57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
#include "BNO08xRptStepCounter.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates step counter data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
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{
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static uint16_t prev_steps = 0;
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imu->lock_user_data();
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data = sensor_val->un.stepCounter;
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if (prev_steps > data.steps)
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{
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// rollover detected
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step_accumulator += prev_steps;
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prev_steps = 0UL;
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}
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prev_steps = data.steps;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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imu->unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
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signal_data_available();
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}
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/**
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* @brief Grabs the total step count since boot, accounts for rollover in report data.
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*
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* @return Total steps since boot.
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*/
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uint32_t BNO08xRptStepCounter::get_total_steps()
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{
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imu->lock_user_data();
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uint32_t total_steps = step_accumulator + data.steps;
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imu->unlock_user_data();
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return total_steps;
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}
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/**
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* @brief Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data).
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*
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* @return Struct containing requested data.
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*/
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bno08x_step_counter_t BNO08xRptStepCounter::get()
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{
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imu->lock_user_data();
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bno08x_step_counter_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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} |