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

spi_task() hint control atonomy (prep for data cbs)

This commit is contained in:
myles-parfeniuk 2024-07-22 13:14:03 -07:00
parent 87ab83f0eb
commit cb8b92ad28
2 changed files with 212 additions and 190 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

313
BNO08x.cpp
View File

@ -7,13 +7,14 @@ bno08x_config_t BNO08x::default_imu_config;
* @brief BNO08x imu constructor. * @brief BNO08x imu constructor.
* *
* Construct a BNO08x object for managing a BNO08x sensor. * Construct a BNO08x object for managing a BNO08x sensor.
* Initializes required GPIO pins, interrupts, SPI peripheral, and two local tasks for SPI transactions and data processing. * Initializes required GPIO pins, interrupts, SPI peripheral.
* *
* @param imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t * @param imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t
* @return void, nothing to return * @return void, nothing to return
*/ */
BNO08x::BNO08x(bno08x_config_t imu_config) BNO08x::BNO08x(bno08x_config_t imu_config)
: evt_grp_spi(xEventGroupCreate()) : evt_grp_spi(xEventGroupCreate())
, evt_grp_report_en(xEventGroupCreate())
, queue_rx_data(xQueueCreate(1, sizeof(bno08x_rx_packet_t))) , queue_rx_data(xQueueCreate(1, sizeof(bno08x_rx_packet_t)))
, queue_tx_data(xQueueCreate(1, sizeof(bno08x_tx_packet_t))) , queue_tx_data(xQueueCreate(1, sizeof(bno08x_tx_packet_t)))
, queue_frs_read_data(xQueueCreate(1, RX_DATA_LENGTH * sizeof(uint8_t))) , queue_frs_read_data(xQueueCreate(1, RX_DATA_LENGTH * sizeof(uint8_t)))
@ -99,22 +100,24 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
spi_transaction.rx_buffer = NULL; spi_transaction.rx_buffer = NULL;
spi_transaction.flags = 0; spi_transaction.flags = 0;
spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
data_proc_task_hdl = NULL;
spi_task_hdl = NULL;
xTaskCreate(&data_proc_task_trampoline, "bno08x_data_processing_task", 4096, this, 7, &data_proc_task_hdl); // launch data processing task
xTaskCreate(&spi_task_trampoline, "bno08x_spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
} }
/** /**
* @brief Initializes BNO08x sensor * @brief Initializes BNO08x sensor
* *
* Resets sensor and goes through initializing process outlined in BNO08x datasheet. * Resets sensor and goes through initializing process outlined in BNO08x datasheet.
* Launches two tasks, one to manage SPI transactions, another to process any received data.
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
bool BNO08x::initialize() bool BNO08x::initialize()
{ {
// launch tasks
data_proc_task_hdl = NULL;
spi_task_hdl = NULL;
xTaskCreate(&data_proc_task_trampoline, "bno08x_data_processing_task", 4096, this, 7, &data_proc_task_hdl); // launch data processing task
xTaskCreate(&spi_task_trampoline, "bno08x_spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
// Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3) // Receive advertisement message on boot (see SH2 Ref. Manual 5.2 & 5.3)
if (!hard_reset()) if (!hard_reset())
{ {
@ -127,7 +130,7 @@ bool BNO08x::initialize()
} }
// The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2) // The BNO080 will then transmit an unsolicited Initialize Response (see SH2 Ref. Manual 6.4.5.2)
if (!wait_for_device_int()) if (!wait_for_host_int())
{ {
ESP_LOGE(TAG, "Failed to receive initialize response on boot."); ESP_LOGE(TAG, "Failed to receive initialize response on boot.");
return false; return false;
@ -139,8 +142,9 @@ bool BNO08x::initialize()
// queue request for product ID command // queue request for product ID command
queue_request_product_id_command(); queue_request_product_id_command();
// transmit request for product ID // transmit request for product ID
if (!wait_for_device_int()) if (!wait_for_host_int())
{ {
ESP_LOGE(TAG, "Failed to send product ID report request"); ESP_LOGE(TAG, "Failed to send product ID report request");
return false; return false;
@ -157,13 +161,18 @@ bool BNO08x::initialize()
} }
/** /**
* @brief Re-enables interrupts and waits for BNO08x to assert HINT pin. * @brief Waits for BNO08x to assert HINT pin or timeout to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
* *
* @return True if the bno08x hint pin has been asserted within HOST_INT_TIMEOUT_MS. * @return True if the bno08x hint pin has been asserted within HOST_INT_TIMEOUT_MS.
