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more reports, getter APIs

This commit is contained in:
myles-parfeniuk 2024-11-20 23:47:29 -08:00
parent 11fc62a398
commit 5ba792d8a8
3 changed files with 616 additions and 101 deletions
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92
include/BNO08x.hpp
View File

@ -47,24 +47,31 @@ class BNO08x
void hard_reset();
bool enable_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_gravity(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_linear_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_calibrated_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_step_counter(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_activity_classifier(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_calibrated_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_raw_mems_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_raw_mems_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
bool enable_raw_mems_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
void get_gravity(float& x, float& y, float& z);
float get_gravity_X();
float get_gravity_Y();
float get_gravity_Z();
bno08x_quat_w_acc_t get_rotation_vector_quat();
bno08x_euler_angle_t get_rotation_vector_euler(bool in_degrees = true);
bno08x_accel_data_t get_gravity();
bno08x_accel_data_t get_linear_accel();
bno08x_accel_data_t get_accel();
bno08x_magf_data_t get_calibrated_magnetometer();
bno08x_gyro_data_t get_calibrated_gyro();
bno08x_raw_gyro_data_t get_raw_mems_gyro();
bno08x_raw_accel_data_t get_raw_mems_accelerometer();
bno08x_raw_magf_data_t get_raw_mems_magnetometer();
bno08x_step_counter_data_t get_step_counter();
void get_linear_accel(float& x, float& y, float& z);
float get_linear_accel_X();
float get_linear_accel_Y();
float get_linear_accel_Z();
void get_accel(float& x, float& y, float& z);
float get_accel_X();
float get_accel_Y();
float get_accel_Z();
void quat_to_euler(bno08x_quat_w_acc_t* quat, bno08x_euler_angle_t* euler);
void register_cb(std::function<void()> cb_fxn);
void print_product_ids();
@ -101,14 +108,30 @@ class BNO08x
/// @brief Holds data returned from sensor reports.
typedef struct bno08x_data_t
{
sh2_Accelerometer_t gravity;
sh2_Accelerometer_t linear_acceleration;
sh2_Accelerometer_t acceleration;
bno08x_accel_data_t gravity;
bno08x_accel_data_t linear_acceleration;
bno08x_accel_data_t acceleration;
bno08x_magf_data_t cal_magnetometer;
bno08x_step_counter_data_t step_counter;
bno08x_activity_classifier_data_t activity_classifier;
bno08x_gyro_data_t cal_gyro;
bno08x_raw_gyro_data_t mems_raw_gyro;
bno08x_raw_accel_data_t mems_raw_accel;
bno08x_raw_magf_data_t mems_raw_magnetometer;
bno08x_quat_w_acc_t rotation_vector;
bno08x_data_t()
: gravity({0.0f, 0.0f, 0.0f})
, linear_acceleration({0.0f, 0.0f, 0.0f})
, acceleration({0.0f, 0.0f, 0.0f})
, cal_magnetometer({0.0f, 0.0f, 0.0f})
, step_counter({0UL, 0U})
, activity_classifier({0U, false, BNO08xActivity::UNKNOWN, {0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U}})
, cal_gyro({0.0f, 0.0f, 0.0f})
, mems_raw_gyro({0, 0, 0, 0, 0UL})
, mems_raw_accel({0, 0, 0, 0UL})
, mems_raw_magnetometer({0, 0, 0, 0UL})
, rotation_vector({0.0f, 0.0f, 0.0f, 0.0f, 0.0f})
{
}
@ -120,11 +143,27 @@ class BNO08x
uint32_t gravity;
uint32_t linear_accelerometer;
uint32_t accelerometer;
uint32_t cal_magnetometer;
uint32_t step_counter;
uint32_t activity_classifier;
uint32_t cal_gyro;
uint32_t raw_mems_gyro;
uint32_t raw_mems_accelerometer;
uint32_t raw_mems_magnetometer;
uint32_t rotation_vector;
bno08x_usr_report_periods_t()
: gravity(0U)
, linear_accelerometer(0U)
, accelerometer(0U)
: gravity(0UL)
, linear_accelerometer(0UL)
, accelerometer(0UL)
, cal_magnetometer(0UL)
, step_counter(0UL)
, activity_classifier(0UL)
, cal_gyro(0UL)
, raw_mems_gyro(0UL)
, raw_mems_accelerometer(0UL)
, raw_mems_magnetometer(0UL)
, rotation_vector(0UL)
{
}
} bno08x_usr_report_periods_t;
@ -152,9 +191,17 @@ class BNO08x
void unlock_user_data();
void handle_sensor_report(sh2_SensorValue_t* sensor_val);
void update_rotation_vector_data(sh2_SensorValue_t* sensor_val);
