_accuracy *= static_cast<float>(value);
return *this;
}
@ -261,11 +300,13 @@ typedef struct bno08x_magf_t
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_magf_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
@ -320,11 +361,13 @@ typedef struct bno08x_gyro_t
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_gyro_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
@ -380,12 +423,14 @@ typedef struct bno08x_activity_classifier_t
bool lastPage;
BNO08xActivity mostLikelyState;
uint8_t confidence[10];
BNO08xAccuracy accuracy;
bno08x_activity_classifier_t()
: page(0U)
, lastPage(false)
, mostLikelyState(BNO08xActivity::UNDEFINED)
, confidence({})
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
@ -410,12 +455,14 @@ typedef struct bno08x_tap_detector_t
int8_t y_flag;
int8_t z_flag;
bool double_tap;
BNO08xAccuracy accuracy;
bno08x_tap_detector_t()
: x_flag(0)
, y_flag(0)
, z_flag(0)
, double_tap(false)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
@ -462,11 +509,13 @@ typedef struct bno08x_shake_detector_t
uint8_t x_flag;
uint8_t y_flag;
uint8_t z_flag;
BNO08xAccuracy accuracy;
bno08x_shake_detector_t()
: x_flag(0U)
, y_flag(0U)
, z_flag(0U)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
@ -501,6 +550,14 @@ typedef struct bno08x_sample_counts_t
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.
bno08x_sample_counts_t()
: offered(0UL)
, on(0UL)
, accepted(0UL)
, attempted(0UL)
{
}
// conversion from sh2_PersonalActivityClassifier_t
bno08x_sample_counts_t& operator=(const sh2_Counts_t& source)
{
@ -513,10 +570,164 @@ typedef struct bno08x_sample_counts_t
}
} 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;
typedef sh2_RawAccelerometer bno08x_raw_accel_t;
typedef sh2_RawMagnetometer_t bno08x_raw_magf_t;
/// @brief Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.
typedef struct bno08x_accel_t
{
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_accel_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_Accelerometer_t
bno08x_accel_t& operator=(const sh2_Accelerometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
} bno08x_accel_t;
/// @brief Struct to represent step counter data from step counter reports.
typedef struct bno08x_step_counter_t
{
uint32_t latency;
uint16_t steps;
BNO08xAccuracy accuracy;
bno08x_step_counter_t()
: latency(0UL)
, steps(0U)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_StepCounter_t
bno08x_step_counter_t& operator=(const sh2_StepCounter_t& source)
{
this->latency = source.latency;
this->steps = source.steps;
return *this;
}
} bno08x_step_counter_t;
/// @brief Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).
typedef struct bno08x_raw_gyro_t
{
int16_t x;
int16_t y;
int16_t z;
int16_t temperature;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_gyro_t()
: x(0U)
, y(0U)
, z(0U)
, temperature(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawGyroscope_t
bno08x_raw_gyro_t& operator=(const sh2_RawGyroscope_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->temperature = source.temperature;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_gyro_t;
/// @brief Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).
typedef struct bno08x_raw_accel_t
{
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_accel_t()
: x(0U)
, y(0U)
, z(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawAccelerometer_t
bno08x_raw_accel_t& operator=(const sh2_RawAccelerometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_accel_t;
/// @brief Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).
typedef struct bno08x_raw_magf_t
{
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_magf_t()
: x(0U)
, y(0U)
, z(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawMagnetometer_t
bno08x_raw_magf_t& operator=(const sh2_RawMagnetometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_magf_t;
/// @brief Struct to represent stability classifier data from stability classifier reports.
typedef struct bno08x_stability_classifier_t
{
BNO08xStability stability;
BNO08xAccuracy accuracy;
bno08x_stability_classifier_t()
: stability(BNO08xStability::UNDEFINED)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_StabilityClassifier_t
bno08x_stability_classifier_t& operator=(const sh2_StabilityClassifier_t& source)
{
this->stability = static_cast<BNO08xStability>(source.classification);
return *this;
}
} bno08x_stability_classifier_t;
typedef bno08x_config_t imu_config_t; // legacy version compatibility

5
include/report/BNO08xStabilityClassifier.hpp
View File

@ -13,10 +13,11 @@ class BNO08xStabilityClassifier : public BNO08xRpt
{
}
BNO08xStability get();
bno08x_stability_classifier_t get();
BNO08xStability get_stability();
private:
void update_data(sh2_SensorValue_t* sensor_val) override;
sh2_StabilityClassifier_t data = {0U};
bno08x_stability_classifier_t data;
static const constexpr char* TAG = "BNO08xStabilityClassifier";
};

