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fixed confusing gyro fxn names

This commit is contained in:
myles-parfeniuk 2024-11-16 11:31:35 -08:00
parent 4b781f2d12
commit c2906795b4
4 changed files with 379 additions and 109 deletions
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77
include/BNO08x.hpp
View File

@ -52,19 +52,21 @@ class BNO08x
void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports); void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports);
void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports); void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports);
void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports); void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports);
void enable_uncalibrated_gyro(uint32_t time_between_reports);
void enable_calibrated_gyro(uint32_t time_between_reports);
void enable_raw_mems_gyro(uint32_t time_between_reports);
void enable_accelerometer(uint32_t time_between_reports); void enable_accelerometer(uint32_t time_between_reports);
void enable_linear_accelerometer(uint32_t time_between_reports); void enable_linear_accelerometer(uint32_t time_between_reports);
void enable_gravity(uint32_t time_between_reports); void enable_gravity(uint32_t time_between_reports);
void enable_gyro(uint32_t time_between_reports);
void enable_uncalibrated_gyro(uint32_t time_between_reports);
void enable_magnetometer(uint32_t time_between_reports); void enable_magnetometer(uint32_t time_between_reports);
void enable_tap_detector(uint32_t time_between_reports); void enable_tap_detector(uint32_t time_between_reports);
void enable_step_counter(uint32_t time_between_reports); void enable_step_counter(uint32_t time_between_reports);
void enable_stability_classifier(uint32_t time_between_reports); void enable_stability_classifier(uint32_t time_between_reports);
void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]); void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
void enable_raw_accelerometer(uint32_t time_between_reports); void enable_raw_mems_accelerometer(uint32_t time_between_reports);
void enable_raw_gyro(uint32_t time_between_reports); void enable_raw_mems_magnetometer(uint32_t time_between_reports);
void enable_raw_magnetometer(uint32_t time_between_reports);
void disable_rotation_vector(); void disable_rotation_vector();
void disable_game_rotation_vector(); void disable_game_rotation_vector();
@ -74,16 +76,16 @@ class BNO08x
void disable_accelerometer(); void disable_accelerometer();
void disable_linear_accelerometer(); void disable_linear_accelerometer();
void disable_gravity(); void disable_gravity();
void disable_gyro(); void disable_calibrated_gyro();
void disable_uncalibrated_gyro(); void disable_uncalibrated_gyro();
void disable_magnetometer(); void disable_magnetometer();
void disable_tap_detector(); void disable_tap_detector();
void disable_step_counter(); void disable_step_counter();
void disable_stability_classifier(); void disable_stability_classifier();
void disable_activity_classifier(); void disable_activity_classifier();
void disable_raw_accelerometer(); void disable_raw_mems_accelerometer();
void disable_raw_gyro(); void disable_raw_mems_gyro();
void disable_raw_magnetometer(); void disable_raw_mems_magnetometer();
void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR); void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
void save_tare(); void save_tare();
@ -136,37 +138,40 @@ class BNO08x
float get_linear_accel_Z(); float get_linear_accel_Z();
BNO08xAccuracy get_linear_accel_accuracy(); BNO08xAccuracy get_linear_accel_accuracy();
int16_t get_raw_accel_X(); void get_raw_mems_accel(uint16_t &x, uint16_t &y, uint16_t &z);
int16_t get_raw_accel_Y(); uint16_t get_raw_mems_accel_X();
int16_t get_raw_accel_Z(); uint16_t get_raw_mems_accel_Y();
uint16_t get_raw_mems_accel_Z();
int16_t get_raw_gyro_X(); void get_raw_mems_gyro(uint16_t &x, uint16_t &y, uint16_t &z);
int16_t get_raw_gyro_Y(); uint16_t get_raw_mems_gyro_X();
int16_t get_raw_gyro_Z(); uint16_t get_raw_mems_gyro_Y();
uint16_t get_raw_mems_gyro_Z();
int16_t get_raw_magf_X(); void get_raw_mems_magf(uint16_t &x, uint16_t &y, uint16_t &z);
int16_t get_raw_magf_Y(); uint16_t get_raw_mems_magf_X();
int16_t get_raw_magf_Z(); uint16_t get_raw_mems_magf_Y();
