timestamp feature

Signed-off-by: myles <myles.parfenyuk@gmail.com>

.clang-format

@@ -27,9 +27,6 @@ SpaceAfterCStyleCast: true
 CommentPragmas: '^[/!]<'
 
 ColumnLimit: 130  
-WrapComments: true  
-AllowShortCommentsOnASingleLine: true  
-AlignConsecutiveComments: true 
 
 BreakBeforeBraces: Allman
 IndentAccessModifiers: true

README.md

@@ -171,7 +171,7 @@ extern "C" void app_main(void)
 #include <stdio.h>
 #include "BNO08x.hpp"
 
-static const constexpr char *TAG = "Main";
+static const constexpr char* TAG = "Main";
 
 extern "C" void app_main(void)
 {
@@ -196,50 +196,52 @@ extern "C" void app_main(void)
     // enable game rotation vector and calibrated gyro reports
     imu.rpt.rv_game.enable(100000UL);  // 100,000us == 100ms report interval
     imu.rpt.cal_gyro.enable(100000UL); // 100,000us == 100ms report interval
-    
 
     // There are 3 different flavors of callbacks available:
 
     // 1) register a callback to execute when new data is received for any report
-    imu.register_cb([&imu]()
+    imu.register_cb(
-                    {
+            []()
-                        // check for game rotation vector report
+            {
-                        if (imu.rpt.rv_game.has_new_data())
+                // check for game rotation vector report
-                        {
+                if (imu.rpt.rv_game.has_new_data())
-                            // get absolute heading in degrees
+                {
-                            bno08x_euler_angle_t euler = imu.rpt.rv_game.get_euler();
+                    // get absolute heading in degrees
-                            // display heading
+                    bno08x_euler_angle_t euler = imu.rpt.rv_game.get_euler();
-                            ESP_LOGI(TAG, "Euler Angle: x (roll): %.2f y (pitch): %.2f z (yaw): %.2f", euler.x, euler.y, euler.z);
+                    // display heading
-                        } 
+                    ESP_LOGI(TAG, "Euler Angle: x (roll): %.2f y (pitch): %.2f z (yaw): %.2f", euler.x, euler.y, euler.z);
-                    });
+                }
+            });
 
     // 2) register a callback that is only executed for a specific report
-    imu.rpt.cal_gyro.register_cb([&imu]()
+    imu.rpt.cal_gyro.register_cb(
-                                 {
+            []()
-                                    // get angular velocity in rad/s
+            {
-                                    bno08x_gyro_t velocity = imu.rpt.cal_gyro.get();
+                // get angular velocity in rad/s
-                                    // display velocity
+                bno08x_gyro_t velocity = imu.rpt.cal_gyro.get();
-                                    ESP_LOGI(TAG, "Velocity: x: %.2f y: %.2f z: %.2f", velocity.x, velocity.y, velocity.z); 
+                // display velocity
-                                });
+                ESP_LOGI(TAG, "Velocity: x: %.2f y: %.2f z: %.2f", velocity.x, velocity.y, velocity.z);
+            });
 
-    // 3) register a callback this passed report ID of report that asserted callback
+    // 3) register a callback that is passed report ID of report that asserted callback
-    imu.register_cb([](uint8_t rpt_ID)
+    imu.register_cb(
-                    {
+            [](uint8_t rpt_ID)
-                        switch (rpt_ID)
+            {
-                        {
+                switch (rpt_ID)
-                            case SH2_GAME_ROTATION_VECTOR:
+                {
-                                ESP_LOGW(TAG, "Game RV report RX");
+                    case SH2_GAME_ROTATION_VECTOR:
-                                break;
+                        ESP_LOGW(TAG, "Game RV report RX");
+                        break;
 
-                            case SH2_CAL_GYRO:
+                    case SH2_CAL_GYRO:
-                                ESP_LOGW(TAG, "Cal Gyro report RX");
+                        ESP_LOGW(TAG, "Cal Gyro report RX");
-                                break;
+                        break;
 
-                            default:
+                    default:
 