void update_gravity_data(sh2_SensorValue_t* sensor_val);
void update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val);
void update_accelerometer_data(sh2_SensorValue_t* sensor_val);
void update_calibrated_magnetometer_data(sh2_SensorValue_t* sensor_val);
void update_step_counter_data(sh2_SensorValue_t* sensor_val);
void update_activity_classifier_data(sh2_SensorValue_t* sensor_val);
void update_calibrated_gyro_data(sh2_SensorValue_t* sensor_val);
void update_raw_mems_gyro_data(sh2_SensorValue_t* sensor_val);
void update_raw_mems_accel_data(sh2_SensorValue_t* sensor_val);
void update_raw_mems_magnetometer_data(sh2_SensorValue_t* sensor_val);
esp_err_t init_config_args();
esp_err_t init_gpio();
@ -211,6 +258,9 @@ class BNO08x
static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
static const constexpr float RAD_2_DEG =
(180.0f / M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
// evt_grp_bno08x_task bits
static const constexpr EventBits_t EVT_GRP_BNO08x_TASKS_RUNNING =
(1U << 0U); ///<When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration BNO08x driver object. Cleared in deconstructor for safe task deletion.
@ -232,9 +282,9 @@ class BNO08x
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT_EN =
(1U << 6U); ///< When set, linear accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT_EN = (1U << 7U); ///< When set, gravity reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT_EN = (1U << 8U); ///< When set, gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_CAL_GYRO_BIT_EN = (1U << 8U); ///< When set, gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT_EN = (1U << 9U); ///< When set, uncalibrated gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT_EN = (1U << 10U); ///< When set, magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_CAL_MAGNETOMETER_BIT_EN = (1U << 10U); ///< When set, magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT_EN = (1U << 11U); ///< When set, tap detector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT_EN = (1U << 12U); ///< When set, step counter reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT_EN =

67
include/BNO08x_global_types.hpp
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@ -7,6 +7,7 @@
#include <driver/gpio.h>
#include <driver/spi_common.h>
#include <driver/spi_master.h>
#include "sh2_SensorValue.h"
/// @brief Sensor accuracy returned during sensor calibration
enum class BNO08xAccuracy
@ -30,21 +31,6 @@ enum class BNO08xResetReason
};
using IMUResetReason = BNO08xResetReason; // legacy version compatibility
/// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
enum class BNO08xActivityEnable
{
UNKNOWN = (1U << 0U),
IN_VEHICLE = (1U << 1U),
ON_BICYCLE = (1U << 2U),
ON_FOOT = (1U << 3U),
STILL = (1U << 4U),
TILTING = (1U << 5U),
WALKING = (1U << 6U),
RUNNING = (1U << 7U),
ON_STAIRS = (1U << 8U),
ALL = 0x1FU
};
/// @brief BNO08xActivity states returned from get_activity_classifier()
enum class BNO08xActivity
{
@ -118,4 +104,55 @@ typedef struct bno08x_config_t
}
} bno08x_config_t;
typedef struct bno08x_activity_classifier_data_t
{
uint8_t page;
bool lastPage;
BNO08xActivity mostLikelyState;
uint8_t confidence[10];
// conversion from sh2_PersonalActivityClassifier_t
bno08x_activity_classifier_data_t& operator=(const sh2_PersonalActivityClassifier_t& source)
{
this->page = source.page;
this->lastPage = source.lastPage;
this->mostLikelyState = static_cast<BNO08xActivity>(source.mostLikelyState);
for (int i = 0; i < 10; ++i)
{
this->confidence[i] = source.confidence[i];
}
return *this;
}
} bno08x_activity_classifier_data_t;
typedef struct bno08x_euler_angle_t
{
float x;
float y;
float z;
float accuracy;
// overloaded *= operator for rad2deg conversions
template <typename T>
bno08x_euler_angle_t& operator*=(T value)
{
x *= static_cast<float>(value);
y *= static_cast<float>(value);
z *= static_cast<float>(value);
accuracy *= static_cast<float>(value);
return *this;
}
} bno08x_euler_angle_t;
typedef sh2_RotationVectorWAcc_t bno08x_quat_w_acc_t; ///< Quaternion data with accuracy.
