Merge branch 'dvb-patch1' of https://github.com/bhuvanchandra/esp32_BNO08x into bhuvanchandra-dvb-patch1
This commit is contained in:
myles-parfeniuk
commit
81ba6287f5
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@ -0,0 +1,32 @@
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---
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BasedOnStyle: Google
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Standard: Cpp11
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UseTab: Never
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IndentWidth: 4
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ConstructorInitializerIndentWidth: 8
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ContinuationIndentWidth: 8
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AccessModifierOffset: -4
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AlwaysBreakTemplateDeclarations: true
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BreakConstructorInitializersBeforeComma: true
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
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||||
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||||
AllowShortBlocksOnASingleLine: false
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||||
AllowShortCaseLabelsOnASingleLine: false
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||||
AllowShortFunctionsOnASingleLine: Inline
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||||
AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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||||
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AlignAfterOpenBracket: DontAlign
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DerivePointerAlignment: false
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PointerAlignment: Left
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SortIncludes: false
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SpaceAfterCStyleCast: true
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CommentPragmas: '^[/!]<'
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ColumnLimit: 120
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2427
BNO08x.cpp
2427
BNO08x.cpp
File diff suppressed because it is too large
Load Diff
640
BNO08x.hpp
640
BNO08x.hpp
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@ -1,27 +1,24 @@
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#pragma once
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//standard library includes
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#include <stdio.h>
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#include <cstring>
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#include <driver/gpio.h>
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#include <driver/spi_common.h>
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#include <driver/spi_master.h>
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#include <esp_log.h>
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#include <esp_rom_gpio.h>
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#include <esp_timer.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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#include <freertos/task.h>
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#include <rom/ets_sys.h>
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#include <inttypes.h>
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#include <math.h>
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|
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//esp-idf includes
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#include "driver/gpio.h"
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#include "esp_rom_gpio.h"
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#include "driver/spi_common.h"
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#include "driver/spi_master.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "rom/ets_sys.h"
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#include <stdio.h>
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#include <cstring>
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|
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/// @brief SHTP protocol channels
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enum channels_t
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{
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CHANNEL_COMMAND,
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enum channels_t {
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CHANNEL_COMMAND,
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CHANNEL_EXECUTABLE,
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CHANNEL_CONTROL,
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CHANNEL_REPORTS,
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|
|
@ -30,338 +27,363 @@ enum channels_t
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};
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|
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/// @brief Sensor accuracy returned during sensor calibration
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enum sensor_accuracy_t
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{
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LOW_ACCURACY = 1,
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MED_ACCURACY,
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HIGH_ACCURACY
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};
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enum sensor_accuracy_t { LOW_ACCURACY = 1, MED_ACCURACY, HIGH_ACCURACY };
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/// @brief IMU configuration settings passed into constructor
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typedef struct bno08x_config_t
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{
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spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
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gpio_num_t io_mosi; ///<MOSI GPIO pin (connects to BNO08x DI pin)
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gpio_num_t io_miso; ///<MISO GPIO pin (connects to BNO08x SDA pin)
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gpio_num_t io_sclk; ///<SCLK pin (connects to BNO08x SCL pin)
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gpio_num_t io_cs; ///Chip select pin (connects to BNO08x CS pin)
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gpio_num_t io_int; ///Host interrupt pin (connects to BNO08x INT pin)
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gpio_num_t io_rst; ///Reset pin (connects to BNO08x RST pin)
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gpio_num_t io_wake; ///<Wake pin (optional, connects to BNO08x P0)
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uint64_t sclk_speed; ///<Desired SPI SCLK speed in Hz (max 3MHz)
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bool debug_en; ///<Whether or not debugging print statements are enabled
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|
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/// @brief Default IMU configuration settings
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bno08x_config_t() :
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spi_peripheral(SPI3_HOST),
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io_mosi(GPIO_NUM_23),
