Cansat
/
esp32_BNO08x
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

get_frs() and get_meta_data() features

This commit is contained in:
myles-parfeniuk 2024-11-26 14:56:33 -08:00
parent 2d20a89b07
commit 71e276e76a
5 changed files with 152 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
include/BNO08x.hpp
View File

@ -3,23 +3,19 @@
* @author Myles Parfeniuk
*/
#pragma once
// standard library includes
#include <inttypes.h>
#include <stdio.h>
#include <cstring>
#include <functional>
#include <variant>
#include <vector>
#include <map>
// esp-idf includes
#include <esp_rom_gpio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/event_groups.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>
#include <rom/ets_sys.h>
// in-house includes
#include "BNO08x_global_types.hpp"
@ -74,7 +70,7 @@ class BNO08x
bool on();
bool sleep();
bool get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz);
bool get_frs(uint16_t frs_ID, uint32_t (&data)[16], uint16_t& rx_data_sz);
bool data_available();
void register_cb(std::function<void(void)> cb_fxn);

5
include/BNO08xRpt.hpp
View File

@ -31,8 +31,7 @@ class BNO08xRpt
bool flush();
bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
bool clear_sample_counts();
virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
bool get_meta_data(bno08x_meta_data_t& meta_data);
protected:
BNO08x* imu; ///< Pointer to BNO08x object for enable ,disable, and update operations.
@ -40,6 +39,8 @@ class BNO08xRpt
uint32_t rpt_bit; ///< Respective enable and data bit for report in BNO08x::evt_grp_report_en and BNO08x::evt_grp_report_data
uint32_t period_us; ///< The period/interval of the report in microseconds.
virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
/**
* @brief BNO08xRpt report constructor.
*

161
include/BNO08x_global_types.hpp
View File

@ -4,10 +4,18 @@
*/
#pragma once
// standard library includes
#include <math.h>
#include <inttypes.h>
#include <stdio.h>
#include <cstring>
// esp-idf includes
#include <driver/gpio.h>
#include <driver/spi_common.h>
#include <driver/spi_master.h>
// third-party includes
#include "sh2_SensorValue.h"
// macros for bno08x_tap_detector_t
@ -46,31 +54,6 @@ enum class BNO08xAccuracy
};
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
{
@ -542,34 +525,6 @@ typedef struct bno08x_shake_detector_t
} bno08x_shake_detector_t;
/// @brief Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()
typedef struct bno08x_sample_counts_t
{
uint32_t offered; ///< Number of samples produced by underlying data source.
uint32_t on; ///< Number of "offered" samples while this sensor was requested by host.
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)
{
this->offered = source.offered;
this->on = source.on;
this->accepted = source.accepted;
this->attempted = source.attempted;
return *this;
}
} bno08x_sample_counts_t;
/// @brief Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.
typedef struct bno08x_accel_t
{
@ -730,4 +685,104 @@ typedef struct bno08x_stability_classifier_t
} bno08x_stability_classifier_t;
/// @brief Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()
typedef struct bno08x_sample_counts_t
{
uint32_t offered; ///< Number of samples produced by underlying data source.
uint32_t on; ///< Number of "offered" samples while this sensor was requested by host.
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)
{
this->offered = source.offered;
this->on = source.on;
this->accepted = source.accepted;
this->attempted = source.attempted;
return *this;
}
} bno08x_sample_counts_t;
/// @brief Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()
typedef struct bno08x_meta_data_t
{
uint8_t me_version; ///< Motion Engine Version
uint8_t mh_version; ///< Motion Hub Version
uint8_t sh_version; ///< SensorHub Version
uint32_t range; ///< Same units as sensor reports
uint32_t resolution; ///< Same units as sensor reports
uint16_t revision; ///< Metadata record format revision
uint16_t power_mA; ///< [mA] Fixed point 16Q10 format
uint32_t min_period_us; ///< [uS] min period to use with enable_report
uint32_t max_period_us; ///< [uS] max period to use with enable_report
uint32_t fifo_reserved; ///< (Unused)
uint32_t fifo_max; ///< (Unused)
uint32_t batch_buffer_bytes; ///< (Unused)
uint16_t q_point_1; ///< q point for sensor values
uint16_t q_point_2; ///< q point for accuracy or bias fields
uint16_t q_point_3; ///< q point for sensor data change sensitivity
uint32_t vendor_id_len; ///< [bytes]
char vendor_ID[48]; ///< Vendor name and part number
uint32_t sensor_specific_len; ///< [bytes]
uint8_t sensor_specific[48]; ///< See SH-2 Reference Manual
// Default constructor
bno08x_meta_data_t()
: me_version(0)
, mh_version(0)
, sh_version(0)
, range(0)
, resolution(0)
, revision(0)
, power_mA(0)
, min_period_us(0)
, max_period_us(0)
, fifo_reserved(0)
, fifo_max(0)
, batch_buffer_bytes(0)
, q_point_1(0)
, q_point_2(0)
, q_point_3(0)
, vendor_id_len(0)
, sensor_specific_len(0)
{
memset(vendor_ID, 0, sizeof(vendor_ID));
memset(sensor_specific, 0, sizeof(sensor_specific));
}
// Conversion constructor from sh2_SensorMetadata_t
bno08x_meta_data_t(const sh2_SensorMetadata_t& src)
{
me_version = src.meVersion;
mh_version = src.mhVersion;
sh_version = src.shVersion;
range = src.range;
resolution = src.resolution;
revision = src.revision;
power_mA = src.power_mA;
min_period_us = src.minPeriod_uS;
max_period_us = src.maxPeriod_uS;
fifo_reserved = src.fifoReserved;
fifo_max = src.fifoMax;
batch_buffer_bytes = src.batchBufferBytes;
q_point_1 = src.qPoint1;
q_point_2 = src.qPoint2;
q_point_3 = src.qPoint3;
vendor_id_len = src.vendorIdLen;
sensor_specific_len = src.sensorSpecificLen;
memcpy(vendor_ID, src.vendorId, vendor_id_len);
memcpy(sensor_specific, src.sensorSpecific, sensor_specific_len);
}
} bno08x_meta_data_t;
typedef bno08x_config_t imu_config_t; // legacy version compatibility