typedef sh2_Accelerometer_t bno08x_accel_data_t; ///< Acceleration data.
typedef sh2_MagneticField_t bno08x_magf_data_t; ///< Magnetic field data.
typedef sh2_StepCounter bno08x_step_counter_data_t;
typedef sh2_Gyroscope_t bno08x_gyro_data_t;
typedef sh2_RawGyroscope_t bno08x_raw_gyro_data_t;
typedef sh2_RawAccelerometer bno08x_raw_accel_data_t;
typedef sh2_RawMagnetometer_t bno08x_raw_magf_data_t;
typedef bno08x_config_t imu_config_t; // legacy version compatibility

558
source/BNO08x.cpp
View File

@ -237,6 +237,8 @@ void BNO08x::unlock_user_data()
void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
{
bno08x_euler_angle_t euler;
switch (sensor_val->sensorId)
{
case SH2_GRAVITY:
@ -246,7 +248,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
case SH2_LINEAR_ACCELERATION:
update_linear_accelerometer_data(sensor_val);
ESP_LOGW(TAG, "lin_accl: %.3lf %.3lf %.3lf", data.linear_acceleration.x, data.linear_acceleration.y, data.linear_acceleration.z);
ESP_LOGW(TAG, "lin accl: %.3lf %.3lf %.3lf", data.linear_acceleration.x, data.linear_acceleration.y, data.linear_acceleration.z);
break;
case SH2_ACCELEROMETER:
@ -254,12 +256,67 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
ESP_LOGW(TAG, "accl: %.3lf %.3lf %.3lf", data.acceleration.x, data.acceleration.y, data.acceleration.z);
break;
case SH2_MAGNETIC_FIELD_CALIBRATED:
update_calibrated_magnetometer_data(sensor_val);
ESP_LOGW(TAG, "cal magf: %.3lf %.3lf %.3lf", data.cal_magnetometer.x, data.cal_magnetometer.y, data.cal_magnetometer.z);
break;
case SH2_STEP_COUNTER:
update_step_counter_data(sensor_val);
ESP_LOGW(TAG, "step counter: %d %ld", data.step_counter.steps, data.step_counter.latency);
break;
case SH2_PERSONAL_ACTIVITY_CLASSIFIER:
update_activity_classifier_data(sensor_val);
ESP_LOGW(TAG, "activity classifier: %d", static_cast<uint8_t>(data.activity_classifier.mostLikelyState));
break;
case SH2_GYROSCOPE_CALIBRATED:
update_calibrated_gyro_data(sensor_val);
ESP_LOGW(TAG, "cal gyro: %.3lf %.3lf %.3lf", data.cal_gyro.x, data.cal_gyro.y, data.cal_gyro.z);
break;
case SH2_RAW_GYROSCOPE:
update_raw_mems_gyro_data(sensor_val);
ESP_LOGW(TAG, "raw gyro: %d %d %d", data.mems_raw_gyro.x, data.mems_raw_gyro.y, data.mems_raw_gyro.z);
break;
case SH2_RAW_ACCELEROMETER:
update_raw_mems_accel_data(sensor_val);
ESP_LOGW(TAG, "raw accel: %d %d %d", data.mems_raw_accel.x, data.mems_raw_accel.y, data.mems_raw_accel.z);
break;
case SH2_RAW_MAGNETOMETER:
update_raw_mems_magnetometer_data(sensor_val);
ESP_LOGW(TAG, "raw magf: %d %d %d", data.mems_raw_magnetometer.x, data.mems_raw_magnetometer.y, data.mems_raw_magnetometer.z);
break;
case SH2_ROTATION_VECTOR:
update_rotation_vector_data(sensor_val);
euler = get_rotation_vector_euler();
ESP_LOGW(TAG, "rot vec euler: %.3lf %.3lf %.3lf", euler.x, euler.y, euler.z);
break;
default:
break;
}
}
/**
* @brief Updates rotation vector data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_rotation_vector_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.rotation_vector = sensor_val->un.rotationVector;
unlock_user_data();
}
/**
* @brief Updates gravity data from decoded sensor event.
