497 lines
30 KiB
C++
497 lines
30 KiB
C++
#pragma once
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// esp-idf includes
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#include <driver/gpio.h>
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#include <driver/spi_common.h>
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#include <driver/spi_master.h>
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#include <esp_log.h>
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#include <esp_rom_gpio.h>
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#include <esp_timer.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 <rom/ets_sys.h>
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// standard library includes
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#include <inttypes.h>
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#include <math.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 <vector>
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/// @brief SHTP protocol channels
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enum channels_t
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{
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CHANNEL_COMMAND,
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CHANNEL_EXECUTABLE,
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CHANNEL_CONTROL,
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CHANNEL_REPORTS,
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CHANNEL_WAKE_REPORTS,
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CHANNEL_GYRO
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};
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/// @brief Sensor accuracy returned during sensor calibration
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enum class IMUAccuracy
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{
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LOW = 1,
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MED,
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HIGH
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};
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/// @brief IMU configuration settings passed into constructor
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typedef struct bno08x_config_t
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{
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spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
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gpio_num_t io_mosi; ///<MOSI GPIO pin (connects to BNO08x DI pin)
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gpio_num_t io_miso; ///<MISO GPIO pin (connects to BNO08x SDA pin)
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gpio_num_t io_sclk; ///<SCLK pin (connects to BNO08x SCL pin)
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gpio_num_t io_cs; /// Chip select pin (connects to BNO08x CS pin)
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gpio_num_t io_int; /// Host interrupt pin (connects to BNO08x INT pin)
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gpio_num_t io_rst; /// Reset pin (connects to BNO08x RST pin)
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gpio_num_t io_wake; ///<Wake pin (optional, connects to BNO08x P0)
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uint32_t sclk_speed; ///<Desired SPI SCLK speed in Hz (max 3MHz)
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/// @brief Default IMU configuration settings constructor.
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/// To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration.
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/// Alternatively, edit the default values in "Kconfig.projbuild"
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bno08x_config_t()
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: spi_peripheral((spi_host_device_t) CONFIG_ESP32_BNO08x_SPI_HOST)
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, io_mosi((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_DI) // default:
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, io_miso((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_SDA) // default:
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, io_sclk((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_SCL) // default:
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, io_cs((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_CS) // default:
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, io_int((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_HINT) // default:
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, io_rst((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_RST) // default:
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, io_wake((gpio_num_t) CONFIG_ESP32_BNO08X_GPIO_WAKE) // default: -1 (unused)
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, sclk_speed((uint32_t) CONFIG_ESP32_BNO08X_SCL_SPEED_HZ) // default: 2MH
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{
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}
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/// @brief Overloaded IMU configuration settings constructor for custom pin settings
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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,
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gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)
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: spi_peripheral(spi_peripheral)
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, io_mosi(io_mosi)
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, io_miso(io_miso)
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, io_sclk(io_sclk)
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, io_cs(io_cs)
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, io_int(io_int)
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, io_rst(io_rst)
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, io_wake(io_wake)
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, sclk_speed(sclk_speed)
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{
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}
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} bno08x_config_t;
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class BNO08x
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{
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public:
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BNO08x(bno08x_config_t imu_config = default_imu_config);
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bool initialize();
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bool hard_reset();
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bool soft_reset();
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uint8_t get_reset_reason();
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bool mode_sleep();
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bool mode_on();
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float q_to_float(int16_t fixed_point_value, uint8_t q_point);
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bool run_full_calibration_routine();
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void calibrate_all();
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void calibrate_accelerometer();
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void calibrate_gyro();
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void calibrate_magnetometer();
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void calibrate_planar_accelerometer();
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void request_calibration_status();
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bool calibration_complete();
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void end_calibration();
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void save_calibration();
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void enable_rotation_vector(uint32_t time_between_reports);
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void enable_game_rotation_vector(uint32_t time_between_reports);
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void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports);
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void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports);
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void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports);
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void enable_accelerometer(uint32_t time_between_reports);
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void enable_linear_accelerometer(uint32_t time_between_reports);
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void enable_gravity(uint32_t time_between_reports);
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void enable_gyro(uint32_t time_between_reports);
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void enable_uncalibrated_gyro(uint32_t time_between_reports);
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void enable_magnetometer(uint32_t time_between_reports);
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void enable_tap_detector(uint32_t time_between_reports);
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void enable_step_counter(uint32_t time_between_reports);
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void enable_stability_classifier(uint32_t time_between_reports);
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void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_raw_accelerometer(uint32_t time_between_reports);
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void enable_raw_gyro(uint32_t time_between_reports);
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void enable_raw_magnetometer(uint32_t time_between_reports);
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void disable_rotation_vector();
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void disable_game_rotation_vector();
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void disable_ARVR_stabilized_rotation_vector();
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void disable_ARVR_stabilized_game_rotation_vector();
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void disable_gyro_integrated_rotation_vector();
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void disable_accelerometer();
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void disable_linear_accelerometer();
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void disable_gravity();
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void disable_gyro();
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void disable_uncalibrated_gyro();
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void disable_magnetometer();
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void disable_tap_detector();
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void disable_step_counter();
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void disable_stability_classifier();
