BNO08x.hpp

#pragma once
 
//standard library includes
#include <stdio.h>
#include <cstring>
#include <inttypes.h>
#include <math.h>
 
//esp-idf includes
#include "driver/gpio.h"
#include "esp_rom_gpio.h"
#include "driver/spi_common.h"
#include "driver/spi_master.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "rom/ets_sys.h"
 
enum channels_t 
{
    CHANNEL_COMMAND, 
    CHANNEL_EXECUTABLE,
    CHANNEL_CONTROL,
    CHANNEL_REPORTS,
    CHANNEL_WAKE_REPORTS,
    CHANNEL_GYRO
};
 
enum sensor_accuracy_t
{   
    LOW_ACCURACY = 1,
    MED_ACCURACY,
    HIGH_ACCURACY
};
 
typedef struct bno08x_config_t 
{
    spi_host_device_t spi_peripheral; 
    gpio_num_t io_mosi; 
    gpio_num_t io_miso; 
    gpio_num_t io_sclk; 
    gpio_num_t io_cs; 
    gpio_num_t io_int; 
    gpio_num_t io_rst; 
    gpio_num_t io_wake;  
    uint64_t sclk_speed; 
    bool debug_en; 
    
    bno08x_config_t() : 
    spi_peripheral(SPI3_HOST), 
    io_mosi(GPIO_NUM_23), 
    io_miso(GPIO_NUM_19), 
    io_sclk(GPIO_NUM_18),  
    io_cs(GPIO_NUM_33), 
    io_int(GPIO_NUM_26), 
    io_rst(GPIO_NUM_32),
    io_wake(GPIO_NUM_4),
    //sclk_speed(10000U), //clock slowed to see on AD2
    sclk_speed(2000000U), //1MHz SCLK speed 
    debug_en(false)
 
    {
    }  
 
} bno08x_config_t;
 
class BNO08x 
{
    public:
        BNO08x(bno08x_config_t imu_config = default_imu_config);
        bool initialize();
 
        bool hard_reset();
        bool soft_reset();
        uint8_t get_reset_reason();
        bool mode_sleep();
        bool mode_on(); 
        
        float q_to_float(int16_t fixed_point_value, uint8_t q_point);
        
        bool run_full_calibration_routine(); 
        void calibrate_all();
        void calibrate_accelerometer();
        void calibrate_gyro();
        void calibrate_magnetometer();
        void calibrate_planar_accelerometer();
        void request_calibration_status(); 
        bool calibration_complete(); 
        void end_calibration();
        void save_calibration();
 
        void enable_rotation_vector(uint16_t time_between_reports);
        void enable_game_rotation_vector(uint16_t time_between_reports);
        void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports);
        void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports);
        void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports);
        void enable_accelerometer(uint16_t time_between_reports);
        void enable_linear_accelerometer(uint16_t time_between_reports);
        void enable_gravity(uint16_t time_between_reports);
        void enable_gyro(uint16_t time_between_reports);
        void enable_uncalibrated_gyro(uint16_t time_between_reports);
        void enable_magnetometer(uint16_t time_between_reports);
        void enable_tap_detector(uint16_t time_between_reports);
        void enable_step_counter(uint16_t time_between_reports);
        void enable_stability_classifier(uint16_t time_between_reports);
        void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
        void enable_raw_accelerometer(uint16_t time_between_reports);
        void enable_raw_gyro(uint16_t time_between_reports);
        void enable_raw_magnetometer(uint16_t time_between_reports);
   
        void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
        void save_tare();
        void clear_tare(); 
 
        bool data_available(); 
        uint16_t parse_input_report();   
        uint16_t parse_command_report(); 
        uint16_t get_readings();
 
        uint32_t get_time_stamp();
 
        void get_magf(float &x, float &y, float &z, uint8_t &accuracy);
        float get_magf_X();
        float get_magf_Y();
        float get_magf_Z();
        uint8_t get_magf_accuracy();
 