*
@ -270,9 +327,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
void BNO08x::update_gravity_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.gravity.x = sensor_val->un.gravity.x;
data.gravity.y = sensor_val->un.gravity.y;
data.gravity.z = sensor_val->un.gravity.z;
data.gravity = sensor_val->un.gravity;
unlock_user_data();
}
@ -286,9 +341,7 @@ void BNO08x::update_gravity_data(sh2_SensorValue_t* sensor_val)
void BNO08x::update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.linear_acceleration.x = sensor_val->un.linearAcceleration.x;
data.linear_acceleration.y = sensor_val->un.linearAcceleration.y;
data.linear_acceleration.z = sensor_val->un.linearAcceleration.z;
data.linear_acceleration = sensor_val->un.linearAcceleration;
unlock_user_data();
}
@ -302,9 +355,105 @@ void BNO08x::update_linear_accelerometer_data(sh2_SensorValue_t* sensor_val)
void BNO08x::update_accelerometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.acceleration.x = sensor_val->un.accelerometer.x;
data.acceleration.y = sensor_val->un.accelerometer.x;
data.acceleration.z = sensor_val->un.accelerometer.x;
data.acceleration = sensor_val->un.accelerometer;
unlock_user_data();
}
/**
* @brief Updates calibrated magnetometer data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_calibrated_magnetometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.cal_magnetometer = sensor_val->un.magneticField;
unlock_user_data();
}
/**
* @brief Updates step counter data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_step_counter_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.step_counter = sensor_val->un.stepCounter;
unlock_user_data();
}
/**
* @brief Updates activity classifier data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_activity_classifier_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.activity_classifier = sensor_val->un.personalActivityClassifier;
unlock_user_data();
}
/**
* @brief Updates calibrated gyro data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_calibrated_gyro_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.cal_gyro = sensor_val->un.gyroscope;
unlock_user_data();
}
/**
* @brief Updates raw mems gyro data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_raw_mems_gyro_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.mems_raw_gyro = sensor_val->un.rawGyroscope;
unlock_user_data();
}
/**
* @brief Updates raw mems accel data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_raw_mems_accel_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.mems_raw_accel = sensor_val->un.rawAccelerometer;
unlock_user_data();
}
/**
* @brief Updates raw mems magnetometer data from decoded sensor event.
*
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
*
* @return void, nothing to return
*/
void BNO08x::update_raw_mems_magnetometer_data(sh2_SensorValue_t* sensor_val)
{
lock_user_data();
data.mems_raw_magnetometer = sensor_val->un.rawMagnetometer;
unlock_user_data();
}
@ -959,6 +1108,28 @@ void BNO08x::hard_reset()
gpio_set_level(imu_config.io_rst, 1); // bring out of reset
}
/**
* @brief Sends command to rotation vector reports. (See Ref. Manual 6.5.18)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_rotation_vector(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
if (enable_report(SH2_ROTATION_VECTOR, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.rotation_vector = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_ROTATION_VECTOR_BIT_EN);
return true;
}
}
/**
* @brief Sends command to enable gravity reports. (See Ref. Manual 6.5.11)
*
@ -1025,103 +1196,328 @@ bool BNO08x::enable_accelerometer(uint32_t time_between_reports, sh2_SensorConfi
}
}
void BNO08x::get_gravity(float& x, float& y, float& z)
/**
* @brief Sends command to enable calibrated magnetometer reports. (See Ref. Manual 6.5.16)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_calibrated_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
x = data.gravity.x;
y = data.gravity.y;
z = data.gravity.z;
unlock_user_data();
if (enable_report(SH2_MAGNETIC_FIELD_CALIBRATED, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.cal_magnetometer = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_CAL_MAGNETOMETER_BIT_EN);
return true;
}
}
float BNO08x::get_gravity_X()
/**
* @brief Sends command to enable step counter reports. (See Ref. Manual 6.5.29)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_step_counter(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
float z = data.gravity.z;
unlock_user_data();
return z;
if (enable_report(SH2_STEP_COUNTER, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.step_counter = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_STEP_COUNTER_BIT_EN);
return true;
}
}
float BNO08x::get_gravity_Y()
/**
