deconstructor + refactoring
This commit is contained in:
myles-parfeniuk
parent
343c406325
commit
991c447f05
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@ -43,6 +43,17 @@ enum class IMUAccuracy
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HIGH
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};
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/// @brief Reason for previous IMU reset (returned by get_reset_reason())
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enum class IMUResetReason
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{
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UNDEFINED, ///< Undefined reset reason, this should never occur and is an error.
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POR, ///< Previous reset was due to power on reset.
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INT_RST, ///< Previous reset was due to internal reset.
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WTD, ///< Previous reset was due to watchdog timer.
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EXT_RST, ///< Previous reset was due to external reset.
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OTHER ///< Previous reset was due to power other reason.
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};
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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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@ -101,7 +112,7 @@ class BNO08x
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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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IMUResetReason get_reset_reason();
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bool mode_sleep();
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bool mode_on();
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@ -255,36 +266,36 @@ class BNO08x
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// Record IDs from figure 29, page 29 reference manual
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// These are used to read the metadata for each sensor type
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static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER =
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0xE302; ///< Accelerometer record ID, to be passed in metadata functions like get_Q1()
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0xE302U; ///< Accelerometer record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED =
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0xE306; ///< Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
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0xE306U; ///< Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED =
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0xE309; ///< Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
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0xE309U; ///< Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR =
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0xE30B; ///< Rotation vector record ID, to be passed in metadata functions like get_Q1()
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0xE30BU; ///< Rotation vector record ID, to be passed in metadata functions like get_Q1()
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// Activity classifier bits
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_UNKNOWN_EN = (1 << 0);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_IN_VEHICLE_EN = (1 << 1);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_BICYCLE_EN = (1 << 2);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_FOOT_EN = (1 << 3);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_STILL_EN = (1 << 4);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_TILTING_EN = (1 << 5);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_WALKING_EN = (1 << 6);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_RUNNING_EN = (1 << 7);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_STAIRS_EN = (1 << 8);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ALL_EN = 0x1F;
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_UNKNOWN_EN = (1U << 0U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_IN_VEHICLE_EN = (1U << 1U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_BICYCLE_EN = (1U << 2U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_FOOT_EN = (1U << 3U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_STILL_EN = (1U << 4U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_TILTING_EN = (1U << 5U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_WALKING_EN = (1U << 6U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_RUNNING_EN = (1U << 7U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_STAIRS_EN = (1U << 8U);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ALL_EN = 0x1FU;
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static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_ALL = 0x07U; ///< Tare all axes (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_Z = 0x04U; ///< Tar yaw axis only (used with tare now command)
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// Which rotation vector to tare, BNO08x saves them seperately
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static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; ///<Tare rotation vector
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static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; ///<Tare game rotation vector
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static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2; ///< tare geomagnetic rotation vector
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static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; ///<Tare gyro integrated rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4; ///< Tare ARVR stabilized rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5; ///<Tare ARVR stabilized game rotation vector
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static const constexpr uint8_t TARE_ROTATION_VECTOR = 0U; ///<Tare rotation vector
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static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1U; ///<Tare game rotation vector
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static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2U; ///< tare geomagnetic rotation vector
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static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3U; ///<Tare gyro integrated rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4U; ///< Tare ARVR stabilized rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5U; ///<Tare ARVR stabilized game rotation vector
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static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; ///< Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
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static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
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@ -296,6 +307,7 @@ class BNO08x
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static const constexpr int16_t GRAVITY_Q1 = 8; ///< Gravity Q point (See SH-2 Ref. Manual 6.5.11)
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private:
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/// @brief Holds data that is received over spi.
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typedef struct bno08x_rx_packet_t
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{
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@ -311,10 +323,45 @@ class BNO08x
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uint16_t length; ///< Packet length in bytes.
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} bno08x_tx_packet_t;
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esp_err_t initialize_config_args();
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esp_err_t initialize_gpio();
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esp_err_t initialize_hint_isr();
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esp_err_t initialize_spi();
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/// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
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typedef struct bno08x_init_status_t
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{
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bool gpio_outputs; ///< True if GPIO outputs have been initialized.
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bool gpio_inputs; ///< True if GPIO inputs have been initialized.
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bool isr_service; ///< True if global ISR service has been initialized.
