Contains added code for stm32-L432KC compatibility
Dependents: BNO080_stm32_compatible
BNO080.cpp
- Committer:
- JesiMiranda
- Date:
- 2019-07-22
- Revision:
- 5:7e2cd0f351b2
- Parent:
- 3:197ad972fb7c
- Child:
- 6:546e4553cf6d
File content as of revision 5:7e2cd0f351b2:
// // USC RPL BNO080 driver. // /* * Overview of BNO080 Communications * =============================================== * * Hilcrest has developed a protocol called SHTP (Sensor Hub Transport Protocol) for binary communications with * the BNO080 and the other IMUs it sells. Over this protocol, SH-2 (Sensor Hub 2) messages are sent to configure * the chip and read data back. * * SHTP messages are divided at two hierarchical levels: first the channel, then the report ID. Each category * of messages (system commands, sensor data reports, etc.) has its own channel, and the individual messages * in each channel are identified by their report id, which is the first byte of the message payload (note that the * datasheets don't *always* call the first byte the report ID, but that byte does identify the report, so I'm going * with it). * * =============================================== * * Information about the BNO080 is split into three datasheets. Here's the download links and what they cover: * * - the BNO080 datasheet: http://www.hillcrestlabs.com/download/5a05f340566d07c196001ec1 * -- Chip pinouts * -- Example circuits * -- Physical specifications * -- Supported reports and configuration settings (at a high level) * -- List of packets on the SHTP executable channel * * - the SHTP protocol: http://www.hillcrestlabs.com/download/59de8f99cd829e94dc0029d7 * -- SHTP transmit and receive protcols (for SPI, I2C, and UART) * -- SHTP binary format * -- packet types on the SHTP command channel * * - the SH-2 reference: http://www.hillcrestlabs.com/download/59de8f398934bf6faa00293f * -- list of packets and their formats for all channels other than command and executable * -- list of FRS (Flash Record System) entries and their formats * * =============================================== * * Overview of SHTP channels: * * 0 -> Command * -- Used for protocol-global packets, currently only the advertisement packet (which lists all the channels) and error reports * * 1 -> Executable * -- Used for things that control the software on the chip: commands to reset and sleep * -- Also used by the chip to report when it's done booting up * * 2 -> Control * -- Used to send configuration commands to the IMU and for it to send back responses. * -- Common report IDs: Command Request (0xF2), Set Feature (0xFD) * * 3 -> Sensor Reports * -- Used for sensors to send back data reports. * -- AFAIK the only report ID on this channel will be 0xFB (Report Base Timestamp); sensor data is sent in a series of structures * following an 0xFB * * 4 -> Wake Sensor Reports * -- same as above, but for sensors configured to wake the device * * 5 -> Gyro Rotation Vector * -- a dedicated channel for the Gyro Rotation Vector sensor report * -- Why does this get its own channel? I don't know!!! */ #include "BNO080.h" #include "BNO080Constants.h" /// Set to 1 to enable debug printouts. Should be very useful if the chip is giving you trouble. /// When debugging, it is recommended to use the highest possible serial baudrate so as not to interrupt the timing of operations. #define BNO_DEBUG 1 BNO080::BNO080(Serial *debugPort, PinName user_SDApin, PinName user_SCLpin, PinName user_INTPin, PinName user_RSTPin, uint8_t i2cAddress, int i2cPortSpeed) : _debugPort(debugPort), _i2cPort(user_SDApin, user_SCLpin), _i2cAddress(i2cAddress), _int(user_INTPin), _rst(user_RSTPin, 1), commandSequenceNumber(0), stability(UNKNOWN), stepDetected(false), stepCount(0), significantMotionDetected(false), shakeDetected(false), xAxisShake(false), yAxisShake(false), zAxisShake(false) { // zero sequence numbers memset(sequenceNumber, 0, sizeof(sequenceNumber)); //Get user settings _i2cPortSpeed = i2cPortSpeed; if(_i2cPortSpeed > 4000000) { _i2cPortSpeed = 4000000; //BNO080 max is 400Khz } _i2cPort.frequency(_i2cPortSpeed); } bool BNO080::begin() { //Configure the BNO080 for I2C communication _rst = 0; // Reset BNO080 wait(.002f); // Min length not specified in datasheet? _rst = 1; // Bring out of reset // wait for a falling edge (NOT just a low) on the INT pin to denote startup Timer timeoutTimer; timeoutTimer.start(); bool highDetected = false; bool lowDetected = false; while(true) { if(timeoutTimer.read() > BNO080_RESET_TIMEOUT) { _debugPort->printf("Error: BNO080 reset timed out, chip not detected.