563 lines
35 KiB
C++
563 lines
35 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 <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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// esp-idf includes
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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 <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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/**
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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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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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BNO08xResetReason 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_uncalibrated_gyro(uint32_t time_between_reports);
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void enable_calibrated_gyro(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_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, ActivityEnable activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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void enable_raw_mems_gyro(uint32_t time_between_reports);
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void enable_raw_mems_accelerometer(uint32_t time_between_reports);
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void enable_raw_mems_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_calibrated_gyro();
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void disable_uncalibrated_gyro();
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void disable_magnetometer();
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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_tap_detector();
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void disable_raw_mems_accelerometer();
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void disable_raw_mems_gyro();
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void disable_raw_mems_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(bool ignore_no_reports_enabled = false);
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void register_cb(std::function<void()> cb_fxn);
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void reset_all_data_to_defaults();
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uint32_t get_time_stamp();
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void get_magf(float& x, float& y, float& z, BNO08xAccuracy& 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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BNO08xAccuracy get_magf_accuracy();
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void get_gravity(float& x, float& y, float& z, BNO08xAccuracy& 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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BNO08xAccuracy 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, BNO08xAccuracy& 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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BNO08xAccuracy get_quat_accuracy();
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void get_accel(float& x, float& y, float& z, BNO08xAccuracy& 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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BNO08xAccuracy get_accel_accuracy();
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void get_linear_accel(float& x, float& y, float& z, BNO08xAccuracy& 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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BNO08xAccuracy get_linear_accel_accuracy();
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void get_raw_mems_accel(uint16_t& x, uint16_t& y, uint16_t& z);
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uint16_t get_raw_mems_accel_X();
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uint16_t get_raw_mems_accel_Y();
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uint16_t get_raw_mems_accel_Z();
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void get_raw_mems_gyro(uint16_t& x, uint16_t& y, uint16_t& z);
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uint16_t get_raw_mems_gyro_X();
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uint16_t get_raw_mems_gyro_Y();
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uint16_t get_raw_mems_gyro_Z();
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void get_raw_mems_magf(uint16_t& x, uint16_t& y, uint16_t& z);
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uint16_t get_raw_mems_magf_X();
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uint16_t get_raw_mems_magf_Y();
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uint16_t get_raw_mems_magf_Z();
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void get_calibrated_gyro_velocity(float& x, float& y, float& z);
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float get_calibrated_gyro_velocity_X();
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float get_calibrated_gyro_velocity_Y();
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float get_calibrated_gyro_velocity_Z();
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void get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& bx, float& by, float& bz);
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float get_uncalibrated_gyro_velocity_X();
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float get_uncalibrated_gyro_velocity_Y();
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float get_uncalibrated_gyro_velocity_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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void get_integrated_gyro_velocity(float& x, float& y, float& z);
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float get_integrated_gyro_velocity_X();
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float get_integrated_gyro_velocity_Y();
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float get_integrated_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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Stability get_stability_classifier();
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Activity 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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0xE302U; ///< 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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0xE306U; ///< 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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0xE309U; ///< 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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0xE30BU; ///< Rotation vector record ID, to be passed in metadata functions like get_Q1()
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static const constexpr uint8_t TARE_AXIS_ALL = 0x07U; ///< Tare all axes (used with tare now command)
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static const constexpr uint8_t TARE_AXIS_Z = 0x04U; ///< 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 = 0U; ///<Tare rotation vector
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static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1U; ///<Tare game rotation vector
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static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2U; ///< tare geomagnetic rotation vector
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static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3U; ///<Tare gyro integrated rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4U; ///< Tare ARVR stabilized rotation vector
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static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5U; ///<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 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 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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typedef struct bno08x_report_period_tracker_t
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{
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uint8_t report_ID;
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uint32_t period;
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} bno08x_report_period_tracker_t;
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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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uint8_t task_count; ///< How many successfully initialized tasks (max of TSK_CNT)
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool spi_task; ///< True if xTaskCreate has been called successfully for spi_task.