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bool isr_handler; ///< True if HINT ISR handler has been initialized.
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uint8_t task_count; ///< How many successfully initialized tasks (max of TSK_CNT)
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool spi_task; ///< True if xTaskCreate has been called successfully for spi_task.
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bool spi_bus; ///< True if spi_bus_initialize() has been called successfully.
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bool spi_device; ///< True if spi_bus_add_device() has been called successfully.
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bno08x_init_status_t()
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: gpio_outputs(false)
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, gpio_inputs(false)
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, isr_service(false)
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, isr_handler(false)
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, task_count(0)
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, data_proc_task(false)
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, spi_task(false)
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, spi_bus(false)
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, spi_device(false)
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{
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}
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} bno08x_init_status_t;
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esp_err_t init_config_args();
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esp_err_t init_gpio();
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esp_err_t init_gpio_inputs();
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esp_err_t init_gpio_outputs();
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esp_err_t init_hint_isr();
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esp_err_t init_spi();
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esp_err_t deinit_gpio();
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esp_err_t deinit_gpio_inputs();
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esp_err_t deinit_gpio_outputs();
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esp_err_t deinit_hint_isr();
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esp_err_t deinit_spi();
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bool wait_for_rx_done();
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bool wait_for_tx_done();
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@ -374,6 +421,7 @@ class BNO08x
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spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
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spi_device_handle_t spi_hdl{}; ///<SPI device handle
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spi_transaction_t spi_transaction{}; ///<SPI transaction handle
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bno08x_init_status_t init_status; ///<Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.
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// These are the raw sensor values (without Q applied) pulled from the user requested Input Report
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uint32_t time_stamp; ///<Report timestamp (see datasheet 1.3.5.3)
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@ -407,49 +455,51 @@ class BNO08x
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static void IRAM_ATTR hint_handler(void* arg);
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static const constexpr uint16_t RX_DATA_LENGTH = 300; ///<length buffer containing data received over spi
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static const constexpr uint16_t MAX_METADATA_LENGTH = 9; ///<max length of metadata used in frs read operations
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static const constexpr uint8_t TASK_CNT = 2U; ///<Total amount of tasks utilized by BNO08x driver library
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static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
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static const constexpr uint16_t MAX_METADATA_LENGTH = 9U; ///<max length of metadata used in frs read operations
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static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
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300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
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static const constexpr uint8_t TASK_CNT = 2; ///<total amount of tasks utilized by BNO08x driver library
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL;
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
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// evt_grp_spi bits
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static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
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(1 << 0); ///<When this bit is set it indicates a receive procedure has completed.
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(1U << 0U); ///<When this bit is set it indicates a receive procedure has completed.
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static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET_BIT =
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(1 << 1); ///< When this bit is set, it indicates a valid packet has been received and processed.
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(1U << 1U); ///< When this bit is set, it indicates a valid packet has been received and processed.
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static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET_BIT =
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(1 << 2); ///<When this bit is set, it indicates an invalid packet has been received.
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(1U << 2U); ///<When this bit is set, it indicates an invalid packet has been received.
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static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE_BIT = (1 << 3); ///<When this bit is set, it indicates a queued packet has been sent.
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// evt_grp_report_en bits
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static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0); ///< When set, rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1); ///< When set, game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
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(1 << 2); ///< When set, ARVR stabilized rotation vector reports are active.
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(1U << 2U); ///< When set, ARVR stabilized rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
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(1 << 3); ///< When set, ARVR stabilized game rotation vector reports are active.
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(1U << 3U); ///< When set, ARVR stabilized game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT =
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(1 << 4); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5); ///< When set, accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6); ///< When set, linear accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7); ///< When set, gravity reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8); ///< When set, gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9); ///< When set, uncalibrated gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10); ///< When set, magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11); ///< When set, tap detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12); ///< When set, step counter reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13); ///< When set, stability classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14); ///< When set, activity classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15); ///< When set, raw accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16); ///< When set, raw gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17); ///< When set, raw magnetometer reports are active.