\n"); return false; } // simple edge detector if(!highDetected) { if(_int == 1) { highDetected = true; } } else if(!lowDetected) { if(_int == 0) { lowDetected = true; } } else { // high and low detected break; } } #if BNO_DEBUG _debugPort->printf("BNO080 detected!\r\n"); #endif // At system startup, the hub must send its full advertisement message (see SHTP 5.2 and 5.3) to the // host. It must not send any other data until this step is complete. // We don't actually care what's in it, we're just using it as a signal to indicate that the reset is complete. receivePacket(); _debugPort->printf("::begin -> exited receivePacket() function \r\n"); // now, after startup, the BNO will send an Unsolicited Initialize response (SH-2 section 6.4.5.2), and an Executable Reset command waitForPacket(CHANNEL_EXECUTABLE, EXECUTABLE_REPORTID_RESET); // Next, officially tell it to initialize, and wait for a successful Initialize Response zeroBuffer(); shtpData[3] = 0; sendCommand(COMMAND_INITIALIZE); if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE) || shtpData[2] != COMMAND_INITIALIZE || shtpData[5] != 0) { _debugPort->printf("%u %u \r\n ", shtpData[2], shtpData[5]); _debugPort->printf("BNO080 reports initialization failed.\n"); __enable_irq(); _debugPort->printf("returning false \r\n"); return false; } else { #if BNO_DEBUG _debugPort->printf("BNO080 reports initialization successful!\n"); #endif } _debugPort->printf("outside if \r\n"); // Finally, we want to interrogate the device about its model and version. zeroBuffer(); shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved sendPacket(CHANNEL_CONTROL, 2); waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_PRODUCT_ID_RESPONSE, 5); if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { majorSoftwareVersion = shtpData[2]; minorSoftwareVersion = shtpData[3]; patchSoftwareVersion = (shtpData[13] << 8) | shtpData[12]; partNumber = (shtpData[7] << 24) | (shtpData[6] << 16) | (shtpData[5] << 8) | shtpData[4]; buildNumber = (shtpData[11] << 24) | (shtpData[10] << 16) | (shtpData[9] << 8) | shtpData[8]; #if BNO_DEBUG _debugPort->printf("BNO080 reports as SW version %hhu.%hhu.%hu, build %lu, part no. %lu\n", majorSoftwareVersion, minorSoftwareVersion, patchSoftwareVersion, buildNumber, partNumber); #endif } else { _debugPort->printf("Bad response from product ID command.\n"); return false; } // successful init return true; } void BNO080::tare(bool zOnly) { zeroBuffer(); // from SH-2 section 6.4.4.1 shtpData[3] = 0; // perform tare now if(zOnly) { shtpData[4] = 0b100; // tare Z axis } else { shtpData[4] = 0b111; // tare X, Y, and Z axes } shtpData[5] = 0; // reorient all motion outputs sendCommand(COMMAND_TARE); } bool BNO080::enableCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag) { // send the Configure ME Calibration command zeroBuffer(); shtpData[3] = static_cast<uint8_t>(calibrateAccel ? 1 : 0); shtpData[4] = static_cast<uint8_t>(calibrateGyro ? 1 : 0); shtpData[5] = static_cast<uint8_t>(calibrateMag ? 1 : 0); shtpData[6] = 0; // Configure ME Calibration command shtpData[7] = 0; // planar accelerometer calibration always disabled sendCommand(COMMAND_ME_CALIBRATE); // now, wait for the response if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE)) { #if BNO_DEBUG _debugPort->printf("Timeout waiting for calibration response!\n"); #endif return false; } if(shtpData[2] != COMMAND_ME_CALIBRATE) { #if BNO_DEBUG _debugPort->printf("Received wrong response to calibration command!\n"); #endif return false; } if(shtpData[5] != 0) { #if BNO_DEBUG _debugPort->printf("IMU reports calibrate command failed!\n"); #endif return false; } // acknowledge checks out! return true; } bool BNO080::saveCalibration() { zeroBuffer(); // no arguments sendCommand(COMMAND_SAVE_DCD); // now, wait for the response if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE)) { #if BNO_DEBUG _debugPort->printf("Timeout waiting for calibration response!\n"); #endif return false; } if(shtpData[2] != COMMAND_SAVE_DCD) { #if BNO_DEBUG _debugPort->printf("Received wrong response to calibration command!\n"); #endif return false; } if(shtpData[5] != 0) { #if BNO_DEBUG _debugPort->printf("IMU reports calibrate command failed!