250 lines
11 KiB
C++
250 lines
11 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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// etl includes
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#include <etl/vector.h>
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#include <etl/variant.h>
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#include <etl/map.h>
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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 <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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// in-house includes
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#include "BNO08xGlobalTypes.hpp"
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#include "BNO08xPrivateTypes.hpp"
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#include "BNO08xSH2HAL.hpp"
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#include "BNO08xReports.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 on();
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bool sleep();
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// sh2_startCal (cmd id 12, calibration)
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bool enable_dynamic_calibration(BNO08xCalSel sensor);
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bool disable_dynamic_calibration(BNO08xCalSel sensor);
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bool enable_autosave_dynamic_calibration();
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bool disable_autosave_dynamic_calibration();
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bool save_dynamic_calibration();
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bool clear_dynamic_calibration();
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bool get_frs(uint16_t frs_ID, uint32_t (&data)[16], uint16_t& rx_data_sz);
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sh2_ProductIds_t get_product_IDs();
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bool data_available();
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bool register_cb(std::function<void(void)> cb_fxn);
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bool register_cb(std::function<void(uint8_t report_ID)> cb_fxn);
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void print_product_ids();
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// enum helper fxns
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static const char* activity_to_str(BNO08xActivity activity);
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static const char* stability_to_str(BNO08xStability stability);
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static const char* accuracy_to_str(BNO08xAccuracy accuracy);
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BNO08xRptAcceleration rpt_accelerometer;
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BNO08xRptLinearAcceleration rpt_linear_accelerometer;
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BNO08xRptGravity rpt_gravity;
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BNO08xRptCalMagnetometer rpt_cal_magnetometer;
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BNO08xRptUncalMagnetometer rpt_uncal_magnetometer;
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BNO08xRptCalGyro rpt_cal_gyro;
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BNO08xRptUncalGyro rpt_uncal_gyro;
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BNO08xRptRV rpt_rv;
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BNO08xRptGameRV rpt_rv_game;
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BNO08xRptARVRStabilizedRV rpt_rv_ARVR_stabilized;
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BNO08xRptARVRStabilizedGameRV rpt_rv_ARVR_stabilized_game;
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BNO08xRptIGyroRV rpt_rv_gyro_integrated;
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BNO08xRptRVGeomag rpt_rv_geomagnetic;
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BNO08xRptRawMEMSGyro rpt_raw_gyro;
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BNO08xRptRawMEMSAccelerometer rpt_raw_accelerometer;
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BNO08xRptRawMEMSMagnetometer rpt_raw_magnetometer;
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BNO08xRptStepCounter rpt_step_counter;
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BNO08xRptActivityClassifier rpt_activity_classifier;
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BNO08xStabilityClassifier rpt_stability_classifier;
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BNO08xShakeDetector rpt_shake_detector;
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BNO08xTapDetector rpt_tap_detector;
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private:
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// data processing task
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static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =
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CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; ///< Size of data_proc_task() stack in bytes
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TaskHandle_t data_proc_task_hdl; ///<data_proc_task() task handle
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static void data_proc_task_trampoline(void* arg);
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void data_proc_task();
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// sh2 service task
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static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ =
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CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ; ///< Size of sh2_HAL_service_task() stack in bytes
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TaskHandle_t sh2_HAL_service_task_hdl; ///<sh2_HAL_service_task() task handle
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static void sh2_HAL_service_task_trampoline(void* arg);
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void sh2_HAL_service_task();
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// callback task
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static const constexpr configSTACK_DEPTH_TYPE CB_TASK_SZ =
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CONFIG_ESP32_BNO08X_CB_TASK_SZ; ///< Size of sh2_HAL_service_task() stack in bytes
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TaskHandle_t cb_task_hdl; ///<sh2_HAL_service_task() task handle
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static void cb_task_trampoline(void* arg);
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void cb_task();
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SemaphoreHandle_t
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sh2_HAL_lock; ///<Mutex to prevent sh2 HAL lib functions from being accessed at same time.
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SemaphoreHandle_t
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data_lock; ///<Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.
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SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
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void lock_sh2_HAL();
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void unlock_sh2_HAL();
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void lock_user_data();
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void unlock_user_data();
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void handle_sensor_report(sh2_SensorValue_t* sensor_val);
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void handle_cb(uint8_t rpt_ID, BNO08xCbGeneric* cb_entry);
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esp_err_t init_config_args();
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esp_err_t init_gpio();
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esp_err_t init_gpio_inputs();
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esp_err_t init_gpio_outputs();
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esp_err_t init_hint_isr();
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esp_err_t init_spi();
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esp_err_t init_tasks();
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esp_err_t init_sh2_HAL();
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esp_err_t deinit_gpio();
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esp_err_t deinit_gpio_inputs();
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esp_err_t deinit_gpio_outputs();
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esp_err_t deinit_hint_isr();
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esp_err_t deinit_spi();
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esp_err_t deinit_tasks();
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esp_err_t deinit_sh2_HAL();
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esp_err_t wait_for_hint();
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esp_err_t wait_for_reset();
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void toggle_reset();
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esp_err_t re_enable_reports();
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sh2_Hal_t sh2_HAL; ///< sh2 hardware abstraction layer struct for use with sh2 HAL lib.