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(1U << 4U); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1U << 5U); ///< When set, accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1U << 6U); ///< When set, linear accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1U << 7U); ///< When set, gravity reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1U << 8U); ///< When set, gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1U << 9U); ///< When set, uncalibrated gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1U << 10U); ///< When set, magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1U << 11U); ///< When set, tap detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1U << 12U); ///< When set, step counter reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1U << 13U); ///< When set, stability classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1U << 14U); ///< When set, activity classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1U << 15U); ///< When set, raw accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1U << 16U); ///< When set, raw gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1U << 17U); ///< When set, raw magnetometer reports are active.
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// evt_grp_task_flow bits
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static const constexpr EventBits_t EVT_GRP_TSK_FLW_RUNNING_BIT= (1 << 0); ///< When set, data_proc_task and spi_task are active, when 0 they are pending deletion or deleted.
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static const constexpr EventBits_t EVT_GRP_TSK_FLW_RUNNING_BIT =
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(1U << 0U); ///< When set, data_proc_task and spi_task are active, when 0 they are pending deletion or deleted.
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static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS =
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EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
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@ -459,60 +509,60 @@ class BNO08x
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EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT;
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// Higher level calibration commands, used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_GYRO = 1; ///<Calibrate gyro command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_MAG = 2; ///<Calibrate magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3; ///<Calibrate planar acceleration command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_ACCEL = 0U; ///<Calibrate accelerometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_GYRO = 1U; ///<Calibrate gyro command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_MAG = 2U; ///<Calibrate magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3U; ///<Calibrate planar acceleration command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
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4; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_STOP = 5; ///<Stop calibration command used by queue_calibrate_command
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4U; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_STOP = 5U; ///<Stop calibration command used by queue_calibrate_command
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// Command IDs (see Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_ERRORS = 1;
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static const constexpr uint8_t COMMAND_COUNTER = 2;
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static const constexpr uint8_t COMMAND_TARE = 3; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
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static const constexpr uint8_t COMMAND_INITIALIZE = 4; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
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static const constexpr uint8_t COMMAND_DCD = 6; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_OSCILLATOR = 10; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_ERRORS = 1U;
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static const constexpr uint8_t COMMAND_COUNTER = 2U;
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static const constexpr uint8_t COMMAND_TARE = 3U; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
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static const constexpr uint8_t COMMAND_INITIALIZE = 4U; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