*/ */
bool BNO08x::wait_for_device_int() bool BNO08x::wait_for_host_int()
{ {
gpio_intr_enable(imu_config.io_int); // re-enable interrupts // if no reports are enabled we can assume interrupts are disabled (see spi_task())
if (xEventGroupGetBits(evt_grp_report_en) == 0)
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// wait until an interrupt has been asserted or timeout has occured // wait until an interrupt has been asserted or timeout has occured
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS)) if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS))
{ {
@ -186,7 +195,7 @@ bool BNO08x::wait_for_device_int()
*/ */
bool BNO08x::wait_for_data() bool BNO08x::wait_for_data()
{ {
if (wait_for_device_int()) if (wait_for_host_int())
{ {
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT, pdTRUE, pdTRUE, 0)) if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT, pdTRUE, pdTRUE, 0))
{ {
@ -220,7 +229,7 @@ bool BNO08x::hard_reset()
vTaskDelay(50 / portTICK_PERIOD_MS); // 10ns min, set to 50ms to let things stabilize(Anton) vTaskDelay(50 / portTICK_PERIOD_MS); // 10ns min, set to 50ms to let things stabilize(Anton)
gpio_set_level(imu_config.io_rst, 1); // bring out of reset gpio_set_level(imu_config.io_rst, 1); // bring out of reset
if (!wait_for_device_int()) // wait for BNO08x to assert INT pin if (!wait_for_host_int()) // wait for BNO08x to assert INT pin
{ {
ESP_LOGE(TAG, "Reset Failed, interrupt to host device never asserted."); ESP_LOGE(TAG, "Reset Failed, interrupt to host device never asserted.");
return false; return false;
@ -242,11 +251,11 @@ bool BNO08x::soft_reset()
commands[0] = 1; commands[0] = 1;
queue_packet(CHANNEL_EXECUTABLE, 1, commands); queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_device_int(); success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive advertisement message; success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive initialize message success = wait_for_host_int(); // receive initialize message
return success; return success;
} }
@ -266,9 +275,9 @@ uint8_t BNO08x::get_reset_reason()
// Transmit packet on channel 2, 2 bytes // Transmit packet on channel 2, 2 bytes
queue_packet(CHANNEL_CONTROL, 2, commands); queue_packet(CHANNEL_CONTROL, 2, commands);
wait_for_device_int(); wait_for_host_int();
if (wait_for_device_int()) if (wait_for_host_int())
{ {
if (commands[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) if (commands[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
return (commands[1]); return (commands[1]);
@ -290,11 +299,11 @@ bool BNO08x::mode_on()
commands[0] = 2; commands[0] = 2;
queue_packet(CHANNEL_EXECUTABLE, 1, commands); queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_device_int(); success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive advertisement message; success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive initialize message success = wait_for_host_int(); // receive initialize message
return success; return success;
} }
@ -312,11 +321,11 @@ bool BNO08x::mode_sleep()
commands[0] = 3; commands[0] = 3;
queue_packet(CHANNEL_EXECUTABLE, 1, commands); queue_packet(CHANNEL_EXECUTABLE, 1, commands);
success = wait_for_device_int(); success = wait_for_host_int();
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive advertisement message; success = wait_for_host_int(); // receive advertisement message;
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
success = wait_for_device_int(); // receive initialize message success = wait_for_host_int(); // receive initialize message
return success; return success;
} }
@ -367,11 +376,58 @@ bool BNO08x::receive_packet()
gpio_set_level(imu_config.io_cs, 1); // de-assert chip select gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
xQueueSend(queue_rx_data, &packet, 0); //send received data to data_proc_task xQueueSend(queue_rx_data, &packet, 0); // send received data to data_proc_task
return true; return true;
} }
/**
* @brief Enables a sensor report for a given ID.
*
* @param report_ID The report ID of the sensor, i.e. SENSOR_REPORT_ID_X
* @param time_between_reports The desired time in microseconds between each report. The BNO08x will send reports according to this interval.
* @param report_evt_grp_bit The event group bit for the respective report, to indicate to spi_task() it's enabled, i.e. EVT_GRP_RPT_X
*
* If no reports were enabled prior to call, this function will re-enable interrupts on hint pin.
*
* @return void, nothing to return
*/
void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
{
queue_feature_command(report_ID, time_between_reports);
if (wait_for_host_int()) // wait for next interrupt such that command is sent
{
xEventGroupSetBits(evt_grp_report_en, report_evt_grp_bit);
// if no reports were enabled before this one, we can assume hint interrupt was disabled, re-enable to read reports
if ((xEventGroupGetBits(evt_grp_report_en) & ~report_evt_grp_bit) == 0)
gpio_intr_enable(imu_config.io_int);
}
}
/**
* @brief Disables a sensor report for a given ID by setting its time interval to 0.