uint16_t get_raw_mems_magf_Z();
void get_gyro_calibrated_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy); void get_calibrated_gyro_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy);
float get_gyro_calibrated_velocity_X(); float get_calibrated_gyro_velocity_X();
float get_gyro_calibrated_velocity_Y(); float get_calibrated_gyro_velocity_Y();
float get_gyro_calibrated_velocity_Z(); float get_calibrated_gyro_velocity_Z();
BNO08xAccuracy get_gyro_accuracy(); BNO08xAccuracy get_calibrated_gyro_accuracy();
void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, BNO08xAccuracy& accuracy); void get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& bx, float& by, float& bz, BNO08xAccuracy& accuracy);
float get_uncalibrated_gyro_X(); float get_uncalibrated_gyro_velocity_X();
float get_uncalibrated_gyro_Y(); float get_uncalibrated_gyro_velocity_Y();
float get_uncalibrated_gyro_Z(); float get_uncalibrated_gyro_velocity_Z();
float get_uncalibrated_gyro_bias_X(); float get_uncalibrated_gyro_bias_X();
float get_uncalibrated_gyro_bias_Y(); float get_uncalibrated_gyro_bias_Y();
float get_uncalibrated_gyro_bias_Z(); float get_uncalibrated_gyro_bias_Z();
BNO08xAccuracy get_uncalibrated_gyro_accuracy(); BNO08xAccuracy get_uncalibrated_gyro_accuracy();
void get_gyro_velocity(float& x, float& y, float& z); void get_integrated_gyro_velocity(float& x, float& y, float& z);
float get_gyro_velocity_X(); float get_integrated_gyro_velocity_X();
float get_gyro_velocity_Y(); float get_integrated_gyro_velocity_Y();
float get_gyro_velocity_Z(); float get_integrated_gyro_velocity_Z();
uint8_t get_tap_detector(); uint8_t get_tap_detector();
uint16_t get_step_count(); uint16_t get_step_count();
@ -323,8 +328,8 @@ class BNO08x
// functions to update data returned to user // functions to update data returned to user
void update_accelerometer_data(uint16_t* data, uint8_t status); void update_accelerometer_data(uint16_t* data, uint8_t status);
void update_lin_accelerometer_data(uint16_t* data, uint8_t status); void update_lin_accelerometer_data(uint16_t* data, uint8_t status);
void update_gyro_data(uint16_t* data, uint8_t status); void update_calibrated_gyro_data(uint16_t* data, uint8_t status);
void update_uncalib_gyro_data(uint16_t* data, uint8_t status); void update_uncalibrated_gyro_data(uint16_t* data, uint8_t status);
void update_magf_data(uint16_t* data, uint8_t status); void update_magf_data(uint16_t* data, uint8_t status);
void update_gravity_data(uint16_t* data, uint8_t status); void update_gravity_data(uint16_t* data, uint8_t status);
void update_rotation_vector_data(uint16_t* data, uint8_t status); void update_rotation_vector_data(uint16_t* data, uint8_t status);
@ -386,11 +391,11 @@ class BNO08x
accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) 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, 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) 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_calib_gyro_X, raw_calib_gyro_Y, raw_calib_gyro_Z, calib_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, 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) quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y, uint16_t integrated_gyro_velocity_X, integrated_gyro_velocity_Y,
raw_velocity_gyro_Z; ///<Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44) integrated_gyro_velocity_Z; ///<Raw gyro angular velocity reading from integrated gyro rotation vector (See SH-2 Ref. Manual 6.5.44)
uint16_t gravity_X, gravity_Y, gravity_Z, uint16_t gravity_X, gravity_Y, gravity_Z,
gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) 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, uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,

71
include/BNO08xTestHelper.hpp
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@ -23,15 +23,31 @@ class BNO08xTestHelper
float quat_radian_accuracy; float quat_radian_accuracy;
BNO08xAccuracy quat_accuracy; BNO08xAccuracy quat_accuracy;
float gyro_vel_x; float integrated_gyro_vel_x;
float gyro_vel_y; float integrated_gyro_vel_y;
float gyro_vel_z; float integrated_gyro_vel_z;
float accel_x; float accel_x;
float accel_y; float accel_y;
float accel_z; float accel_z;
BNO08xAccuracy accel_accuracy; BNO08xAccuracy accel_accuracy;
float lin_accel_x;
float lin_accel_y;