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static const constexpr uint8_t COMMAND_DCD = 6U; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7U; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9U; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_OSCILLATOR = 10U; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_CLEAR_DCD = 11U; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
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// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
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static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1; ///< See SH2 Ref. Manual 6.3.9
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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 uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1U; ///< See SH2 Ref. Manual 6.3.9
|
||||
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2U; ///< See SH2 Ref. Manual 6.3.8
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3U; ///< See SH2 Ref. Manual 6.3.7
|
||||
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4U; ///< See SH2 Ref. Manual 6.3.6
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8U; ///< See SH2 Ref. Manual 6.3.2
|
||||
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9U; ///< See SH2 Ref. Manual 6.3.1
|
||||
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFBU; ///< See SH2 Ref. Manual 7.2.1
|
||||
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFDU; ///< See SH2 Ref. Manual 6.5.4
|
||||
|
||||
// Sensor report IDs, used when enabling and reading BNO08x reports
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01; ///< See SH2 Ref. Manual 6.5.9
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02; ///< See SH2 Ref. Manual 6.5.13
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03; ///< See SH2 Ref. Manual 6.5.16
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04; ///< See SH2 Ref. Manual 6.5.10
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05; ///< See SH2 Ref. Manual 6.5.18
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06; ///< See SH2 Ref. Manual 6.5.11
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07; ///< See SH2 Ref. Manual 6.5.14
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08; ///< See SH2 Ref. Manual 6.5.19
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; ///< See SH2 Ref. Manual 6.5.20
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A; ///< See SH2 Ref. Manual 6.5.44
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10; ///< See SH2 Ref. Manual 6.5.27
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11; ///< See SH2 Ref. Manual 6.5.29
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13; ///< See SH2 Ref. Manual 6.5.31
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14; ///< See SH2 Ref. Manual 6.5.8
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15; ///< See SH2 Ref. Manual 6.5.12
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16; ///< See SH2 Ref. Manual 6.5.15
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28; ///< See SH2 Ref. Manual 6.5.42
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; ///< See SH2 Ref. Manual 6.5.43
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01U; ///< See SH2 Ref. Manual 6.5.9
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02U; ///< See SH2 Ref. Manual 6.5.13
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03U; ///< See SH2 Ref. Manual 6.5.16
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04U; ///< See SH2 Ref. Manual 6.5.10
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05U; ///< See SH2 Ref. Manual 6.5.18
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06U; ///< See SH2 Ref. Manual 6.5.11
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07U; ///< See SH2 Ref. Manual 6.5.14
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08U; ///< See SH2 Ref. Manual 6.5.19
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09U; ///< See SH2 Ref. Manual 6.5.20
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2AU; ///< See SH2 Ref. Manual 6.5.44
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10U; ///< See SH2 Ref. Manual 6.5.27
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11U; ///< See SH2 Ref. Manual 6.5.29
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13U; ///< See SH2 Ref. Manual 6.5.31
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14U; ///< See SH2 Ref. Manual 6.5.8
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15U; ///< See SH2 Ref. Manual 6.5.12
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16U; ///< See SH2 Ref. Manual 6.5.15
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1EU; ///< See SH2 Ref. Manual 6.5.36
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28U; ///< See SH2 Ref. Manual 6.5.42
|
||||
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29U; ///< See SH2 Ref. Manual 6.5.43
|
||||
|
||||
// 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_NOW = 0U; ///< See SH2 Ref. Manual 6.4.4.1