*
* @param report_ID The report ID of the sensor, i.e. SENSOR_REPORT_ID_X
* @param report_evt_grp_bit The event group bit for the respective report, to indicate to spi_task() it's disabled, i.e. EVT_GRP_RPT_X
*
* If no reports are enabled after disabling, this function will disable interrupts on hint pin.
*
* @return void, nothing to return
*/
void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
{
queue_feature_command(report_ID, 0);
if (wait_for_host_int()) // wait for next interrupt such that command is sent
{
xEventGroupClearBits(evt_grp_report_en, report_evt_grp_bit);
// no reports enabled, disable hint to avoid wasting processing time
if ((xEventGroupGetBits(evt_grp_report_en)) == 0)
gpio_intr_disable(imu_config.io_int);
}
}
/** /**
* @brief Queues an SHTP packet to be sent via SPI. * @brief Queues an SHTP packet to be sent via SPI.
* *
@ -401,7 +457,7 @@ void BNO08x::queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t*
/** /**
* @brief Sends a queued SHTP packet via SPI. * @brief Sends a queued SHTP packet via SPI.
* *
* @param packet The packet queued to be sent. * @param packet The packet queued to be sent.
* *
* @return void, nothing to return * @return void, nothing to return
@ -426,7 +482,7 @@ void BNO08x::send_packet(bno08x_tx_packet_t* packet)
* *
* @param command The command to be sent. * @param command The command to be sent.
* @param commands Command data array, pre-packed with exception of first 3 elements (command info) * @param commands Command data array, pre-packed with exception of first 3 elements (command info)
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::queue_command(uint8_t command, uint8_t* commands) void BNO08x::queue_command(uint8_t command, uint8_t* commands)
@ -462,7 +518,7 @@ void BNO08x::queue_request_product_id_command()
void BNO08x::calibrate_all() void BNO08x::calibrate_all()
{ {
queue_calibrate_command(CALIBRATE_ACCEL_GYRO_MAG); queue_calibrate_command(CALIBRATE_ACCEL_GYRO_MAG);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -474,7 +530,7 @@ void BNO08x::calibrate_all()
void BNO08x::calibrate_accelerometer() void BNO08x::calibrate_accelerometer()
{ {
queue_calibrate_command(CALIBRATE_ACCEL); queue_calibrate_command(CALIBRATE_ACCEL);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -486,7 +542,7 @@ void BNO08x::calibrate_accelerometer()
void BNO08x::calibrate_gyro() void BNO08x::calibrate_gyro()
{ {
queue_calibrate_command(CALIBRATE_GYRO); queue_calibrate_command(CALIBRATE_GYRO);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -498,7 +554,7 @@ void BNO08x::calibrate_gyro()
void BNO08x::calibrate_magnetometer() void BNO08x::calibrate_magnetometer()
{ {
queue_calibrate_command(CALIBRATE_MAG); queue_calibrate_command(CALIBRATE_MAG);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -510,7 +566,7 @@ void BNO08x::calibrate_magnetometer()
void BNO08x::calibrate_planar_accelerometer() void BNO08x::calibrate_planar_accelerometer()
{ {
queue_calibrate_command(CALIBRATE_PLANAR_ACCEL); queue_calibrate_command(CALIBRATE_PLANAR_ACCEL);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -575,7 +631,7 @@ void BNO08x::request_calibration_status()
// Using this commands packet, send a command // Using this commands packet, send a command
queue_command(COMMAND_ME_CALIBRATE, commands); queue_command(COMMAND_ME_CALIBRATE, commands);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -600,7 +656,7 @@ bool BNO08x::calibration_complete()
void BNO08x::end_calibration() void BNO08x::end_calibration()
{ {
queue_calibrate_command(CALIBRATE_STOP); // Disables all calibrations queue_calibrate_command(CALIBRATE_STOP); // Disables all calibrations
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -615,7 +671,7 @@ void BNO08x::save_calibration()
// Using this shtpData packet, send a command // Using this shtpData packet, send a command
queue_command(COMMAND_DCD, commands); // Save DCD command queue_command(COMMAND_DCD, commands); // Save DCD command
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -724,12 +780,18 @@ bool BNO08x::run_full_calibration_routine()
*/ */
bool BNO08x::data_available() bool BNO08x::data_available()
{ {
if (xEventGroupGetBits(evt_grp_report_en) == 0)
{
ESP_LOGE(TAG, "No reports enabled.");
return false;
}
return wait_for_data(); return wait_for_data();
} }
/** /**
* @brief Parses a packet received from bno08x, updating any data according to received reports. * @brief Parses a packet received from bno08x, updating any data according to received reports.