float lin_accel_z;
BNO08xAccuracy lin_accel_accuracy;
float grav_x;
float grav_y;
float grav_z;
BNO08xAccuracy grav_accuracy;
float calib_gyro_vel_x;
float calib_gyro_vel_y;
float calib_gyro_vel_z;
BNO08xAccuracy calib_gyro_accuracy;
} imu_report_data_t; } imu_report_data_t;
static void print_test_start_banner(const char* TEST_TAG) static void print_test_start_banner(const char* TEST_TAG)
@ -157,13 +173,13 @@ class BNO08xTestHelper
if (report_data->quat_real != 1.0f) if (report_data->quat_real != 1.0f)
new_data = true; new_data = true;
if (report_data->gyro_vel_x != 0.0f) if (report_data->integrated_gyro_vel_x != 0.0f)
new_data = true; new_data = true;
if (report_data->gyro_vel_y != 0.0f) if (report_data->integrated_gyro_vel_y != 0.0f)
new_data = true; new_data = true;
if (report_data->gyro_vel_z != 0.0f) if (report_data->integrated_gyro_vel_z != 0.0f)
new_data = true; new_data = true;
return new_data; return new_data;
@ -188,12 +204,53 @@ class BNO08xTestHelper
return new_data; return new_data;
} }
static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data)
{
bool new_data = false;
if (report_data->lin_accel_x != 0.0f)
new_data = true;
if (report_data->lin_accel_y != 0.0f)
new_data = true;
if (report_data->lin_accel_z != 0.0f)
new_data = true;
if (report_data->lin_accel_accuracy != BNO08xAccuracy::UNDEFINED)
new_data = true;
return new_data;
}
static bool gravity_data_is_default(imu_report_data_t* report_data)
{
bool new_data = false;
if (report_data->grav_x != 0.0f)
new_data = true;
if (report_data->grav_y != 0.0f)
new_data = true;
if (report_data->grav_z != 0.0f)
new_data = true;
if (report_data->grav_accuracy != BNO08xAccuracy::UNDEFINED)
new_data = true;
return new_data;
}
static void update_report_data(imu_report_data_t* report_data, BNO08x* imu) static void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
{ {
imu->get_quat(report_data->quat_I, report_data->quat_J, report_data->quat_K, report_data->quat_real, report_data->quat_radian_accuracy, imu->get_quat(report_data->quat_I, report_data->quat_J, report_data->quat_K, report_data->quat_real, report_data->quat_radian_accuracy,
report_data->quat_accuracy); report_data->quat_accuracy);
imu->get_gyro_velocity(report_data->gyro_vel_x, report_data->gyro_vel_y, report_data->gyro_vel_z); imu->get_integrated_gyro_velocity(report_data->integrated_gyro_vel_x, report_data->integrated_gyro_vel_y, report_data->integrated_gyro_vel_z);
imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy); imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy);
imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy);
imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy);
imu->get_calibrated_gyro_velocity(report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z, report_data->calib_gyro_accuracy);
} }
}; };

174
source/BNO08x.cpp
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@ -1527,11 +1527,11 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
break; break;
case SENSOR_REPORT_ID_GYROSCOPE: case SENSOR_REPORT_ID_GYROSCOPE:
update_gyro_data(data, status); update_calibrated_gyro_data(data, status);
break; break;
case SENSOR_REPORT_ID_UNCALIBRATED_GYRO: case SENSOR_REPORT_ID_UNCALIBRATED_GYRO:
update_uncalib_gyro_data(data, status); update_uncalibrated_gyro_data(data, status);
break; break;
case SENSOR_REPORT_ID_MAGNETIC_FIELD: case SENSOR_REPORT_ID_MAGNETIC_FIELD:
@ -1716,12 +1716,12 @@ void BNO08x::update_lin_accelerometer_data(uint16_t* data, uint8_t status)
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::update_gyro_data(uint16_t* data, uint8_t status) void BNO08x::update_calibrated_gyro_data(uint16_t* data, uint8_t status)
{ {
gyro_accuracy = status; calib_gyro_accuracy = status;
raw_gyro_X = data[0]; raw_calib_gyro_X = data[0];
raw_gyro_Y = data[1]; raw_calib_gyro_Y = data[1];
raw_gyro_Z = data[2]; raw_calib_gyro_Z = data[2];
} }
/** /**
@ -1732,7 +1732,7 @@ void BNO08x::update_gyro_data(uint16_t* data, uint8_t status)
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::update_uncalib_gyro_data(uint16_t* data, uint8_t status) void BNO08x::update_uncalibrated_gyro_data(uint16_t* data, uint8_t status)
{ {
uncalib_gyro_accuracy = status; uncalib_gyro_accuracy = status;
raw_uncalib_gyro_X = data[0]; raw_uncalib_gyro_X = data[0];
