324 lines
18 KiB
C++
324 lines
18 KiB
C++
/**
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* @file BNO08x.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// standard library includes
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#include <inttypes.h>
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#include <stdio.h>
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#include <cstring>
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#include <functional>
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#include <variant>
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#include <vector>
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#include <map>
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// esp-idf includes
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#include <esp_rom_gpio.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/event_groups.h>
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#include <freertos/queue.h>
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#include <freertos/semphr.h>
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#include <rom/ets_sys.h>
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// in-house includes
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#include "BNO08x_global_types.hpp"
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#include "BNO08xSH2HAL.hpp"
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#include "BNO08xRptAcceleration.hpp"
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#include "BNO08xRptLinearAcceleration.hpp"
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#include "BNO08xRptGravity.hpp"
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#include "BNO08xRptCalMagnetometer.hpp"
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#include "BNO08xRptUncalMagnetometer.hpp"
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#include "BNO08xRptCalGyro.hpp"
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#include "BNO08xRptUncalGyro.hpp"
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#include "BNO08xRptRV.hpp"
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#include "BNO08xRptGameRV.hpp"
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#include "BNO08xRptARVRStabilizedRV.hpp"
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#include "BNO08xRptARVRStabilizedGameRV.hpp"
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#include "BNO08xRptIGyroRV.hpp"
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#include "BNO08xRptRVGeomag.hpp"
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#include "BNO08xRptRawMEMSGyro.hpp"
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#include "BNO08xRptRawMEMSAccelerometer.hpp"
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#include "BNO08xRptRawMEMSMagnetometer.hpp"
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#include "BNO08xRptStepCounter.hpp"
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#include "BNO08xRptActivityClassifier.hpp"
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#include "BNO08xStabilityClassifier.hpp"
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#include "BNO08xShakeDetector.hpp"
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#include "BNO08xTapDetector.hpp"
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/**
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* @class BNO08x
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*
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* @brief BNO08x IMU driver class.
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* */
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class BNO08x
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{
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public:
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inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
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.changeSensitivityRelative = false,
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.wakeupEnabled = false,
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.alwaysOnEnabled = false,
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.changeSensitivity = 0,
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.reportInterval_us = 0,
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.batchInterval_us = 0,
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.sensorSpecific = 0};
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BNO08x(bno08x_config_t imu_config = bno08x_config_t());
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~BNO08x();
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bool initialize();
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bool hard_reset();
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bool soft_reset();
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bool data_available();
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void register_cb(std::function<void(void)> cb_fxn);
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void register_cb(std::function<void(uint8_t report_ID)> cb_fxn);
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void print_product_ids();
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// enum helper fxns
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static const char* activity_to_str(BNO08xActivity activity);
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static const char* stability_to_str(BNO08xStability stability);
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BNO08xRptAcceleration accelerometer;
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BNO08xRptLinearAcceleration linear_accelerometer;
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BNO08xRptGravity gravity;
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BNO08xRptCalMagnetometer cal_magnetometer;
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BNO08xRptUncalMagnetometer uncal_magnetometer;
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BNO08xRptCalGyro cal_gyro;
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BNO08xRptUncalGyro uncal_gyro;
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BNO08xRptRV rv;
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BNO08xRptGameRV rv_game;
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BNO08xRptARVRStabilizedRV rv_ARVR_stabilized;
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BNO08xRptARVRStabilizedGameRV rv_ARVR_stabilized_game;
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BNO08xRptIGyroRV rv_gyro_integrated;
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BNO08xRptRVGeomag rv_geomagnetic;
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BNO08xRptRawMEMSGyro raw_gyro;
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BNO08xRptRawMEMSAccelerometer raw_accelerometer;
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BNO08xRptRawMEMSMagnetometer raw_magnetometer;
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BNO08xRptStepCounter step_counter;
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BNO08xRptActivityClassifier activity_classifier;
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BNO08xStabilityClassifier stability_classifier;
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BNO08xShakeDetector shake_detector;
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BNO08xTapDetector tap_detector;
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private:
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/// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
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typedef struct bno08x_init_status_t
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{
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bool gpio_outputs; ///< True if GPIO outputs have been initialized.
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bool gpio_inputs; ///< True if GPIO inputs have been initialized.
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bool isr_service; ///< True if global ISR service has been initialized.
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bool isr_handler; ///< True if HINT ISR handler has been initialized.
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bool spi_bus; ///< True if spi_bus_initialize() has been called successfully.
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bool spi_device; ///< True if spi_bus_add_device() has been called successfully.
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bool sh2_HAL; ///< True if sh2_open() has been called successfully.
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
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bool cb_task; ///< True if xTaskCreate has been called successfully for cb_task.
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uint8_t task_init_cnt; ///< Amount of tasks that have been successfully initialized.
