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wait_for_x fxns, get_reset_reason() fix

This commit is contained in:
myles-parfeniuk 2024-07-22 17:26:07 -07:00
parent cb8b92ad28
commit 70b8fe3b39
2 changed files with 225 additions and 145 deletions
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321
BNO08x.cpp
View File

@ -18,6 +18,7 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
, queue_rx_data(xQueueCreate(1, sizeof(bno08x_rx_packet_t)))
, queue_tx_data(xQueueCreate(1, sizeof(bno08x_tx_packet_t)))
, queue_frs_read_data(xQueueCreate(1, RX_DATA_LENGTH * sizeof(uint8_t)))
, queue_reset_reason(xQueueCreate(1, sizeof(uint32_t)))
, imu_config(imu_config)
, calibration_status(1)
@ -118,96 +119,120 @@ bool BNO08x::initialize()
xTaskCreate(&data_proc_task_trampoline, "bno08x_data_processing_task", 4096, this, 7, &data_proc_task_hdl); // launch data processing task
xTaskCreate(&spi_task_trampoline, "bno08x_spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
// Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3)
if (!hard_reset())
{
ESP_LOGE(TAG, "Failed to receive advertisement message on boot.");
return false;
}
else
if (get_reset_reason() != 0)
{
ESP_LOGI(TAG, "Received advertisement message.");
ESP_LOGI(TAG, "Successfully initialized....");
return true;
}
// The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2)
if (!wait_for_host_int())
{
ESP_LOGE(TAG, "Failed to receive initialize response on boot.");
return false;
}
else
{
ESP_LOGI(TAG, "Received initialize response.");
}
// queue request for product ID command
queue_request_product_id_command();
// transmit request for product ID
if (!wait_for_host_int())
{
ESP_LOGE(TAG, "Failed to send product ID report request");
return false;
}
// receive product ID report
if (!wait_for_data())
{
ESP_LOGE(TAG, "Failed to receive product ID report.");
return false;
}
return true;
return false;
}
/**
* @brief Waits for BNO08x to assert HINT pin or timeout to elapse.
* @brief Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
* This function is for when the validity of packets is not a concern, it is for flushing packets
* we do not care about.
*
* @return True if data has been received over SPI within HOST_INT_TIMEOUT_MS.
*/
bool BNO08x::wait_for_rx_done()
{
bool success = false;
// if no reports are enabled we can assume interrupts are disabled (see spi_task())
if (xEventGroupGetBits(evt_grp_report_en) == 0)
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// wait until an interrupt has been asserted and data received or timeout has occured
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{
if (imu_config.debug_en)
ESP_LOGI(TAG, "int asserted");
success = true;
}
else
{
ESP_LOGE(TAG, "Interrupt to host device never asserted.");
success = false;
}
return success;
}
/**
* @brief Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
*
* @return True if the bno08x hint pin has been asserted within HOST_INT_TIMEOUT_MS.
* @return True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise.
*/
bool BNO08x::wait_for_host_int()
bool BNO08x::wait_for_data()
{
bool success = false;
// if no reports are enabled we can assume interrupts are disabled (see spi_task())
if (xEventGroupGetBits(evt_grp_report_en) == 0)
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// check to see receive operation has finished
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{
// wait until processing is done
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET | EVT_GRP_SPI_RX_INVALID_PACKET, pdFALSE, pdFALSE,
HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{
// only return true if packet is valid
if (xEventGroupGetBits(evt_grp_spi) & EVT_GRP_SPI_RX_VALID_PACKET)
{
if (imu_config.debug_en)
ESP_LOGI(TAG, "Valid packet received.");
success = true;
}
else
{
ESP_LOGE(TAG, "Invalid packet received.");
}
}
}
else
{
ESP_LOGE(TAG, "Interrupt to host device never asserted.");
}
xEventGroupClearBits(evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET | EVT_GRP_SPI_RX_INVALID_PACKET);
return success;
}
/**
* @brief Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
*
* @return True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise.
*/
bool BNO08x::wait_for_tx_done()
{
// if no reports are enabled we can assume interrupts are disabled (see spi_task())
if (xEventGroupGetBits(evt_grp_report_en) == 0)
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// wait until an interrupt has been asserted or timeout has occured
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{
if (imu_config.debug_en)
ESP_LOGI(TAG, "int asserted");
ESP_LOGI(TAG, "Packet sent successfully.");
return true;
}
else
{
ESP_LOGE(TAG, "Interrupt to host device never asserted.");
return false;
}
}
/**
* @brief Waits for a valid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
*
* @return True if valid packet has been received within HOST_INT_TIMEOUT_MS.