-                                break;
+                        break;
-                        } 
+                }
-                    });
+            });
 
     while (1)
     {

include/report/BNO08xRpt.hpp

@@ -29,6 +29,7 @@ class BNO08xRpt
         bool register_cb(std::function<void(void)> cb_fxn);
         bool has_new_data();
         bool flush();
+        uint64_t get_timestamp_us();
         bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
         bool clear_sample_counts();
         bool get_meta_data(bno08x_meta_data_t& meta_data);
@@ -39,10 +40,12 @@ class BNO08xRpt
         uint8_t ID;          ///< Report ID, ex. SH2_ACCELERATION.
         EventBits_t rpt_bit; ///< Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data
         uint32_t period_us;  ///< The period/interval of the report in microseconds.
+        uint64_t time_stamp_us; ///< Timestamp sent in SHTP header, updated with each respective resport rx'd. 
         BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx;
 
         bool rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
+        void update_timestamp(sh2_SensorValue_t* sensor_val);
 
         /**
          * @brief BNO08xRpt report constructor.
@@ -60,6 +63,7 @@ class BNO08xRpt
             : ID(ID)
             , rpt_bit(rpt_bit)
             , period_us(0UL)
+            , time_stamp_us(0ULL)
             , sync_ctx(sync_ctx)
 
         {

source/BNO08xRpt.cpp

@@ -125,6 +125,20 @@ bool BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
     return false;
 }
 
+/**
+ * @brief Updates timestamp of data of respective report. 
+ *
+ * @note User data should be locked when this fxn is called. 
+ * 
+ * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::update_timestamp(sh2_SensorValue_t* sensor_val)
+{
+    time_stamp_us = sensor_val->timestamp;
+}
+
 /**
  * @brief Checks if a new report has been received since the last time this function was called.
  *
@@ -160,6 +174,16 @@ bool BNO08xRpt::flush()
     return (success != SH2_OK) ? false : true;
 }
 
+/**
+ * @brief Returns timestamp of most recently received report for this type.
+ *
+ * @return Timestamp of most recently received report.
+ */
+uint64_t BNO08xRpt::get_timestamp_us()
+{
+    return time_stamp_us; 
+}
+
 /**
  * @brief Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)
  *

source/report/BNO08xRptARVRStabilizedGameRV.cpp

@@ -17,6 +17,7 @@ void BNO08xRptARVRStabilizedGameRV::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.arvrStabilizedGRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptARVRStabilizedRV.cpp

@@ -17,6 +17,7 @@ void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.arvrStabilizedRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptAcceleration.cpp

@@ -17,6 +17,7 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.accelerometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptActivityClassifier.cpp

@@ -17,6 +17,7 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.personalActivityClassifier;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptCalGyro.cpp

@@ -17,6 +17,7 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.gyroscope;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptCalMagnetometer.cpp

@@ -17,6 +17,7 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.magneticField;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptGameRV.cpp

@@ -17,6 +17,7 @@ void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.gameRotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptGravity.cpp

@@ -17,6 +17,7 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.gravity;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptIGyroRV.cpp

@@ -18,6 +18,7 @@ void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.gyroIntegratedRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     data_vel = sensor_val->un.gyroIntegratedRV;
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptLinearAcceleration.cpp

@@ -17,6 +17,7 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.linearAcceleration;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptRV.cpp

@@ -17,6 +17,7 @@ void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.rotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptRVGeomag.cpp

@@ -17,6 +17,7 @@ void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.geoMagRotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptRawMEMSAccelerometer.cpp

@@ -17,6 +17,7 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.rawAccelerometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptRawMEMSGyro.cpp

@@ -17,6 +17,7 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.rawGyroscope;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptRawMEMSMagnetometer.cpp

@@ -17,6 +17,7 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.rawMagnetometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptShakeDetector.cpp

@@ -17,6 +17,7 @@ void BNO08xRptShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.shakeDetector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptStabilityClassifier.cpp

@@ -17,6 +17,7 @@ void BNO08xRptStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.stabilityClassifier;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptStepCounter.cpp

@@ -28,6 +28,7 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
 
     prev_steps = data.steps;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptTapDetector.cpp

@@ -35,6 +35,7 @@ void BNO08xRptTapDetector::update_data(sh2_SensorValue_t* sensor_val)
     lock_user_data();
     data = sensor_val->un.tapDetector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptUncalGyro.cpp

@@ -18,6 +18,7 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.gyroscopeUncal;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.gyroscopeUncal;
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))

source/report/BNO08xRptUncalMagnetometer.cpp

@@ -18,6 +18,7 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.magneticFieldUncal;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.magneticFieldUncal;
+    update_timestamp(sensor_val);
     unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))