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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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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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, task_count(0)
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, data_proc_task(false)
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, spi_task(false)
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, spi_bus(false)
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, spi_device(false)
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{
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}
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} bno08x_init_status_t;
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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 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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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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esp_err_t receive_packet();
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esp_err_t receive_packet_header(bno08x_rx_packet_t* packet);
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esp_err_t receive_packet_body(bno08x_rx_packet_t* packet);
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void send_packet(bno08x_tx_packet_t* packet);
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void flush_rx_packets(uint8_t flush_count);
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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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// functions to parse packets received from bno08x
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uint16_t parse_packet(bno08x_rx_packet_t* packet, bool& notify_users);
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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_feature_get_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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void parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data, uint16_t data_length);
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uint16_t parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t* packet);
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uint16_t parse_command_report(bno08x_rx_packet_t* packet);
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// functions to update data returned to user
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void update_accelerometer_data(uint16_t* data, uint8_t status);
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void update_lin_accelerometer_data(uint16_t* data, uint8_t status);
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void update_calibrated_gyro_data(uint16_t* data, uint8_t status);
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void update_uncalibrated_gyro_data(uint16_t* data, uint8_t status);
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void update_magf_data(uint16_t* data, uint8_t status);
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void update_gravity_data(uint16_t* data, uint8_t status);
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void update_rotation_vector_data(uint16_t* data, uint8_t status);
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void update_step_counter_data(uint16_t* data);
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void update_raw_accelerometer_data(uint16_t* data);
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void update_raw_gyro_data(uint16_t* data);
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void update_raw_magf_data(uint16_t* data);
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void update_tap_detector_data(bno08x_rx_packet_t* packet);
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void update_stability_classifier_data(bno08x_rx_packet_t* packet);
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void update_personal_activity_classifier_data(bno08x_rx_packet_t* packet);
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void update_command_data(bno08x_rx_packet_t* packet);
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void update_integrated_gyro_rotation_vector_data(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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bool first_boot = true; ///< true only for first execution of hard_reset(), used to suppress the printing of product ID report.
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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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// 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);
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void data_proc_task();
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// task control
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SemaphoreHandle_t sem_kill_tasks; ///<semaphore to count amount of killed tasks
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esp_err_t launch_tasks();
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esp_err_t kill_all_tasks();
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void update_report_period_trackers(uint8_t report_ID, uint32_t new_period);
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static uint8_t report_ID_to_report_period_tracker_idx(uint8_t report_ID);
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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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EventGroupHandle_t evt_grp_task_flow; ///<Event group for indicating when tasks should complete and self-delete (on deconstructor call)
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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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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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// 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_calib_gyro_X, raw_calib_gyro_Y, raw_calib_gyro_Z; ///<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 integrated_gyro_velocity_X, integrated_gyro_velocity_Y,
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integrated_gyro_velocity_Z; ///<Raw gyro angular velocity reading from integrated gyro rotation vector (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,
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raw_bias_Z; ///<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)
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uint8_t* activity_confidences = nullptr; ///<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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static void IRAM_ATTR hint_handler(void* arg);
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static const constexpr uint8_t TASK_CNT = 2U; ///<Total amount of tasks utilized by BNO08x driver library
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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 uint16_t MAX_METADATA_LENGTH = 9U; ///<max length of metadata used in frs read operations
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static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
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3000UL /
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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 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 TickType_t CMD_EXECUTION_DELAY_MS =
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10UL /
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portTICK_PERIOD_MS; ///<How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).
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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_spi bits
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static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
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(1U << 0U); ///<When this bit is set it indicates a receive procedure has completed.
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static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET_BIT =
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(1U << 1U); ///< When this bit is set, it indicates a valid packet has been received and processed.
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static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET_BIT =
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(1U << 2U); ///<When this bit is set, it indicates an invalid packet has been received.
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static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE_BIT = (1 << 3); ///<When this bit is set, it indicates a queued packet has been sent.
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// evt_grp_report_en bits
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static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0); ///< When set, rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1); ///< When set, game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
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(1U << 2U); ///< When set, ARVR stabilized rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
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(1U << 3U); ///< When set, ARVR stabilized game rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT =
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(1U << 4U); ///< When set, gyro integrator rotation vector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1U << 5U); ///< When set, accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1U << 6U); ///< When set, linear accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1U << 7U); ///< When set, gravity reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1U << 8U); ///< When set, gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1U << 9U); ///< When set, uncalibrated gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1U << 10U); ///< When set, magnetometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1U << 11U); ///< When set, tap detector reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1U << 12U); ///< When set, step counter reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1U << 13U); ///< When set, stability classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1U << 14U); ///< When set, activity classifier reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1U << 15U); ///< When set, raw accelerometer reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1U << 16U); ///< When set, raw gyro reports are active.
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static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1U << 17U); ///< When set, raw magnetometer reports are active.
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// evt_grp_task_flow bits
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static const constexpr EventBits_t EVT_GRP_TSK_FLW_RUNNING_BIT =
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(1U << 0U); ///< When set, data_proc_task and spi_task are active, when 0 they are pending deletion or deleted.