@ -1922,9 +1922,9 @@ void BNO08x::update_integrated_gyro_rotation_vector_data(bno08x_rx_packet_t* pac
raw_quat_J = PARSE_GYRO_REPORT_RAW_QUAT_J(packet); raw_quat_J = PARSE_GYRO_REPORT_RAW_QUAT_J(packet);
raw_quat_K = PARSE_GYRO_REPORT_RAW_QUAT_K(packet); raw_quat_K = PARSE_GYRO_REPORT_RAW_QUAT_K(packet);
raw_quat_real = PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet); raw_quat_real = PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet);
raw_velocity_gyro_X = PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet); integrated_gyro_velocity_X = PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet);
raw_velocity_gyro_Y = PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet); integrated_gyro_velocity_Y = PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet);
raw_velocity_gyro_Z = PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet); integrated_gyro_velocity_Z = PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet);
} }
/** /**
@ -2021,7 +2021,7 @@ void BNO08x::enable_gravity(uint32_t time_between_reports)
* @param time_between_reports Desired time between reports in microseconds. * @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::enable_gyro(uint32_t time_between_reports) void BNO08x::enable_calibrated_gyro(uint32_t time_between_reports)
{ {
enable_report(SENSOR_REPORT_ID_GYROSCOPE, time_between_reports, EVT_GRP_RPT_GYRO_BIT); enable_report(SENSOR_REPORT_ID_GYROSCOPE, time_between_reports, EVT_GRP_RPT_GYRO_BIT);
} }
@ -2101,18 +2101,18 @@ void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t
* @param time_between_reports Desired time between reports in microseconds. * @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::enable_raw_accelerometer(uint32_t time_between_reports) void BNO08x::enable_raw_mems_accelerometer(uint32_t time_between_reports)
{ {
enable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, time_between_reports, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT); enable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, time_between_reports, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT);
} }
/** /**
* @brief Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) * @brief Sends command to enable raw MEMs gyro reports (See Ref. Manual 6.5.12)
* *
* @param time_between_reports Desired time between reports in microseconds. * @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::enable_raw_gyro(uint32_t time_between_reports) void BNO08x::enable_raw_mems_gyro(uint32_t time_between_reports)
{ {
enable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, time_between_reports, EVT_GRP_RPT_RAW_GYRO_BIT); enable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, time_between_reports, EVT_GRP_RPT_RAW_GYRO_BIT);
} }
@ -2123,7 +2123,7 @@ void BNO08x::enable_raw_gyro(uint32_t time_between_reports)
* @param time_between_reports Desired time between reports in microseconds. * @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::enable_raw_magnetometer(uint32_t time_between_reports) void BNO08x::enable_raw_mems_magnetometer(uint32_t time_between_reports)
{ {
enable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, time_between_reports, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT); enable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, time_between_reports, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT);
} }
@ -2213,7 +2213,7 @@ void BNO08x::disable_gravity()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::disable_gyro() void BNO08x::disable_calibrated_gyro()
{ {
disable_report(SENSOR_REPORT_ID_GYROSCOPE, EVT_GRP_RPT_GYRO_BIT); disable_report(SENSOR_REPORT_ID_GYROSCOPE, EVT_GRP_RPT_GYRO_BIT);
} }
@ -2283,7 +2283,7 @@ void BNO08x::disable_activity_classifier()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::disable_raw_accelerometer() void BNO08x::disable_raw_mems_accelerometer()
{ {
disable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT); disable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT);
} }
@ -2293,7 +2293,7 @@ void BNO08x::disable_raw_accelerometer()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::disable_raw_gyro() void BNO08x::disable_raw_mems_gyro()
{ {
disable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, EVT_GRP_RPT_RAW_GYRO_BIT); disable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, EVT_GRP_RPT_RAW_GYRO_BIT);