\n"); #endif return false; } // acknowledge checks out! return true; } void BNO080::setSensorOrientation(Quaternion orientation) { zeroBuffer(); // convert floats to Q int16_t Q_x = floatToQ(orientation.x(), ORIENTATION_QUAT_Q_POINT); int16_t Q_y = floatToQ(orientation.y(), ORIENTATION_QUAT_Q_POINT); int16_t Q_z = floatToQ(orientation.z(), ORIENTATION_QUAT_Q_POINT); int16_t Q_w = floatToQ(orientation.w(), ORIENTATION_QUAT_Q_POINT); shtpData[3] = 2; // set reorientation shtpData[4] = static_cast<uint8_t>(Q_x & 0xFF); //P1 - X component LSB shtpData[5] = static_cast<uint8_t>(Q_x >> 8); //P2 - X component MSB shtpData[6] = static_cast<uint8_t>(Q_y & 0xFF); //P3 - Y component LSB shtpData[7] = static_cast<uint8_t>(Q_y >> 8); //P4 - Y component MSB shtpData[8] = static_cast<uint8_t>(Q_z & 0xFF); //P5 - Z component LSB shtpData[9] = static_cast<uint8_t>(Q_z >> 8); //P6 - Z component MSB shtpData[10] = static_cast<uint8_t>(Q_w & 0xFF); //P7 - W component LSB shtpData[11] = static_cast<uint8_t>(Q_w >> 8); //P8 - W component MSB //Using this shtpData packet, send a command sendCommand(COMMAND_TARE); // Send tare command // NOTE: unlike literally every other command, a sensor orientation command is never acknowledged in any way. } #define ORIENTATION_RECORD_LEN 4 bool BNO080::setPermanentOrientation(Quaternion orientation) { uint32_t orientationRecord[ORIENTATION_RECORD_LEN]; // each word is one element of the quaternion orientationRecord[0] = static_cast<uint32_t>(floatToQ_dword(orientation.x(), FRS_ORIENTATION_Q_POINT)); orientationRecord[1] = static_cast<uint32_t>(floatToQ_dword(orientation.y(), FRS_ORIENTATION_Q_POINT)); orientationRecord[2] = static_cast<uint32_t>(floatToQ_dword(orientation.z(), FRS_ORIENTATION_Q_POINT)); orientationRecord[3] = static_cast<uint32_t>(floatToQ_dword(orientation.w(), FRS_ORIENTATION_Q_POINT)); return writeFRSRecord(FRS_RECORDID_SYSTEM_ORIENTATION, orientationRecord, ORIENTATION_RECORD_LEN); } bool BNO080::updateData() { if(_int.read() != 0) { // no waiting packets return false; } while(_int.read() == 0) { if(!receivePacket()) { // comms error return false; } processPacket(); } // packets were received, so data may have changed return true; } uint8_t BNO080::getReportStatus(Report report) { uint8_t reportNum = static_cast<uint8_t>(report); if(reportNum > STATUS_ARRAY_LEN) { return 0; } return reportStatus[reportNum]; } const char* BNO080::getReportStatusString(Report report) { switch(getReportStatus(report)) { case 0: return "Unreliable"; case 1: return "Accuracy Low"; case 2: return "Accuracy Medium"; case 3: return "Accuracy High"; default: return "Error"; } } bool BNO080::hasNewData(Report report) { uint8_t reportNum = static_cast<uint8_t>(report); if(reportNum > STATUS_ARRAY_LEN) { return false; } bool newData = reportHasBeenUpdated[reportNum]; reportHasBeenUpdated[reportNum] = false; // clear flag return newData; } //Sends the packet to enable the rotation vector void BNO080::enableReport(Report report, uint16_t timeBetweenReports) { _debugPort->printf("begin enable/r/n"); #if BNO_DEBUG // check time is valid float periodSeconds = static_cast<float>(timeBetweenReports / 1000.0); if(periodSeconds < getMinPeriod(report)) { _debugPort->printf("Error: attempt made to set report 0x%02hhx to period of %.06f s, which is smaller than its min period of %.06f s.\r\n", static_cast<uint8_t>(report), periodSeconds, getMinPeriod(report)); return; } #endif setFeatureCommand(static_cast<uint8_t>(report), timeBetweenReports); // note: we don't wait for ACKs on these packets because they can take quite a while, like half a second, to come in } void BNO080::disableReport(Report report) { // set the report's polling period to zero to disable it setFeatureCommand(static_cast<uint8_t>(report), 0); } uint32_t BNO080::getSerialNumber() { uint32_t serNoBuffer; if(!readFRSRecord(FRS_RECORDID_SERIAL_NUMBER, &serNoBuffer, 1)) { return 0; } return serNoBuffer; } float BNO080::getRange(Report report) { loadReportMetadata(report); return qToFloat_dword(metadataRecord[1], getQ1(report)); } float BNO080::getResolution(Report report) { loadReportMetadata(report); return qToFloat_dword(metadataRecord[2], getQ1(report)); } float BNO080::getPower(Report report) { loadReportMetadata(report); uint16_t powerQ = static_cast<uint16_t>(metadataRecord[3] & 0xFFFF); return qToFloat_dword(powerQ, POWER_Q_POINT); } float BNO080::getMinPeriod(Report report) { loadReportMetadata(report); return metadataRecord[4] / 1e6f; // convert from microseconds to seconds } float BNO080::getMaxPeriod(Report report) { loadReportMetadata(report); if(getMetaVersion() == 3) { // no max period entry in this record format return -1.0f; } return metadataRecord[9] / 1e6f; // convert from microseconds to seconds } void BNO080::printMetadataSummary(Report report) { #if BNO_DEBUG if(!loadReportMetadata(report)) { _debugPort->printf("Failed to load report metadata!