284 lines
14 KiB
C++
284 lines
14 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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bool disable_all_reports();
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BNO08xResetReason get_reset_reason();
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bool on();
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bool sleep();
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// bool calibration_turntable_start(uint32_t period_us);
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// bool calibration_turntable_end(sh2_CalStatus_t& status);
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bool dynamic_calibration_enable(BNO08xCalSel sensor);
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bool dynamic_calibration_disable(BNO08xCalSel sensor);
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bool dynamic_calibration_autosave_enable();
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bool dynamic_calibration_autosave_disable();
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bool dynamic_calibration_save();
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bool dynamic_calibration_clear();
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bool dynamic_calibration_run_routine();
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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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/// @brief Contains report implementations.
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typedef struct bno08x_reports_t
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{
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BNO08xRptAcceleration accelerometer;
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BNO08xRptLinearAcceleration linear_accelerometer;
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BNO08xRptGravity gravity;
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BNO08xRptCalMagnetometer cal_magnetometer;
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BNO08xRptUncalMagnetometer uncal_magnetometer;
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BNO08xRptCalGyro cal_gyro;
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BNO08xRptUncalGyro uncal_gyro;
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BNO08xRptRV rv;
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BNO08xRptGameRV rv_game;
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BNO08xRptARVRStabilizedRV rv_ARVR_stabilized;
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BNO08xRptARVRStabilizedGameRV rv_ARVR_stabilized_game;
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BNO08xRptIGyroRV rv_gyro_integrated;
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BNO08xRptRVGeomag rv_geomagnetic;
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BNO08xRptRawMEMSGyro raw_gyro;
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BNO08xRptRawMEMSAccelerometer raw_accelerometer;
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BNO08xRptRawMEMSMagnetometer raw_magnetometer;
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BNO08xRptStepCounter step_counter;
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BNO08xRptActivityClassifier activity_classifier;
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BNO08xRptStabilityClassifier stability_classifier;
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BNO08xRptShakeDetector shake_detector;
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BNO08xRptTapDetector tap_detector;
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bno08x_reports_t(BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
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: accelerometer(SH2_ACCELEROMETER, BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT, sync_ctx)
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, linear_accelerometer(
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SH2_LINEAR_ACCELERATION, BNO08xPrivateTypes::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT, sync_ctx)
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, gravity(SH2_GRAVITY, BNO08xPrivateTypes::EVT_GRP_RPT_GRAVITY_BIT, sync_ctx)
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, cal_magnetometer(
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SH2_MAGNETIC_FIELD_CALIBRATED, BNO08xPrivateTypes::EVT_GRP_RPT_CAL_MAGNETOMETER_BIT, sync_ctx)
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, uncal_magnetometer(
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SH2_MAGNETIC_FIELD_UNCALIBRATED, BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT, sync_ctx)
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, cal_gyro(SH2_GYROSCOPE_CALIBRATED, BNO08xPrivateTypes::EVT_GRP_RPT_CAL_GYRO_BIT, sync_ctx)
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, uncal_gyro(SH2_GYROSCOPE_UNCALIBRATED, BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_GYRO_BIT, sync_ctx)
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, rv(SH2_ROTATION_VECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_RV_BIT, sync_ctx)
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, rv_game(SH2_GAME_ROTATION_VECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_RV_GAME_BIT, sync_ctx)
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, rv_ARVR_stabilized(SH2_ARVR_STABILIZED_RV, BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_BIT, sync_ctx)
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, rv_ARVR_stabilized_game(
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SH2_ARVR_STABILIZED_GRV, BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_GAME_BIT, sync_ctx)
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, rv_gyro_integrated(SH2_GYRO_INTEGRATED_RV, BNO08xPrivateTypes::EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT, sync_ctx)
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, rv_geomagnetic(SH2_GEOMAGNETIC_ROTATION_VECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_GEOMAG_RV_BIT, sync_ctx)
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, raw_gyro(SH2_RAW_GYROSCOPE, BNO08xPrivateTypes::EVT_GRP_RPT_RAW_GYRO_BIT, sync_ctx)
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, raw_accelerometer(SH2_RAW_ACCELEROMETER, BNO08xPrivateTypes::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT, sync_ctx)
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, raw_magnetometer(SH2_RAW_MAGNETOMETER, BNO08xPrivateTypes::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT, sync_ctx)
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, step_counter(SH2_STEP_COUNTER, BNO08xPrivateTypes::EVT_GRP_RPT_STEP_COUNTER_BIT, sync_ctx)
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, activity_classifier(
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SH2_PERSONAL_ACTIVITY_CLASSIFIER, BNO08xPrivateTypes::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT, sync_ctx)
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, stability_classifier(
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SH2_STABILITY_CLASSIFIER, BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT, sync_ctx)
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, shake_detector(SH2_SHAKE_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT, sync_ctx)
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, tap_detector(SH2_TAP_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT, sync_ctx)
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{
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}
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} bno08x_reports_t;
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bno08x_reports_t rpt;
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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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static const constexpr BaseType_t CB_TASK_AFFINITY =
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CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
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static const constexpr UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; /// 5 per default, Priority of the callback task, 0-25, 0 is lowest priority, 25 is highest priority
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static const constexpr BaseType_t DATA_PROC_TASK_AFFINITY =
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CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
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static const constexpr UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; /// 6 per default, Priority of the data processing task, 0-25, 0 is lowest priority, 25 is highest priority
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static const constexpr BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY =
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CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
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static const constexpr UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; /// 7 per default, Priority of the sh2 HAL service task, 0-25, 0 is lowest priority, 25 is highest priority
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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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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 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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BNO08xPrivateTypes::bno08x_sync_ctx_t sync_ctx; ///< Holds context used to synchronize tasks and callback execution.
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sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
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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 = 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 = 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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}; |