signal_update_data()

include/BNO08x.hpp

@@ -189,7 +189,6 @@ class BNO08x
 
         esp_err_t wait_for_hint();
         
-        esp_err_t enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg);
         esp_err_t re_enable_reports();
 
         sh2_Hal_t sh2_HAL; ///< sh2 hardware abstraction layer struct for use with sh2 HAL lib.

include/BNO08xRpt.hpp

@@ -27,6 +27,7 @@ class BNO08xRpt
         bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
         bool disable(sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
         void register_cb(std::function<void(void)> cb_fxn);
+        bool flush();
 
         virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
 
@@ -57,6 +58,8 @@ class BNO08xRpt
         {
         }
 
+        void signal_data_available();
+
         static const constexpr float RAD_2_DEG =
                 (180.0f / M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
 

source/BNO08x.cpp

@@ -354,7 +354,9 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
     // update respective report with new data
     usr_reports.at(rpt_ID)->update_data(sensor_val);
 
-    // send report ids to cb_task for callback execution
+    // send report ids to cb_task for callback execution (only if this report is enabled)
+    if (usr_reports.at(rpt_ID)->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
+    {
         if (cb_list.size() != 0)
             if (xQueueSend(queue_cb_report_id, &rpt_ID, 0) != pdTRUE)
             {
@@ -364,11 +366,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
                 #endif
                 // clang-format on
             }
-
+    }
-    // signal data_available()
-    xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
-    most_recent_rpt = sensor_val->sensorId;
-    xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
 }
 
 /**
@@ -1063,30 +1061,6 @@ esp_err_t BNO08x::wait_for_hint()
         return ESP_ERR_TIMEOUT;
 }
 
-/**
- * @brief Enables a sensor report such that the BNO08x begins sending it.
- *
- * @param sensor_ID The ID of the sensor for the respective report to be enabled.
- * @param report_period_us The period/interval of the report in microseconds.
- * @param sensor_cfg Sensor special configuration.
- *
- * @return ESP_OK if report was successfully enabled.
- */
-esp_err_t BNO08x::enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
-{
-    int sh2_res = SH2_ERR;
-
-    lock_sh2_HAL();
-    sensor_cfg.reportInterval_us = time_between_reports;
-    sh2_res = sh2_setSensorConfig(sensor_ID, &sensor_cfg);
-    unlock_sh2_HAL();
-
-    if (sh2_res != SH2_OK)
-        return ESP_FAIL;
-    else
-        return ESP_OK;
-}
-
 /**
  * @brief Re-enables all reports enabled by user (called when BNO08x reset is detected by sh2 HAL lib).
  *

source/BNO08xRpt.cpp

@@ -11,23 +11,26 @@
  */
 bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
 {
-    EventBits_t evt_grp_report_en_bits = xEventGroupGetBits(imu->evt_grp_report_en);
+    int sh2_res = SH2_OK;
 
-    // already enabled
+    xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
-    if (!(evt_grp_report_en_bits & rpt_bit))
+
+    imu->lock_sh2_HAL();
+    sensor_cfg.reportInterval_us = time_between_reports;
+    sh2_res = sh2_setSensorConfig(ID, &sensor_cfg);
+    imu->unlock_sh2_HAL();
+
+    if (sh2_res != SH2_OK)
     {
-        if (imu->enable_report(ID, time_between_reports, sensor_cfg) != ESP_OK)
+        return false;
-        {
-            return false; // Return false if enable_report fails
     }
     else
     {
+        flush();
         period_us = time_between_reports;                    // Update the period
         xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
-        }
-    }
-
         return true;
+    }
 }
 
 /**
@@ -44,7 +47,7 @@ bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
 
     if (evt_grp_report_en_bits & rpt_bit)
     {
-        if (imu->enable_report(ID, 0UL, sensor_cfg) != ESP_OK)
+        if (!enable(0UL, sensor_cfg))
             return false;
         else
             xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
@@ -64,3 +67,31 @@ void BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
 {
     imu->cb_list.push_back({ID, cb_fxn});
 }
+
+/**
+ * @brief Flush all buffered reports for this sensor/report module.
+ *
+ * @return True if flush operation succeeded.
+ */
+bool BNO08xRpt::flush()
+{
+    int success = SH2_OK;
+
+    imu->lock_sh2_HAL();
+    success = sh2_flush(ID);
+    imu->unlock_sh2_HAL();
+
+    return (success != SH2_OK) ? false : true;
+}
+
+/**
+ * @brief Signals to BNO08x::data_available() that a new report has arrived.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::signal_data_available()
+{
+    xEventGroupClearBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
+    imu->most_recent_rpt = ID;
+    xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
+}

source/report/BNO08xRptARVRStabilizedGameRV.cpp

@@ -13,4 +13,7 @@ void BNO08xRptARVRStabilizedGameRV::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.arvrStabilizedGRV;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }

source/report/BNO08xRptARVRStabilizedRV.cpp

@@ -13,4 +13,7 @@ void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.arvrStabilizedRV;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }

source/report/BNO08xRptAcceleration.cpp

@@ -13,6 +13,9 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.accelerometer;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptActivityClassifier.cpp

@@ -29,6 +29,9 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.personalActivityClassifier;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptCalGyro.cpp

@@ -13,6 +13,9 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.gyroscope;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptCalMagnetometer.cpp

@@ -13,6 +13,9 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.magneticField;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptGameRV.cpp

@@ -13,4 +13,7 @@ void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.gameRotationVector;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }

source/report/BNO08xRptGravity.cpp

@@ -13,6 +13,9 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.gravity;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptIGyroRV.cpp

@@ -14,6 +14,9 @@ void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.gyroIntegratedRV;
     data_vel = sensor_val->un.gyroIntegratedRV;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptLinearAcceleration.cpp

@@ -13,6 +13,9 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.linearAcceleration;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptRV.cpp

@@ -13,4 +13,7 @@ void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.rotationVector;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }

source/report/BNO08xRptRVGeomag.cpp

@@ -13,4 +13,7 @@ void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.geoMagRotationVector;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }

source/report/BNO08xRptRawMEMSAccelerometer.cpp

@@ -13,6 +13,9 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.rawAccelerometer;
     imu->unlock_user_data();
+    
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptRawMEMSGyro.cpp

@@ -13,6 +13,9 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.rawGyroscope;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptRawMEMSMagnetometer.cpp

@@ -13,6 +13,9 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.rawMagnetometer;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptStepCounter.cpp

@@ -24,6 +24,9 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
 
     prev_steps = data.steps;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptUncalGyro.cpp

@@ -14,6 +14,9 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.gyroscopeUncal;
     bias_data = sensor_val->un.gyroscopeUncal;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xRptUncalMagnetometer.cpp

@@ -14,6 +14,9 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
     data = sensor_val->un.magneticFieldUncal;
     bias_data = sensor_val->un.magneticFieldUncal;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xShakeDetector.cpp

@@ -13,6 +13,9 @@ void BNO08xShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.shakeDetector;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xStabilityClassifier.cpp

@@ -13,6 +13,9 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.stabilityClassifier;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**

source/report/BNO08xTapDetector.cpp

@@ -29,6 +29,9 @@ void BNO08xTapDetector::update_data(sh2_SensorValue_t* sensor_val)
     imu->lock_user_data();
     data = sensor_val->un.tapDetector;
     imu->unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+        signal_data_available();
 }
 
 /**