|
||||
static const constexpr uint8_t TARE_PERSIST = 1U; ///< See SH2 Ref. Manual 6.4.4.2
|
||||
static const constexpr uint8_t TARE_SET_REORIENTATION = 2U; ///< See SH2 Ref. Manual 6.4.4.3
|
||||
|
||||
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
|
||||
};
|
||||
|
|
@ -22,7 +22,6 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
|
|||
, imu_config(imu_config)
|
||||
, calibration_status(1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
BNO08x::~BNO08x()
|
||||
|
|
@ -30,10 +29,18 @@ BNO08x::~BNO08x()
|
|||
// disable interrupts before beginning so we can ensure SPI task doesn't attempt to run
|
||||
gpio_intr_disable(imu_config.io_int);
|
||||
|
||||
// delete tasks if they have been created
|
||||
if (spi_task_hdl != NULL && data_proc_task_hdl != NULL)
|
||||
// delete any tasks if they have been created
|
||||
ESP_ERROR_CHECK(kill_all_tasks());
|
||||
|
||||
// deinitialize spi if has been initialized
|
||||
ESP_ERROR_CHECK(deinit_spi());
|
||||
|
||||
// deinitialize hint ISR if it has been initialized
|
||||
ESP_ERROR_CHECK(deinit_hint_isr());
|
||||
|
||||
// deinitialize GPIO if they have been initialized
|
||||
ESP_ERROR_CHECK(deinit_gpio());
|
||||
|
||||
// delete queues
|
||||
vQueueDelete(queue_rx_data);
|
||||
vQueueDelete(queue_tx_data);
|
||||
|
|
@ -60,19 +67,19 @@ BNO08x::~BNO08x()
|
|||
bool BNO08x::initialize()
|
||||
{
|
||||
// initialize configuration arguments
|
||||
if(initialize_config_args() != ESP_OK)
|
||||
if (init_config_args() != ESP_OK)
|
||||
return false;
|
||||
|
||||
// initialize GPIO
|
||||
if(initialize_gpio() != ESP_OK)
|
||||
if (init_gpio() != ESP_OK)
|
||||
return false;
|
||||
|
||||
// intialize HINT ISR
|
||||
if (initialize_hint_isr() != ESP_OK)
|
||||
// initialize HINT ISR
|
||||
if (init_hint_isr() != ESP_OK)
|
||||
return false;
|
||||
|
||||
// initialize SPI
|
||||
if (initialize_spi() != ESP_OK)
|
||||
if (init_spi() != ESP_OK)
|
||||
return false;
|
||||
|
||||
// launch tasks
|
||||
|
|
@ -83,38 +90,39 @@ bool BNO08x::initialize()
|
|||
if (!hard_reset())
|
||||
return false;
|
||||
|
||||
if (get_reset_reason() != 0)
|
||||
if (get_reset_reason() == IMUResetReason::UNDEFINED)
|
||||
{
|
||||
ESP_LOGE(TAG, "Initialization failed, undefined reset reason returned after reset.");
|
||||
return false;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "Successfully initialized....");
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::initialize_config_args()
|
||||
esp_err_t BNO08x::init_config_args()
|
||||
{
|
||||
if ((imu_config.io_cs == GPIO_NUM_NC))
|
||||
{
|
||||
ESP_LOGE(TAG, "CS GPIO cannot be unassigned.");
|
||||
ESP_LOGE(TAG, "Initialization failed, CS GPIO cannot be unassigned.");
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
if ((imu_config.io_miso == GPIO_NUM_NC))
|
||||
{
|
||||
ESP_LOGE(TAG, "MISO GPIO cannot be unassigned.");
|
||||
ESP_LOGE(TAG, "Initialization failed, MISO GPIO cannot be unassigned.");
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
if ((imu_config.io_mosi == GPIO_NUM_NC))
|
||||
{
|
||||
ESP_LOGE(TAG, "MOSI GPIO cannot be unassigned.");
|
||||
ESP_LOGE(TAG, "Initialization failed, MOSI GPIO cannot be unassigned.");
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
if ((imu_config.io_sclk == GPIO_NUM_NC))
|
||||
{
|
||||
ESP_LOGE(TAG, "SCLK GPIO cannot be unassigned.");
|
||||
ESP_LOGE(TAG, "Initialization failed, SCLK GPIO cannot be unassigned.");
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
|
|
@ -151,11 +159,31 @@ esp_err_t BNO08x::initialize_config_args()
|
|||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::initialize_gpio()
|
||||
esp_err_t BNO08x::init_gpio_inputs()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
/*GPIO config for pins not controlled by SPI peripheral*/
|
||||
// configure input(s) (HINT)
|
||||
gpio_config_t inputs_config;
|
||||
inputs_config.pin_bit_mask = (1ULL << imu_config.io_int);
|
||||
inputs_config.mode = GPIO_MODE_INPUT;
|
||||
inputs_config.pull_up_en = GPIO_PULLUP_DISABLE;
|
||||
inputs_config.pull_down_en = GPIO_PULLDOWN_DISABLE;
|
||||
inputs_config.intr_type = GPIO_INTR_NEGEDGE;
|
||||
|
||||
ret = gpio_config(&inputs_config);
|
||||
|
||||
if (ret != ESP_OK)
|
||||
ESP_LOGE(TAG, "Initialization failed, failed to configure HINT gpio.");
|
||||
else
|
||||
init_status.gpio_inputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::init_gpio_outputs()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
// configure output(s) (CS, RST, and WAKE)
|
||||
gpio_config_t outputs_config;
|
||||
|
|
@ -171,26 +199,26 @@ esp_err_t BNO08x::initialize_gpio()
|
|||
|
||||
ret = gpio_config(&outputs_config);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Failed to configure CS, RST, and WAKE (if used) gpio.");
|
||||