* @brief Sends command to enable activity classifier reports. (See Ref. Manual 6.5.36)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_activity_classifier(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
float y = data.gravity.y;
unlock_user_data();
return y;
if (enable_report(SH2_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.activity_classifier = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT_EN);
return true;
}
}
float BNO08x::get_gravity_Z()
/**
* @brief Sends command to enable calibrated gyro reports. (See Ref. Manual 6.5.13)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_calibrated_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
float z = data.gravity.z;
unlock_user_data();
return z;
if (enable_report(SH2_GYROSCOPE_CALIBRATED, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.cal_gyro = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_CAL_GYRO_BIT_EN);
return true;
}
}
void BNO08x::get_linear_accel(float& x, float& y, float& z)
/**
* @brief Sends command to enable raw gyro reports from physical gyroscope MEMS sensor. (See Ref. Manual 6.5.12)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_raw_mems_gyro(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
x = data.linear_acceleration.x;
y = data.linear_acceleration.y;
z = data.linear_acceleration.z;
unlock_user_data();
if (enable_report(SH2_RAW_GYROSCOPE, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.raw_mems_gyro = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_RAW_GYRO_BIT_EN);
return true;
}
}
float BNO08x::get_linear_accel_X()
/**
* @brief Sends command to enable raw accelerometer reports from physical accelerometer MEMS sensor. (See Ref. Manual 6.5.8)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_raw_mems_accelerometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
float x = data.linear_acceleration.x;
unlock_user_data();
return x;
if (enable_report(SH2_RAW_ACCELEROMETER, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.raw_mems_accelerometer = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT_EN);
return true;
}
}
float BNO08x::get_linear_accel_Y()
/**
* @brief Sends command to enable raw magnetometer reports from physical accelerometer magnetometer sensor. (See Ref. Manual 6.5.15)
*
* @param report_period_us The period/interval of the report in microseconds.
* @param sensor_cfg Sensor special configuration (optional), see default_sensor_cfg for defaults.
*
* @return ESP_OK if report was successfully enabled.
*/
bool BNO08x::enable_raw_mems_magnetometer(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{
lock_user_data();
float y = data.linear_acceleration.y;
unlock_user_data();
return y;
if (enable_report(SH2_RAW_MAGNETOMETER, time_between_reports, sensor_cfg) != ESP_OK)
{
return false;
}
else
{
user_report_periods.raw_mems_magnetometer = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT_EN);
return true;
}
}
float BNO08x::get_linear_accel_Z()
/**
* @brief Grabs most recent rotation vector data in form of unit quaternion, accuracy units in radians.
*
* @return Struct containing requested data.
*/
bno08x_quat_w_acc_t BNO08x::get_rotation_vector_quat()
{
lock_user_data();
float z = data.linear_acceleration.z;
bno08x_quat_w_acc_t rqdata = data.rotation_vector;
unlock_user_data();
return z;
return rqdata;
}
void BNO08x::get_accel(float& x, float& y, float& z)
/**
* @brief Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads depending on sole input param.
*
* @param in_degrees If true returned euler angle is in degrees, if false in radians
*
* @return Struct containing requested data.
*/
bno08x_euler_angle_t BNO08x::get_rotation_vector_euler(bool in_degrees)
{
lock_user_data();
x = data.acceleration.x;
y = data.acceleration.y;
z = data.acceleration.z;
unlock_user_data();
bno08x_euler_angle_t rqdata;
bno08x_quat_w_acc_t quat = get_rotation_vector_quat();
quat_to_euler(&quat, &rqdata);
rqdata.accuracy = quat.accuracy;
if (in_degrees)
rqdata *= RAD_2_DEG;
return rqdata;
}
float BNO08x::get_accel_X()
/**
* @brief Grabs most recent gravity data, units are in m/s^2.
*
* @return Struct containing requested data.
*/
bno08x_accel_data_t BNO08x::get_gravity()
{
lock_user_data();
float x = data.acceleration.x;
bno08x_accel_data_t rqdata = data.gravity;
unlock_user_data();
return x;
return rqdata;
}
float BNO08x::get_accel_Y()
/**
* @brief Grabs most recent linear acceleration data (acceleration - gravity), units are in m/s^2.
*
* @return Struct containing requested data.
*/
bno08x_accel_data_t BNO08x::get_linear_accel()
{
lock_user_data();
float y = data.acceleration.y;
bno08x_accel_data_t rqdata = data.linear_acceleration;
unlock_user_data();
return y;
return rqdata;
}
float BNO08x::get_accel_Z()
/**
* @brief Grabs most recent acceleration data (including gravity), units are in m/s^2.
