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signal_update_data()

This commit is contained in:
myles-parfeniuk 2024-11-23 20:08:15 -08:00
parent b51d775fa3
commit eec5c656d9
25 changed files with 137 additions and 67 deletions
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3
include/BNO08x.hpp
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@ -188,8 +188,7 @@ class BNO08x
esp_err_t deinit_sh2_HAL();
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.

3
include/BNO08xRpt.hpp
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@ -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.

52
source/BNO08x.cpp
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@ -354,21 +354,19 @@ 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
if (cb_list.size() != 0)
if (xQueueSend(queue_cb_report_id, &rpt_ID, 0) != pdTRUE)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Callback queue full, callback execution for report missed.");
#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);
// 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)
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
ESP_LOGE(TAG, "Callback queue full, callback execution for report missed.");
#endif
// clang-format on
}
}
}
/**
@ -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).
*

63
source/BNO08xRpt.cpp
View File

@ -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
if (!(evt_grp_report_en_bits & rpt_bit))
xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group 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 if enable_report fails
}
else
{
period_us = time_between_reports; // Update the period
xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
}
return false;
}
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;
}
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
@ -63,4 +66,32 @@ bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
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);
}

3
source/report/BNO08xRptARVRStabilizedGameRV.cpp
View File

@ -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();
}

3
source/report/BNO08xRptARVRStabilizedRV.cpp
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@ -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();
}

5
source/report/BNO08xRptAcceleration.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptAcceleration.hpp"
#include "BNO08xRptAcceleration.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xRptActivityClassifier.cpp
View File

@ -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();
}
/**

5
source/report/BNO08xRptCalGyro.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptCalGyro.hpp"
#include "BNO08xRptCalGyro.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

5
source/report/BNO08xRptCalMagnetometer.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptCalMagnetometer.hpp"
#include "BNO08xRptCalMagnetometer.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xRptGameRV.cpp
View File

@ -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();
}

5
source/report/BNO08xRptGravity.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptGravity.hpp"
#include "BNO08xRptGravity.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xRptIGyroRV.cpp
View File

@ -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();
}
/**

5
source/report/BNO08xRptLinearAcceleration.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptLinearAcceleration.hpp"
#include "BNO08xRptLinearAcceleration.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xRptRV.cpp
View File

@ -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();
}

3
source/report/BNO08xRptRVGeomag.cpp
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@ -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();
}

5
source/report/BNO08xRptRawMEMSAccelerometer.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptRawMEMSAccelerometer.hpp"
#include "BNO08xRptRawMEMSAccelerometer.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

5
source/report/BNO08xRptRawMEMSGyro.cpp
View File

@ -1,4 +1,4 @@
#include "BNO08xRptRawMEMSGyro.hpp"
#include "BNO08xRptRawMEMSGyro.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

5
source/report/BNO08xRptRawMEMSMagnetometer.cpp
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@ -1,4 +1,4 @@
#include "BNO08xRptRawMEMSMagnetometer.hpp"
#include "BNO08xRptRawMEMSMagnetometer.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xRptStepCounter.cpp
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@ -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();
}
/**

5
source/report/BNO08xRptUncalGyro.cpp
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@ -1,4 +1,4 @@
#include "BNO08xRptUncalGyro.hpp"
#include "BNO08xRptUncalGyro.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

5
source/report/BNO08xRptUncalMagnetometer.cpp
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@ -1,4 +1,4 @@
#include "BNO08xRptUncalMagnetometer.hpp"
#include "BNO08xRptUncalMagnetometer.hpp"
#include "BNO08x.hpp"
/**
@ -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();
}
/**

3
source/report/BNO08xShakeDetector.cpp
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@ -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();
}
/**

3
source/report/BNO08xStabilityClassifier.cpp
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@ -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();
}
/**

3
source/report/BNO08xTapDetector.cpp
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@ -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();
}
/**