ESP_LOGE(TAG, "Initialization failed, failed to configure CS, RST, and WAKE (if used) gpio.");
|
||||
else
|
||||
init_status.gpio_outputs = true; // set gpio_inputs to initialized such that deconstructor knows to clean them up
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//configure input(s) (HINT)
|
||||
gpio_config_t inputs_config;
|
||||
inputs_config.pin_bit_mask = (1ULL << imu_config.io_int);
|
||||
inputs_config.mode = GPIO_MODE_INPUT;
|
||||
inputs_config.pull_up_en = GPIO_PULLUP_DISABLE;
|
||||
inputs_config.pull_down_en = GPIO_PULLDOWN_DISABLE;
|
||||
inputs_config.intr_type = GPIO_INTR_NEGEDGE;
|
||||
esp_err_t BNO08x::init_gpio()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
ret = gpio_config(&inputs_config);
|
||||
/*GPIO config for pins not controlled by SPI peripheral*/
|
||||
|
||||
ret = init_gpio_outputs();
|
||||
if (ret != ESP_OK)
|
||||
return ret;
|
||||
|
||||
ret = init_gpio_inputs();
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Failed to configure HINT gpio.");
|
||||
return ret;
|
||||
}
|
||||
|
||||
gpio_set_level(imu_config.io_cs, 1);
|
||||
gpio_set_level(imu_config.io_rst, 1);
|
||||
|
|
@ -201,7 +229,7 @@ esp_err_t BNO08x::initialize_gpio()
|
|||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::initialize_hint_isr()
|
||||
esp_err_t BNO08x::init_hint_isr()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
|
|
@ -211,23 +239,32 @@ esp_err_t BNO08x::initialize_hint_isr()
|
|||
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Failed to install global ISR service.");
|
||||
ESP_LOGE(TAG, "Initialization failed, failed to install global ISR service.");
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.isr_service = true; // set isr service to initialized such that deconstructor knows to clean it up (this will be ignored if
|
||||
// imu_config.install_isr_service == false)
|
||||
}
|
||||
|
||||
ret = gpio_isr_handler_add(imu_config.io_int, hint_handler, (void*) this);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Add hint_handler ISR.");
|
||||
ESP_LOGE(TAG, "Initialization failed, failed to add hint_handler ISR.");
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.isr_handler = true; // set isr handler to initialized such that deconstructor knows to clean it up
|
||||
}
|
||||
|
||||
gpio_intr_disable(imu_config.io_int); // disable interrupts initially before reset
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::initialize_spi()
|
||||
esp_err_t BNO08x::init_spi()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
uint8_t tx_buffer[50] = {0}; // for dummy transaction to stabilize SPI peripheral
|
||||
|
|
@ -236,17 +273,25 @@ esp_err_t BNO08x::initialize_spi()
|
|||
ret = spi_bus_initialize(imu_config.spi_peripheral, &bus_config, SPI_DMA_CH_AUTO);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "SPI bus failed to initialize.");
|
||||
ESP_LOGE(TAG, "Initialization failed, SPI bus failed to initialize.");
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.spi_bus = true;
|
||||
}
|
||||
|
||||
// add the imu device to the bus
|
||||
ret = spi_bus_add_device(imu_config.spi_peripheral, &imu_spi_config, &spi_hdl);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Failed to add device to SPI bus.");
|
||||
ESP_LOGE(TAG, "Initialization failed, failed to add device to SPI bus.");
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.spi_device = true;
|
||||
}
|
||||
|
||||
// do first SPI operation into nowhere before BNO085 reset to let periphiral stabilize (Anton B.)
|
||||
spi_transaction.length = 8;
|
||||
|
|
@ -259,6 +304,122 @@ esp_err_t BNO08x::initialize_spi()
|
|||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::deinit_gpio()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
if (init_status.gpio_inputs)
|
||||
{
|
||||
ret = deinit_gpio_inputs();
|
||||
if (ret != ESP_OK)
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (init_status.gpio_outputs)
|
||||
{
|
||||
ret = deinit_gpio_outputs();
|
||||
if (ret != ESP_OK)
|
||||
return ret;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::deinit_gpio_inputs()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
ret = gpio_reset_pin(imu_config.io_int);
|
||||
if (ret != ESP_OK)
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio HINT pin to default state.");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::deinit_gpio_outputs()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
if (imu_config.io_wake != GPIO_NUM_NC)
|
||||
{
|
||||
ret = gpio_reset_pin(imu_config.io_wake);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio WAKE pin to default state.");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
ret = gpio_reset_pin(imu_config.io_cs);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio CS pin to default state.");
