/** * @file BNO08xTestHelper.hpp * @author Myles Parfeniuk */ #pragma once // standard library includes #include // esp-idf includes #include #include /** * @brief Clears the most significant byte of a 16-bit value. * * @param evt_grp_task_flow Task flow event group handle. * @param running_bit EVT_GRP_TSK_FLW_RUNNING_BIT * * @return The value with the MSB cleared. */ #define CHECK_TASKS_RUNNING(evt_grp_task_flow, running_bit) ((xEventGroupGetBits(evt_grp_task_flow) & (running_bit)) != 0) // packet parsing macros /** * @brief Clears the most significant byte of a 16-bit value. * * @param val_16bit The 16-bit value to modify. * @return The value with the MSB cleared. */ #define UINT16_CLR_MSB(val_16bit) ((val_16bit) & 0x00FFU) /** * @brief Clears the least significant byte of a 16-bit value. * * @param val_16bit The 16-bit value to modify. * @return The value with the MSB cleared. */ #define UINT16_CLR_LSB(val_16bit) ((val_16bit) & 0xFF00U) /** * @brief Clears a specified byte in a 32-bit value. * * @param val_32bit The 32-bit value to modify. * @param byte2clear The byte index to clear (0 = LSB, 3 = MSB). * @return The value with the specified byte cleared. */ #define UINT32_CLR_BYTE(val_32bit, byte2clear) ((val_32bit) & ~(0xFFUL << (byte2clear * 8UL))) /** * @brief Masks a specified byte in a 32-bit value. * * @param val_32bit The 32-bit value to modify. * @param byte2mask The byte index to mask (0 = LSB, 3 = MSB). * @return The value with the specified byte masked. */ #define UINT32_MSK_BYTE(val_32bit, byte2mask) ((val_32bit) & (0xFFUL << (byte2mask * 8UL))) // parsing universal to any packet /** * @brief Parse length from SHTP packet header. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Length of SHTP packet. */ #define PARSE_PACKET_LENGTH(packet_ptr) \ (UINT16_CLR_LSB(static_cast(packet_ptr->header[1]) << 8U) | UINT16_CLR_MSB(static_cast(packet_ptr->header[0]))) /** * @brief Parse timestamp from SHTP packet. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Packet timestamp. */ #define PARSE_PACKET_TIMESTAMP(packet_ptr) \ (UINT32_MSK_BYTE(static_cast(packet->body[4]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast(packet->body[3]) << 16UL, 2UL) | \ UINT32_MSK_BYTE(static_cast(packet->body[2]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast(packet->body[1]), 0UL)) // product id report parsing /** * @brief Parse reset reason from SHTP packet containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Reset reason. */ #define PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet_ptr) UINT32_MSK_BYTE(static_cast(packet_ptr->body[1]), 0UL) /** * @brief Parse sw part number from SHTP packet containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sw part number. */ #define PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet_ptr) \ (UINT32_MSK_BYTE(static_cast(packet_ptr->body[7]) << 24UL, 3UL) | \ UINT32_MSK_BYTE(static_cast(packet_ptr->body[6]) << 16UL, 2UL) | \ UINT32_MSK_BYTE(static_cast(packet_ptr->body[5]) << 8UL, 1UL) | \ UINT32_MSK_BYTE(static_cast(packet_ptr->body[4]), 0UL)) /** * @brief Parse sw build number from SHTP packet containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sw build number. */ #define PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet_ptr) \ UINT32_MSK_BYTE(static_cast(packet->body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast(packet->body[10]) << 16UL, 2UL) | \ UINT32_MSK_BYTE(static_cast(packet->body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast(packet->body[8]), 0UL) /** * @brief Parse sw version patch from SHTP packet containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sw version patch. */ #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet_ptr) \ (UINT32_MSK_BYTE(static_cast(packet->body[13]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast(packet->body[12]), 0UL)) /** * @brief Parse product ID SHTP packet containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Product ID. */ #define PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet_ptr) UINT32_MSK_BYTE(static_cast(packet->body[0]), 0UL) /** * @brief Parse product sw version major containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sw version major. */ #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet_ptr) UINT32_MSK_BYTE(static_cast(packet->body[2]), 0UL) /** * @brief Parse product sw version minor containing product ID report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sw version minor. */ #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet_ptr) UINT32_MSK_BYTE(static_cast(packet->body[3]), 0UL) // gyro report parsing /** * @brief Parse quat I data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Quat I data. */ #define PARSE_GYRO_REPORT_RAW_QUAT_I(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[1]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[0]))) /** * @brief Parse quat J data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Quat J data. */ #define PARSE_GYRO_REPORT_RAW_QUAT_J(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[3]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[2]))) /** * @brief