*/
bool BNO08x::wait_for_data()
{
if (wait_for_host_int())
{
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT, pdTRUE, pdTRUE, 0))
{
if (imu_config.debug_en)
ESP_LOGI(TAG, "Valid packet received.");
return true;
}
else
{
ESP_LOGE(TAG, "Invalid packet received.");
}
ESP_LOGE(TAG, "Packet failed to send.");
}
return false;
@ -220,6 +245,10 @@ bool BNO08x::wait_for_data()
*/
bool BNO08x::hard_reset()
{
bool success = false;
// resetting disables all reports
xEventGroupClearBits(evt_grp_report_en, EVT_GRP_RPT_ALL_BITS);
gpio_set_level(imu_config.io_cs, 1);
if (imu_config.io_wake != GPIO_NUM_NC)
@ -229,13 +258,28 @@ bool BNO08x::hard_reset()
vTaskDelay(50 / portTICK_PERIOD_MS); // 10ns min, set to 50ms to let things stabilize(Anton)
gpio_set_level(imu_config.io_rst, 1); // bring out of reset
if (!wait_for_host_int()) // wait for BNO08x to assert INT pin
// Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3)
if (!wait_for_rx_done()) // wait for receive operation to complete
{
ESP_LOGE(TAG, "Reset Failed, interrupt to host device never asserted.");
return false;
}
else
{
ESP_LOGI(TAG, "Received advertisement message.");
// The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2)
if (!wait_for_rx_done())
{
ESP_LOGE(TAG, "Failed to receive initialize response on boot.");
}
else
{
ESP_LOGI(TAG, "Received initialize response.");
success = true;
}
}
return true;
return success;
}
/**
@ -248,42 +292,48 @@ bool BNO08x::soft_reset()
bool success = false;
uint8_t commands[20] = {0};
commands[0] = 1;
// reseting resets all reports
xEventGroupClearBits(evt_grp_report_en, EVT_GRP_RPT_ALL_BITS);
commands[0] = 1;
queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive initialize message
success = wait_for_tx_done();
// flush any packets received
for (int i = 0; i < 3; i++)
{
wait_for_rx_done();
vTaskDelay(20 / portTICK_PERIOD_MS);
}
return success;
}
/**
* @brief Get the reason for the most recent reset.
* @brief Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.
*
* @return The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog
* timer, 4 = external reset 5 = other)
*/
uint8_t BNO08x::get_reset_reason()
{
uint8_t commands[20] = {0};
uint32_t reset_reason = 0;
commands[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; // Request the product ID and reset info
commands[1] = 0; // Reserved
// Transmit packet on channel 2, 2 bytes
queue_packet(CHANNEL_CONTROL, 2, commands);
wait_for_host_int();
if (wait_for_host_int())
// queue request for product ID command
queue_request_product_id_command();
// wait for transmit to finish
if (!wait_for_tx_done())
ESP_LOGE(TAG, "Failed to send product ID report request");
else
{
if (commands[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
return (commands[1]);
// receive product ID report
if (wait_for_data())
xQueueReceive(queue_reset_reason, &reset_reason, HOST_INT_TIMEOUT_MS/portTICK_PERIOD_MS);
else
ESP_LOGE(TAG, "Failed to receive product ID report.");
}
return 0;
return reset_reason;
}
/**
@ -297,13 +347,15 @@ bool BNO08x::mode_on()
uint8_t commands[20] = {0};
commands[0] = 2;
queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive initialize message
success = wait_for_tx_done();
// flush any packets received
for (int i = 0; i < 3; i++)
{
wait_for_rx_done();
vTaskDelay(10 / portTICK_PERIOD_MS);
}
return success;
}
@ -319,13 +371,15 @@ bool BNO08x::mode_sleep()
uint8_t commands[20] = {0};
commands[0] = 3;
queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_host_int(); // receive initialize message
success = wait_for_tx_done();
// flush any packets received
for (int i = 0; i < 3; i++)
{
wait_for_rx_done();
vTaskDelay(10 / portTICK_PERIOD_MS);
}
return success;
}
@ -377,6 +431,7 @@ bool BNO08x::receive_packet()
gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
xQueueSend(queue_rx_data, &packet, 0); // send received data to data_proc_task
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT);
return true;
}