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = gpio_reset_pin(imu_config.io_rst);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could reset gpio RST pin to default state.");
|
||||
return ret;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::deinit_hint_isr()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
if (init_status.isr_handler)
|
||||
{
|
||||
ret = gpio_isr_handler_remove(imu_config.io_int);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could not remove hint ISR handler.");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
if (init_status.isr_service)
|
||||
{
|
||||
// only remove the ISR service if it was requested to be installed by user
|
||||
if (imu_config.install_isr_service)
|
||||
{
|
||||
gpio_uninstall_isr_service();
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::deinit_spi()
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
|
||||
if (init_status.spi_device)
|
||||
{
|
||||
ret = spi_bus_remove_device(spi_hdl);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could not remove spi device.");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
if (init_status.spi_bus)
|
||||
{
|
||||
ret = spi_bus_free(imu_config.spi_peripheral);
|
||||
if (ret != ESP_OK)
|
||||
{
|
||||
ESP_LOGE(TAG, "Deconstruction failed, could free SPI peripheral.");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
|
||||
*
|
||||
|
|
@ -446,7 +607,7 @@ bool BNO08x::soft_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()
|
||||
IMUResetReason BNO08x::get_reset_reason()
|
||||
{
|
||||
uint32_t reset_reason = 0;
|
||||
|
||||
|
|
@ -464,7 +625,7 @@ uint8_t BNO08x::get_reset_reason()
|
|||
ESP_LOGE(TAG, "Failed to receive product ID report.");
|
||||
}
|
||||
|
||||
return reset_reason;
|
||||
return static_cast<IMUResetReason>(reset_reason);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -3002,18 +3163,31 @@ esp_err_t BNO08x::launch_tasks()
|
|||
task_created = xTaskCreate(
|
||||
&data_proc_task_trampoline, "bno08x_data_processing_task", CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ, this, 7, &data_proc_task_hdl);
|
||||
|
||||
if (task_created == pdTRUE)
|
||||
task_created = xTaskCreate(&spi_task_trampoline, "bno08x_spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
|
||||
|
||||
if (task_created != pdTRUE)
|
||||
{
|
||||
ESP_LOGE(TAG, "Tasks failed to launch.");
|
||||
ESP_LOGE(TAG, "Initialization failed, data_proc_task failed to launch.");
|
||||
return ESP_ERR_INVALID_STATE;
|
||||
}
|
||||
else
|
||||
{
|
||||
return ESP_OK;
|
||||
init_status.data_proc_task = true;
|
||||
init_status.task_count++;
|
||||
}
|
||||
|
||||
task_created = xTaskCreate(&spi_task_trampoline, "bno08x_spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
|
||||
|
||||
if (task_created != pdTRUE)
|
||||
{
|
||||
ESP_LOGE(TAG, "Initialization failed, spi_task failed to launch.");
|
||||
return ESP_ERR_INVALID_STATE;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.spi_task = true;
|
||||
init_status.task_count++;
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t BNO08x::kill_all_tasks()
|
||||
|
|
@ -3024,18 +3198,25 @@ esp_err_t BNO08x::kill_all_tasks()
|
|||
|
||||
xEventGroupClearBits(
|
||||
evt_grp_task_flow, EVT_GRP_TSK_FLW_RUNNING_BIT); // clear task running bit in task flow event group to request deletion of tasks
|
||||
|
||||
if (init_status.task_count != 0)
|
||||
{
|
||||
if (init_status.spi_task)
|
||||
xTaskNotifyGive(spi_task_hdl); // notify spi task for self deletion
|
||||
|
||||
if (init_status.data_proc_task)
|
||||
xQueueSend(queue_rx_data, &dummy_packet, 0); // send a dummy packet to wake up data_proc task for self-deletion
|
||||
|
||||
for (uint8_t i = 0; i < TASK_CNT; i++)
|
||||
for (uint8_t i = 0; i < init_status.task_count; i++)
|
||||
if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
|
||||
kill_count++;
|
||||
|
||||
if (kill_count != TASK_CNT)
|
||||
if (kill_count != init_status.task_count)
|
||||
{
|
||||
ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
|
||||
return ESP_ERR_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1 +1,13 @@
|
|||
#include "BNO08xTestHelper.hpp"
|
||||
|
||||
BNO08x* BNO08xTestHelper::test_imu = nullptr;
|
||||
|
||||
void BNO08xTestHelper::set_test_imu(BNO08x *imu)
|
||||
{
|
||||
test_imu = imu;
|
||||
}
|
||||
|
||||
BNO08x* BNO08xTestHelper::get_test_imu()
|
||||
{
|
||||
return test_imu;
|
||||
}
|
||||
|
|
@ -5,5 +5,9 @@
|
|||
|
||||
class BNO08xTestHelper
|
||||
{
|
||||
|
||||
public:
|
||||
static void set_test_imu(BNO08x *imu);
|
||||
static BNO08x* get_test_imu();
|
||||
private:
|
||||
static BNO08x *test_imu;
|
||||
};
|
||||
|
|
@ -2,5 +2,8 @@
|
|||
|
||||
void BNO08xTestSuite::run_tests()
|
||||
{
|
||||
BNO08x imu;
|
||||
|
||||
BNO08xTestHelper::set_test_imu(&imu);
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue