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esp32_BNO08x/include/BNO08xGlobalTypes.hpp

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/**
* @file BNO08xGlobalTypes.hpp
* @author Myles Parfeniuk
*/
#pragma once
// macros for bno08x_tap_detector_t
#define TAP_DETECTED_X_AXIS(tap) ((tap) & (1U << 0U) ? 1 : 0)
#define TAP_DETECTED_X_AXIS_POSITIVE(tap) ((tap) & (1U << 1U) ? 1 : 0)
#define TAP_DETECTED_Y_AXIS(tap) ((tap) & (1U << 2U) ? 1 : 0)
#define TAP_DETECTED_Y_AXIS_POSITIVE(tap) ((tap) & (1U << 3U) ? 1 : 0)
#define TAP_DETECTED_Z_AXIS(tap) ((tap) & (1U << 4U) ? 1 : 0)
#define TAP_DETECTED_Z_AXIS_POSITIVE(tap) ((tap) & (1U << 5U) ? 1 : 0)
#define TAP_DETECTED_DOUBLE(tap) ((tap) & (1U << 6U) ? 1 : 0)
// macros for bno08x_shake_detector_t
#define SHAKE_DETECTED_X(tap) ((tap) & (1U << 0U) ? 1 : 0)
#define SHAKE_DETECTED_Y(tap) ((tap) & (1U << 1U) ? 1 : 0)
#define SHAKE_DETECTED_Z(tap) ((tap) & (1U << 2U) ? 1 : 0)
// standard library includes
#include <math.h>
#include <inttypes.h>
#include <stdint.h>
#include <cstring>
// esp-idf includes
#include <driver/gpio.h>
#include <driver/spi_common.h>
#include <driver/spi_master.h>
// third-party includes
#include "sh2_SensorValue.h"
/// @brief IMU configuration settings passed into constructor
typedef struct bno08x_config_t
{
spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
gpio_num_t io_mosi; ///<MOSI GPIO pin (connects to BNO08x DI pin)
gpio_num_t io_miso; ///<MISO GPIO pin (connects to BNO08x SDA pin)
gpio_num_t io_sclk; ///<SCLK pin (connects to BNO08x SCL pin)
gpio_num_t io_cs; /// Chip select pin (connects to BNO08x CS pin)
gpio_num_t io_int; /// Host interrupt pin (connects to BNO08x INT pin)
gpio_num_t io_rst; /// Reset pin (connects to BNO08x RST pin)
uint32_t sclk_speed; ///<Desired SPI SCLK speed in Hz (max 3MHz)
bool install_isr_service; ///<Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio_install_isr_service() is called before initialize() set this to false)
/// @brief Default IMU configuration settings constructor.
/// To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration.
/// Alternatively, edit the default values in "Kconfig.projbuild"
bno08x_config_t(bool install_isr_service = true)
: spi_peripheral((spi_host_device_t) CONFIG_ESP32_BNO08x_SPI_HOST)
, io_mosi(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_DI)) // default: 23
, io_miso(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SDA)) // default: 19
, io_sclk(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SCL)) // default: 18
, io_cs(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_CS)) // default: 33
, io_int(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_HINT)) // default: 26
, io_rst(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_RST)) // default: 32
, sclk_speed(static_cast<uint32_t>(CONFIG_ESP32_BNO08X_SCL_SPEED_HZ)) // default: 2MHz
, install_isr_service(install_isr_service) // default: true
{
}
/// @brief Overloaded IMU configuration settings constructor for custom pin settings
bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk,
gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, uint32_t sclk_speed, bool install_isr_service = true)
: spi_peripheral(spi_peripheral)
, io_mosi(io_mosi)
, io_miso(io_miso)
, io_sclk(io_sclk)
, io_cs(io_cs)
, io_int(io_int)
, io_rst(io_rst)
, sclk_speed(sclk_speed)
, install_isr_service(install_isr_service)
{
}
} bno08x_config_t;
typedef bno08x_config_t imu_config_t; // legacy version compatibility
enum class BNO08xCalSel : uint8_t
{
accelerometer = SH2_CAL_ACCEL,
gyro = SH2_CAL_GYRO,
magnetometer = SH2_CAL_MAG,
planar_accelerometer = SH2_CAL_PLANAR,
all = (SH2_CAL_ACCEL | SH2_CAL_GYRO | SH2_CAL_MAG | SH2_CAL_PLANAR)
};
/// @brief Reason for previous IMU reset (returned by get_reset_reason())
enum class BNO08xResetReason : uint8_t
{
UNDEFINED, ///< Undefined reset reason, this should never occur and is an error.
POR, ///< Previous reset was due to power on reset.
INT_RST, ///< Previous reset was due to internal reset.
WTD, ///< Previous reset was due to watchdog timer.
EXT_RST, ///< Previous reset was due to external reset.
OTHER ///< Previous reset was due to power other reason.
};
/// @brief Sensor accuracy returned from input reports, corresponds to status bits (see ref.
/// manual 6.5.1)
enum class BNO08xAccuracy : uint8_t
{
UNRELIABLE,
LOW,
MED,
HIGH,
UNDEFINED
};
using IMUAccuracy = BNO08xAccuracy; // legacy version compatibility
/// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
/// See ref manual 6.5.36.1
enum class BNO08xActivityEnable : uint32_t
{
UNKNOWN = (1U << 0U),
IN_VEHICLE = (1U << 1U),
ON_BICYCLE = (1U << 2U),
ON_FOOT = (1U << 3U),
STILL = (1U << 4U),
TILTING = (1U << 5U),
WALKING = (1U << 6U),
RUNNING = (1U << 7U),
ON_STAIRS = (1U << 8U),
ALL = ( UNKNOWN | IN_VEHICLE | ON_BICYCLE | ON_FOOT | STILL | TILTING | WALKING | RUNNING | ON_STAIRS)
};
/// @brief BNO08xActivity states returned from BNO08x::activity_classifier.get()
enum class BNO08xActivity : uint8_t
{
UNKNOWN = 0, // 0 = unknown
IN_VEHICLE = 1, // 1 = in vehicle
ON_BICYCLE = 2, // 2 = on bicycle
ON_FOOT = 3, // 3 = on foot
STILL = 4, // 4 = still
TILTING = 5, // 5 = tilting
WALKING = 6, // 6 = walking
RUNNING = 7, // 7 = running
ON_STAIRS = 8, // 8 = on stairs
UNDEFINED = 9 // used for unit tests
};
/// @brief BNO08xStability states returned from BNO08x::stability_classifier.get()
enum class BNO08xStability : uint8_t
{
UNKNOWN = 0, // 0 = unknown
ON_TABLE = 1, // 1 = on table
STATIONARY = 2, // 2 = stationary
STABLE = 3, // 3 = stable
MOTION = 4, // 4 = in motion
RESERVED = 5, // 5 = reserved (not used)
UNDEFINED = 6 // used for unit tests
};
enum class BNO08xFrsID : uint16_t {
STATIC_CALIBRATION_AGM = 0x7979,
NOMINAL_CALIBRATION = 0x4D4D,
STATIC_CALIBRATION_SRA = 0x8A8A,
NOMINAL_CALIBRATION_SRA = 0x4E4E,
DYNAMIC_CALIBRATION = 0x1F1F,
ME_POWER_MGMT = 0xD3E2,
SYSTEM_ORIENTATION = 0x2D3E,
ACCEL_ORIENTATION = 0x2D41,
SCREEN_ACCEL_ORIENTATION = 0x2D43,
GYROSCOPE_ORIENTATION = 0x2D46,
MAGNETOMETER_ORIENTATION = 0x2D4C,
ARVR_STABILIZATION_RV = 0x3E2D,
ARVR_STABILIZATION_GRV = 0x3E2E,
TAP_DETECT_CONFIG = 0xC269,
SIG_MOTION_DETECT_CONFIG = 0xC274,
SHAKE_DETECT_CONFIG = 0x7D7D,
MAX_FUSION_PERIOD = 0xD7D7,
SERIAL_NUMBER = 0x4B4B,
ES_PRESSURE_CAL = 0x39AF,
ES_TEMPERATURE_CAL = 0x4D20,
ES_HUMIDITY_CAL = 0x1AC9,
ES_AMBIENT_LIGHT_CAL = 0x39B1,
ES_PROXIMITY_CAL = 0x4DA2,
ALS_CAL = 0xD401,
PROXIMITY_SENSOR_CAL = 0xD402,
PICKUP_DETECTOR_CONFIG = 0x1B2A,
FLIP_DETECTOR_CONFIG = 0xFC94,
STABILITY_DETECTOR_CONFIG = 0xED85,
ACTIVITY_TRACKER_CONFIG = 0xED88,
SLEEP_DETECTOR_CONFIG = 0xED87,
TILT_DETECTOR_CONFIG = 0xED89,
POCKET_DETECTOR_CONFIG = 0xEF27,
CIRCLE_DETECTOR_CONFIG = 0xEE51,
USER_RECORD = 0x74B4,
ME_TIME_SOURCE_SELECT = 0xD403,
UART_FORMAT = 0xA1A1,
GYRO_INTEGRATED_RV_CONFIG = 0xA1A2,
META_RAW_ACCELEROMETER = 0xE301,
META_ACCELEROMETER = 0xE302,
META_LINEAR_ACCELERATION = 0xE303,
META_GRAVITY = 0xE304,
META_RAW_GYROSCOPE = 0xE305,
META_GYROSCOPE_CALIBRATED = 0xE306,
META_GYROSCOPE_UNCALIBRATED = 0xE307,
META_RAW_MAGNETOMETER = 0xE308,
META_MAGNETIC_FIELD_CALIBRATED = 0xE309,
META_MAGNETIC_FIELD_UNCALIBRATED = 0xE30A,
META_ROTATION_VECTOR = 0xE30B,
META_GAME_ROTATION_VECTOR = 0xE30C,
META_GEOMAGNETIC_ROTATION_VECTOR = 0xE30D,
META_PRESSURE = 0xE30E,
META_AMBIENT_LIGHT = 0xE30F,
META_HUMIDITY = 0xE310,
META_PROXIMITY = 0xE311,
META_TEMPERATURE = 0xE312,
META_TAP_DETECTOR = 0xE313,
META_STEP_DETECTOR = 0xE314,
META_STEP_COUNTER = 0xE315,
META_SIGNIFICANT_MOTION = 0xE316,
META_STABILITY_CLASSIFIER = 0xE317,
META_SHAKE_DETECTOR = 0xE318,
META_FLIP_DETECTOR = 0xE319,
META_PICKUP_DETECTOR = 0xE31A,
META_STABILITY_DETECTOR = 0xE31B,
META_PERSONAL_ACTIVITY_CLASSIFIER = 0xE31C,
META_SLEEP_DETECTOR = 0xE31D,
META_TILT_DETECTOR = 0xE31E,
META_POCKET_DETECTOR = 0xE31F,
META_CIRCLE_DETECTOR = 0xE320,
META_HEART_RATE_MONITOR = 0xE321,
META_ARVR_STABILIZED_RV = 0xE322,
META_ARVR_STABILIZED_GRV = 0xE323,
META_GYRO_INTEGRATED_RV = 0xE324
};
/// @brief Struct to represent unit quaternion.
typedef struct bno08x_quat_t
{
float real;
float i;
float j;
float k;
BNO08xAccuracy accuracy;
float rad_accuracy;
bno08x_quat_t()
: real(0.0f)
, i(0.0f)
, j(0.0f)
, k(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
, rad_accuracy(0.0f)
{
}
// overloaded assignment operator to handle RV with rad accuracy
bno08x_quat_t& operator=(const sh2_RotationVectorWAcc_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->rad_accuracy = source.accuracy;
return *this;
}
// overloaded assignment operator to handle RV with w/o rad accuracy
bno08x_quat_t& operator=(const sh2_RotationVector_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->rad_accuracy = 0.0f;
return *this;
}
// overloaded assignment operator to handle IRV report
bno08x_quat_t& operator=(const sh2_GyroIntegratedRV_t& source)
{
this->real = source.real;
this->i = source.i;
this->j = source.j;
this->k = source.k;
this->rad_accuracy = 0.0f;
return *this;
}
} bno08x_quat_t;
/// @brief Struct to represent euler angle (units in degrees or rads)
typedef struct bno08x_euler_angle_t
{
float x;
float y;
float z;
BNO08xAccuracy accuracy;
float rad_accuracy;
bno08x_euler_angle_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
, rad_accuracy(0.0f)
{
}
// overloaded = operator for quat to euler conversion
bno08x_euler_angle_t& operator=(const bno08x_quat_t& source)
{
this->x = atan2(2.0f * (source.real * source.i + source.j * source.k),
1.0f - 2.0f * (source.i * source.i + source.j * source.j));
this->y = asin(2.0f * (source.real * source.j - source.k * source.i));
this->z = atan2(2.0f * (source.real * source.k + source.i * source.j),
1.0f - 2.0f * (source.j * source.j + source.k * source.k));
this->rad_accuracy = source.rad_accuracy;
this->accuracy = source.accuracy;
return *this;
}
// overloaded *= operator for rad2deg conversions
template <typename T>
bno08x_euler_angle_t& operator*=(T value)
{
x *= static_cast<float>(value);
y *= static_cast<float>(value);
z *= static_cast<float>(value);
rad_accuracy *= static_cast<float>(value);
return *this;
}
} bno08x_euler_angle_t;
/// @brief Struct to represent angular velocity (units in rad/s)
typedef struct bno08x_ang_vel_t
{
float x;
float y;
float z;
bno08x_ang_vel_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
{
}
// overloaded *= operator for rad2deg conversions
template <typename T>
bno08x_ang_vel_t& operator*=(T value)
{
x *= static_cast<float>(value);
y *= static_cast<float>(value);
z *= static_cast<float>(value);
return *this;
}
// strip sh2_GyroIntegratedRV_t of velocity data for IRV reports
bno08x_ang_vel_t& operator=(const sh2_GyroIntegratedRV_t& source)
{
this->x = source.angVelX;
this->y = source.angVelY;
this->z = source.angVelZ;
return *this;
}
} bno08x_ang_vel_t;
/// @brief Struct to represent magnetic field data (units in uTesla)
typedef struct bno08x_magf_t
{
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_magf_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// overloaded = operator for sh2_MagneticField_t conversion
bno08x_magf_t& operator=(const sh2_MagneticField_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
// overloaded = operator for sh2_MagneticFieldUncalibrated_t conversion
bno08x_magf_t& operator=(const sh2_MagneticFieldUncalibrated_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
} bno08x_magf_t;
/// @brief Struct to represent magnetic field bias data (units in uTesla)
typedef struct bno08x_magf_bias_t
{
float x;
float y;
float z;
bno08x_magf_bias_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
{
}
// overloaded = operator for sh2_MagneticFieldUncalibrated_t conversion
bno08x_magf_bias_t& operator=(const sh2_MagneticFieldUncalibrated_t& source)
{
this->x = source.biasX;
this->y = source.biasY;
this->z = source.biasZ;
return *this;
}
} bno08x_magf_bias_t;
/// @brief Struct to represent gyro data (units in rad/s)
typedef struct bno08x_gyro_t
{
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_gyro_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// overloaded = operator for sh2_Gyroscope_t conversion
bno08x_gyro_t& operator=(const sh2_Gyroscope_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
// overloaded = operator for sh2_GyroscopeUncalibrated conversion
bno08x_gyro_t& operator=(const sh2_GyroscopeUncalibrated& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
} bno08x_gyro_t;
/// @brief Struct to represent gyro bias data (units in rad/s)
typedef struct bno08x_gyro_bias_t
{
float x;
float y;
float z;
bno08x_gyro_bias_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
{
}
// overloaded = operator for sh2_GyroscopeUncalibrated conversion
bno08x_gyro_bias_t& operator=(const sh2_GyroscopeUncalibrated& source)
{
this->x = source.biasX;
this->y = source.biasY;
this->z = source.biasZ;
return *this;
}
} bno08x_gyro_bias_t;
/// @brief Struct to represent activity classifier data.