@ -395,7 +450,7 @@ bool BNO08x::receive_packet()
void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
{
queue_feature_command(report_ID, time_between_reports);
if (wait_for_host_int()) // wait for next interrupt such that command is sent
if (wait_for_tx_done()) // wait for transmit operation to complete
{
xEventGroupSetBits(evt_grp_report_en, report_evt_grp_bit);
@ -403,6 +458,10 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
if ((xEventGroupGetBits(evt_grp_report_en) & ~report_evt_grp_bit) == 0)
gpio_intr_enable(imu_config.io_int);
}
// flush the first few reports returned to ensure new data
for (int i = 0; i < 3; i++)
wait_for_rx_done();
}
/**
@ -418,7 +477,7 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
{
queue_feature_command(report_ID, 0);
if (wait_for_host_int()) // wait for next interrupt such that command is sent
if (wait_for_tx_done()) // wait for transmit operation to complete
{
xEventGroupClearBits(evt_grp_report_en, report_evt_grp_bit);
@ -475,6 +534,8 @@ void BNO08x::send_packet(bno08x_tx_packet_t* packet)
spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE);
}
/**
@ -518,7 +579,7 @@ void BNO08x::queue_request_product_id_command()
void BNO08x::calibrate_all()
{
queue_calibrate_command(CALIBRATE_ACCEL_GYRO_MAG);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -530,7 +591,7 @@ void BNO08x::calibrate_all()
void BNO08x::calibrate_accelerometer()
{
queue_calibrate_command(CALIBRATE_ACCEL);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -542,7 +603,7 @@ void BNO08x::calibrate_accelerometer()
void BNO08x::calibrate_gyro()
{
queue_calibrate_command(CALIBRATE_GYRO);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -554,7 +615,7 @@ void BNO08x::calibrate_gyro()
void BNO08x::calibrate_magnetometer()
{
queue_calibrate_command(CALIBRATE_MAG);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -566,7 +627,7 @@ void BNO08x::calibrate_magnetometer()
void BNO08x::calibrate_planar_accelerometer()
{
queue_calibrate_command(CALIBRATE_PLANAR_ACCEL);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -631,7 +692,7 @@ void BNO08x::request_calibration_status()
// Using this commands packet, send a command
queue_command(COMMAND_ME_CALIBRATE, commands);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -656,7 +717,7 @@ bool BNO08x::calibration_complete()
void BNO08x::end_calibration()
{
queue_calibrate_command(CALIBRATE_STOP); // Disables all calibrations
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -671,7 +732,7 @@ void BNO08x::save_calibration()
// Using this shtpData packet, send a command
queue_command(COMMAND_DCD, commands); // Save DCD command
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -846,6 +907,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet)
*/
uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
{
uint32_t reset_reason = (uint32_t) packet->body[1];
uint32_t sw_part_number = ((uint32_t) packet->body[7] << 24) | ((uint32_t) packet->body[6] << 16) | ((uint32_t) packet->body[5] << 8) |
((uint32_t) packet->body[4]);
uint32_t sw_build_number = ((uint32_t) packet->body[11] << 24) | ((uint32_t) packet->body[10] << 16) | ((uint32_t) packet->body[9] << 8) |
@ -854,7 +916,7 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
// print product ID info packet
ESP_LOGI(TAG,
"Successfully initialized....\n\r"
"Product ID Info: \n\r"
" ---------------------------\n\r"
" Product ID: 0x%" PRIx32 "\n\r"
" SW Version Major: 0x%" PRIx32 "\n\r"
@ -866,6 +928,8 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
(uint32_t) packet->body[0], (uint32_t) packet->body[2], (uint32_t) packet->body[3], sw_part_number, sw_build_number,
(uint32_t) sw_version_patch);
xQueueSend(queue_reset_reason, &reset_reason, 0);
return 1;
}
@ -873,7 +937,7 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
* @brief Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
*
* @param packet The packet containing the frs read report.
* @return 1, always valid.