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io_miso(GPIO_NUM_19),
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io_sclk(GPIO_NUM_18),
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io_cs(GPIO_NUM_33),
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io_int(GPIO_NUM_26),
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io_rst(GPIO_NUM_32),
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io_wake(GPIO_NUM_4),
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//sclk_speed(10000U), //clock slowed to see on AD2
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sclk_speed(2000000U), //1MHz SCLK speed
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debug_en(false)
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/// @brief IMU configuration settings passed into constructor
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typedef struct bno08x_config_t {
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spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
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gpio_num_t io_mosi; ///<MOSI GPIO pin (connects to BNO08x DI pin)
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gpio_num_t io_miso; ///<MISO GPIO pin (connects to BNO08x SDA pin)
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gpio_num_t io_sclk; ///<SCLK pin (connects to BNO08x SCL pin)
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gpio_num_t io_cs; /// Chip select pin (connects to BNO08x CS pin)
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gpio_num_t io_int; /// Host interrupt pin (connects to BNO08x INT pin)
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gpio_num_t io_rst; /// Reset pin (connects to BNO08x RST pin)
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gpio_num_t io_wake; ///<Wake pin (optional, connects to BNO08x P0)
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uint64_t sclk_speed; ///<Desired SPI SCLK speed in Hz (max 3MHz)
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bool debug_en; ///<Whether or not debugging print statements are enabled
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|
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{
|
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}
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/// @brief Default IMU configuration settings
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bno08x_config_t()
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: spi_peripheral(SPI3_HOST)
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, io_mosi(GPIO_NUM_23)
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, io_miso(GPIO_NUM_19)
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, io_sclk(GPIO_NUM_18)
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, io_cs(GPIO_NUM_33)
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, io_int(GPIO_NUM_26)
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, io_rst(GPIO_NUM_32)
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, io_wake(GPIO_NUM_4)
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,
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// sclk_speed(10000U), //clock slowed to see on AD2
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sclk_speed(2000000U)
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, // 1MHz SCLK speed
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debug_en(false)
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|
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{}
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} bno08x_config_t;
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class BNO08x
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{
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public:
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BNO08x(bno08x_config_t imu_config = default_imu_config);
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bool initialize();
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class BNO08x {
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public:
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BNO08x(bno08x_config_t imu_config = default_imu_config);
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bool initialize();
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bool hard_reset();
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bool soft_reset();
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uint8_t get_reset_reason();
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bool mode_sleep();
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bool mode_on();
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|
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float q_to_float(int16_t fixed_point_value, uint8_t q_point);
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|
||||
bool run_full_calibration_routine();
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||||
void calibrate_all();
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void calibrate_accelerometer();
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void calibrate_gyro();
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void calibrate_magnetometer();
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void calibrate_planar_accelerometer();
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void request_calibration_status();
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bool calibration_complete();
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void end_calibration();
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void save_calibration();
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||||
bool hard_reset();
|
||||
bool soft_reset();
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uint8_t get_reset_reason();
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|
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void enable_rotation_vector(uint16_t time_between_reports);
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void enable_game_rotation_vector(uint16_t time_between_reports);
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void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports);
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void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports);
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void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports);
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void enable_accelerometer(uint16_t time_between_reports);
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void enable_linear_accelerometer(uint16_t time_between_reports);
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void enable_gravity(uint16_t time_between_reports);
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void enable_gyro(uint16_t time_between_reports);
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void enable_uncalibrated_gyro(uint16_t time_between_reports);
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void enable_magnetometer(uint16_t time_between_reports);
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void enable_tap_detector(uint16_t time_between_reports);
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void enable_step_counter(uint16_t time_between_reports);
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void enable_stability_classifier(uint16_t time_between_reports);