typedef struct bno08x_activity_classifier_t
{
uint8_t page;
bool lastPage;
BNO08xActivity mostLikelyState;
uint8_t confidence[10];
BNO08xAccuracy accuracy;
bno08x_activity_classifier_t()
: page(0U)
, lastPage(false)
, mostLikelyState(BNO08xActivity::UNDEFINED)
, confidence({})
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_PersonalActivityClassifier_t
bno08x_activity_classifier_t& operator=(const sh2_PersonalActivityClassifier_t& source)
{
this->page = source.page;
this->lastPage = source.lastPage;
this->mostLikelyState = static_cast<BNO08xActivity>(source.mostLikelyState);
for (int i = 0; i < 10; ++i)
this->confidence[i] = source.confidence[i];
return *this;
}
} bno08x_activity_classifier_t;
/// @brief Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on
/// axis, -1 = negative tap on axis)
typedef struct bno08x_tap_detector_t
{
int8_t x_flag;
int8_t y_flag;
int8_t z_flag;
bool double_tap;
BNO08xAccuracy accuracy;
bno08x_tap_detector_t()
: x_flag(0)
, y_flag(0)
, z_flag(0)
, double_tap(false)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// overloaded = operator for sh2_GyroscopeUncalibrated conversion
bno08x_tap_detector_t& operator=(const sh2_TapDetector_t& source)
{
if (TAP_DETECTED_X_AXIS(source.flags))
this->x_flag = -1;
else
this->x_flag = 0;
if (TAP_DETECTED_X_AXIS_POSITIVE(source.flags))
this->x_flag = 1;
if (TAP_DETECTED_Y_AXIS(source.flags))
this->y_flag = -1;
else
this->y_flag = 0;
if (TAP_DETECTED_Y_AXIS_POSITIVE(source.flags))
this->y_flag = 1;
if (TAP_DETECTED_Z_AXIS(source.flags))
this->z_flag = -1;
else
this->z_flag = 0;
if (TAP_DETECTED_Z_AXIS_POSITIVE(source.flags))
this->z_flag = 1;
if (TAP_DETECTED_DOUBLE(source.flags))
this->double_tap = true;
else
this->double_tap = false;
return *this;
}
} bno08x_tap_detector_t;
/// @brief Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)
typedef struct bno08x_shake_detector_t
{
uint8_t x_flag;
uint8_t y_flag;
uint8_t z_flag;
BNO08xAccuracy accuracy;
bno08x_shake_detector_t()
: x_flag(0U)
, y_flag(0U)
, z_flag(0U)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// overloaded = operator for sh2_GyroscopeUncalibrated conversion
bno08x_shake_detector_t& operator=(const sh2_ShakeDetector_t& source)
{
if (SHAKE_DETECTED_X(source.shake))
this->x_flag = 1U;
else
this->x_flag = 0U;
if (SHAKE_DETECTED_Y(source.shake))
this->y_flag = 1U;
else
this->y_flag = 0U;
if (SHAKE_DETECTED_Z(source.shake))
this->z_flag = 1U;
else
this->z_flag = 0U;
return *this;
}
} bno08x_shake_detector_t;
/// @brief Struct to represent acceleration data from acceleration, linear acceleration, and gravity
/// reports.
typedef struct bno08x_accel_t
{
float x;
float y;
float z;
BNO08xAccuracy accuracy;
bno08x_accel_t()
: x(0.0f)
, y(0.0f)
, z(0.0f)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_Accelerometer_t
bno08x_accel_t& operator=(const sh2_Accelerometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
return *this;
}
} bno08x_accel_t;
/// @brief Struct to represent step counter data from step counter reports.
typedef struct bno08x_step_counter_t
{
uint32_t latency;
uint16_t steps;
BNO08xAccuracy accuracy;
bno08x_step_counter_t()
: latency(0UL)
, steps(0U)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_StepCounter_t
bno08x_step_counter_t& operator=(const sh2_StepCounter_t& source)
{
this->latency = source.latency;
this->steps = source.steps;
return *this;
}
} bno08x_step_counter_t;
/// @brief Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).
typedef struct bno08x_raw_gyro_t
{
int16_t x;
int16_t y;
int16_t z;
int16_t temperature;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_gyro_t()
: x(0U)
, y(0U)
, z(0U)
, temperature(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawGyroscope_t
bno08x_raw_gyro_t& operator=(const sh2_RawGyroscope_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->temperature = source.temperature;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_gyro_t;
/// @brief Struct to represent raw mems accelerometer data from raw accelerometer reports (units in
/// ADC counts).
typedef struct bno08x_raw_accel_t
{
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_accel_t()
: x(0U)
, y(0U)
, z(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawAccelerometer_t
bno08x_raw_accel_t& operator=(const sh2_RawAccelerometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_accel_t;
/// @brief Struct to represent raw mems magnetometer data from raw magnetometer reports (units in
/// ADC counts).
typedef struct bno08x_raw_magf_t
{
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_us;
BNO08xAccuracy accuracy;
bno08x_raw_magf_t()
: x(0U)
, y(0U)
, z(0U)
, timestamp_us(0UL)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_RawMagnetometer_t
bno08x_raw_magf_t& operator=(const sh2_RawMagnetometer_t& source)
{
this->x = source.x;
this->y = source.y;
this->z = source.z;
this->timestamp_us = source.timestamp;
return *this;
}
} bno08x_raw_magf_t;
/// @brief Struct to represent stability classifier data from stability classifier reports.
