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timestamp feature 

Signed-off-by: myles <myles.parfenyuk@gmail.com>
This commit is contained in:
myles 2025-02-08 20:55:00 -08:00
parent 1743f7afa4
commit 3422227f32
25 changed files with 86 additions and 38 deletions
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3
.clang-format
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@ -27,9 +27,6 @@ SpaceAfterCStyleCast: true
CommentPragmas: '^[/!]<'
ColumnLimit: 130
WrapComments: true
AllowShortCommentsOnASingleLine: true
AlignConsecutiveComments: true
BreakBeforeBraces: Allman
IndentAccessModifiers: true

72
README.md
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@ -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)
{
@ -197,49 +197,51 @@ extern "C" void app_main(void)
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]()
{
// 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();
// display heading
ESP_LOGI(TAG, "Euler Angle: x (roll): %.2f y (pitch): %.2f z (yaw): %.2f", euler.x, euler.y, euler.z);
}
});
imu.register_cb(
[]()
{
// 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();
// 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]()
{
// get angular velocity in rad/s
bno08x_gyro_t velocity = imu.rpt.cal_gyro.get();
// display velocity
ESP_LOGI(TAG, "Velocity: x: %.2f y: %.2f z: %.2f", velocity.x, velocity.y, velocity.z);
});
imu.rpt.cal_gyro.register_cb(
[]()
{
// get angular velocity in rad/s
bno08x_gyro_t velocity = imu.rpt.cal_gyro.get();
// 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
imu.register_cb([](uint8_t rpt_ID)
{
switch (rpt_ID)
{
case SH2_GAME_ROTATION_VECTOR:
ESP_LOGW(TAG, "Game RV report RX");
break;
// 3) register a callback that is passed report ID of report that asserted callback
imu.register_cb(
[](uint8_t rpt_ID)
{
switch (rpt_ID)
{
case SH2_GAME_ROTATION_VECTOR:
ESP_LOGW(TAG, "Game RV report RX");
break;
case SH2_CAL_GYRO:
ESP_LOGW(TAG, "Cal Gyro report RX");
break;
case SH2_CAL_GYRO:
ESP_LOGW(TAG, "Cal Gyro report RX");
break;
default:
default:
break;
}
});
break;
}
});
while (1)
{

4
include/report/BNO08xRpt.hpp
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@ -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)
{

24
source/BNO08xRpt.cpp
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@ -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)
*

1
source/report/BNO08xRptARVRStabilizedGameRV.cpp
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@ -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))

1
source/report/BNO08xRptARVRStabilizedRV.cpp
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@ -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))

1
source/report/BNO08xRptAcceleration.cpp
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@ -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))

1
source/report/BNO08xRptActivityClassifier.cpp
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@ -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))

1
source/report/BNO08xRptCalGyro.cpp
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@ -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))

1
source/report/BNO08xRptCalMagnetometer.cpp
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@ -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))

1
source/report/BNO08xRptGameRV.cpp
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@ -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))

1
source/report/BNO08xRptGravity.cpp
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@ -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))

1
source/report/BNO08xRptIGyroRV.cpp
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@ -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))

1
source/report/BNO08xRptLinearAcceleration.cpp
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@ -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))

1
source/report/BNO08xRptRV.cpp
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@ -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))

1
source/report/BNO08xRptRVGeomag.cpp
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@ -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))

1
source/report/BNO08xRptRawMEMSAccelerometer.cpp
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@ -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))

1
source/report/BNO08xRptRawMEMSGyro.cpp
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@ -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))

1
source/report/BNO08xRptRawMEMSMagnetometer.cpp
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@ -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))

1
source/report/BNO08xRptShakeDetector.cpp
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@ -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))

1
source/report/BNO08xRptStabilityClassifier.cpp
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@ -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))

1
source/report/BNO08xRptStepCounter.cpp
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@ -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))

1
source/report/BNO08xRptTapDetector.cpp
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@ -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))

1
source/report/BNO08xRptUncalGyro.cpp
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@ -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))

1
source/report/BNO08xRptUncalMagnetometer.cpp
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@ -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))