* *
* @param packet The packet to be parsed. * @param packet The packet to be parsed.
* @return 0 if invalid packet. * @return 0 if invalid packet.
*/ */
@ -778,7 +840,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet)
/** /**
* @brief Parses product id report and prints device info. * @brief Parses product id report and prints device info.
* *
* @param packet The packet containing product id report. * @param packet The packet containing product id report.
* @return 1, always valid. * @return 1, always valid.
*/ */
@ -809,7 +871,7 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
/** /**
* @brief Sends packet to be parsed to meta data function call (frs_read_word()) through queue. * @brief Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
* *
* @param packet The packet containing the frs read report. * @param packet The packet containing the frs read report.
* @return 1, always valid. * @return 1, always valid.
*/ */
@ -987,8 +1049,8 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
default: default:
if (packet->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || packet->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR || if (packet->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || packet->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR ||
packet->body[5] == SENSOR_REPORT_ID_AR_VR_STABILIZED_ROTATION_VECTOR || packet->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR ||
packet->body[5] == SENSOR_REPORT_ID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR) packet->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR)
{ {
quat_accuracy = status; quat_accuracy = status;
raw_quat_I = data1; raw_quat_I = data1;
@ -1051,9 +1113,7 @@ uint16_t BNO08x::parse_command_report(bno08x_rx_packet_t* packet)
*/ */
void BNO08x::enable_game_rotation_vector(uint32_t time_between_reports) void BNO08x::enable_game_rotation_vector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, time_between_reports, EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1064,9 +1124,7 @@ void BNO08x::enable_game_rotation_vector(uint32_t time_between_reports)
*/ */
void BNO08x::enable_rotation_vector(uint32_t time_between_reports) void BNO08x::enable_rotation_vector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_ROTATION_VECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_ROTATION_VECTOR, time_between_reports, EVT_GRP_RPT_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1077,9 +1135,7 @@ void BNO08x::enable_rotation_vector(uint32_t time_between_reports)
*/ */
void BNO08x::enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports) void BNO08x::enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_AR_VR_STABILIZED_ROTATION_VECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR, time_between_reports, EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1090,9 +1146,7 @@ void BNO08x::enable_ARVR_stabilized_rotation_vector(uint32_t time_between_report
*/ */
void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports) void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR, time_between_reports, EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1103,9 +1157,7 @@ void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_r
*/ */
void BNO08x::enable_gyro_integrated_rotation_vector(uint32_t time_between_reports) void BNO08x::enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, time_between_reports, EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1116,9 +1168,7 @@ void BNO08x::enable_gyro_integrated_rotation_vector(uint32_t time_between_report
*/ */
void BNO08x::enable_accelerometer(uint32_t time_between_reports) void BNO08x::enable_accelerometer(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_ACCELEROMETER, time_between_reports); enable_report(SENSOR_REPORT_ID_ACCELEROMETER, time_between_reports, EVT_GRP_RPT_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1129,9 +1179,7 @@ void BNO08x::enable_accelerometer(uint32_t time_between_reports)
*/ */
void BNO08x::enable_linear_accelerometer(uint32_t time_between_reports) void BNO08x::enable_linear_accelerometer(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_LINEAR_ACCELERATION, time_between_reports); enable_report(SENSOR_REPORT_ID_LINEAR_ACCELERATION, time_between_reports, EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1142,9 +1190,7 @@ void BNO08x::enable_linear_accelerometer(uint32_t time_between_reports)
*/ */
void BNO08x::enable_gravity(uint32_t time_between_reports) void BNO08x::enable_gravity(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_GRAVITY, time_between_reports); enable_report(SENSOR_REPORT_ID_GRAVITY, time_between_reports, EVT_GRP_RPT_GRAVITY_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1155,9 +1201,7 @@ void BNO08x::enable_gravity(uint32_t time_between_reports)
*/ */
void BNO08x::enable_gyro(uint32_t time_between_reports) void BNO08x::enable_gyro(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_GYROSCOPE, time_between_reports); enable_report(SENSOR_REPORT_ID_GYROSCOPE, time_between_reports, EVT_GRP_RPT_GYRO_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1168,9 +1212,7 @@ void BNO08x::enable_gyro(uint32_t time_between_reports)