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EventGroupHandle_t
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evt_grp_bno08x_task; ///<Event group for indicating various BNO08x related events between tasks.
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EventGroupHandle_t
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evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
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EventGroupHandle_t
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evt_grp_report_data_available; ///< Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report.
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QueueHandle_t
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queue_rx_sensor_event; ///< Queue to send sensor events from sh2 HAL sensor event callback (BNO08xSH2HAL::sensor_event_cb()) to data_proc_task()
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QueueHandle_t
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queue_cb_report_id; ///< Queue to send report ID of most recent report to cb_task()
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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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BNO08xPrivateTypes::bno08x_init_status_t
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init_status; ///<Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.
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sh2_ProductIds_t
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product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
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BNO08xPrivateTypes::bno08x_cb_list_t cb_list; ///< Vector to contain registered callbacks.
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etl::vector<uint8_t, TOTAL_RPT_COUNT>
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en_report_ids; ///< Vector to contain IDs of currently enabled reports
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// clang-format off
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etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t>> usr_reports =
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{
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{SH2_ACCELEROMETER, &rpt_accelerometer},
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{SH2_LINEAR_ACCELERATION, &rpt_linear_accelerometer},
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{SH2_GRAVITY, &rpt_gravity},
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{SH2_MAGNETIC_FIELD_CALIBRATED, &rpt_cal_magnetometer},
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{SH2_MAGNETIC_FIELD_UNCALIBRATED, &rpt_uncal_magnetometer},
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{SH2_GYROSCOPE_CALIBRATED, &rpt_cal_gyro},
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{SH2_GYROSCOPE_UNCALIBRATED, &rpt_uncal_gyro},
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{SH2_ROTATION_VECTOR, &rpt_rv},
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{SH2_GAME_ROTATION_VECTOR, &rpt_rv_game},
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{SH2_ARVR_STABILIZED_RV, &rpt_rv_ARVR_stabilized},
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{SH2_ARVR_STABILIZED_GRV, &rpt_rv_ARVR_stabilized_game},
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{SH2_GYRO_INTEGRATED_RV, &rpt_rv_gyro_integrated},
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{SH2_GEOMAGNETIC_ROTATION_VECTOR, &rpt_rv_geomagnetic},
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{SH2_RAW_GYROSCOPE, &rpt_raw_gyro},
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{SH2_RAW_ACCELEROMETER, &rpt_raw_accelerometer},
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{SH2_RAW_MAGNETOMETER, &rpt_raw_magnetometer},
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{SH2_STEP_COUNTER, &rpt_step_counter},
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{SH2_PERSONAL_ACTIVITY_CLASSIFIER, &rpt_activity_classifier},
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{SH2_STABILITY_CLASSIFIER, &rpt_stability_classifier},
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{SH2_SHAKE_DETECTOR, &rpt_shake_detector},
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{SH2_TAP_DETECTOR, &rpt_tap_detector},
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// not implemented, see include/report for existing implementations to add your own
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{SH2_PRESSURE, nullptr}, // requires auxilary i2c sensor
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{SH2_AMBIENT_LIGHT, nullptr}, // requires auxilary i2c sensor
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{SH2_HUMIDITY, nullptr}, // requires auxilary i2c sensor
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{SH2_PROXIMITY, nullptr}, // requires auxilary i2c sensor
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{SH2_TEMPERATURE, nullptr}, // requires auxilary i2c sensor
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{SH2_HEART_RATE_MONITOR, nullptr}, // requires auxilary i2c sensor
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{SH2_STEP_DETECTOR, nullptr},
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{SH2_SIGNIFICANT_MOTION, nullptr},
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{SH2_FLIP_DETECTOR, nullptr},
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{SH2_PICKUP_DETECTOR, nullptr},
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{SH2_STABILITY_DETECTOR, nullptr},
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{SH2_SLEEP_DETECTOR, nullptr},
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{SH2_TILT_DETECTOR, nullptr},
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{SH2_POCKET_DETECTOR, nullptr},
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{SH2_CIRCLE_DETECTOR, nullptr},
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{SH2_IZRO_MOTION_REQUEST, nullptr}
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};
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// clang-format on
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static void IRAM_ATTR hint_handler(void* arg);
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static const constexpr uint16_t RX_DATA_LENGTH =
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300U; ///<length buffer containing data received over spi
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static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
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CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /
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portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds).
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static const constexpr TickType_t DATA_AVAILABLE_TIMEOUT_MS =
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CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /
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portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
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static const constexpr TickType_t HARD_RESET_DELAY_MS =
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CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /
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portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
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static const constexpr uint32_t SCLK_MAX_SPEED =
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3000000UL; ///<Max SPI SCLK speed BNO08x is capable of.
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static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
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friend class BNO08xSH2HAL;
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friend class BNO08xTestHelper;
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}; |