94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
/**
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* @file BNO08xRptCircleDetector.cpp
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* @author Myles Parfeniuk
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*/
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#define SCALE_Q(n) (1.0f / (1 << n))
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#include "BNO08xRptCircleDetector.hpp"
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#include "esp_log.h"
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#include "math.h"
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/**
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* @brief Enables circle detector reports such that the BNO08x begins sending them (only sends reports
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* when a circle gesture is detected).
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*
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* @param time_between_reports The period/interval of the report in microseconds.
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* @param sensor_cfg Sensor special configuration (optional, see
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* BNO08xPrivateTypes::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 BNO08xRptCircleDetector::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
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{
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static bool configured = false;
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sensor_cfg.changeSensitivity = 0U;
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sensor_cfg.changeSensitivityRelative = true;
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sensor_cfg.changeSensitivityEnabled = true;
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int op_success = SH2_ERR;
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uint32_t settings[3] = {static_cast<uint32_t>(4.0f / SCALE_Q(24)), static_cast<uint32_t>(0.1f / SCALE_Q(30)),
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static_cast<uint32_t>((3.0f * M_PI) / SCALE_Q(25))};
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if (!configured)
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{
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lock_sh2_HAL();
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op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 0U);
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unlock_sh2_HAL();
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if (op_success != SH2_OK)
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{
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ESP_LOGE(TAG, "%d", op_success);
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return false;
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}
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else
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{
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ESP_LOGE(TAG, "erased");
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}
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lock_sh2_HAL();
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op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 3U);
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unlock_sh2_HAL();
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if (op_success != SH2_OK)
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{
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ESP_LOGE(TAG, "%d", op_success);
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return false;
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}
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configured = true;
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}
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return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
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}
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/**
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* @brief Updates circle detector data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptCircleDetector::update_data(sh2_SensorValue_t* sensor_val)
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{
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lock_user_data();
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data += sensor_val->un.circleDetector.circle;
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unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))
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signal_data_available();
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}
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/**
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* @brief Grabs most recent circle detector detector data.
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*
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* @return Struct containing requested data;
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*/
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uint16_t BNO08xRptCircleDetector::get()
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{
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lock_user_data();
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uint16_t rqdata = data;
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unlock_user_data();
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return rqdata;
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} |