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static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS =
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EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
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EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
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EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
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EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
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EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT;
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// Higher level calibration commands, used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_ACCEL = 0U; ///<Calibrate accelerometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_GYRO = 1U; ///<Calibrate gyro command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_MAG = 2U; ///<Calibrate magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3U; ///<Calibrate planar acceleration command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
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4U; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
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static const constexpr uint8_t CALIBRATE_STOP = 5U; ///<Stop calibration command used by queue_calibrate_command
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// Command IDs (see Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_ERRORS = 1U;
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static const constexpr uint8_t COMMAND_COUNTER = 2U;
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static const constexpr uint8_t COMMAND_TARE = 3U; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
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static const constexpr uint8_t COMMAND_INITIALIZE = 4U; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
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static const constexpr uint8_t COMMAND_DCD = 6U; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7U; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
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static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9U; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_OSCILLATOR = 10U; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
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static const constexpr uint8_t COMMAND_CLEAR_DCD = 11U; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
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// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
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static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1U; ///< See SH2 Ref. Manual 6.3.9
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static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2U; ///< See SH2 Ref. Manual 6.3.8
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static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3U; ///< See SH2 Ref. Manual 6.3.7
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static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4U; ///< See SH2 Ref. Manual 6.3.6
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static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8U; ///< See SH2 Ref. Manual 6.3.2
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static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9U; ///< See SH2 Ref. Manual 6.3.1
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static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFBU; ///< See SH2 Ref. Manual 7.2.1
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static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFDU; ///< See SH2 Ref. Manual 6.5.4
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static const constexpr uint8_t SHTP_REPORT_GET_FEATURE_RESPONSE = 0xFCU; ///< See SH2 Ref. Manual 6.5.5
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// Sensor report IDs, used when enabling and reading BNO08x reports
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static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01U; ///< See SH2 Ref. Manual 6.5.9
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static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02U; ///< See SH2 Ref. Manual 6.5.13
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static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03U; ///< See SH2 Ref. Manual 6.5.16
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static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04U; ///< See SH2 Ref. Manual 6.5.10
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static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05U; ///< See SH2 Ref. Manual 6.5.18
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static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06U; ///< See SH2 Ref. Manual 6.5.11
|
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static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07U; ///< See SH2 Ref. Manual 6.5.14
|
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static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08U; ///< See SH2 Ref. Manual 6.5.19
|
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static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09U; ///< See SH2 Ref. Manual 6.5.20
|
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static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2AU; ///< See SH2 Ref. Manual 6.5.44
|
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static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10U; ///< See SH2 Ref. Manual 6.5.27
|
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static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11U; ///< See SH2 Ref. Manual 6.5.29
|
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static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13U; ///< See SH2 Ref. Manual 6.5.31
|
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static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14U; ///< See SH2 Ref. Manual 6.5.8
|
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static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15U; ///< See SH2 Ref. Manual 6.5.12
|
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static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16U; ///< See SH2 Ref. Manual 6.5.15
|
|
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1EU; ///< See SH2 Ref. Manual 6.5.36
|
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static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28U; ///< See SH2 Ref. Manual 6.5.42
|
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static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29U; ///< See SH2 Ref. Manual 6.5.43
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|
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// Tare commands used by queue_tare_command
|
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static const constexpr uint8_t TARE_NOW = 0U; ///< See SH2 Ref. Manual 6.4.4.1
|
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static const constexpr uint8_t TARE_PERSIST = 1U; ///< See SH2 Ref. Manual 6.4.4.2
|
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static const constexpr uint8_t TARE_SET_REORIENTATION = 2U; ///< See SH2 Ref. Manual 6.4.4.3
|
|
|
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static const constexpr uint8_t REPORT_CNT = 19; ///< Total unique reports that can be returned by BNO08x.
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|
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bno08x_report_period_tracker_t report_period_trackers[REPORT_CNT] = {{SENSOR_REPORT_ID_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_GYROSCOPE, 0},
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{SENSOR_REPORT_ID_MAGNETIC_FIELD, 0}, {SENSOR_REPORT_ID_LINEAR_ACCELERATION, 0}, {SENSOR_REPORT_ID_ROTATION_VECTOR, 0},
|
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{SENSOR_REPORT_ID_GRAVITY, 0}, {SENSOR_REPORT_ID_UNCALIBRATED_GYRO, 0}, {SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, 0},
|
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{SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR, 0}, {SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0},
|
|
{SENSOR_REPORT_ID_TAP_DETECTOR, 0}, {SENSOR_REPORT_ID_STEP_COUNTER, 0}, {SENSOR_REPORT_ID_STABILITY_CLASSIFIER, 0},
|
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{SENSOR_REPORT_ID_RAW_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_RAW_GYROSCOPE, 0}, {SENSOR_REPORT_ID_RAW_MAGNETOMETER, 0},
|
|
{SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, 0}, {SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR, 0},
|
|
{SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR,
|
|
0}}; ///< Current sample period of each report in microseconds linked to report ID (0 if not enabled).
|
|
|
|
uint32_t largest_sample_period_us =
|
|
0; ///< Current largest sample period of any enabled report in microseconds (used to determine timeout for hint ISR).
|
|
uint8_t current_slowest_report_ID; ///< ID of the currently enabled report with the largest sample period.
|
|
|
|
TickType_t host_int_timeout_ms =
|
|
HOST_INT_TIMEOUT_DEFAULT_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), determined by enabled report with longest period.
|
|
|
|
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
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|
|
|
friend class BNO08xTestHelper; // allow test helper to access private members for unit tests
|
|
}; |