        void get_gravity(float &x, float &y, float &z, uint8_t &accuracy);
        float get_gravity_X();
        float get_gravity_Y();
        float get_gravity_Z();
        uint8_t get_gravity_accuracy();
 
        float get_roll();
        float get_pitch();
        float get_yaw();
 
        float get_roll_deg();
        float get_pitch_deg();
        float get_yaw_deg();
 
        void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy);
        float get_quat_I();
        float get_quat_J();
        float get_quat_K();
        float get_quat_real();
        float get_quat_radian_accuracy();
        uint8_t get_quat_accuracy();
 
        void get_accel(float &x, float &y, float &z, uint8_t &accuracy);
        float get_accel_X();
        float get_accel_Y();
        float get_accel_Z();
        uint8_t get_accel_accuracy();
        
        void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy);
        float get_linear_accel_X();
        float get_linear_accel_Y();
        float get_linear_accel_Z();
        uint8_t get_linear_accel_accuracy();
 
        int16_t get_raw_accel_X();
        int16_t get_raw_accel_Y();
        int16_t get_raw_accel_Z();
 
        int16_t get_raw_gyro_X();
        int16_t get_raw_gyro_Y();
        int16_t get_raw_gyro_Z();
 
        int16_t get_raw_magf_X();
        int16_t get_raw_magf_Y();
        int16_t get_raw_magf_Z();
 
        void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy);
        float get_gyro_calibrated_velocity_X();
        float get_gyro_calibrated_velocity_Y();
        float get_gyro_calibrated_velocity_Z();
        uint8_t get_gyro_accuracy();
 
        void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy);
        float get_uncalibrated_gyro_X();
        float get_uncalibrated_gyro_Y();
        float get_uncalibrated_gyro_Z();
        float get_uncalibrated_gyro_bias_X();
        float get_uncalibrated_gyro_bias_Y();
        float get_uncalibrated_gyro_bias_Z();
        uint8_t get_uncalibrated_gyro_accuracy();
 
        void get_gyro_velocity(float &x, float &y, float &z);
        float get_gyro_velocity_X();
        float get_gyro_velocity_Y();
        float get_gyro_velocity_Z();
 
        uint8_t get_tap_detector();
        uint16_t get_step_count();
        int8_t get_stability_classifier();
        uint8_t get_activity_classifier();
 
        void print_header();
        void print_packet();
 
        //Metadata functions
        int16_t get_Q1(uint16_t record_ID);
        int16_t get_Q2(uint16_t record_ID);
        int16_t get_Q3(uint16_t record_ID);
        float get_resolution(uint16_t record_ID);
        float get_range(uint16_t record_ID);
        uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
        bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
        bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
 
        //Record IDs from figure 29, page 29 reference manual
        //These are used to read the metadata for each sensor type
        static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
        static const constexpr uint16_t  FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
        static const constexpr uint16_t  FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
        static const constexpr uint16_t  FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
 
    
    private:
        bool wait_for_device_int(); 
        bool receive_packet();
        void send_packet(); 
        void queue_packet(uint8_t channel_number, uint8_t data_length); 
        void queue_command(uint8_t command); 
        void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports);
        void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);
        void queue_calibrate_command(uint8_t _to_calibrate); 
        void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR); 
        void queue_request_product_id_command(); 
 
        static bno08x_config_t default_imu_config; 
 
        volatile uint8_t tx_packet_queued; 
        SemaphoreHandle_t tx_semaphore; 
        uint8_t rx_buffer[300]; 
        uint8_t tx_buffer[50]; 
        uint8_t packet_header_rx[4]; 
        uint8_t commands[20]; 
        uint8_t sequence_number[6]; 
        uint32_t meta_data[9];  
        uint8_t command_sequence_number = 0;    
        uint16_t packet_length_tx = 0; 
        uint16_t packet_length_rx = 0; 
 
        bno08x_config_t imu_config{}; 
        spi_bus_config_t bus_config{}; 
        spi_device_interface_config_t imu_spi_config{}; 
        spi_device_handle_t spi_hdl{}; 
        spi_transaction_t spi_transaction{}; 
 