\n"); } _debugPort->printf("======= Metadata for report 0x%02hhx =======\n", static_cast<uint8_t>(report)); _debugPort->printf("Range: +- %.04f units\n", getRange(report)); _debugPort->printf("Resolution: %.04f units\n", getResolution(report)); _debugPort->printf("Power Used: %.03f mA\n", getPower(report)); _debugPort->printf("Min Period: %.06f s\n", getMinPeriod(report)); _debugPort->printf("Max Period: %.06f s\n\n", getMaxPeriod(report)); #endif } int16_t BNO080::getQ1(Report report) { loadReportMetadata(report); return static_cast<int16_t>(metadataRecord[7] & 0xFFFF); } int16_t BNO080::getQ2(Report report) { loadReportMetadata(report); return static_cast<int16_t>(metadataRecord[7] >> 16); } int16_t BNO080::getQ3(Report report) { loadReportMetadata(report); return static_cast<int16_t>(metadataRecord[8] >> 16); } void BNO080::processPacket() { if(shtpHeader[2] == CHANNEL_CONTROL) { // currently no command reports are read } else if(shtpHeader[2] == CHANNEL_EXECUTABLE) { // currently no executable reports are read } else if(shtpHeader[2] == CHANNEL_COMMAND) { } else if(shtpHeader[2] == CHANNEL_REPORTS || shtpHeader[2] == CHANNEL_WAKE_REPORTS) { if(shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP) { // sensor data packet parseSensorDataPacket(); } } } // sizes of various sensor data packet elements #define SIZEOF_BASE_TIMESTAMP 5 #define SIZEOF_TIMESTAMP_REBASE 5 #define SIZEOF_ACCELEROMETER 10 #define SIZEOF_LINEAR_ACCELERATION 10 #define SIZEOF_GYROSCOPE_CALIBRATED 10 #define SIZEOF_MAGNETIC_FIELD_CALIBRATED 10 #define SIZEOF_MAGNETIC_FIELD_UNCALIBRATED 16 #define SIZEOF_ROTATION_VECTOR 14 #define SIZEOF_GAME_ROTATION_VECTOR 12 #define SIZEOF_GEOMAGNETIC_ROTATION_VECTOR 14 #define SIZEOF_TAP_DETECTOR 5 #define SIZEOF_STABILITY_REPORT 6 #define SIZEOF_STEP_DETECTOR 8 #define SIZEOF_STEP_COUNTER 12 #define SIZEOF_SIGNIFICANT_MOTION 6 #define SIZEOF_SHAKE_DETECTOR 6 void BNO080::parseSensorDataPacket() { size_t currReportOffset = 0; // every sensor data report first contains a timestamp offset to show how long it has been between when // the host interrupt was sent and when the packet was transmitted. // We don't use interrupts and don't care about times, so we can throw this out. currReportOffset += SIZEOF_BASE_TIMESTAMP; while(currReportOffset < packetLength) { if(currReportOffset >= STORED_PACKET_SIZE) { _debugPort->printf("Error: sensor report longer than packet buffer! Some data was not read! Increase buffer size or decrease number of reports!\r\n"); return; } // lots of sensor reports use 3 16-bit numbers stored in bytes 4 through 9 // we can save some time by parsing those out here. uint16_t data1 = (uint16_t)shtpData[currReportOffset + 5] << 8 | shtpData[currReportOffset + 4]; uint16_t data2 = (uint16_t)shtpData[currReportOffset + 7] << 8 | shtpData[currReportOffset + 6]; uint16_t data3 = (uint16_t)shtpData[currReportOffset + 9] << 8 | shtpData[currReportOffset + 8]; uint8_t reportNum = shtpData[currReportOffset]; if(reportNum != SENSOR_REPORTID_TIMESTAMP_REBASE) { // set status from byte 2 reportStatus[reportNum] = static_cast<uint8_t>(shtpData[currReportOffset + 2] & 0b11); // set updated flag reportHasBeenUpdated[reportNum] = true; } switch(shtpData[currReportOffset]) { case SENSOR_REPORTID_TIMESTAMP_REBASE: currReportOffset += SIZEOF_TIMESTAMP_REBASE; break; case SENSOR_REPORTID_ACCELEROMETER: totalAcceleration = TVector3( qToFloat(data1, ACCELEROMETER_Q_POINT), qToFloat(data2, ACCELEROMETER_Q_POINT), qToFloat(data3, ACCELEROMETER_Q_POINT)); currReportOffset += SIZEOF_ACCELEROMETER; break; case SENSOR_REPORTID_LINEAR_ACCELERATION: linearAcceleration = TVector3( qToFloat(data1, ACCELEROMETER_Q_POINT), qToFloat(data2, ACCELEROMETER_Q_POINT), qToFloat(data3, ACCELEROMETER_Q_POINT)); currReportOffset += SIZEOF_LINEAR_ACCELERATION; break; case SENSOR_REPORTID_GRAVITY: gravityAcceleration = TVector3( qToFloat(data1, ACCELEROMETER_Q_POINT), qToFloat(data2, ACCELEROMETER_Q_POINT), qToFloat(data3, ACCELEROMETER_Q_POINT)); currReportOffset += SIZEOF_LINEAR_ACCELERATION; break; case SENSOR_REPORTID_GYROSCOPE_CALIBRATED: gyroRotation = TVector3( qToFloat(data1, GYRO_Q_POINT), qToFloat(data2, GYRO_Q_POINT), qToFloat(data3, GYRO_Q_POINT)); currReportOffset += SIZEOF_GYROSCOPE_CALIBRATED; break; case SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED: magField = TVector3( qToFloat(data1, MAGNETOMETER_Q_POINT), qToFloat(data2, MAGNETOMETER_Q_POINT), qToFloat(data3, MAGNETOMETER_Q_POINT)); currReportOffset += SIZEOF_MAGNETIC_FIELD_CALIBRATED; break; case SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED: { magFieldUncalibrated = TVector3( qToFloat(data1, MAGNETOMETER_Q_POINT), qToFloat(data2, MAGNETOMETER_Q_POINT), qToFloat(data3, MAGNETOMETER_Q_POINT)); uint16_t ironOffsetXQ = shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10]; uint16_t ironOffsetYQ = shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12]; uint16_t ironOffsetZQ = shtpData[currReportOffset + 15] << 8 | shtpData[currReportOffset + 14]; hardIronOffset = TVector3( qToFloat(ironOffsetXQ, MAGNETOMETER_Q_POINT), qToFloat(ironOffsetYQ, MAGNETOMETER_Q_POINT), qToFloat(ironOffsetZQ, MAGNETOMETER_Q_POINT)); currReportOffset += SIZEOF_MAGNETIC_FIELD_UNCALIBRATED; } break; case SENSOR_REPORTID_ROTATION_VECTOR: { uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10]; uint16_t accuracyQ = (uint16_t) shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12]; rotationVector = TVector4( qToFloat(data1, ROTATION_Q_POINT), qToFloat(data2, ROTATION_Q_POINT), qToFloat(data3, ROTATION_Q_POINT), qToFloat(realPartQ, ROTATION_Q_POINT)); rotationAccuracy = qToFloat(accuracyQ, ROTATION_ACCURACY_Q_POINT); currReportOffset += SIZEOF_ROTATION_VECTOR; } break; case SENSOR_REPORTID_GAME_ROTATION_VECTOR: { uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10]; gameRotationVector = TVector4( qToFloat(data1, ROTATION_Q_POINT), qToFloat(data2, ROTATION_Q_POINT), qToFloat(data3, ROTATION_Q_POINT), qToFloat(realPartQ, ROTATION_Q_POINT)); currReportOffset += SIZEOF_GAME_ROTATION_VECTOR; } break; case SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR: { uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10]; uint16_t accuracyQ = (uint16_t) shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12]; geomagneticRotationVector = TVector4( qToFloat(data1, ROTATION_Q_POINT), qToFloat(data2, ROTATION_Q_POINT), qToFloat(data3, ROTATION_Q_POINT), qToFloat(realPartQ, ROTATION_Q_POINT)); geomagneticRotationAccuracy = qToFloat(accuracyQ, ROTATION_ACCURACY_Q_POINT); currReportOffset += SIZEOF_GEOMAGNETIC_ROTATION_VECTOR; } break; case SENSOR_REPORTID_TAP_DETECTOR: // since we got the report, a tap was detected tapDetected = true; doubleTap = (shtpData[currReportOffset + 4] & (1 << 6)) != 0; currReportOffset += SIZEOF_TAP_DETECTOR; break; case SENSOR_REPORTID_STABILITY_CLASSIFIER: { uint8_t classificationNumber = shtpData[currReportOffset + 4]; if(classificationNumber > 4) { classificationNumber = 0; } stability = static_cast<Stability>(classificationNumber); currReportOffset += SIZEOF_STABILITY_REPORT; } break; case SENSOR_REPORTID_STEP_DETECTOR: // the fact that we got the report means that a step was detected stepDetected = true; currReportOffset += SIZEOF_STEP_DETECTOR; break; case SENSOR_REPORTID_STEP_COUNTER: stepCount = shtpData[currReportOffset + 9] << 8 | shtpData[currReportOffset + 8]; currReportOffset += SIZEOF_STEP_COUNTER; break; case SENSOR_REPORTID_SIGNIFICANT_MOTION: // the fact that we got the report means that significant motion was detected significantMotionDetected = true; currReportOffset += SIZEOF_SIGNIFICANT_MOTION; break; case SENSOR_REPORTID_SHAKE_DETECTOR: shakeDetected = true; xAxisShake = (shtpData[currReportOffset + 4] & 1) != 0; yAxisShake = (shtpData[currReportOffset + 4] & (1 << 1)) != 0; zAxisShake = (shtpData[currReportOffset + 4] & (1 << 2)) != 0; currReportOffset += SIZEOF_SHAKE_DETECTOR; break; default: _debugPort->printf("Error: unrecognized report ID in sensor report: %hhx. Byte %u, length %hu\n", shtpData[currReportOffset], currReportOffset, packetLength); return; } } } bool BNO080::waitForPacket(int channel, uint8_t reportID, float timeout) { Timer timeoutTimer; timeoutTimer.start(); while(timeoutTimer.read() <= timeout) { if(_int.read() == 0) { if(!receivePacket(timeout)) { _debugPort->printf("cannot receive\r\n"); return false; } if(channel == shtpHeader[2] && reportID == shtpData[0]) { // found correct packet! _debugPort->printf("can receive/r/n"); return true; } else { // other data packet, send to proper channels _debugPort->printf("other/r/n"); processPacket(); } } } _debugPort->printf("Packet wait timeout.