typedef struct bno08x_stability_classifier_t
{
BNO08xStability stability;
BNO08xAccuracy accuracy;
bno08x_stability_classifier_t()
: stability(BNO08xStability::UNDEFINED)
, accuracy(BNO08xAccuracy::UNDEFINED)
{
}
// conversion from sh2_StabilityClassifier_t
bno08x_stability_classifier_t& operator=(const sh2_StabilityClassifier_t& source)
{
this->stability = static_cast<BNO08xStability>(source.classification);
return *this;
}
} bno08x_stability_classifier_t;
/// @brief Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()
typedef struct bno08x_sample_counts_t
{
uint32_t offered; ///< Number of samples produced by underlying data source.
uint32_t on; ///< Number of "offered" samples while this sensor was requested by host.
uint32_t accepted; ///< Number of "on" samples that passed decimation filter.
uint32_t
attempted; ///< Number of "accepted" samples that passed threshold requirements and had transmission to the host attempted.
bno08x_sample_counts_t()
: offered(0UL)
, on(0UL)
, accepted(0UL)
, attempted(0UL)
{
}
// conversion from sh2_PersonalActivityClassifier_t
bno08x_sample_counts_t& operator=(const sh2_Counts_t& source)
{
this->offered = source.offered;
this->on = source.on;
this->accepted = source.accepted;
this->attempted = source.attempted;
return *this;
}
} bno08x_sample_counts_t;
/// @brief Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()
typedef struct bno08x_meta_data_t
{
uint8_t me_version; ///< Motion Engine Version
uint8_t mh_version; ///< Motion Hub Version
uint8_t sh_version; ///< SensorHub Version
uint32_t range; ///< Same units as sensor reports
uint32_t resolution; ///< Same units as sensor reports
uint16_t revision; ///< Metadata record format revision
uint16_t power_mA; ///< [mA] Fixed point 16Q10 format
uint32_t min_period_us; ///< [uS] min period to use with enable_report
uint32_t max_period_us; ///< [uS] max period to use with enable_report
uint32_t fifo_reserved; ///< (Unused)
uint32_t fifo_max; ///< (Unused)
uint32_t batch_buffer_bytes; ///< (Unused)
uint16_t q_point_1; ///< q point for sensor values
uint16_t q_point_2; ///< q point for accuracy or bias fields
uint16_t q_point_3; ///< q point for sensor data change sensitivity
uint32_t vendor_id_len; ///< [bytes]
char vendor_ID[48]; ///< Vendor name and part number
uint32_t sensor_specific_len; ///< [bytes]
uint8_t sensor_specific[48]; ///< See SH-2 Reference Manual
// Default constructor
bno08x_meta_data_t()
: me_version(0)
, mh_version(0)
, sh_version(0)
, range(0)
, resolution(0)
, revision(0)
, power_mA(0)
, min_period_us(0)
, max_period_us(0)
, fifo_reserved(0)
, fifo_max(0)
, batch_buffer_bytes(0)
, q_point_1(0)
, q_point_2(0)
, q_point_3(0)
, vendor_id_len(0)
, sensor_specific_len(0)
{
memset(vendor_ID, 0, sizeof(vendor_ID));
memset(sensor_specific, 0, sizeof(sensor_specific));
}
// Conversion constructor from sh2_SensorMetadata_t
bno08x_meta_data_t(const sh2_SensorMetadata_t& src)
{
me_version = src.meVersion;
mh_version = src.mhVersion;
sh_version = src.shVersion;
range = src.range;
resolution = src.resolution;
revision = src.revision;
power_mA = src.power_mA;
min_period_us = src.minPeriod_uS;
max_period_us = src.maxPeriod_uS;
fifo_reserved = src.fifoReserved;
fifo_max = src.fifoMax;
batch_buffer_bytes = src.batchBufferBytes;
q_point_1 = src.qPoint1;
q_point_2 = src.qPoint2;
q_point_3 = src.qPoint3;
vendor_id_len = src.vendorIdLen;
sensor_specific_len = src.sensorSpecificLen;
memcpy(vendor_ID, src.vendorId, vendor_id_len);
memcpy(sensor_specific, src.sensorSpecific, sensor_specific_len);
}
} bno08x_meta_data_t;
static const constexpr uint8_t TOTAL_RPT_COUNT = 38; ///< Amount of possible reports returned from BNO08x.
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