*/ */
void BNO08x::enable_uncalibrated_gyro(uint32_t time_between_reports) void BNO08x::enable_uncalibrated_gyro(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_UNCALIBRATED_GYRO, time_between_reports); enable_report(SENSOR_REPORT_ID_UNCALIBRATED_GYRO, time_between_reports, EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1181,9 +1223,7 @@ void BNO08x::enable_uncalibrated_gyro(uint32_t time_between_reports)
*/ */
void BNO08x::enable_magnetometer(uint32_t time_between_reports) void BNO08x::enable_magnetometer(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_MAGNETIC_FIELD, time_between_reports); enable_report(SENSOR_REPORT_ID_MAGNETIC_FIELD, time_between_reports, EVT_GRP_RPT_MAGNETOMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1194,9 +1234,7 @@ void BNO08x::enable_magnetometer(uint32_t time_between_reports)
*/ */
void BNO08x::enable_tap_detector(uint32_t time_between_reports) void BNO08x::enable_tap_detector(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_TAP_DETECTOR, time_between_reports); enable_report(SENSOR_REPORT_ID_TAP_DETECTOR, time_between_reports, EVT_GRP_RPT_TAP_DETECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1207,9 +1245,7 @@ void BNO08x::enable_tap_detector(uint32_t time_between_reports)
*/ */
void BNO08x::enable_step_counter(uint32_t time_between_reports) void BNO08x::enable_step_counter(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_STEP_COUNTER, time_between_reports); enable_report(SENSOR_REPORT_ID_STEP_COUNTER, time_between_reports, EVT_GRP_RPT_STEP_COUNTER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1220,9 +1256,7 @@ void BNO08x::enable_step_counter(uint32_t time_between_reports)
*/ */
void BNO08x::enable_stability_classifier(uint32_t time_between_reports) void BNO08x::enable_stability_classifier(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_STABILITY_CLASSIFIER, time_between_reports); enable_report(SENSOR_REPORT_ID_STABILITY_CLASSIFIER, time_between_reports, EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1236,9 +1270,7 @@ void BNO08x::enable_stability_classifier(uint32_t time_between_reports)
void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]) void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9])
{ {
activity_confidences = activity_confidence_vals; // Store pointer to array activity_confidences = activity_confidence_vals; // Store pointer to array
queue_feature_command(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, activities_to_enable); enable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1249,9 +1281,7 @@ void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t
*/ */
void BNO08x::enable_raw_accelerometer(uint32_t time_between_reports) void BNO08x::enable_raw_accelerometer(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_ACCELEROMETER, time_between_reports); enable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, time_between_reports, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1262,9 +1292,7 @@ void BNO08x::enable_raw_accelerometer(uint32_t time_between_reports)
*/ */
void BNO08x::enable_raw_gyro(uint32_t time_between_reports) void BNO08x::enable_raw_gyro(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_GYROSCOPE, time_between_reports); enable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, time_between_reports, EVT_GRP_RPT_RAW_GYRO_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1275,9 +1303,7 @@ void BNO08x::enable_raw_gyro(uint32_t time_between_reports)
*/ */
void BNO08x::enable_raw_magnetometer(uint32_t time_between_reports) void BNO08x::enable_raw_magnetometer(uint32_t time_between_reports)
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_MAGNETOMETER, time_between_reports); enable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, time_between_reports, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1287,9 +1313,7 @@ void BNO08x::enable_raw_magnetometer(uint32_t time_between_reports)
*/ */
void BNO08x::disable_rotation_vector() void BNO08x::disable_rotation_vector()
{ {
queue_feature_command(SENSOR_REPORT_ID_ROTATION_VECTOR, 0); disable_report(SENSOR_REPORT_ID_ROTATION_VECTOR, EVT_GRP_RPT_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1299,9 +1323,7 @@ void BNO08x::disable_rotation_vector()
*/ */
void BNO08x::disable_game_rotation_vector() void BNO08x::disable_game_rotation_vector()
{ {
queue_feature_command(SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, 0); disable_report(SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1311,9 +1333,7 @@ void BNO08x::disable_game_rotation_vector()
*/ */
void BNO08x::disable_ARVR_stabilized_rotation_vector() void BNO08x::disable_ARVR_stabilized_rotation_vector()
{ {
queue_feature_command(SENSOR_REPORT_ID_AR_VR_STABILIZED_ROTATION_VECTOR, 0); disable_report(SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR, EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1323,9 +1343,7 @@ void BNO08x::disable_ARVR_stabilized_rotation_vector()