\n"); return false; } //Given a register value and a Q point, convert to float //See https://en.wikipedia.org/wiki/Q_(number_format) float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint) { float qFloat = fixedPointValue; qFloat *= pow(2, qPoint * -1); return (qFloat); } float BNO080::qToFloat_dword(uint32_t fixedPointValue, int16_t qPoint) { float qFloat = fixedPointValue; qFloat *= pow(2, qPoint * -1); return (qFloat); } //Given a floating point value and a Q point, convert to Q //See https://en.wikipedia.org/wiki/Q_(number_format) int16_t BNO080::floatToQ(float qFloat, uint8_t qPoint) { int16_t qVal = static_cast<int16_t>(qFloat * pow(2, qPoint)); return qVal; } int32_t BNO080::floatToQ_dword(float qFloat, uint16_t qPoint) { int32_t qVal = static_cast<int32_t>(qFloat * pow(2, qPoint)); return qVal; } //Tell the sensor to do a command //See 6.3.8 page 41, Command request //The caller is expected to set P0 through P8 prior to calling void BNO080::sendCommand(uint8_t command) { shtpData[0] = SHTP_REPORT_COMMAND_REQUEST; //Command Request shtpData[1] = commandSequenceNumber++; //Increments automatically each function call shtpData[2] = command; //Command //Caller must set these /* shtpData[3] = 0; //P0 shtpData[4] = 0; //P1 shtpData[5] = 0; //P2 shtpData[6] = 0; shtpData[7] = 0; shtpData[8] = 0; shtpData[9] = 0; shtpData[10] = 0; shtpData[11] = 0; */ //Transmit packet on channel 2, 12 bytes sendPacket(CHANNEL_CONTROL, 12); } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values //Also sets the specific config word. Useful for personal activity classifier void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig) { uint32_t microsBetweenReports = static_cast<uint32_t>(timeBetweenReports * 1000); const uint32_t batchMicros = 0; shtpData[0] = SHTP_REPORT_SET_FEATURE_COMMAND; //Set feature command. Reference page 55 shtpData[1] = reportID; //Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector shtpData[2] = 0; //Feature flags shtpData[3] = 0; //Change sensitivity (LSB) shtpData[4] = 0; //Change sensitivity (MSB) shtpData[5] = (microsBetweenReports >> 0) & 0xFF; //Report interval (LSB) in microseconds. 0x7A120 = 500ms shtpData[6] = (microsBetweenReports >> 8) & 0xFF; //Report interval shtpData[7] = (microsBetweenReports >> 16) & 0xFF; //Report interval shtpData[8] = (microsBetweenReports >> 24) & 0xFF; //Report interval (MSB) shtpData[9] = (batchMicros >> 0) & 0xFF; //Batch Interval (LSB) shtpData[10] = (batchMicros >> 8) & 0xFF; //Batch Interval shtpData[11] = (batchMicros >> 16) & 0xFF;//Batch Interval shtpData[12] = (batchMicros >> 24) & 0xFF;//Batch Interval (MSB) shtpData[13] = (specificConfig >> 0) & 0xFF; //Sensor-specific config (LSB) shtpData[14] = (specificConfig >> 8) & 0xFF; //Sensor-specific config shtpData[15] = (specificConfig >> 16) & 0xFF; //Sensor-specific config shtpData[16] = (specificConfig >> 24) & 0xFF; //Sensor-specific config (MSB) //Transmit packet on channel 2, 17 bytes sendPacket(CHANNEL_CONTROL, 17); } bool BNO080::readFRSRecord(uint16_t recordID, uint32_t* readBuffer, uint16_t readLength) { // send initial read request zeroBuffer(); shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; // read offset of 0 -> start at the start of the record shtpData[2] = 0; shtpData[3] = 0; // record ID shtpData[4] = static_cast<uint8_t>(recordID & 0xFF); shtpData[5] = static_cast<uint8_t>(recordID >> 8); // block size shtpData[6] = static_cast<uint8_t>(readLength & 0xFF); shtpData[7] = static_cast<uint8_t>(readLength >> 8); sendPacket(CHANNEL_CONTROL, 8); // now, read back the responses size_t readOffset = 0; while(readOffset < readLength) { // it seems like it can take quite a long time for FRS data to be read, so we have to increase the timeout if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_FRS_READ_RESPONSE, .3f)) { #if BNO_DEBUG _debugPort->printf("Error: did not receive FRS read response after sending read request!\n"); #endif return false; } uint8_t status = static_cast<uint8_t>(shtpData[1] & 0b1111); uint8_t dataLength = shtpData[1] >> 4; // check status if(status == 1) { #if BNO_DEBUG _debugPort->printf("Error: FRS reports invalid record ID!\n"); #endif return false; } else if(status == 2) { #if BNO_DEBUG _debugPort->printf("Error: FRS is busy!\n"); #endif return false; } else if(status == 4) { #if BNO_DEBUG _debugPort->printf("Error: FRS reports offset is out of range!\n"); #endif return false; } else if(status == 5) { #if BNO_DEBUG _debugPort->printf("Error: FRS reports record %hx is empty!