98 lines
2.7 KiB
C++
98 lines
2.7 KiB
C++
#include "BNO08xRpt.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Enables a sensor report such that the BNO08x begins sending it.
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*
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* @param report_period_us The period/interval of the report in microseconds.
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* @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
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*
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* @return True if report was successfully enabled.
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*/
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bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
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{
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int sh2_res = SH2_OK;
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xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
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imu->lock_sh2_HAL();
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sensor_cfg.reportInterval_us = time_between_reports;
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sh2_res = sh2_setSensorConfig(ID, &sensor_cfg);
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imu->unlock_sh2_HAL();
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if (sh2_res != SH2_OK)
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{
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return false;
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}
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else
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{
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flush();
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period_us = time_between_reports; // Update the period
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xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
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return true;
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}
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}
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/**
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* @brief Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.
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*
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* @param sensor_ID The ID of the sensor for the respective report to be disabled.
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* @param sensor_cfg Sensor special configuration.
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*
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* @return ESP_OK if report was successfully disabled.
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*/
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bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
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{
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EventBits_t evt_grp_report_en_bits = xEventGroupGetBits(imu->evt_grp_report_en);
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if (evt_grp_report_en_bits & rpt_bit)
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{
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if (!enable(0UL, sensor_cfg))
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return false;
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else
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xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
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}
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return true;
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}
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/**
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* @brief Registers a callback to execute when new data from a specific report is received.
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*
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* @param cb_fxn Pointer to the call-back function should be of void return type void input param.
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*
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* @return void, nothing to return
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*/
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void BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
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{
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imu->cb_list.push_back({ID, cb_fxn});
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}
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/**
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* @brief Flush all buffered reports for this sensor/report module.
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*
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* @return True if flush operation succeeded.
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*/
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bool BNO08xRpt::flush()
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{
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int success = SH2_OK;
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imu->lock_sh2_HAL();
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success = sh2_flush(ID);
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imu->unlock_sh2_HAL();
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return (success != SH2_OK) ? false : true;
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}
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/**
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* @brief Signals to BNO08x::data_available() that a new report has arrived.
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*
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* @return void, nothing to return
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*/
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void BNO08xRpt::signal_data_available()
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{
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xEventGroupClearBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
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imu->most_recent_rpt = ID;
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xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
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}
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