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void disable_activity_classifier();
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void disable_raw_accelerometer();
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void disable_raw_gyro();
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void disable_raw_magnetometer();
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void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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void save_tare();
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void clear_tare();
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bool data_available();
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void register_cb(std::function<void()> cb_fxn);
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uint32_t get_time_stamp();
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void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
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float get_magf_X();
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float get_magf_Y();
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float get_magf_Z();
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uint8_t get_magf_accuracy();
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void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
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float get_gravity_X();
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float get_gravity_Y();
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float get_gravity_Z();
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uint8_t get_gravity_accuracy();
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float get_roll();
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float get_pitch();
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float get_yaw();
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float get_roll_deg();
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float get_pitch_deg();
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float get_yaw_deg();
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void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
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float get_quat_I();
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float get_quat_J();
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float get_quat_K();
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float get_quat_real();
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float get_quat_radian_accuracy();
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uint8_t get_quat_accuracy();
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void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
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float get_accel_X();
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float get_accel_Y();
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float get_accel_Z();
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uint8_t get_accel_accuracy();
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void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
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float get_linear_accel_X();
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float get_linear_accel_Y();
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float get_linear_accel_Z();
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uint8_t get_linear_accel_accuracy();
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int16_t get_raw_accel_X();
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int16_t get_raw_accel_Y();
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int16_t get_raw_accel_Z();
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int16_t get_raw_gyro_X();
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int16_t get_raw_gyro_Y();
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int16_t get_raw_gyro_Z();
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int16_t get_raw_magf_X();
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int16_t get_raw_magf_Y();
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int16_t get_raw_magf_Z();
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void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
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float get_gyro_calibrated_velocity_X();
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float get_gyro_calibrated_velocity_Y();
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float get_gyro_calibrated_velocity_Z();
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uint8_t get_gyro_accuracy();
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void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
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float get_uncalibrated_gyro_X();
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float get_uncalibrated_gyro_Y();
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float get_uncalibrated_gyro_Z();
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float get_uncalibrated_gyro_bias_X();
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float get_uncalibrated_gyro_bias_Y();
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float get_uncalibrated_gyro_bias_Z();
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uint8_t get_uncalibrated_gyro_accuracy();
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void get_gyro_velocity(float& x, float& y, float& z);
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float get_gyro_velocity_X();
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float get_gyro_velocity_Y();
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float get_gyro_velocity_Z();
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uint8_t get_tap_detector();
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uint16_t get_step_count();
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int8_t get_stability_classifier();
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uint8_t get_activity_classifier();
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// Metadata functions
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int16_t get_Q1(uint16_t record_ID);
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int16_t get_Q2(uint16_t record_ID);
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int16_t get_Q3(uint16_t record_ID);
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float get_resolution(uint16_t record_ID);
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float get_range(uint16_t record_ID);
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uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
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bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
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bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
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// Record IDs from figure 29, page 29 reference manual
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// These are used to read the metadata for each sensor type
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static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER =
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0xE302; ///< Accelerometer record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED =
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0xE306; ///< Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED =
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0xE309; ///< Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR =
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0xE30B; ///< Rotation vector record ID, to be passed in metadata functions like get_Q1()
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// Activity classifier bits
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_UNKNOWN_EN = (1 << 0);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_IN_VEHICLE_EN = (1 << 1);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_BICYCLE_EN = (1 << 2);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_FOOT_EN = (1 << 3);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_STILL_EN = (1 << 4);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_TILTING_EN = (1 << 5);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_WALKING_EN = (1 << 6);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_RUNNING_EN = (1 << 7);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ON_STAIRS_EN = (1 << 8);
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static const constexpr uint16_t ACTIVITY_CLASSIFIER_ALL_EN = 0x1F;
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static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
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// Which rotation vector to tare, BNO08x saves them seperately
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static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; ///<Tare rotation vector
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static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; ///<Tare game rotation vector
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static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2; ///< tare geomagnetic rotation vector
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static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; ///<Tare gyro integrated rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4; ///< Tare ARVR stabilized rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5; ///<Tare ARVR stabilized game rotation vector
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static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; ///< Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
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static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
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static const constexpr int16_t ACCELEROMETER_Q1 = 8; ///< Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
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static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8; ///< Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
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static const constexpr int16_t GYRO_Q1 = 9; ///< Gyro Q point (See SH-2 Ref. Manual 6.5.13)
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static const constexpr int16_t MAGNETOMETER_Q1 = 4; ///< Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
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static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10; ///< Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
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static const constexpr int16_t GRAVITY_Q1 = 8; ///< Gravity Q point (See SH-2 Ref. Manual 6.5.11)
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private:
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/// @brief Holds data that is received over spi.