*/ */
void BNO08x::disable_ARVR_stabilized_game_rotation_vector() void BNO08x::disable_ARVR_stabilized_game_rotation_vector()
{ {
queue_feature_command(SENSOR_REPORT_ID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, 0); disable_report(SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR, EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1335,9 +1353,7 @@ void BNO08x::disable_ARVR_stabilized_game_rotation_vector()
*/ */
void BNO08x::disable_gyro_integrated_rotation_vector() void BNO08x::disable_gyro_integrated_rotation_vector()
{ {
queue_feature_command(SENSOR_REPORT_ID_ROTATION_VECTOR, 0); disable_report(SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1347,9 +1363,7 @@ void BNO08x::disable_gyro_integrated_rotation_vector()
*/ */
void BNO08x::disable_accelerometer() void BNO08x::disable_accelerometer()
{ {
queue_feature_command(SENSOR_REPORT_ID_ACCELEROMETER, 0); disable_report(SENSOR_REPORT_ID_ACCELEROMETER, EVT_GRP_RPT_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1359,9 +1373,7 @@ void BNO08x::disable_accelerometer()
*/ */
void BNO08x::disable_linear_accelerometer() void BNO08x::disable_linear_accelerometer()
{ {
queue_feature_command(SENSOR_REPORT_ID_LINEAR_ACCELERATION, 0); disable_report(SENSOR_REPORT_ID_LINEAR_ACCELERATION, EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1371,9 +1383,7 @@ void BNO08x::disable_linear_accelerometer()
*/ */
void BNO08x::disable_gravity() void BNO08x::disable_gravity()
{ {
queue_feature_command(SENSOR_REPORT_ID_GRAVITY, 0); disable_report(SENSOR_REPORT_ID_GRAVITY, EVT_GRP_RPT_GRAVITY_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1383,9 +1393,7 @@ void BNO08x::disable_gravity()
*/ */
void BNO08x::disable_gyro() void BNO08x::disable_gyro()
{ {
queue_feature_command(SENSOR_REPORT_ID_GYROSCOPE, 0); disable_report(SENSOR_REPORT_ID_GYROSCOPE, EVT_GRP_RPT_GYRO_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1395,9 +1403,7 @@ void BNO08x::disable_gyro()
*/ */
void BNO08x::disable_uncalibrated_gyro() void BNO08x::disable_uncalibrated_gyro()
{ {
queue_feature_command(SENSOR_REPORT_ID_UNCALIBRATED_GYRO, 0); disable_report(SENSOR_REPORT_ID_UNCALIBRATED_GYRO, EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1407,9 +1413,7 @@ void BNO08x::disable_uncalibrated_gyro()
*/ */
void BNO08x::disable_magnetometer() void BNO08x::disable_magnetometer()
{ {
queue_feature_command(SENSOR_REPORT_ID_MAGNETIC_FIELD, 0); disable_report(SENSOR_REPORT_ID_MAGNETIC_FIELD, EVT_GRP_RPT_MAGNETOMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1419,9 +1423,7 @@ void BNO08x::disable_magnetometer()
*/ */
void BNO08x::disable_tap_detector() void BNO08x::disable_tap_detector()
{ {
queue_feature_command(SENSOR_REPORT_ID_TAP_DETECTOR, 0); disable_report(SENSOR_REPORT_ID_TAP_DETECTOR, EVT_GRP_RPT_TAP_DETECTOR_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1431,9 +1433,7 @@ void BNO08x::disable_tap_detector()
*/ */
void BNO08x::disable_step_counter() void BNO08x::disable_step_counter()
{ {
queue_feature_command(SENSOR_REPORT_ID_STEP_COUNTER, 0); disable_report(SENSOR_REPORT_ID_STEP_COUNTER, EVT_GRP_RPT_STEP_COUNTER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1443,9 +1443,7 @@ void BNO08x::disable_step_counter()
*/ */
void BNO08x::disable_stability_classifier() void BNO08x::disable_stability_classifier()
{ {
queue_feature_command(SENSOR_REPORT_ID_STABILITY_CLASSIFIER, 0); disable_report(SENSOR_REPORT_ID_STABILITY_CLASSIFIER, EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1455,9 +1453,7 @@ void BNO08x::disable_stability_classifier()
*/ */
void BNO08x::disable_activity_classifier() void BNO08x::disable_activity_classifier()
{ {
queue_feature_command(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, 0); disable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1467,9 +1463,7 @@ void BNO08x::disable_activity_classifier()
*/ */
void BNO08x::disable_raw_accelerometer() void BNO08x::disable_raw_accelerometer()
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_ACCELEROMETER, 0); disable_report(SENSOR_REPORT_ID_RAW_ACCELEROMETER, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1479,9 +1473,7 @@ void BNO08x::disable_raw_accelerometer()
*/ */
void BNO08x::disable_raw_gyro() void BNO08x::disable_raw_gyro()
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_GYROSCOPE, 0); disable_report(SENSOR_REPORT_ID_RAW_GYROSCOPE, EVT_GRP_RPT_RAW_GYRO_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1491,9 +1483,7 @@ void BNO08x::disable_raw_gyro()
*/ */
void BNO08x::disable_raw_magnetometer() void BNO08x::disable_raw_magnetometer()
{ {
queue_feature_command(SENSOR_REPORT_ID_RAW_MAGNETOMETER, 0); disable_report(SENSOR_REPORT_ID_RAW_MAGNETOMETER, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
/** /**
@ -1507,7 +1497,7 @@ void BNO08x::disable_raw_magnetometer()
void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis) void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
{ {