} }
@ -2303,7 +2303,7 @@ void BNO08x::disable_raw_gyro()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::disable_raw_magnetometer() void BNO08x::disable_raw_mems_magnetometer()
{ {
disable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT); disable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT);
} }
@ -2392,10 +2392,10 @@ void BNO08x::reset_all_data()
raw_lin_accel_Z = 0U; raw_lin_accel_Z = 0U;
accel_lin_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); accel_lin_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
raw_gyro_X = 0U; raw_calib_gyro_X = 0U;
raw_gyro_Y = 0U; raw_calib_gyro_Y = 0U;
raw_gyro_Z = 0U; raw_calib_gyro_Z = 0U;
gyro_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); calib_gyro_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
// reset quaternion to nan // reset quaternion to nan
raw_quat_I = 0U; raw_quat_I = 0U;
@ -2405,9 +2405,9 @@ void BNO08x::reset_all_data()
raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
raw_velocity_gyro_X = 0U; integrated_gyro_velocity_X = 0U;
raw_velocity_gyro_Y = 0U; integrated_gyro_velocity_Y = 0U;
raw_velocity_gyro_Z = 0U; integrated_gyro_velocity_Z = 0U;
gravity_X = 0U; gravity_X = 0U;
gravity_Y = 0U; gravity_Y = 0U;
@ -2880,12 +2880,28 @@ BNO08xAccuracy BNO08x::get_linear_accel_accuracy()
return static_cast<BNO08xAccuracy>(accel_lin_accuracy); return static_cast<BNO08xAccuracy>(accel_lin_accuracy);
} }
/**
* @brief Get full raw mems acceleration.
*
* @param x Reference variable to save raw X axis acceleration.
* @param y Reference variable to save raw Y axis acceleration.
* @param z Reference variable to save raw Z axis acceleration.
*
* @return void, nothing to return
*/
void BNO08x::get_raw_mems_accel(uint16_t& x, uint16_t &y, uint16_t &z)
{
x = mems_raw_accel_X;
y = mems_raw_accel_X;
z = mems_raw_accel_X;
}
/** /**
* @brief Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) * @brief Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
* *
* @return Reported raw accelerometer x axis reading from physical MEMs sensor. * @return Reported raw accelerometer x axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_accel_X() uint16_t BNO08x::get_raw_mems_accel_X()
{ {
return mems_raw_accel_X; return mems_raw_accel_X;
} }
@ -2895,7 +2911,7 @@ int16_t BNO08x::get_raw_accel_X()
* *
* @return Reported raw accelerometer y axis reading from physical MEMs sensor. * @return Reported raw accelerometer y axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_accel_Y() uint16_t BNO08x::get_raw_mems_accel_Y()
{ {
return mems_raw_accel_Y; return mems_raw_accel_Y;
} }
@ -2905,17 +2921,33 @@ int16_t BNO08x::get_raw_accel_Y()
* *
* @return Reported raw accelerometer z axis reading from physical MEMs sensor. * @return Reported raw accelerometer z axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_accel_Z() uint16_t BNO08x::get_raw_mems_accel_Z()
{ {
return mems_raw_accel_Z; return mems_raw_accel_Z;
} }
/**
* @brief Get full raw mems gyro data.
*
* @param x Reference variable to save raw X axis data.
* @param y Reference variable to save raw Y axis data.
* @param z Reference variable to save raw Z axis data.
*
* @return void, nothing to return
*/
void BNO08x::get_raw_mems_gyro(uint16_t& x, uint16_t &y, uint16_t &z)
{
x = mems_raw_gyro_X;
y = mems_raw_gyro_Y;
z = mems_raw_gyro_Z;
}
/** /**
* @brief Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) * @brief Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
* *
* @return Reported raw gyroscope x axis reading from physical MEMs sensor. * @return Reported raw gyroscope x axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_gyro_X() uint16_t BNO08x::get_raw_mems_gyro_X()
{ {
return mems_raw_gyro_X; return mems_raw_gyro_X;
} }
@ -2925,7 +2957,7 @@ int16_t BNO08x::get_raw_gyro_X()
* *
* @return Reported raw gyroscope y axis reading from physical MEMs sensor. * @return Reported raw gyroscope y axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_gyro_Y() uint16_t BNO08x::get_raw_mems_gyro_Y()
{ {
return mems_raw_gyro_Y; return mems_raw_gyro_Y;
} }
@ -2935,17 +2967,33 @@ int16_t BNO08x::get_raw_gyro_Y()
* *
* @return Reported raw gyroscope z axis reading from physical MEMs sensor. * @return Reported raw gyroscope z axis reading from physical MEMs sensor.