148
source/BNO08x.cpp
View File

@ -354,8 +354,12 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
{
uint8_t rpt_ID = sensor_val->sensorId;
// check if report exists within map
auto it = usr_reports.find(rpt_ID);
if (it != usr_reports.end())
{
// update respective report with new data
usr_reports.at(rpt_ID)->update_data(sensor_val);
it->second->update_data(sensor_val);
// send report ids to cb_task for callback execution (only if this report is enabled)
if (usr_reports.at(rpt_ID)->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
@ -371,6 +375,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
}
}
}
}
/**
* @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
@ -1032,26 +1037,19 @@ esp_err_t BNO08x::deinit_sh2_HAL()
*/
bool BNO08x::hard_reset()
{
int op_success = SH2_ERR;
// toggle reset gpio
toggle_reset();
// wait for reset and run service to dispatch callbacks
// wait for reset to be detected by SH2 HAL lib
if (wait_for_reset() == ESP_OK)
{
// run service to dispatch callbacks
lock_sh2_HAL();
sh2_service();
unlock_sh2_HAL();
// get product ids and check reset reason
memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
lock_sh2_HAL();
op_success = sh2_getProdIds(&product_IDs);
unlock_sh2_HAL();
if (op_success == SH2_OK)
{
if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
if (get_reset_reason() == BNO08xResetReason::EXT_RST)
{
return true;
}
@ -1065,15 +1063,6 @@ bool BNO08x::hard_reset()
}
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Hard reset failure, failed to get prodIDs.");
#endif
// clang-format on
}
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
@ -1094,28 +1083,22 @@ bool BNO08x::soft_reset()
{
int op_success = SH2_ERR;
// send reset command
lock_sh2_HAL();
op_success = sh2_devReset();
unlock_sh2_HAL();
if (op_success == SH2_OK)
{
// wait for reset and run service to dispatch callbacks
// wait for reset to be detected by SH2 HAL lib
if (wait_for_reset() == ESP_OK)
{
// run service to dispatch callbacks
lock_sh2_HAL();
sh2_service();
unlock_sh2_HAL();
// get product ids and check reset reason
memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
lock_sh2_HAL();
op_success = sh2_getProdIds(&product_IDs);
unlock_sh2_HAL();
if (op_success == SH2_OK)
{
if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
if (get_reset_reason() == BNO08xResetReason::EXT_RST)
{
return true;
}
@ -1129,15 +1112,6 @@ bool BNO08x::soft_reset()
}
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Soft reset failure, failed to get prodIDs.");
#endif
// clang-format on
}
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
@ -1158,6 +1132,81 @@ bool BNO08x::soft_reset()
return false;
}
/**
* @brief Returns reason for previous reset via product ID report.
*
* @return Enum object containing reset reason, BNO08xResetReason::UNDEFINED if failure.
*/
BNO08xResetReason BNO08x::get_reset_reason()
{
int op_success = SH2_ERR;
BNO08xResetReason rr = BNO08xResetReason::UNDEFINED;
memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
lock_sh2_HAL();
op_success = sh2_getProdIds(&product_IDs);
unlock_sh2_HAL();
if (op_success == SH2_OK)
{
rr = static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause);
}
else
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Get reset reason failure, failed to get prodIDs.");
#endif
// clang-format on
}
return rr;
}
/**
* @brief Places BNO08x device in on state by sending ON (2) command on "device" channel.
*
* @return True if on operation succeeded.
*/
bool BNO08x::on()
{
int op_success = SH2_ERR;
lock_sh2_HAL();
op_success = sh2_devOn();
unlock_sh2_HAL();
return (op_success == SH2_OK);
}
/**
* @brief Places BNO08x device in sleep state by sending SLEEP (3) command on "device" channel.
*
* @return True if sleep operation succeeded.
*/
bool BNO08x::sleep()
{
int op_success = SH2_ERR;
lock_sh2_HAL();
op_success = sh2_devSleep();
unlock_sh2_HAL();
return (op_success == SH2_OK);
}
bool BNO08x::get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz)
{
int op_success = SH2_ERR;
lock_sh2_HAL();
op_success = sh2_getFrs(static_cast<uint16_t>(frs_ID), data, rx_data_sz);
unlock_sh2_HAL();
return (op_success == SH2_OK);
}
/**
* @brief Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.
*
@ -1368,6 +1417,25 @@ const char* BNO08x::stability_to_str(BNO08xStability stability)
}
}
const char* BNO08x::accuracy_to_str(BNO08xAccuracy accuracy)
{
switch (accuracy)
{
case BNO08xAccuracy::UNRELIABLE:
return "UNRELIABLE";
case BNO08xAccuracy::LOW:
return "LOW";
case BNO08xAccuracy::MED:
return "MED";
case BNO08xAccuracy::HIGH:
return "HIGH";
case BNO08xAccuracy::UNDEFINED:
return "UNDEFINED";
default:
return "UNDEFINED";
}
}
/**
* @brief HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
*

