84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/**
|
|
* @file BNO08xSH2HAL.hpp
|
|
* @author Myles Parfeniuk
|
|
*/
|
|
#pragma once
|
|
|
|
// hill-crest labs includes (apache 2.0 license, compatible with MIT)
|
|
#include "sh2.h"
|
|
#include "sh2_SensorValue.h"
|
|
#include "sh2_err.h"
|
|
|
|
// esp-idf includes
|
|
#include <esp_log.h>
|
|
#include <esp_timer.h>
|
|
|
|
/**
|
|
* @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(header) (UINT16_CLR_LSB(static_cast<uint16_t>(header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(header[0])))
|
|
|
|
// forward dec to prevent compile errors
|
|
class BNO08x;
|
|
|
|
class BNO08xSH2HAL
|
|
{
|
|
public:
|
|
static void set_hal_imu(BNO08x* hal_imu);
|
|
|
|
static int spi_open(sh2_Hal_t* self);
|
|
static void spi_close(sh2_Hal_t* self);
|
|
static int spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint32_t* t_us);
|
|
static int spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len);
|
|
static uint32_t get_time_us(sh2_Hal_t* self);
|
|
static void hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent);
|
|
static void sensor_event_cb(void* cookie, sh2_SensorEvent_t* event);
|
|
|
|
private:
|
|
static BNO08x* imu;
|
|
static void hardware_reset();
|
|
static bool spi_wait_for_int();
|
|
static uint16_t spi_read_sh2_packet_header(uint8_t* pBuffer);
|
|
static int spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz);
|
|
|
|
static const constexpr char* TAG = "BNO08xSH2HAL";
|
|
}; |