15
source/BNO08x.cpp
View File

@ -1196,12 +1196,23 @@ bool BNO08x::sleep()
return (op_success == SH2_OK);
}
bool BNO08x::get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz)
/**
* @brief Retrieves a record from flash record system (if your goal is to retrieve meta data use the BNO08xRpt:get_meta_data() method instead)
*
* For more details on returned and data and frs_ID see ref. manual 6.3.7 & 4.3
*
* @param frs_ID The ID of the desired record to retrieve from flash.
* @param data Buffer of 16 uint32_t to store retrieved data.
* @param rx_data_sz Reference to store number of 32 bit words retrieved from flash.
*
* @return True if get flash record system operation succeeded.
*/
bool BNO08x::get_frs(uint16_t frs_ID, uint32_t (&data)[16], 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);
op_success = sh2_getFrs(frs_ID, data, &rx_data_sz);
unlock_sh2_HAL();
return (op_success == SH2_OK);

25
source/BNO08xRpt.cpp
View File

@ -144,7 +144,30 @@ bool BNO08xRpt::clear_sample_counts()
success = sh2_clearCounts(ID);
imu->unlock_sh2_HAL();
return (success != SH2_OK) ? false : true;
return (success == SH2_OK);
}
/**
* @brief Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).
*
* Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.
*
* @return True clear get meta data operation succeeded.
*/
bool BNO08xRpt::get_meta_data(bno08x_meta_data_t& meta_data)
{
int success = SH2_OK;
sh2_SensorMetadata_t sensor_meta_data;
imu->lock_sh2_HAL();
success = sh2_getMetadata(ID, &sensor_meta_data);
imu->unlock_sh2_HAL();
if (success == SH2_OK)
meta_data = sensor_meta_data;
return (success == SH2_OK);
}
/**