\n", recordID); #endif return false; } else if(status == 8) { #if BNO_DEBUG _debugPort->printf("Error: FRS reports flash memory device unavailable!\n"); #endif return false; } // check data length if(dataLength == 0) { #if BNO_DEBUG _debugPort->printf("Error: Received FRS packet with 0 data length!\n"); #endif return false; } else if(dataLength == 1) { if(readOffset + 1 != readLength) { #if BNO_DEBUG _debugPort->printf("Error: Received 1 length packet but more than 1 byte remains to be be read!\n"); #endif return false; } } // now, _finally_, read the dang words readBuffer[readOffset] = (shtpData[7] << 24) | (shtpData[6] << 16) | (shtpData[5] << 8) | (shtpData[4]); // check if we only wanted the first word ++readOffset; if(readOffset == readLength) { break; } readBuffer[readOffset] = (shtpData[11] << 24) | (shtpData[10] << 16) | (shtpData[9] << 8) | (shtpData[8]); readOffset++; } // read successful return true; } bool BNO080::writeFRSRecord(uint16_t recordID, uint32_t* buffer, uint16_t length) { // send initial write request, which tells the chip where we're writing zeroBuffer(); shtpData[0] = SHTP_REPORT_FRS_WRITE_REQUEST; // length to write (must be <= record length) shtpData[2] = static_cast<uint8_t>(length & 0xFF); shtpData[3] = static_cast<uint8_t>(length >> 8); // record ID shtpData[4] = static_cast<uint8_t>(recordID & 0xFF); shtpData[5] = static_cast<uint8_t>(recordID >> 8); sendPacket(CHANNEL_CONTROL, 6); // wait for FRS to become ready if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_FRS_WRITE_RESPONSE, .3f)) { #if BNO_DEBUG _debugPort->printf("Error: did not receive FRS write ready response after sending write request!\r\n"); #endif return false; } if(shtpData[1] != 4) { #if BNO_DEBUG _debugPort->printf("Error: FRS reports error initiating write operation: %hhu!\r\n", shtpData[1]); #endif return false; } // now, send the actual data for(uint16_t wordIndex = 0; wordIndex < length; wordIndex += 2) { // send packet containing 2 words zeroBuffer(); shtpData[0] = SHTP_REPORT_FRS_WRITE_DATA; // offset to write at shtpData[2] = static_cast<uint8_t>(wordIndex & 0xFF); shtpData[3] = static_cast<uint8_t>(wordIndex >> 8); // data 0 *reinterpret_cast<uint32_t*>(shtpData + 4) = buffer[wordIndex]; // data 1, if it exists if(wordIndex != length - 1) { *reinterpret_cast<uint32_t*>(shtpData + 8) = buffer[wordIndex + 1]; } sendPacket(CHANNEL_CONTROL, 12); // wait for acknowledge if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_FRS_WRITE_RESPONSE, .3f)) { #if BNO_DEBUG _debugPort->printf("Error: did not receive FRS write response after sending write data!\r\n"); #endif return false; } uint8_t status = shtpData[1]; switch(status) { case 0: if(length - wordIndex >= 2) { // status OK, write still in progress } else { #if BNO_DEBUG _debugPort->printf("Error: FRS reports write in progress when it should be complete!\r\n"); #endif return false; } break; case 3: case 8: if(length - wordIndex <= 2) { // status OK, write complete } else { #if BNO_DEBUG _debugPort->printf("Error: FRS reports write complete when it should be still going!\n"); #endif return false; } break; case 1: #if BNO_DEBUG _debugPort->printf("Error: FRS reports invalid record ID!\n"); #endif return false; case 2: #if BNO_DEBUG _debugPort->printf("Error: FRS is busy!\n"); #endif return false; case 5: #if BNO_DEBUG _debugPort->printf("Error: FRS reports write failed!\n"); #endif return false; case 6: #if BNO_DEBUG _debugPort->printf("Error: FRS reports data received while not in write mode!\n"); #endif return false; case 7: #if BNO_DEBUG _debugPort->printf("Error: FRS reports invalid length!\n"); #endif return false; case 9: #if BNO_DEBUG _debugPort->printf("Error: FRS reports invalid data for this record!\n"); #endif return false; case 10: #if BNO_DEBUG _debugPort->printf("Error: FRS reports flash device unavailable!\n"); #endif return false; case 11: #if BNO_DEBUG _debugPort->printf("Error: FRS reports record is read-only!\n"); #endif return false; default: #if BNO_DEBUG _debugPort->printf("Error: FRS reports unknown result code %hhu!\n", status); #endif break; } } // write complete return true; } //Given the data packet, send the header then the data //Returns false if sensor does not ACK bool BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength) { // start the transaction and contact the IMU _i2cPort.start(); // to indicate an i2c read, shift the 7 bit address up 1 bit and keep bit 0 as a 0 int writeResult = _i2cPort.write(_i2cAddress << 1); if(writeResult != 1) { _debugPort->printf("BNO I2C write failed!