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void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_raw_accelerometer(uint16_t time_between_reports);
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void enable_raw_gyro(uint16_t time_between_reports);
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void enable_raw_magnetometer(uint16_t time_between_reports);
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void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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void save_tare();
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void clear_tare();
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bool mode_sleep();
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bool mode_on();
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float q_to_float(int16_t fixed_point_value, uint8_t q_point);
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bool data_available();
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uint16_t parse_input_report();
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uint16_t parse_command_report();
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uint16_t get_readings();
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bool run_full_calibration_routine();
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void calibrate_all();
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void calibrate_accelerometer();
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void calibrate_gyro();
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void calibrate_magnetometer();
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void calibrate_planar_accelerometer();
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void request_calibration_status();
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bool calibration_complete();
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void end_calibration();
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void save_calibration();
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uint32_t get_time_stamp();
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void enable_rotation_vector(uint16_t time_between_reports);
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void enable_game_rotation_vector(uint16_t time_between_reports);
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void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports);
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void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports);
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void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports);
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void enable_accelerometer(uint16_t time_between_reports);
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void enable_linear_accelerometer(uint16_t time_between_reports);
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void enable_gravity(uint16_t time_between_reports);
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void enable_gyro(uint16_t time_between_reports);
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void enable_uncalibrated_gyro(uint16_t time_between_reports);
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void enable_magnetometer(uint16_t time_between_reports);
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void enable_tap_detector(uint16_t time_between_reports);
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void enable_step_counter(uint16_t time_between_reports);
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void enable_stability_classifier(uint16_t time_between_reports);
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void enable_activity_classifier(
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uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_raw_accelerometer(uint16_t time_between_reports);
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void enable_raw_gyro(uint16_t time_between_reports);
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void enable_raw_magnetometer(uint16_t time_between_reports);
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void get_magf(float &x, float &y, float &z, uint8_t &accuracy);
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float get_magf_X();
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float get_magf_Y();
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float get_magf_Z();
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uint8_t get_magf_accuracy();
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void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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void save_tare();
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void clear_tare();
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void get_gravity(float &x, float &y, float &z, uint8_t &accuracy);
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float get_gravity_X();
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float get_gravity_Y();
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float get_gravity_Z();
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uint8_t get_gravity_accuracy();
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bool data_available();
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uint16_t parse_input_report();
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uint16_t parse_command_report();
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uint16_t get_readings();
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float get_roll();
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float get_pitch();
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float get_yaw();
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uint32_t get_time_stamp();
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float get_roll_deg();
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float get_pitch_deg();
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float get_yaw_deg();
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void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
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float get_magf_X();
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float get_magf_Y();
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float get_magf_Z();
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uint8_t get_magf_accuracy();
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void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy);
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float get_quat_I();
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float get_quat_J();
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float get_quat_K();
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float get_quat_real();
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float get_quat_radian_accuracy();
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uint8_t get_quat_accuracy();
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void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
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float get_gravity_X();
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float get_gravity_Y();
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float get_gravity_Z();