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typedef struct bno08x_rx_packet_t
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{
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uint8_t header[4]; ///< Header of SHTP packet.
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uint8_t body[300]; /// Body of SHTP packet.
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uint16_t length; ///< Packet length in bytes.
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} bno08x_rx_packet_t;
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/// @brief Holds data that is sent over spi.
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typedef struct bno08x_tx_packet_t
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{
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uint8_t body[50]; ///< Body of SHTP the packet (header + body)
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uint16_t length; ///< Packet length in bytes.
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} bno08x_tx_packet_t;
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bool wait_for_rx_done();
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bool wait_for_tx_done();
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bool wait_for_data();
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bool receive_packet();
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void send_packet(bno08x_tx_packet_t* packet);
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void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit, uint32_t special_config = 0);
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void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit);
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void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands);
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void queue_command(uint8_t command, uint8_t* commands);
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void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config = 0);
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void queue_calibrate_command(uint8_t _to_calibrate);
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void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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void queue_request_product_id_command();
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uint16_t parse_packet(bno08x_rx_packet_t* packet);
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uint16_t parse_product_id_report(bno08x_rx_packet_t* packet);
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uint16_t parse_frs_read_response_report(bno08x_rx_packet_t* packet);
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uint16_t parse_input_report(bno08x_rx_packet_t* packet);
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uint16_t parse_command_report(bno08x_rx_packet_t* packet);
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// for debug
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void print_header(bno08x_rx_packet_t* packet);
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void print_packet(bno08x_rx_packet_t* packet);
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static bno08x_config_t default_imu_config; ///< default imu config settings
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EventGroupHandle_t
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evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
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EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
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QueueHandle_t queue_rx_data; ///<Packet queue used to send data received from bno08x from spi_task to data_proc_task.
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QueueHandle_t queue_tx_data; ///<Packet queue used to send data to be sent over SPI from sending functions to spi_task.
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QueueHandle_t queue_frs_read_data; ///<Queue used to send packet body from data_proc_task to frs read functions.
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QueueHandle_t queue_reset_reason; ///<Queue used to send reset reason from product id report to reset_reason() function
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std::vector<std::function<void()>> cb_list; // Vector for storing any call-back functions added with register_cb()
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uint32_t meta_data[9]; ///<First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
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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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// These are the raw sensor values (without Q applied) pulled from the user requested Input Report
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uint32_t time_stamp; ///<Report timestamp (see datasheet 1.3.5.3)
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uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
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accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
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uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
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accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
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uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
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uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
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quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
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uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
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raw_velocity_gyro_Z; ///<Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
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uint16_t gravity_X, gravity_Y, gravity_Z,
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gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
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uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
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uncalib_gyro_accuracy; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
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uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
|
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magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
|
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uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27)
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uint16_t step_count; ///<Step counter reading (See SH-2 Ref. Manual 6.5.29)
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uint8_t stability_classifier; ///<Stability status reading (See SH-2 Ref. Manual 6.5.31)
|
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uint8_t activity_classifier; ///<Activity status reading (See SH-2 Ref. Manual 6.5.36)
|
|
uint8_t* activity_confidences; ///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
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uint8_t calibration_status; ///<Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
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uint16_t mems_raw_accel_X, mems_raw_accel_Y,
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mems_raw_accel_Z; ///<Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
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uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
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mems_raw_gyro_Z; ///<Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
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uint16_t mems_raw_magf_X, mems_raw_magf_Y,
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mems_raw_magf_Z; ///<Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
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// spi task
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TaskHandle_t spi_task_hdl; ///<spi_task() handle
|
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static void spi_task_trampoline(void* arg);
|
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void spi_task();
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|
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// data processing task
|
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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);
|
|
void data_proc_task();
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|
|
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static void IRAM_ATTR hint_handler(void* arg);
|
|
static bool
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isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
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|
|
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static const constexpr uint16_t RX_DATA_LENGTH = 300; ///<length buffer containing data received over spi
|
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static const constexpr uint16_t MAX_METADATA_LENGTH = 9; ///<max length of metadata used in frs read operations
|
|
|
|
static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
|
|
300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
|
|
|
|
// evt_grp_spi bits
|
|
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
|
|
(1 << 0); ///<When this bit is set it indicates a receive procedure has completed.