*/ */
int16_t BNO08x::get_raw_gyro_Z() uint16_t BNO08x::get_raw_mems_gyro_Z()
{ {
return mems_raw_gyro_Z; return mems_raw_gyro_Z;
} }
/**
* @brief Get full raw mems magnetometer data.
*
* @param x Reference variable to save raw X axis data.
* @param y Reference variable to save raw Y axis data.
* @param z Reference variable to save raw Z axis data.
*
* @return void, nothing to return
*/
void BNO08x::get_raw_mems_magf(uint16_t& x, uint16_t &y, uint16_t &z)
{
x = mems_raw_magf_X;
y = mems_raw_magf_Y;
z = mems_raw_magf_Z;
}
/** /**
* @brief Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) * @brief Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
* *
* @return Reported raw magnetometer x axis reading from physical magnetometer sensor. * @return Reported raw magnetometer x axis reading from physical magnetometer sensor.
*/ */
int16_t BNO08x::get_raw_magf_X() uint16_t BNO08x::get_raw_mems_magf_X()
{ {
return mems_raw_magf_X; return mems_raw_magf_X;
} }
@ -2955,7 +3003,7 @@ int16_t BNO08x::get_raw_magf_X()
* *
* @return Reported raw magnetometer y axis reading from physical magnetometer sensor. * @return Reported raw magnetometer y axis reading from physical magnetometer sensor.
*/ */
int16_t BNO08x::get_raw_magf_Y() uint16_t BNO08x::get_raw_mems_magf_Y()
{ {
return mems_raw_magf_Y; return mems_raw_magf_Y;
} }
@ -2965,7 +3013,7 @@ int16_t BNO08x::get_raw_magf_Y()
* *
* @return Reported raw magnetometer z axis reading from physical magnetometer sensor. * @return Reported raw magnetometer z axis reading from physical magnetometer sensor.
*/ */
int16_t BNO08x::get_raw_magf_Z() uint16_t BNO08x::get_raw_mems_magf_Z()
{ {
return mems_raw_magf_Z; return mems_raw_magf_Z;
} }
@ -2980,12 +3028,12 @@ int16_t BNO08x::get_raw_magf_Z()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_gyro_calibrated_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy) void BNO08x::get_calibrated_gyro_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy)
{ {
x = q_to_float(raw_gyro_X, GYRO_Q1); x = q_to_float(raw_calib_gyro_X, GYRO_Q1);
y = q_to_float(raw_gyro_Y, GYRO_Q1); y = q_to_float(raw_calib_gyro_Y, GYRO_Q1);
z = q_to_float(raw_gyro_Z, GYRO_Q1); z = q_to_float(raw_calib_gyro_Z, GYRO_Q1);
accuracy = static_cast<BNO08xAccuracy>(gyro_accuracy); accuracy = static_cast<BNO08xAccuracy>(calib_gyro_accuracy);
} }
/** /**
@ -2993,9 +3041,9 @@ void BNO08x::get_gyro_calibrated_velocity(float& x, float& y, float& z, BNO08xAc
* *
* @return The angular reported x axis angular velocity from calibrated gyro (drift compensation applied). * @return The angular reported x axis angular velocity from calibrated gyro (drift compensation applied).
*/ */
float BNO08x::get_gyro_calibrated_velocity_X() float BNO08x::get_calibrated_gyro_velocity_X()
{ {
return q_to_float(raw_gyro_X, GYRO_Q1); return q_to_float(raw_calib_gyro_X, GYRO_Q1);
} }
/** /**
@ -3003,9 +3051,9 @@ float BNO08x::get_gyro_calibrated_velocity_X()
* *
* @return The angular reported y axis angular velocity from calibrated gyro (drift compensation applied). * @return The angular reported y axis angular velocity from calibrated gyro (drift compensation applied).