* @return 1, always valid, parsing for this happens in frs_read_word()
*/
uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
{
@ -1497,7 +1561,7 @@ void BNO08x::disable_raw_magnetometer()
void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
{
queue_tare_command(TARE_NOW, axis_sel, rotation_vector_basis);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -1509,7 +1573,7 @@ void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
void BNO08x::save_tare()
{
queue_tare_command(TARE_PERSIST);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -1521,7 +1585,7 @@ void BNO08x::save_tare()
void BNO08x::clear_tare()
{
queue_tare_command(TARE_SET_REORIENTATION);
wait_for_host_int(); // wait for next interrupt such that command is sent
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
@ -2493,10 +2557,12 @@ float BNO08x::get_range(uint16_t record_ID)
*/
uint32_t BNO08x::FRS_read_word(uint16_t record_ID, uint8_t word_number)
{
uint32_t frs_read = 0;
if (FRS_read_data(record_ID, word_number, 1)) // start at desired word and only read one 1 word
return (meta_data[0]);
else
return 0; // FRS read failed
frs_read = meta_data[0];
return frs_read;
}
/**
@ -2526,7 +2592,7 @@ bool BNO08x::FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t
// Transmit packet on channel 2, 8 bytes
queue_packet(CHANNEL_CONTROL, 8, commands);
return wait_for_host_int();
return wait_for_tx_done();
}
/**
@ -2559,7 +2625,7 @@ bool BNO08x::FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t w
{
counter = 0;
while (!wait_for_host_int())
while (!wait_for_rx_done())
{
counter++;
@ -2567,7 +2633,7 @@ bool BNO08x::FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t w
return false;
}
if (xQueueReceive(queue_frs_read_data, &packet_body, 0))
if (xQueueReceive(queue_frs_read_data, &packet_body, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{
if ((((uint16_t) packet_body[13] << 8) | (uint16_t) packet_body[12]) == record_ID)
break;
@ -2698,8 +2764,8 @@ void BNO08x::spi_task()
while (1)
{
/*only re-enable interrupts if there are reports enabled, if no reports are enabled
interrupts will be re-enabled upon the next user call to wait_for_host_int()*/
/*only re-enable interrupts if there are reports enabled, if no reports are enabled
interrupts will be re-enabled upon the next user call to wait_for_tx_done(), wait_for_rx_done(), or wait_for_data()*/
if (xEventGroupGetBits(evt_grp_report_en) != 0)
gpio_intr_enable(imu_config.io_int);
@ -2714,8 +2780,6 @@ void BNO08x::spi_task()
send_packet(&tx_packet); // send packet
else
receive_packet(); // receive packet
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT); // SPI completed, notify wait_for_host_int()
}
}
@ -2746,9 +2810,10 @@ void BNO08x::data_proc_task()
{
if (xQueueReceive(queue_rx_data, &packet, portMAX_DELAY)) // receive packet from spi_task()
{
if (parse_packet(&packet) != 0) // check if packet is valid
xEventGroupSetBits(
evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT); // indicate valid packet has been received and processed to wait_for_data()
if (parse_packet(&packet) != 0) // check if packet is valid
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET); // indicate valid packet to wait_for_data()
else
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_INVALID_PACKET); // indicated invalid packet to wait_for_data()
}
}
}

49
BNO08x.hpp
View File

@ -322,7 +322,8 @@ class BNO08x
uint16_t length; ///< Packet length in bytes.
} bno08x_tx_packet_t;
bool wait_for_host_int();
bool wait_for_rx_done();
bool wait_for_tx_done();
bool wait_for_data();
bool receive_packet();
void send_packet(bno08x_tx_packet_t* packet);
@ -355,6 +356,7 @@ class BNO08x
QueueHandle_t queue_rx_data; ///<Packet queue used to send data received from bno08x from spi_task to data_proc_task.
QueueHandle_t queue_tx_data; ///<Packet queue used to send data to be sent over SPI from sending functions to spi_task.
QueueHandle_t queue_frs_read_data; ///<Queue used to send packet body from data_proc_task to frs read functions.
QueueHandle_t queue_reset_reason; ///<Queue used to send reset reason from product id report to reset_reason() function
uint32_t meta_data[9]; ///<First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
@ -414,31 +416,44 @@ class BNO08x
static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
static const constexpr EventBits_t EVT_GRP_SPI_HINT_BIT =
(1 << 0); ///< When this bit is set, the hint pin has asserted and the spi task has run to completion.
static const constexpr EventBits_t EVT_GRP_SPI_RX_DATA_RDY_BIT =
// evt_grp_spi bits
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
(1 << 0); ///<When this bit is set it indicates a receive procedure has completed.
static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET =
(1 << 1); ///< When this bit is set, it indicates a valid packet has been received and processed.
static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET =
(1 << 2); ///<When this bit is set, it indicates an invalid packet has been received.
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE = (1 << 3); ///<When this bit is set, it indicates a queued packet has been sent.
// evt_grp_report_en bits
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0); ///< When set, rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1); ///< When set, game rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
(1 << 2); ///< When set, ARVR stabilized rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
(1 << 3); ///< When set, ARVR stabilized game rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT = (1 << 4); ///< When set, gyro integrator rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5); ///< When set, accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6); ///< When set, linear accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7); ///< When set, gravity reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8); ///< When set, gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9); ///< When set, uncalibrated gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10); ///< When set, magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11); ///< When set, tap detector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12); ///< When set, step counter reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT =
(1 << 4); ///< When set, gyro integrator rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5); ///< When set, accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6); ///< When set, linear accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7); ///< When set, gravity reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8); ///< When set, gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9); ///< When set, uncalibrated gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10); ///< When set, magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11); ///< When set, tap detector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12); ///< When set, step counter reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13); ///< When set, stability classifier reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14); ///< When set, activity classifier reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15); ///< When set, raw accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16); ///< When set, raw gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17); ///< When set, raw magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14); ///< When set, activity classifier reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15); ///< When set, raw accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16); ///< When set, raw gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17); ///< When set, raw magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS =
EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT;
// Higher level calibration commands, used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command