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bno08x_init_status_t()
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: gpio_outputs(false)
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, gpio_inputs(false)
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, isr_service(false)
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, isr_handler(false)
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, spi_bus(false)
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, spi_device(false)
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, data_proc_task(false)
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, sh2_HAL_service_task(false)
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, cb_task(false)
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, task_init_cnt(0)
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{
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}
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} bno08x_init_status_t;
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using bno08x_cb_t = std::variant<std::function<void()>, std::function<void(uint8_t)>>;
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/// @brief Holds registered callback info.
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typedef struct bno08x_cb_data_t
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{
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uint8_t report_ID; ///< Report this callback is registered to (0 if to execute on any new report).
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bno08x_cb_t cb; ///< Callback function pointer.
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} bno08x_cb_data_t;
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// data processing task
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static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ = 2048UL; ///< Size of data_proc_task() stack in bytes
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TaskHandle_t data_proc_task_hdl; ///<data_proc_task() task handle
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static void data_proc_task_trampoline(void* arg);
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void data_proc_task();
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// sh2 service task
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static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ = 4095UL; ///< Size of sh2_HAL_service_task() stack in bytes
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TaskHandle_t sh2_HAL_service_task_hdl; ///<sh2_HAL_service_task() task handle
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static void sh2_HAL_service_task_trampoline(void* arg);
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void sh2_HAL_service_task();
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// callback task
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static const constexpr configSTACK_DEPTH_TYPE CB_TASK_SZ = CONFIG_ESP32_BNO08X_CB_TASK_SZ; ///< Size of sh2_HAL_service_task() stack in bytes
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TaskHandle_t cb_task_hdl; ///<sh2_HAL_service_task() task handle
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static void cb_task_trampoline(void* arg);
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void cb_task();
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SemaphoreHandle_t sh2_HAL_lock; ///<Mutex to prevent sh2 HAL lib functions from being accessed at same time.
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SemaphoreHandle_t data_lock; ///<Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.
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SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
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void lock_sh2_HAL();
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void unlock_sh2_HAL();
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void lock_user_data();
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void unlock_user_data();
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void handle_sensor_report(sh2_SensorValue_t* sensor_val);
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esp_err_t init_config_args();
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esp_err_t init_gpio();
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esp_err_t init_gpio_inputs();
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esp_err_t init_gpio_outputs();
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esp_err_t init_hint_isr();
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esp_err_t init_spi();
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esp_err_t init_tasks();
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esp_err_t init_sh2_HAL();
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esp_err_t deinit_gpio();
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esp_err_t deinit_gpio_inputs();
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esp_err_t deinit_gpio_outputs();
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esp_err_t deinit_hint_isr();
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esp_err_t deinit_spi();
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esp_err_t deinit_tasks();
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esp_err_t deinit_sh2_HAL();
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esp_err_t wait_for_hint();
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esp_err_t wait_for_reset();
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void toggle_reset();
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esp_err_t re_enable_reports();
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sh2_Hal_t sh2_HAL; ///< sh2 hardware abstraction layer struct for use with sh2 HAL lib.
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EventGroupHandle_t evt_grp_bno08x_task; ///<Event group for indicating various BNO08x related events between tasks.
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EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
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EventGroupHandle_t
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evt_grp_report_data_available; ///< Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report since the last time it was called (note this group is unaffected by data read through callbacks).
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QueueHandle_t
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queue_rx_sensor_event; ///< Queue to send sensor events from sh2 HAL sensor event callback (BNO08xSH2HAL::sensor_event_cb()) to data_proc_task()
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QueueHandle_t queue_cb_report_id; ///< Queue to send report ID of most recent report to cb_task()
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std::vector<bno08x_cb_data_t> cb_list; // Vector for storing any call-back functions added with register_cb()
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bno08x_config_t imu_config{}; ///<IMU configuration settings
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spi_bus_config_t bus_config{}; ///<SPI bus GPIO configuration settings
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spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
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spi_device_handle_t spi_hdl{}; ///<SPI device handle
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spi_transaction_t spi_transaction{}; ///<SPI transaction handle
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bno08x_init_status_t
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init_status; ///<Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.