*/ */
float BNO08x::get_gyro_calibrated_velocity_Y() float BNO08x::get_calibrated_gyro_velocity_Y()
{ {
return q_to_float(raw_gyro_Y, GYRO_Q1); return q_to_float(raw_calib_gyro_Y, GYRO_Q1);
} }
/** /**
@ -3013,9 +3061,9 @@ float BNO08x::get_gyro_calibrated_velocity_Y()
* *
* @return The angular reported z axis angular velocity from calibrated gyro (drift compensation applied). * @return The angular reported z axis angular velocity from calibrated gyro (drift compensation applied).
*/ */
float BNO08x::get_gyro_calibrated_velocity_Z() float BNO08x::get_calibrated_gyro_velocity_Z()
{ {
return q_to_float(raw_gyro_Z, GYRO_Q1); return q_to_float(raw_calib_gyro_Z, GYRO_Q1);
} }
/** /**
@ -3023,9 +3071,9 @@ float BNO08x::get_gyro_calibrated_velocity_Z()
* *
* @return Accuracy of calibrated gyro. * @return Accuracy of calibrated gyro.
*/ */
BNO08xAccuracy BNO08x::get_gyro_accuracy() BNO08xAccuracy BNO08x::get_calibrated_gyro_accuracy()
{ {
return static_cast<BNO08xAccuracy>(gyro_accuracy); return static_cast<BNO08xAccuracy>(calib_gyro_accuracy);
} }
/** /**
@ -3042,7 +3090,7 @@ BNO08xAccuracy BNO08x::get_gyro_accuracy()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_uncalibrated_gyro(float& x, float& y, float& z, float& b_x, float& b_y, float& b_z, BNO08xAccuracy& accuracy) void BNO08x::get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& b_x, float& b_y, float& b_z, BNO08xAccuracy& accuracy)
{ {
x = q_to_float(raw_uncalib_gyro_X, GYRO_Q1); x = q_to_float(raw_uncalib_gyro_X, GYRO_Q1);
y = q_to_float(raw_uncalib_gyro_Y, GYRO_Q1); y = q_to_float(raw_uncalib_gyro_Y, GYRO_Q1);
@ -3058,7 +3106,7 @@ void BNO08x::get_uncalibrated_gyro(float& x, float& y, float& z, float& b_x, flo
* *
* @return The angular reported x axis angular velocity from uncalibrated gyro. * @return The angular reported x axis angular velocity from uncalibrated gyro.
*/ */
float BNO08x::get_uncalibrated_gyro_X() float BNO08x::get_uncalibrated_gyro_velocity_X()
{ {
return q_to_float(raw_uncalib_gyro_X, GYRO_Q1); return q_to_float(raw_uncalib_gyro_X, GYRO_Q1);
} }
@ -3068,7 +3116,7 @@ float BNO08x::get_uncalibrated_gyro_X()
* *
* @return The angular reported Y axis angular velocity from uncalibrated gyro. * @return The angular reported Y axis angular velocity from uncalibrated gyro.
*/ */
float BNO08x::get_uncalibrated_gyro_Y() float BNO08x::get_uncalibrated_gyro_velocity_Y()
{ {
return q_to_float(raw_uncalib_gyro_Y, GYRO_Q1); return q_to_float(raw_uncalib_gyro_Y, GYRO_Q1);
} }
@ -3078,7 +3126,7 @@ float BNO08x::get_uncalibrated_gyro_Y()
* *
* @return The angular reported Z axis angular velocity from uncalibrated gyro. * @return The angular reported Z axis angular velocity from uncalibrated gyro.