Parse quat K data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Quat K data. */ #define PARSE_GYRO_REPORT_RAW_QUAT_K(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[4]))) /** * @brief Parse quat real data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Quat real data. */ #define PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[7]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[6]))) /** * @brief Parse x axis velocity data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return x velocity data. */ #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[9]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[8]))) /** * @brief Parse y axis velocity data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return y velocity data. */ #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[11]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[10]))) /** * @brief Parse z axis velocity data from integrated gyro rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return z velocity data. */ #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[13]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[12]))) // input report parsing /** * @brief Parse status bits from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Input report status bits. */ #define PARSE_INPUT_REPORT_STATUS_BITS(packet) (packet->body[5 + 2] & 0x03U) /** * @brief Parse report ID from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Report ID. */ #define PARSE_INPUT_REPORT_REPORT_ID(packet) UINT16_CLR_MSB(static_cast(packet->body[5])) /** * @brief Parse first data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return First data block of input report. */ #define PARSE_INPUT_REPORT_DATA_1(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 5]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 4]))) /** * @brief Parse second data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return Second data block of input report. */ #define PARSE_INPUT_REPORT_DATA_2(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 7]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 6]))) /** * @brief Parse third data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return third data block of input report. */ #define PARSE_INPUT_REPORT_DATA_3(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 9]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 8]))) /** * @brief Parse fourth data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return fourth data block of input report. */ #define PARSE_INPUT_REPORT_DATA_4(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 11]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 10]))) /** * @brief Parse fifth data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return fifth data block of input report. */ #define PARSE_INPUT_REPORT_DATA_5(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 13]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 12]))) /** * @brief Parse sixth data block from input report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return sixth data block of input report. */ #define PARSE_INPUT_REPORT_DATA_6(packet) \ (UINT16_CLR_LSB(static_cast(packet->body[5 + 15]) << 8U) | UINT16_CLR_MSB(static_cast(packet->body[5 + 14]))) /** * @brief Checks if packet containing input report is a rotation vector report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return True if contained input report is rotation vector report. */ #define IS_ROTATION_VECTOR_REPORT(packet) \ ((packet)->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || (packet)->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR || \ (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR || \ (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR) // frs read response report parsing /** * @brief Parse FRS record ID from FRS read response report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return FRS record ID. */ #define PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body) \ (UINT16_CLR_LSB(static_cast(packet_body[13]) << 8U) | UINT16_CLR_MSB(static_cast(packet_body[12]))) /** * @brief Parse data block 1 from FRS read response report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return FRS read response data block 1. */ #define PARSE_FRS_READ_RESPONSE_REPORT_DATA_1(packet_body) \ (UINT32_MSK_BYTE(static_cast(packet_body[7]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast(packet_body[6]) << 16UL, 2UL) | \ UINT32_MSK_BYTE(static_cast(packet_body[5]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast(packet_body[4]), 0UL)) /** * @brief Parse data block 2 from FRS read response report. * * @param packet Pointer to bno08x_rx_packet_t containing data. * @return FRS read response data block 2. */ #define PARSE_FRS_READ_RESPONSE_REPORT_DATA_2(packet_body) \ (UINT32_MSK_BYTE(static_cast(packet_body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast(packet_body[10]) << 16UL, 2UL) | \ UINT32_MSK_BYTE(static_cast(packet_body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast(packet_body[8]), 0UL))