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uint8_t get_gravity_accuracy();
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void get_accel(float &x, float &y, float &z, uint8_t &accuracy);
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float get_accel_X();
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float get_accel_Y();
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float get_accel_Z();
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uint8_t get_accel_accuracy();
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void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy);
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float get_linear_accel_X();
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float get_linear_accel_Y();
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float get_linear_accel_Z();
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uint8_t get_linear_accel_accuracy();
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float get_roll();
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float get_pitch();
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float get_yaw();
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int16_t get_raw_accel_X();
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int16_t get_raw_accel_Y();
|
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int16_t get_raw_accel_Z();
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float get_roll_deg();
|
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float get_pitch_deg();
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float get_yaw_deg();
|
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|
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int16_t get_raw_gyro_X();
|
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int16_t get_raw_gyro_Y();
|
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int16_t get_raw_gyro_Z();
|
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void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
|
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float get_quat_I();
|
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float get_quat_J();
|
||||
float get_quat_K();
|
||||
float get_quat_real();
|
||||
float get_quat_radian_accuracy();
|
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uint8_t get_quat_accuracy();
|
||||
|
||||
int16_t get_raw_magf_X();
|
||||
int16_t get_raw_magf_Y();
|
||||
int16_t get_raw_magf_Z();
|
||||
void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
|
||||
float get_accel_X();
|
||||
float get_accel_Y();
|
||||
float get_accel_Z();
|
||||
uint8_t get_accel_accuracy();
|
||||
|
||||
void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy);
|
||||
float get_gyro_calibrated_velocity_X();
|
||||
float get_gyro_calibrated_velocity_Y();
|
||||
float get_gyro_calibrated_velocity_Z();
|
||||
uint8_t get_gyro_accuracy();
|
||||
void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
|
||||
float get_linear_accel_X();
|
||||
float get_linear_accel_Y();
|
||||
float get_linear_accel_Z();
|
||||
uint8_t get_linear_accel_accuracy();
|
||||
|
||||
void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy);
|
||||
float get_uncalibrated_gyro_X();
|
||||
float get_uncalibrated_gyro_Y();
|
||||
float get_uncalibrated_gyro_Z();
|
||||
float get_uncalibrated_gyro_bias_X();
|
||||
float get_uncalibrated_gyro_bias_Y();
|
||||
float get_uncalibrated_gyro_bias_Z();
|
||||
uint8_t get_uncalibrated_gyro_accuracy();
|
||||
int16_t get_raw_accel_X();
|
||||
int16_t get_raw_accel_Y();
|
||||
int16_t get_raw_accel_Z();
|
||||
|
||||
void get_gyro_velocity(float &x, float &y, float &z);
|
||||
float get_gyro_velocity_X();
|
||||
float get_gyro_velocity_Y();
|
||||
float get_gyro_velocity_Z();
|
||||
int16_t get_raw_gyro_X();
|
||||
int16_t get_raw_gyro_Y();
|
||||
int16_t get_raw_gyro_Z();
|
||||
|
||||
uint8_t get_tap_detector();
|
||||
uint16_t get_step_count();
|
||||
int8_t get_stability_classifier();
|
||||
uint8_t get_activity_classifier();
|
||||
int16_t get_raw_magf_X();
|
||||
int16_t get_raw_magf_Y();
|
||||
int16_t get_raw_magf_Z();
|
||||
|
||||
void print_header();
|
||||
void print_packet();
|
||||
void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
|
||||
float get_gyro_calibrated_velocity_X();
|
||||
float get_gyro_calibrated_velocity_Y();
|
||||
float get_gyro_calibrated_velocity_Z();
|
||||
uint8_t get_gyro_accuracy();
|
||||
|
||||
//Metadata functions
|
||||
int16_t get_Q1(uint16_t record_ID);
|
||||
int16_t get_Q2(uint16_t record_ID);
|
||||
int16_t get_Q3(uint16_t record_ID);
|
||||
float get_resolution(uint16_t record_ID);
|
||||
float get_range(uint16_t record_ID);
|
||||
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
|
||||
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
|
||||
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
|
||||
void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
|
||||
float get_uncalibrated_gyro_X();
|
||||
float get_uncalibrated_gyro_Y();
|
||||
float get_uncalibrated_gyro_Z();
|
||||
float get_uncalibrated_gyro_bias_X();
|
||||
float get_uncalibrated_gyro_bias_Y();
|
||||
float get_uncalibrated_gyro_bias_Z();
|
||||
uint8_t get_uncalibrated_gyro_accuracy();
|
||||
|
||||
//Record IDs from figure 29, page 29 reference manual
|
||||
//These are used to read the metadata for each sensor type
|
||||
static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
|
||||
static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
|
||||
static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
|
||||
static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
|
||||
void get_gyro_velocity(float& x, float& y, float& z);
|
||||
float get_gyro_velocity_X();
|
||||
float get_gyro_velocity_Y();
|
||||
float get_gyro_velocity_Z();
|
||||
|
||||
|
||||
private:
|
||||
bool wait_for_device_int();
|
||||
bool receive_packet();
|
||||
void send_packet();
|
||||
void queue_packet(uint8_t channel_number, uint8_t data_length);
|
||||
void queue_command(uint8_t command);
|
||||
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports);
|
||||
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);
|
||||
void queue_calibrate_command(uint8_t _to_calibrate);
|
||||
void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
|
||||
void queue_request_product_id_command();
|
||||
uint8_t get_tap_detector();
|
||||
uint16_t get_step_count();
|
||||
int8_t get_stability_classifier();
|
||||
uint8_t get_activity_classifier();
|
||||
|
||||
static bno08x_config_t default_imu_config; ///< default imu config settings
|
||||
void print_header();
|
||||
void print_packet();
|
||||
|
||||
volatile uint8_t tx_packet_queued; ///<Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)
|
||||
SemaphoreHandle_t tx_semaphore; ///<Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued
|
||||
uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet()
|
||||
uint8_t tx_buffer[50]; ///<buffer used for sending packet with send_packet()
|
||||
uint8_t packet_header_rx[4]; ///<SHTP header received with receive_packet()
|
||||
uint8_t commands[20]; ///<Command to be sent with send_packet()
|
||||
uint8_t sequence_number[6]; ///<Sequence num of each com channel, 6 in total
|
||||
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)
|
||||
uint8_t command_sequence_number = 0; ///<Sequence num of command, sent within command packet.