*
*
* @return Struct containing requested data.
*/
bno08x_accel_data_t BNO08x::get_accel()
{
lock_user_data();
float z = data.acceleration.z;
bno08x_accel_data_t rqdata = data.acceleration;
unlock_user_data();
return z;
return rqdata;
}
/**
* @brief Grabs most recent calibrated magnetometer data, units are in uTesla.
*
* @return Struct containing requested data.
*/
bno08x_magf_data_t BNO08x::get_calibrated_magnetometer()
{
lock_user_data();
bno08x_magf_data_t rqdata = data.cal_magnetometer;
unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent calibrated gyro velocity data, units are in rad/s.
*
* @return Struct containing requested data.
*/
bno08x_gyro_data_t BNO08x::get_calibrated_gyro()
{
lock_user_data();
bno08x_gyro_data_t rqdata = data.cal_gyro;
unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent raw mems gyro data, units are in ADCs.
*
* @return Struct containing requested data.
*/
bno08x_raw_gyro_data_t BNO08x::get_raw_mems_gyro()
{
lock_user_data();
bno08x_raw_gyro_data_t rqdata = data.mems_raw_gyro;
unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent raw mems accelerometer data, units are in ADCs.
*
* @return Struct containing requested data.
*/
bno08x_raw_accel_data_t BNO08x::get_raw_mems_accelerometer()
{
lock_user_data();
bno08x_raw_accel_data_t rqdata = data.mems_raw_accel;
unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent raw mems magnetometer data, units are in ADCs.
*
* @return Struct containing requested data.
*/
bno08x_raw_magf_data_t BNO08x::get_raw_mems_magnetometer()
{
lock_user_data();
bno08x_raw_magf_data_t rqdata = data.mems_raw_magnetometer;
unlock_user_data();
return rqdata;
}
/**
* @brief Grabs most recent step counter data.
*
* From Ref. Manual 6.5.29:
*
* "[the latency within the struct is] the delay in microseconds from the time from when the last step
* being counted occurred until the time the step count was reported."
*
*
* @return Struct containing requested data.
*/
bno08x_step_counter_data_t BNO08x::get_step_counter()
{
lock_user_data();
bno08x_step_counter_data_t rqdata = data.step_counter;
unlock_user_data();
return rqdata;
}
void BNO08x::quat_to_euler(bno08x_quat_w_acc_t* quat, bno08x_euler_angle_t* euler)
{
// roll
euler->x = atan2(2.0f * (quat->real * quat->i + quat->j * quat->k), 1.0f - 2.0f * (quat->i * quat->i + quat->j * quat->j));
// pitch
euler->y = asin(2.0f * (quat->real * quat->j - quat->k * quat->i));
// yaw
euler->z = atan2(2.0f * (quat->real * quat->k + quat->i * quat->j), 1.0f - 2.0f * (quat->j * quat->j + quat->k * quat->k));
}
/**
@ -1184,6 +1580,38 @@ esp_err_t BNO08x::re_enable_reports()
if (!enable_accelerometer(user_report_periods.accelerometer))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_CAL_MAGNETOMETER_BIT_EN)
if (!enable_calibrated_magnetometer(user_report_periods.cal_magnetometer))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_STEP_COUNTER_BIT_EN)
if (!enable_step_counter(user_report_periods.step_counter))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT_EN)
if (!enable_activity_classifier(user_report_periods.activity_classifier))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_CAL_GYRO_BIT_EN)
if (!enable_activity_classifier(user_report_periods.cal_gyro))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_RAW_GYRO_BIT_EN)
if (!enable_activity_classifier(user_report_periods.raw_mems_gyro))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_RAW_ACCELEROMETER_BIT_EN)
if (!enable_activity_classifier(user_report_periods.raw_mems_accelerometer))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_RAW_MAGNETOMETER_BIT_EN)
if (!enable_activity_classifier(user_report_periods.raw_mems_magnetometer))
return ESP_FAIL;
if (report_en_bits & EVT_GRP_RPT_ROTATION_VECTOR_BIT_EN)
if (!enable_activity_classifier(user_report_periods.rotation_vector))
return ESP_FAIL;
return ESP_OK;
}