queue_tare_command(TARE_NOW, axis_sel, rotation_vector_basis); queue_tare_command(TARE_NOW, axis_sel, rotation_vector_basis);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -1519,7 +1509,7 @@ void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
void BNO08x::save_tare() void BNO08x::save_tare()
{ {
queue_tare_command(TARE_PERSIST); queue_tare_command(TARE_PERSIST);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -1531,7 +1521,7 @@ void BNO08x::save_tare()
void BNO08x::clear_tare() void BNO08x::clear_tare()
{ {
queue_tare_command(TARE_SET_REORIENTATION); queue_tare_command(TARE_SET_REORIENTATION);
wait_for_device_int(); // wait for next interrupt such that command is sent wait_for_host_int(); // wait for next interrupt such that command is sent
vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed vTaskDelay(12 / portTICK_PERIOD_MS); // allow some time for command to be executed
} }
@ -2536,7 +2526,7 @@ bool BNO08x::FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t
// Transmit packet on channel 2, 8 bytes // Transmit packet on channel 2, 8 bytes
queue_packet(CHANNEL_CONTROL, 8, commands); queue_packet(CHANNEL_CONTROL, 8, commands);
return wait_for_device_int(); return wait_for_host_int();
} }
/** /**
@ -2569,7 +2559,7 @@ bool BNO08x::FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t w
{ {
counter = 0; counter = 0;
while (!wait_for_device_int()) while (!wait_for_host_int())
{ {
counter++; counter++;
@ -2686,7 +2676,7 @@ void BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_repo
* @brief Static function used to launch spi task. * @brief Static function used to launch spi task.
* *
* Used such that spi_task() can be non-static class member. * Used such that spi_task() can be non-static class member.
* *
* @param arg void pointer to BNO08x imu object * @param arg void pointer to BNO08x imu object
* @return void, nothing to return * @return void, nothing to return
*/ */
@ -2708,7 +2698,12 @@ void BNO08x::spi_task()
while (1) while (1)
{ {
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // block until notified by ISR /*only re-enable interrupts if there are reports enabled, if no reports are enabled
interrupts will be re-enabled upon the next user call to wait_for_host_int()*/
if (xEventGroupGetBits(evt_grp_report_en) != 0)
gpio_intr_enable(imu_config.io_int);
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // block until notified by ISR (hint_handler)
if (imu_config.debug_en) if (imu_config.debug_en)
{ {
ESP_LOGI(TAG, "HINT asserted, time since last assertion: %llu", (esp_timer_get_time() - prev_time)); ESP_LOGI(TAG, "HINT asserted, time since last assertion: %llu", (esp_timer_get_time() - prev_time));
@ -2720,7 +2715,7 @@ void BNO08x::spi_task()
else else
receive_packet(); // receive packet receive_packet(); // receive packet
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT); // SPI completed, notify wait_for_int() xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_HINT_BIT); // SPI completed, notify wait_for_host_int()
} }
} }
@ -2728,7 +2723,7 @@ void BNO08x::spi_task()
* @brief Static function used to launch data processing task. * @brief Static function used to launch data processing task.
* *
* Used such that data_proc_task() can be non-static class member. * Used such that data_proc_task() can be non-static class member.
* *
* @param arg void pointer to BNO08x imu object * @param arg void pointer to BNO08x imu object
* @return void, nothing to return * @return void, nothing to return
*/ */
@ -2749,9 +2744,9 @@ void BNO08x::data_proc_task()
while (1) while (1)
{ {
if (xQueueReceive(queue_rx_data, &packet, portMAX_DELAY)) //receive packet from spi_task() if (xQueueReceive(queue_rx_data, &packet, portMAX_DELAY)) // receive packet from spi_task()
{ {
if (parse_packet(&packet) != 0) //check if packet is valid if (parse_packet(&packet) != 0) // check if packet is valid
xEventGroupSetBits( xEventGroupSetBits(
evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT); // indicate valid packet has been received and processed to wait_for_data() evt_grp_spi, EVT_GRP_SPI_RX_DATA_RDY_BIT); // indicate valid packet has been received and processed to wait_for_data()
} }

89
BNO08x.hpp
View File

@ -290,12 +290,12 @@ class BNO08x
static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (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 // 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_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_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_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_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_ARVR_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 uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5; ///<Tare ARVR stabilized game rotation vector
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_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 ROTATION_VECTOR_ACCURACY_Q1 = 12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
@ -322,10 +322,12 @@ class BNO08x
uint16_t length; ///< Packet length in bytes. uint16_t length; ///< Packet length in bytes.