|
||||
uint16_t packet_length_tx = 0; ///<Packet length to be sent with send_packet()
|
||||
uint16_t packet_length_rx = 0; ///<Packet length received (calculated from packet_header_rx)
|
||||
// Metadata functions
|
||||
int16_t get_Q1(uint16_t record_ID);
|
||||
int16_t get_Q2(uint16_t record_ID);
|
||||
int16_t get_Q3(uint16_t record_ID);
|
||||
float get_resolution(uint16_t record_ID);
|
||||
float get_range(uint16_t record_ID);
|
||||
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
|
||||
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
|
||||
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
|
||||
|
||||
bno08x_config_t imu_config{}; ///<IMU configuration settings
|
||||
spi_bus_config_t bus_config{}; ///<SPI bus GPIO configuration settings
|
||||
spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
|
||||
spi_device_handle_t spi_hdl{}; ///<SPI device handle
|
||||
spi_transaction_t spi_transaction{}; ///<SPI transaction handle
|
||||
// Record IDs from figure 29, page 29 reference manual
|
||||
// These are used to read the metadata for each sensor type
|
||||
static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
|
||||
static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
|
||||
static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
|
||||
static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
|
||||
|
||||
//These are the raw sensor values (without Q applied) pulled from the user requested Input Report
|
||||
uint32_t time_stamp; ///<Report timestamp (see datasheet 1.3.5.3)
|
||||
uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z, accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
|
||||
uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z, accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
|
||||
uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
|
||||
uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy, quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
|
||||
uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y, raw_velocity_gyro_Z;///<Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
|
||||
uint16_t gravity_X, gravity_Y, gravity_Z, gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
|
||||
uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z, uncalib_gyro_accuracy; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
|
||||
uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z, magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
|
||||
uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27)
|
||||
uint16_t step_count; ///<Step counter reading (See SH-2 Ref. Manual 6.5.29)
|
||||
uint8_t stability_classifier;///<Stability status reading (See SH-2 Ref. Manual 6.5.31)
|
||||
uint8_t activity_classifier; ///<Activity status reading (See SH-2 Ref. Manual 6.5.36)
|
||||
uint8_t *activity_confidences;///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
|
||||
uint8_t calibration_status; ///<Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
|
||||
uint16_t mems_raw_accel_X, mems_raw_accel_Y, mems_raw_accel_Z; ///<Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
|
||||
uint16_t mems_raw_gyro_X, mems_raw_gyro_Y, mems_raw_gyro_Z; ///<Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
|
||||
uint16_t mems_raw_magf_X, mems_raw_magf_Y, mems_raw_magf_Z; ///<Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
|
||||
private:
|
||||
bool wait_for_device_int();
|
||||
bool receive_packet();
|
||||
void send_packet();
|
||||
void queue_packet(uint8_t channel_number, uint8_t data_length);
|
||||
void queue_command(uint8_t command);
|
||||
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports);
|
||||
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);
|
||||
void queue_calibrate_command(uint8_t _to_calibrate);
|
||||
void queue_tare_command(
|
||||
uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
|
||||
void queue_request_product_id_command();
|
||||
|
||||
//spi task
|
||||
TaskHandle_t spi_task_hdl; ///<SPI task handle
|
||||
static void spi_task_trampoline(void *arg);
|
||||
void spi_task();
|
||||
static bno08x_config_t default_imu_config; ///< default imu config settings
|
||||
|
||||
volatile bool int_asserted; ///<Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion
|
||||
static void IRAM_ATTR hint_handler(void *arg);
|
||||
static bool isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
|
||||
|
||||
volatile uint8_t
|
||||
tx_packet_queued; ///<Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)
|
||||
SemaphoreHandle_t
|
||||
tx_semaphore; ///<Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued
|
||||
uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet()
|
||||
uint8_t tx_buffer[50]; ///<buffer used for sending packet with send_packet()
|
||||
uint8_t packet_header_rx[4]; ///<SHTP header received with receive_packet()
|
||||
uint8_t commands[20]; ///<Command to be sent with send_packet()
|
||||
uint8_t sequence_number[6]; ///<Sequence num of each com channel, 6 in total
|
||||
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)
|
||||
uint8_t command_sequence_number = 0; ///<Sequence num of command, sent within command packet.
