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removal of map find() for faster cb execution

This commit is contained in:
myles-parfeniuk 2024-11-30 20:52:00 -08:00
parent 3d06f4adbb
commit f00416c297
2 changed files with 35 additions and 9 deletions
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29
include/BNO08x.hpp
View File

@ -220,11 +220,10 @@ class BNO08x
sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids() sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
static const constexpr uint8_t IMPLEMENTED_REPORT_COUNT = static const constexpr uint8_t TOTAL_RPT_COUNT = 38; ///< Amount of possible reports returned from BNO08x.
21; ///< Amount of report implementations that have been created, some are still missing.
// clang-format off // clang-format off
etl::map<uint8_t, BNO08xRpt*, IMPLEMENTED_REPORT_COUNT, etl::less<uint8_t>> usr_reports = etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t>> usr_reports =
{ {
{SH2_ACCELEROMETER, &accelerometer}, {SH2_ACCELEROMETER, &accelerometer},
{SH2_LINEAR_ACCELERATION, &linear_accelerometer}, {SH2_LINEAR_ACCELERATION, &linear_accelerometer},
@ -233,7 +232,8 @@ class BNO08x
{SH2_MAGNETIC_FIELD_UNCALIBRATED, &uncal_magnetometer}, {SH2_MAGNETIC_FIELD_UNCALIBRATED, &uncal_magnetometer},
{SH2_GYROSCOPE_CALIBRATED, &cal_gyro}, {SH2_GYROSCOPE_CALIBRATED, &cal_gyro},
{SH2_GYROSCOPE_UNCALIBRATED, &uncal_gyro}, {SH2_GYROSCOPE_UNCALIBRATED, &uncal_gyro},
{SH2_ROTATION_VECTOR, &rv}, {SH2_GAME_ROTATION_VECTOR, &rv_game}, {SH2_ROTATION_VECTOR, &rv},
{SH2_GAME_ROTATION_VECTOR, &rv_game},
{SH2_ARVR_STABILIZED_RV, &rv_ARVR_stabilized}, {SH2_ARVR_STABILIZED_RV, &rv_ARVR_stabilized},
{SH2_ARVR_STABILIZED_GRV, &rv_ARVR_stabilized_game}, {SH2_ARVR_STABILIZED_GRV, &rv_ARVR_stabilized_game},
{SH2_GYRO_INTEGRATED_RV, &rv_gyro_integrated}, {SH2_GYRO_INTEGRATED_RV, &rv_gyro_integrated},
@ -245,7 +245,26 @@ class BNO08x
{SH2_PERSONAL_ACTIVITY_CLASSIFIER, &activity_classifier}, {SH2_PERSONAL_ACTIVITY_CLASSIFIER, &activity_classifier},
{SH2_STABILITY_CLASSIFIER, &stability_classifier}, {SH2_STABILITY_CLASSIFIER, &stability_classifier},
{SH2_SHAKE_DETECTOR, &shake_detector}, {SH2_SHAKE_DETECTOR, &shake_detector},
{SH2_TAP_DETECTOR, &tap_detector}}; {SH2_TAP_DETECTOR, &tap_detector},
// not implemented, see include/report for existing implementations to add your own
{SH2_PRESSURE, nullptr}, // requires auxilary i2c sensor
{SH2_AMBIENT_LIGHT, nullptr}, // requires auxilary i2c sensor
{SH2_HUMIDITY, nullptr}, // requires auxilary i2c sensor
{SH2_PROXIMITY, nullptr}, // requires auxilary i2c sensor
{SH2_TEMPERATURE, nullptr}, // requires auxilary i2c sensor
{SH2_HEART_RATE_MONITOR, nullptr}, // requires auxilary i2c sensor
{SH2_STEP_DETECTOR, nullptr},
{SH2_SIGNIFICANT_MOTION, nullptr},
{SH2_FLIP_DETECTOR, nullptr},
{SH2_PICKUP_DETECTOR, nullptr},
{SH2_STABILITY_DETECTOR, nullptr},
{SH2_SLEEP_DETECTOR, nullptr},
{SH2_TILT_DETECTOR, nullptr},
{SH2_POCKET_DETECTOR, nullptr},
{SH2_CIRCLE_DETECTOR, nullptr},
{SH2_IZRO_MOTION_REQUEST, nullptr}
};
// clang-format on // clang-format on
static void IRAM_ATTR hint_handler(void* arg); static void IRAM_ATTR hint_handler(void* arg);

15
source/BNO08x.cpp
View File

@ -324,12 +324,14 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
{ {
uint8_t rpt_ID = sensor_val->sensorId; uint8_t rpt_ID = sensor_val->sensorId;
// check if report exists within map // check if report implementation exists within map
auto it = usr_reports.find(rpt_ID); if(rpt_ID == SH2_RESERVED)
if (it == usr_reports.end())
return; return;
auto& rpt = it->second; auto& rpt = usr_reports.at(rpt_ID);
if(rpt == nullptr)
return;
// send report ids to cb_task for callback execution (only if this report is enabled) // send report ids to cb_task for callback execution (only if this report is enabled)
if (rpt->rpt_bit & xEventGroupGetBits(evt_grp_report_en)) if (rpt->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
@ -1266,6 +1268,11 @@ esp_err_t BNO08x::re_enable_reports()
for (auto entry = usr_reports.begin(); entry != usr_reports.end(); ++entry) for (auto entry = usr_reports.begin(); entry != usr_reports.end(); ++entry)
{ {
BNO08xRpt* rpt = entry->second; BNO08xRpt* rpt = entry->second;
//all reports in map passed this point should be null
if(rpt == nullptr)
break;
if (rpt->rpt_bit & report_en_bits) if (rpt->rpt_bit & report_en_bits)
{ {
if (!rpt->enable(rpt->period_us)) if (!rpt->enable(rpt->period_us))