*/ */
float BNO08x::get_uncalibrated_gyro_Z() float BNO08x::get_uncalibrated_gyro_velocity_Z()
{ {
return q_to_float(raw_uncalib_gyro_Z, GYRO_Q1); return q_to_float(raw_uncalib_gyro_Z, GYRO_Q1);
} }
@ -3132,11 +3180,11 @@ BNO08xAccuracy BNO08x::get_uncalibrated_gyro_accuracy()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_gyro_velocity(float& x, float& y, float& z) void BNO08x::get_integrated_gyro_velocity(float& x, float& y, float& z)
{ {
x = q_to_float(raw_velocity_gyro_X, ANGULAR_VELOCITY_Q1); x = q_to_float(integrated_gyro_velocity_X, ANGULAR_VELOCITY_Q1);
y = q_to_float(raw_velocity_gyro_Y, ANGULAR_VELOCITY_Q1); y = q_to_float(integrated_gyro_velocity_Y, ANGULAR_VELOCITY_Q1);
z = q_to_float(raw_velocity_gyro_Z, ANGULAR_VELOCITY_Q1); z = q_to_float(integrated_gyro_velocity_Z, ANGULAR_VELOCITY_Q1);
} }
/** /**
@ -3144,9 +3192,9 @@ void BNO08x::get_gyro_velocity(float& x, float& y, float& z)
* *
* @return The reported x axis angular velocity. * @return The reported x axis angular velocity.
*/ */
float BNO08x::get_gyro_velocity_X() float BNO08x::get_integrated_gyro_velocity_X()
{ {
return q_to_float(raw_velocity_gyro_X, ANGULAR_VELOCITY_Q1); return q_to_float(integrated_gyro_velocity_X, ANGULAR_VELOCITY_Q1);
} }
/** /**
@ -3154,9 +3202,9 @@ float BNO08x::get_gyro_velocity_X()
* *
* @return The reported y axis angular velocity. * @return The reported y axis angular velocity.
*/ */
float BNO08x::get_gyro_velocity_Y() float BNO08x::get_integrated_gyro_velocity_Y()
{ {
return q_to_float(raw_velocity_gyro_Y, ANGULAR_VELOCITY_Q1); return q_to_float(integrated_gyro_velocity_Y, ANGULAR_VELOCITY_Q1);
} }
/** /**
@ -3164,9 +3212,9 @@ float BNO08x::get_gyro_velocity_Y()
* *
* @return The reported Z axis angular velocity. * @return The reported Z axis angular velocity.
*/ */
float BNO08x::get_gyro_velocity_Z() float BNO08x::get_integrated_gyro_velocity_Z()
{ {
return q_to_float(raw_velocity_gyro_Z, ANGULAR_VELOCITY_Q1); return q_to_float(integrated_gyro_velocity_Z, ANGULAR_VELOCITY_Q1);
} }
/** /**

166
test/SingleReportTests.cpp
View File

@ -355,8 +355,8 @@ TEST_CASE("Enable/Disable Gyro Integrated Roation Vector", "[SingleReportEnableD
sprintf(msg_buff, sprintf(msg_buff,
"Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf gyro vel X: %.2lf gyro vel Y: %.2lf gyro vel Z: " "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf gyro vel X: %.2lf gyro vel Y: %.2lf gyro vel Z: "
"%.2lf ", "%.2lf ",
(i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, report_data.gyro_vel_x, (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, report_data.integrated_gyro_vel_x,
report_data.gyro_vel_y, report_data.gyro_vel_z); report_data.integrated_gyro_vel_y, report_data.integrated_gyro_vel_z);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test // reset all data used in report test
@ -474,4 +474,164 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed."); BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG); BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Linear Accelerometer";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
bool new_data = false;
char msg_buff[200] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
/*enable respective report to test and ensure it reports new data */
imu->enable_linear_accelerometer(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data);
}
// assert that new data from respective report has been received
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff,
"Enabled Report Rx Data Trial %d Success: lin accel X: %.2lf lin accel Y: %.2lf lin accel Z: "
"%.2lf ",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
/*disable respective report to test and ensure it stops reporting new data */
imu->disable_linear_accelerometer();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data);
}
// assert that no new data from respective report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Gravity";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
bool new_data = false;
char msg_buff[200] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
/*enable respective report to test and ensure it reports new data */
imu->enable_gravity(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::gravity_data_is_default(&report_data);
}
// assert that new data from respective report has been received
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff,
"Enabled Report Rx Data Trial %d Success: grav X: %.2lf grav Y: %.2lf grav Z: "
"%.2lf ",
(i + 1), report_data.grav_x, report_data.grav_y, report_data.grav_z);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
/*disable respective report to test and ensure it stops reporting new data */
imu->disable_gravity();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::gravity_data_is_default(&report_data);
}
// assert that no new data from respective report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}