        //These are the raw sensor values (without Q applied) pulled from the user requested Input Report
        uint32_t time_stamp; 
        uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z, accel_accuracy; 
        uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z, accel_lin_accuracy; 
        uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy; 
        uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy, quat_accuracy; 
        uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y, raw_velocity_gyro_Z;
        uint16_t gravity_X, gravity_Y, gravity_Z, gravity_accuracy; 
        uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z, uncalib_gyro_accuracy; 
        uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z, magf_accuracy; 
        uint8_t tap_detector; 
        uint16_t step_count; 
        uint8_t stability_classifier;
        uint8_t activity_classifier; 
        uint8_t *activity_confidences;
        uint8_t calibration_status; 
        uint16_t mems_raw_accel_X, mems_raw_accel_Y, mems_raw_accel_Z; 
        uint16_t mems_raw_gyro_X, mems_raw_gyro_Y, mems_raw_gyro_Z; 
        uint16_t mems_raw_magf_X, mems_raw_magf_Y, mems_raw_magf_Z;    
 
        //spi task
        TaskHandle_t spi_task_hdl; 
        static void spi_task_trampoline(void *arg); 
        void spi_task(); 
 
        volatile bool int_asserted; 
        static void IRAM_ATTR hint_handler(void *arg);
        static bool isr_service_installed; 
        
 
        static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; 
        static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12; 
        static const constexpr int16_t ACCELEROMETER_Q1 = 8; 
        static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8; 
        static const constexpr int16_t GYRO_Q1 = 9; 
        static const constexpr int16_t MAGNETOMETER_Q1 = 4; 
        static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10; 
        static const constexpr int16_t GRAVITY_Q1 = 8; 
 
        static const constexpr uint64_t HOST_INT_TIMEOUT_US = 150000ULL; 
 
        //Higher level calibration commands, used by queue_calibrate_command
        static const constexpr uint8_t CALIBRATE_ACCEL = 0; 
        static const constexpr uint8_t CALIBRATE_GYRO = 1;
        static const constexpr uint8_t CALIBRATE_MAG = 2; 
        static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3; 
        static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG = 4; 
        static const constexpr uint8_t CALIBRATE_STOP = 5; 
 
        //Command IDs (see Ref. Manual 6.4)
        static const constexpr uint8_t COMMAND_ERRORS = 1;
        static const constexpr uint8_t COMMAND_COUNTER = 2;
        static const constexpr uint8_t COMMAND_TARE = 3; 
        static const constexpr uint8_t COMMAND_INITIALIZE = 4; 
        static const constexpr uint8_t COMMAND_DCD = 6; 
        static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7; 
        static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9; 
        static const constexpr uint8_t COMMAND_OSCILLATOR = 10; 
        static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; 
 
        //SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
        static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1; 
        static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2; 
        static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3; 
        static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4; 
        static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8; 
        static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9; 
        static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB; 
        static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD; 
 
 
        //Sensor report IDs, used when enabling and reading BNO08x reports
        static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01; 
        static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02; 
        static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03; 
        static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04; 
        static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05; 
        static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06; 
        static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07; 
        static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08; 
        static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; 
        static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A; 
        static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10;
        static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11; 
        static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13; 
        static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14; 
        static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15; 
        static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16; 
        static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; 
        static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28; 
        static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; 
 
        //Tare commands used by queue_tare_command
        static const constexpr uint8_t TARE_NOW = 0; 
        static const constexpr uint8_t TARE_PERSIST = 1; 
        static const constexpr uint8_t TARE_SET_REORIENTATION = 2; 
 
        static const constexpr uint8_t TARE_AXIS_ALL = 0x07; 
        static const constexpr uint8_t TARE_AXIS_Z   = 0x04; 
 
        //Which rotation vector to tare, BNO08x saves them seperately
        static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; 
        static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; 
        static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2;
        static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; 
        static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4; 
        static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5; 
 
        static const constexpr char *TAG = "BNO08x"; 
};