1
source/BNO08xRpt.cpp
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@ -29,6 +29,7 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
{
period_us = time_between_reports; // Update the period
xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
vTaskDelay(20UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
return true;
}
}

1
source/report/BNO08xRptARVRStabilizedGameRV.cpp
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@ -12,6 +12,7 @@ void BNO08xRptARVRStabilizedGameRV::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.arvrStabilizedGRV;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptARVRStabilizedRV.cpp
View File

@ -12,6 +12,7 @@ void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.arvrStabilizedRV;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptAcceleration.cpp
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@ -12,6 +12,7 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.accelerometer;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptActivityClassifier.cpp
View File

@ -28,6 +28,7 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.personalActivityClassifier;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptCalGyro.cpp
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@ -12,6 +12,7 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.gyroscope;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptCalMagnetometer.cpp
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@ -12,6 +12,7 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.magneticField;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptGameRV.cpp
View File

@ -12,6 +12,7 @@ void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.gameRotationVector;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptGravity.cpp
View File

@ -12,6 +12,7 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.gravity;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptIGyroRV.cpp
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@ -12,6 +12,7 @@ void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.gyroIntegratedRV;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
data_vel = sensor_val->un.gyroIntegratedRV;
imu->unlock_user_data();

1
source/report/BNO08xRptLinearAcceleration.cpp
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@ -12,6 +12,7 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.linearAcceleration;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptRV.cpp
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@ -12,6 +12,7 @@ void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.rotationVector;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

4
source/report/BNO08xRptRVGeneric.cpp
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@ -2,9 +2,9 @@
#include "BNO08x.hpp"
/**
* @brief Grabs most recent rotation vector data in form of unit quaternion, accuracy units in radians (if available, else constant 0.0f).
* @brief Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).
*
* The following RV reports have accuracy data:
* The following RV reports have rad accuracy data:
*
* - rotation vector
* - geomagnetic rotation vector

1
source/report/BNO08xRptRVGeomag.cpp
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@ -12,6 +12,7 @@ void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.geoMagRotationVector;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptRawMEMSAccelerometer.cpp
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@ -12,6 +12,7 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.rawAccelerometer;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptRawMEMSGyro.cpp
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@ -12,6 +12,7 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.rawGyroscope;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptRawMEMSMagnetometer.cpp
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@ -12,6 +12,7 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.rawMagnetometer;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptStepCounter.cpp
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@ -23,6 +23,7 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
}
prev_steps = data.steps;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

1
source/report/BNO08xRptUncalGyro.cpp
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@ -12,6 +12,7 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.gyroscopeUncal;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
bias_data = sensor_val->un.gyroscopeUncal;
imu->unlock_user_data();

1
source/report/BNO08xRptUncalMagnetometer.cpp
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@ -12,6 +12,7 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.magneticFieldUncal;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
bias_data = sensor_val->un.magneticFieldUncal;
imu->unlock_user_data();

1
source/report/BNO08xShakeDetector.cpp
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@ -12,6 +12,7 @@ void BNO08xShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.shakeDetector;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

18
source/report/BNO08xStabilityClassifier.cpp
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@ -12,6 +12,7 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.stabilityClassifier;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
@ -23,10 +24,23 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
*
* @return BNO08xStability enum object with detected state.
*/
BNO08xStability BNO08xStabilityClassifier::get()
bno08x_stability_classifier_t BNO08xStabilityClassifier::get()
{
imu->lock_user_data();
BNO08xStability rqdata = static_cast<BNO08xStability>(data.classification);
bno08x_stability_classifier_t rqdata = data;
imu->unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent stability classifier reading (excludes accuracy)
*
* @return BNO08xStability enum object with detected state.
*/
BNO08xStability BNO08xStabilityClassifier::get_stability()
{
imu->lock_user_data();
BNO08xStability rqdata = data.stability;
imu->unlock_user_data();
return rqdata;
}

1
source/report/BNO08xTapDetector.cpp
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@ -28,6 +28,7 @@ void BNO08xTapDetector::update_data(sh2_SensorValue_t* sensor_val)
{
imu->lock_user_data();
data = sensor_val->un.tapDetector;
data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
imu->unlock_user_data();
if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))