|
||||
uint16_t packet_length_tx = 0; ///<Packet length to be sent with send_packet()
|
||||
uint16_t packet_length_rx = 0; ///<Packet length received (calculated from packet_header_rx)
|
||||
|
||||
static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; ///< Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
|
||||
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
|
||||
static const constexpr int16_t ACCELEROMETER_Q1 = 8; ///< Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
|
||||
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8; ///< Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
|
||||
static const constexpr int16_t GYRO_Q1 = 9; ///< Gyro Q point (See SH-2 Ref. Manual 6.5.13)
|
||||
static const constexpr int16_t MAGNETOMETER_Q1 = 4; ///< Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
|
||||
static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10; ///< Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
|
||||
static const constexpr int16_t GRAVITY_Q1 = 8; ///< Gravity Q point (See SH-2 Ref. Manual 6.5.11)
|
||||
bno08x_config_t imu_config{}; ///<IMU configuration settings
|
||||
spi_bus_config_t bus_config{}; ///<SPI bus GPIO configuration settings
|
||||
spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
|
||||
spi_device_handle_t spi_hdl{}; ///<SPI device handle
|
||||
spi_transaction_t spi_transaction{}; ///<SPI transaction handle
|
||||
|
||||
static const constexpr uint64_t HOST_INT_TIMEOUT_US = 150000ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed.
|
||||
// These are the raw sensor values (without Q applied) pulled from the user requested Input Report
|
||||
uint32_t time_stamp; ///<Report timestamp (see datasheet 1.3.5.3)
|
||||
uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
|
||||
accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
|
||||
uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
|
||||
accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
|
||||
uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
|
||||
uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
|
||||
quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
|
||||
uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
|
||||
raw_velocity_gyro_Z; ///<Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
|
||||
uint16_t gravity_X, gravity_Y, gravity_Z,
|
||||
gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
|
||||
uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
|
||||
uncalib_gyro_accuracy; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
|
||||
uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
|
||||
magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
|
||||
uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27)
|
||||
uint16_t step_count; ///<Step counter reading (See SH-2 Ref. Manual 6.5.29)
|
||||
uint8_t stability_classifier; ///<Stability status reading (See SH-2 Ref. Manual 6.5.31)
|
||||
uint8_t activity_classifier; ///<Activity status reading (See SH-2 Ref. Manual 6.5.36)
|
||||
uint8_t* activity_confidences; ///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
|
||||
uint8_t calibration_status; ///<Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
|
||||
uint16_t mems_raw_accel_X, mems_raw_accel_Y,
|
||||
mems_raw_accel_Z; ///<Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
|
||||
uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
|
||||
mems_raw_gyro_Z; ///<Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
|
||||
uint16_t mems_raw_magf_X, mems_raw_magf_Y,
|
||||
mems_raw_magf_Z; ///<Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
|
||||
|
||||
//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
|
||||
static const constexpr uint8_t CALIBRATE_GYRO = 1;///<Calibrate gyro command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_MAG = 2; ///<Calibrate magnetometer command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3; ///<Calibrate planar acceleration command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG = 4; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_STOP = 5; ///<Stop calibration command used by queue_calibrate_command
|
||||
// spi task
|
||||
TaskHandle_t spi_task_hdl; ///<SPI task handle
|
||||
static void spi_task_trampoline(void* arg);
|
||||
void spi_task();
|
||||
|
||||
//Command IDs (see Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_ERRORS = 1;
|
||||
static const constexpr uint8_t COMMAND_COUNTER = 2;
|
||||
static const constexpr uint8_t COMMAND_TARE = 3; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
|
||||
static const constexpr uint8_t COMMAND_INITIALIZE = 4; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
|
||||
static const constexpr uint8_t COMMAND_DCD = 6; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
|
||||
static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
|
||||
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_OSCILLATOR = 10; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
|
||||
volatile bool
|
||||
int_asserted; ///<Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion
|
||||
static void IRAM_ATTR hint_handler(void* arg);
|
||||
static bool
|
||||
isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
|
||||
|
||||
//SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
|
||||
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1; ///< See SH2 Ref. Manual 6.3.9
|
||||
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2; ///< See SH2 Ref. Manual 6.3.8
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3; ///< See SH2 Ref. Manual 6.3.7
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4; ///< See SH2 Ref. Manual 6.3.6
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8; ///< See SH2 Ref. Manual 6.3.2
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9; ///< See SH2 Ref. Manual 6.3.1
|
||||
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB; ///< See SH2 Ref. Manual 7.2.1
|
||||
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD; ///< See SH2 Ref. Manual 6.5.4
|
||||
static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; ///< Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
|
||||
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 =
|
||||
12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
|
||||
static const constexpr int16_t ACCELEROMETER_Q1 = 8; ///< Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
|
||||
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 =
|
||||
8; ///< Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
|
||||
static const constexpr int16_t GYRO_Q1 = 9; ///< Gyro Q point (See SH-2 Ref. Manual 6.5.13)
|
||||
static const constexpr int16_t MAGNETOMETER_Q1 = 4; ///< Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
|
||||
static const constexpr int16_t ANGULAR_VELOCITY_Q1 =
|
||||
10; ///< Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
|
||||
static const constexpr int16_t GRAVITY_Q1 = 8; ///< Gravity Q point (See SH-2 Ref. Manual 6.5.11)
|
||||
|
||||
static const constexpr uint64_t HOST_INT_TIMEOUT_US =
|
||||
150000ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed.
|
||||
|
||||
//Sensor report IDs, used when enabling and reading BNO08x reports
|
||||
static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01; ///< See SH2 Ref. Manual 6.5.9
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02; ///< See SH2 Ref. Manual 6.5.13
|
||||
static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03; ///< See SH2 Ref. Manual 6.5.16
|
||||
static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04; ///< See SH2 Ref. Manual 6.5.10
|
||||
static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05; ///< See SH2 Ref. Manual 6.5.18
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06; ///< See SH2 Ref. Manual 6.5.11
|
||||
static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07; ///< See SH2 Ref. Manual 6.5.14
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08; ///< See SH2 Ref. Manual 6.5.19
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; ///< See SH2 Ref. Manual 6.5.20
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A; ///< See SH2 Ref. Manual 6.5.44
|
||||
static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10;///< See SH2 Ref. Manual 6.5.27
|
||||
static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11; ///< See SH2 Ref. Manual 6.5.29
|
||||
static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13; ///< See SH2 Ref. Manual 6.5.31
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14; ///< See SH2 Ref. Manual 6.5.8
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15; ///< See SH2 Ref. Manual 6.5.12
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16; ///< See SH2 Ref. Manual 6.5.15
|
||||
static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
|
||||
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28; ///< See SH2 Ref. Manual 6.5.42
|
||||
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; ///< See SH2 Ref. Manual 6.5.43
|
||||
// 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
|
||||
static const constexpr uint8_t CALIBRATE_GYRO = 1; ///<Calibrate gyro command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_MAG =
|
||||
2; ///<Calibrate magnetometer command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL =
|
||||
3; ///<Calibrate planar acceleration command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
|
||||
4; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
|
||||
static const constexpr uint8_t CALIBRATE_STOP = 5; ///<Stop calibration command used by queue_calibrate_command
|
||||
|
||||
//Tare commands used by queue_tare_command
|
||||
static const constexpr uint8_t TARE_NOW = 0; ///< See SH2 Ref. Manual 6.4.4.1
|
||||
static const constexpr uint8_t TARE_PERSIST = 1; ///< See SH2 Ref. Manual 6.4.4.2
|
||||
static const constexpr uint8_t TARE_SET_REORIENTATION = 2; ///< See SH2 Ref. Manual 6.4.4.3
|
||||
// Command IDs (see Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_ERRORS = 1;
|
||||
static const constexpr uint8_t COMMAND_COUNTER = 2;
|
||||
static const constexpr uint8_t COMMAND_TARE =
|
||||
3; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
|
||||
static const constexpr uint8_t COMMAND_INITIALIZE =
|
||||
4; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
|
||||
static const constexpr uint8_t COMMAND_DCD = 6; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
|
||||
static const constexpr uint8_t COMMAND_ME_CALIBRATE =
|
||||
7; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
|
||||
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE =
|
||||
9; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_OSCILLATOR =
|
||||
10; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
|
||||
static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
|
||||
|
||||
static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
|
||||
static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
|
||||
// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
|
||||
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1; ///< See SH2 Ref. Manual 6.3.9
|
||||
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2; ///< See SH2 Ref. Manual 6.3.8
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3; ///< See SH2 Ref. Manual 6.3.7
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4; ///< See SH2 Ref. Manual 6.3.6
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8; ///< See SH2 Ref. Manual 6.3.2
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9; ///< See SH2 Ref. Manual 6.3.1
|
||||
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB; ///< See SH2 Ref. Manual 7.2.1
|
||||
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD; ///< See SH2 Ref. Manual 6.5.4
|
||||
|
||||
//Which rotation vector to tare, BNO08x saves them seperately
|
||||
static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; ///<Tare rotation vector
|
||||
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; ///<Tare game rotation vector
|
||||
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2;///< tare geomagnetic rotation vector
|
||||
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; ///<Tare gyro integrated rotation vector
|
||||
static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4; ///< Tare ARVR stabilized rotation vector
|
||||
static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5; ///<Tare ARVR stabilized game rotation vector
|
||||
// Sensor report IDs, used when enabling and reading BNO08x reports
|
||||
static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01; ///< See SH2 Ref. Manual 6.5.9
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02; ///< See SH2 Ref. Manual 6.5.13
|
||||
static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03; ///< See SH2 Ref. Manual 6.5.16
|
||||
static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04; ///< See SH2 Ref. Manual 6.5.10
|
||||
static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05; ///< See SH2 Ref. Manual 6.5.18
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06; ///< See SH2 Ref. Manual 6.5.11
|
||||
static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07; ///< See SH2 Ref. Manual 6.5.14
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08; ///< See SH2 Ref. Manual 6.5.19
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; ///< See SH2 Ref. Manual 6.5.20
|
||||
static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR =
|
||||
0x2A; ///< See SH2 Ref. Manual 6.5.44
|
||||
static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10; ///< See SH2 Ref. Manual 6.5.27
|
||||
static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11; ///< See SH2 Ref. Manual 6.5.29
|
||||
static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13; ///< See SH2 Ref. Manual 6.5.31
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14; ///< See SH2 Ref. Manual 6.5.8
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15; ///< See SH2 Ref. Manual 6.5.12
|
||||
static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16; ///< See SH2 Ref. Manual 6.5.15
|
||||
static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
|
||||
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR =
|
||||
0x28; ///< See SH2 Ref. Manual 6.5.42
|
||||
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR =
|
||||
0x29; ///< See SH2 Ref. Manual 6.5.43
|
||||
|
||||
static const constexpr char *TAG = "BNO08x"; ///< Class tag used for serial print statements
|
||||
// Tare commands used by queue_tare_command
|
||||
static const constexpr uint8_t TARE_NOW = 0; ///< See SH2 Ref. Manual 6.4.4.1
|
||||
static const constexpr uint8_t TARE_PERSIST = 1; ///< See SH2 Ref. Manual 6.4.4.2
|
||||
static const constexpr uint8_t TARE_SET_REORIENTATION = 2; ///< See SH2 Ref. Manual 6.4.4.3
|
||||
|
||||
static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
|
||||
static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
|
||||
|
||||
// Which rotation vector to tare, BNO08x saves them seperately
|
||||
static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; ///<Tare rotation vector
|
||||
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; ///<Tare game rotation vector
|
||||
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2; ///< tare geomagnetic rotation vector
|
||||
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; ///<Tare gyro integrated rotation vector
|
||||
static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4; ///< Tare ARVR stabilized rotation vector
|
||||
static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR =
|
||||
5; ///<Tare ARVR stabilized game rotation vector
|
||||
|
||||
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
|
||||
};
|
||||
Loading…
Reference in New Issue