|
|
static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET =
|
|
(1 << 1); ///< When this bit is set, it indicates a valid packet has been received and processed.
|
|
static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET =
|
|
(1 << 2); ///<When this bit is set, it indicates an invalid packet has been received.
|
|
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE = (1 << 3); ///<When this bit is set, it indicates a queued packet has been sent.
|
|
|
|
// evt_grp_report_en bits
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0); ///< When set, rotation vector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1); ///< When set, game rotation vector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
|
|
(1 << 2); ///< When set, ARVR stabilized rotation vector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
|
|
(1 << 3); ///< When set, ARVR stabilized game rotation vector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT =
|
|
(1 << 4); ///< When set, gyro integrator rotation vector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5); ///< When set, accelerometer reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6); ///< When set, linear accelerometer reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7); ///< When set, gravity reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8); ///< When set, gyro reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9); ///< When set, uncalibrated gyro reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10); ///< When set, magnetometer reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11); ///< When set, tap detector reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12); ///< When set, step counter reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13); ///< When set, stability classifier reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14); ///< When set, activity classifier reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15); ///< When set, raw accelerometer reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16); ///< When set, raw gyro reports are active.
|
|
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17); ///< When set, raw magnetometer reports are active.
|
|
|
|
static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS =
|
|
EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
|
|
EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
|
|
EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
|
|
EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
|
|
EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT;
|
|
|
|
// Higher level calibration commands, used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_GYRO = 1; ///<Calibrate gyro command used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_MAG = 2; ///<Calibrate magnetometer command used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3; ///<Calibrate planar acceleration command used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
|
|
4; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
|
|
static const constexpr uint8_t CALIBRATE_STOP = 5; ///<Stop calibration command used by queue_calibrate_command
|
|
|
|
// 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; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
|
|
static const constexpr uint8_t COMMAND_INITIALIZE = 4; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
|
|
static const constexpr uint8_t COMMAND_DCD = 6; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
|
|
static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
|
|
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
|
|
static const constexpr uint8_t COMMAND_OSCILLATOR = 10; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
|
|
static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
|
|
|
|
// 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; ///< See SH2 Ref. Manual 6.3.9
|
|
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2; ///< See SH2 Ref. Manual 6.3.8
|
|
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3; ///< See SH2 Ref. Manual 6.3.7
|
|
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4; ///< See SH2 Ref. Manual 6.3.6
|
|
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8; ///< See SH2 Ref. Manual 6.3.2
|
|
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9; ///< See SH2 Ref. Manual 6.3.1
|
|
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB; ///< See SH2 Ref. Manual 7.2.1
|
|
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD; ///< See SH2 Ref. Manual 6.5.4
|
|
|
|
// Sensor report IDs, used when enabling and reading BNO08x reports
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01; ///< See SH2 Ref. Manual 6.5.9
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02; ///< See SH2 Ref. Manual 6.5.13
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03; ///< See SH2 Ref. Manual 6.5.16
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04; ///< See SH2 Ref. Manual 6.5.10
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05; ///< See SH2 Ref. Manual 6.5.18
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06; ///< See SH2 Ref. Manual 6.5.11
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07; ///< See SH2 Ref. Manual 6.5.14
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08; ///< See SH2 Ref. Manual 6.5.19
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; ///< See SH2 Ref. Manual 6.5.20
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A; ///< See SH2 Ref. Manual 6.5.44
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10; ///< See SH2 Ref. Manual 6.5.27
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11; ///< See SH2 Ref. Manual 6.5.29
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13; ///< See SH2 Ref. Manual 6.5.31
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14; ///< See SH2 Ref. Manual 6.5.8
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15; ///< See SH2 Ref. Manual 6.5.12
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16; ///< See SH2 Ref. Manual 6.5.15
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28; ///< See SH2 Ref. Manual 6.5.42
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29; ///< See SH2 Ref. Manual 6.5.43
|
|
|
|
// Tare commands used by queue_tare_command
|
|
static const constexpr uint8_t TARE_NOW = 0; ///< See SH2 Ref. Manual 6.4.4.1
|
|
static const constexpr uint8_t TARE_PERSIST = 1; ///< See SH2 Ref. Manual 6.4.4.2
|
|
static const constexpr uint8_t TARE_SET_REORIENTATION = 2; ///< See SH2 Ref. Manual 6.4.4.3
|
|
|
|
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
|
|
}; |