98 lines
3.9 KiB
C++
98 lines
3.9 KiB
C++
/**
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* @file BNO08xRpt.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 <functional>
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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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// hill-crest labs includes (apache 2.0 license, compatible with MIT)
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#include "sh2.h"
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#include "sh2_SensorValue.h"
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#include "sh2_err.h"
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/**
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* @class BNO08xRpt
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*
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* @brief Class to represent and manage reports returned from BNO08x.
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*/
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class BNO08xRpt
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{
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public:
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bool enable(uint32_t time_between_reports,
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sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
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bool disable(sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
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bool register_cb(std::function<void(void)> cb_fxn);
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bool has_new_data();
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bool flush();
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bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
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bool clear_sample_counts();
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bool get_meta_data(bno08x_meta_data_t& meta_data);
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uint8_t ID; ///< Report ID, ex. SH2_ACCELERATION.
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EventBits_t
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rpt_bit; ///< Respective enable and data bit for report in BNO08x::evt_grp_report_en and BNO08x::evt_grp_report_data
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uint32_t period_us; ///< The period/interval of the report in microseconds.
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protected:
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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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EventGroupHandle_t*
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_evt_grp_rpt_en; ///<Event group for indicating which reports are currently enabled.
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EventGroupHandle_t*
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_evt_grp_rpt_data_available; ///< Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report since the last time it was called (note this group is unaffected by data read through callbacks).
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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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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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BNO08xPrivateTypes::bno08x_cb_list_t* _cb_list; ///< Vector to contain registered callbacks.
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virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
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/**
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* @brief BNO08xRpt report constructor.
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*
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* Construct a BNO08xRpt object for managing a BNO08x sensor report.
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*
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* @param imu Pointer to BNO08x imu object.
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* @param report_ID Report ID, ex. SH2_ACCELERATION.
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* @param rpt_bit Respective enable bit for report in BNO08x::evt_grp_report_en.
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* @param period_us The period/interval of the report in microseconds.
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*
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* @return void, nothing to return
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*/
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BNO08xRpt(BNO08xPrivateTypes::bno08x_report_info_t info)
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: ID(info.ID)
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, rpt_bit(info.rpt_bit)
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, period_us(0UL)
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, _sh2_HAL_lock(info._sh2_HAL_lock)
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, _data_lock(info._data_lock)
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, _evt_grp_rpt_en(info._evt_grp_rpt_en)
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, _evt_grp_rpt_data_available(info._evt_grp_rpt_data_available)
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, _evt_grp_bno08x_task(info._evt_grp_bno08x_task)
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, _en_report_ids(info._en_report_ids)
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, _cb_list(info._cb_list)
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{
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}
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void unlock_sh2_HAL();
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void lock_sh2_HAL();
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void unlock_user_data();
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void lock_user_data();
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void signal_data_available();
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static const constexpr float RAD_2_DEG =
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(180.0f /
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M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
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static const constexpr char* TAG = "BNO08xRpt";
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friend class BNO08x;
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}; |