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sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
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std::map<uint8_t, BNO08xRpt*> usr_reports = {{SH2_ACCELEROMETER, &accelerometer}, {SH2_LINEAR_ACCELERATION, &linear_accelerometer},
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{SH2_GRAVITY, &gravity}, {SH2_MAGNETIC_FIELD_CALIBRATED, &cal_magnetometer}, {SH2_MAGNETIC_FIELD_UNCALIBRATED, &uncal_magnetometer},
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{SH2_GYROSCOPE_CALIBRATED, &cal_gyro}, {SH2_GYROSCOPE_UNCALIBRATED, &uncal_gyro}, {SH2_ROTATION_VECTOR, &rv},
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{SH2_GAME_ROTATION_VECTOR, &rv_game}, {SH2_ARVR_STABILIZED_RV, &rv_ARVR_stabilized},
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{SH2_ARVR_STABILIZED_GRV, &rv_ARVR_stabilized_game}, {SH2_GYRO_INTEGRATED_RV, &rv_gyro_integrated},
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{SH2_GEOMAGNETIC_ROTATION_VECTOR, &rv_geomagnetic}, {SH2_RAW_GYROSCOPE, &raw_gyro}, {SH2_RAW_ACCELEROMETER, &raw_accelerometer},
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{SH2_RAW_MAGNETOMETER, &raw_magnetometer}, {SH2_STEP_COUNTER, &step_counter},
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{SH2_PERSONAL_ACTIVITY_CLASSIFIER, &activity_classifier}, {SH2_STABILITY_CLASSIFIER, &stability_classifier},
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{SH2_SHAKE_DETECTOR, &shake_detector}, {SH2_TAP_DETECTOR, &tap_detector}};
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static void IRAM_ATTR hint_handler(void* arg);
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static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
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static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
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500UL /
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portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)
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static const constexpr TickType_t DATA_AVAILABLE_TIMEOUT_MS =
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3000UL / portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
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static const constexpr TickType_t HARD_RESET_DELAY_MS =
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100UL /
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portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of.
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// evt_grp_bno08x_task bits
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASKS_RUNNING =
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(1UL << 0U); ///<When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration BNO08x driver object. Cleared in deconstructor for safe task deletion.
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
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(1UL << 1U); ///<When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
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(1UL << 2U); ///<When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled.
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static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_DATA_AVAILABLE =
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(1UL << 3U); ///<When this bit is set it indicates a report has been received for the user to read, cleared in data_available() set/cleared in handle_sensor_report()
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// evt_grp_report_en bits
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static const constexpr EventBits_t EVT_GRP_RPT_RV_BIT = (1UL << 0U); ///< When set, rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RV_GAME_BIT = (1UL << 1U); ///< When set, game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RV_ARVR_S_BIT = (1UL << 2U); ///< When set, ARVR stabilized rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RV_ARVR_S_GAME_BIT =
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(1UL << 3U); ///< When set, ARVR stabilized game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT =
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(1UL << 4U); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GEOMAG_RV_BIT = (1UL << 5U); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1UL << 6U); ///< When set, accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1UL << 7U); ///< When set, linear accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1UL << 8U); ///< When set, gravity reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_CAL_GYRO_BIT = (1UL << 9U); ///< When set, gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_UNCAL_GYRO_BIT = (1UL << 10U); ///< When set, uncalibrated gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_CAL_MAGNETOMETER_BIT = (1UL << 11U); ///< When set, calibrated magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT =
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(1UL << 12U); ///< When set, uncalibrated magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1UL << 13U); ///< When set, tap detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1UL << 14U); ///< When set, step counter reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT =
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(1UL << 15U); ///< When set, stability classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1UL << 16U); ///< When set, activity classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_SHAKE_DETECTOR_BIT = (1UL << 17U); ///< When set, shake detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U); ///< When set, raw accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U); ///< When set, raw gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U); ///< When set, raw magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ALL =
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EVT_GRP_RPT_RV_BIT | EVT_GRP_RPT_RV_GAME_BIT | EVT_GRP_RPT_RV_ARVR_S_BIT | EVT_GRP_RPT_RV_ARVR_S_GAME_BIT |
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EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_CAL_GYRO_BIT | EVT_GRP_RPT_UNCAL_GYRO_BIT |
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EVT_GRP_RPT_CAL_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT |
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EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT | EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT |
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EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT | EVT_GRP_RPT_SHAKE_DETECTOR_BIT |
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EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT | EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT;
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static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
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// we have a lot of friends
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friend class BNO08xSH2HAL;
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friend class BNO08xRpt;
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friend class BNO08xRptRVGeneric;
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friend class BNO08xRptRV;
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friend class BNO08xRptGameRV;
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friend class BNO08xRptARVRStabilizedRV;
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friend class BNO08xRptARVRStabilizedGameRV;
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friend class BNO08xRptAcceleration;
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friend class BNO08xRptLinearAcceleration;
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friend class BNO08xRptGravity;
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friend class BNO08xRptCalMagnetometer;
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friend class BNO08xRptUncalMagnetometer;
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friend class BNO08xRptCalGyro;
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friend class BNO08xRptUncalGyro;
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friend class BNO08xRptIGyroRV;
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friend class BNO08xRptRVGeomag;
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friend class BNO08xRptRawMEMSGyro;
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friend class BNO08xRptRawMEMSAccelerometer;
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friend class BNO08xRptRawMEMSMagnetometer;
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friend class BNO08xRptStepCounter;
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friend class BNO08xRptActivityClassifier;
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friend class BNO08xStabilityClassifier;
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friend class BNO08xShakeDetector;
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friend class BNO08xTapDetector;
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}; |