} bno08x_tx_packet_t; } bno08x_tx_packet_t;
bool wait_for_device_int(); bool wait_for_host_int();
bool wait_for_data(); bool wait_for_data();
bool receive_packet(); bool receive_packet();
void send_packet(bno08x_tx_packet_t* packet); void send_packet(bno08x_tx_packet_t* packet);
void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit);
void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit);
void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands); void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands);
void queue_command(uint8_t command, uint8_t* commands); void queue_command(uint8_t command, uint8_t* commands);
void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports); void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports);
@ -348,8 +350,10 @@ class BNO08x
EventGroupHandle_t EventGroupHandle_t
evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
QueueHandle_t queue_rx_data; ///<Packet queue used to send data received from bno08x from spi_task to data_proc_task. EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
QueueHandle_t queue_tx_data; ///<Packet queue used to send data to be sent over SPI from sending functions to spi_task.
QueueHandle_t queue_rx_data; ///<Packet queue used to send data received from bno08x from spi_task to data_proc_task.
QueueHandle_t queue_tx_data; ///<Packet queue used to send data to be sent over SPI from sending functions to spi_task.
QueueHandle_t queue_frs_read_data; ///<Queue used to send packet body from data_proc_task to frs read functions. QueueHandle_t queue_frs_read_data; ///<Queue used to send packet body from data_proc_task to frs read functions.
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) 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)
@ -404,14 +408,37 @@ class BNO08x
static bool 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 isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
static const constexpr uint16_t RX_DATA_LENGTH = 300; ///<length buffer containing data received over spi static const constexpr uint16_t RX_DATA_LENGTH = 300; ///<length buffer containing data received over spi
static const constexpr uint16_t MAX_METADATA_LENGTH = 9; ///<max length of metadata used in frs read operations static const constexpr uint16_t MAX_METADATA_LENGTH = 9; ///<max length of metadata used in frs read operations
static const constexpr uint64_t HOST_INT_TIMEOUT_MS = static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds) 300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
static const constexpr uint32_t EVT_GRP_SPI_HINT_BIT = (1 << 0); static const constexpr EventBits_t EVT_GRP_SPI_HINT_BIT =
static const constexpr uint32_t EVT_GRP_SPI_RX_DATA_RDY_BIT = (1 << 1); (1 << 0); ///< When this bit is set, the hint pin has asserted and the spi task has run to completion.
static const constexpr EventBits_t EVT_GRP_SPI_RX_DATA_RDY_BIT =
(1 << 1); ///< When this bit is set, it indicates a valid packet has been received and processed.
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0); ///< When set, rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1); ///< When set, game rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
(1 << 2); ///< When set, ARVR stabilized rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
(1 << 3); ///< When set, ARVR stabilized game rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT = (1 << 4); ///< When set, gyro integrator rotation vector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5); ///< When set, accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6); ///< When set, linear accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7); ///< When set, gravity reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8); ///< When set, gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9); ///< When set, uncalibrated gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10); ///< When set, magnetometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11); ///< When set, tap detector reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12); ///< When set, step counter reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13); ///< When set, stability classifier reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14); ///< When set, activity classifier reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15); ///< When set, raw accelerometer reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16); ///< When set, raw gyro reports are active.
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17); ///< When set, raw magnetometer reports are active.
// Higher level calibration commands, used by queue_calibrate_command // 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_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command
@ -444,25 +471,25 @@ class BNO08x
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_SET_FEATURE_COMMAND = 0xFD; ///< See SH2 Ref. Manual 6.5.4
// Sensor report IDs, used when enabling and reading BNO08x reports // 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
static const constexpr uint8_t SENSOR_REPORT_ID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28; ///< See SH2 Ref. Manual 6.5.42 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_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; ///< See SH2 Ref. Manual 6.5.43 static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; ///< See SH2 Ref. Manual 6.5.43
// Tare commands used by queue_tare_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_NOW = 0; ///< See SH2 Ref. Manual 6.4.4.1