\n"); _i2cPort.stop(); return false; } uint16_t totalLength = dataLength + 4; //Add four bytes for the header packetLength = dataLength; #if BNO_DEBUG shtpHeader[0] = totalLength & 0xFF; shtpHeader[1] = totalLength >> 8; shtpHeader[2] = channelNumber; shtpHeader[3] = sequenceNumber[channelNumber]; _debugPort->printf("Transmitting packet: ----------------\n"); printPacket(); #endif //Send the 4 byte packet header _i2cPort.write(totalLength & 0xFF); //Packet length LSB _i2cPort.write(totalLength >> 8); //Packet length MSB _i2cPort.write(channelNumber); //Channel number _i2cPort.write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel //Send the user's data packet for (uint8_t i = 0 ; i < dataLength ; i++) { _i2cPort.write(shtpData[i]); } _i2cPort.stop(); return (true); } //Check to see if there is any new data available //Read the contents of the incoming packet into the shtpData array bool BNO080::receivePacket(float timeout) { Timer waitStartTime; waitStartTime.start(); _debugPort->printf("::receivePacket -> timer started and entering while after _int.read() \r\n"); while(_int.read() != 0) { _debugPort->printf("::receivePacket -> _int.read was non-zero \r\n"); if(waitStartTime.read() > timeout) { _debugPort->printf("BNO I2C wait timeout\r\n"); return false; } } // start the transaction and contact the IMU _i2cPort.start(); // to indicate an i2c read, shift the 7 bit address up 1 bit and set bit 0 to a 1 int writeResult = _i2cPort.write((_i2cAddress << 1) | 0x1); _debugPort->printf("::recievePacket -> i2cPort started and writeResult = %d \r\n", writeResult); if(writeResult != 1) { _debugPort->printf("BNO I2C read failed!\n"); return false; } //Get the first four bytes, aka the packet header uint8_t packetLSB = static_cast<uint8_t>(_i2cPort.read(true)); uint8_t packetMSB = static_cast<uint8_t>(_i2cPort.read(true)); uint8_t channelNumber = static_cast<uint8_t>(_i2cPort.read(true)); uint8_t sequenceNum = static_cast<uint8_t>(_i2cPort.read(true)); //Not sure if we need to store this or not //Store the header info shtpHeader[0] = packetLSB; shtpHeader[1] = packetMSB; shtpHeader[2] = channelNumber; shtpHeader[3] = sequenceNum; //---------------------------added code for debugging ------------------------------------------ for(int i =0; i<4; i++) _debugPort->printf("::receivPacket -> shtpHeader[%d] = %u \r\n", i, shtpHeader[i]); if(shtpHeader[0] == 0xFF && shtpHeader[1] == 0xFF) { // invalid according to BNO080 datasheet section 1.4.1 #if BNO_DEBUG _debugPort->printf("Recieved 0xFFFF packet length, protocol error!\n"); #endif return false; } //Calculate the number of data bytes in this packet packetLength = (static_cast<uint16_t>(packetMSB) << 8 | packetLSB); // Clear the MSbit. // This bit indicates if this package is a continuation of the last. TBH, I don't really know what this means (it's not really explained in the datasheet) // but we don't actually care about any of the advertisement packets // that use this, so we can just cut off the rest of the packet by releasing chip select. packetLength &= ~(1 << 15); if (packetLength == 0) { // Packet is empty return (false); //All done } packetLength -= 4; //Remove the header bytes from the data count //Read incoming data into the shtpData array for (uint16_t dataSpot = 0 ; dataSpot < packetLength ; dataSpot++) { bool sendACK = dataSpot < packetLength - 1; // per the datasheet, 0xFF is used as filler for the receiver to transmit back uint8_t incoming = static_cast<uint8_t>(_i2cPort.read(sendACK)); if (dataSpot < STORED_PACKET_SIZE) //BNO080 can respond with upto 270 bytes, avoid overflow shtpData[dataSpot] = incoming; //Store data into the shtpData array } _debugPort->printf("in between \r\n"); _i2cPort.stop(); #if BNO_DEBUG _debugPort->printf("Recieved packet: ----------------\n"); printPacket(); // note: add 4 for the header length #endif return (true); //We're done! } //Pretty prints the contents of the current shtp header and data packets void BNO080::printPacket() { #if BNO_DEBUG //Print the four byte header _debugPort->printf("Header:"); for (uint8_t x = 0 ; x < 4 ; x++) { _debugPort->printf(" "); if (shtpHeader[x] < 0x10) _debugPort->printf("0"); _debugPort->printf("%hhx", shtpHeader[x]); } uint16_t printLength = packetLength; if (printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book. _debugPort->printf(" Body:"); for (uint16_t x = 0 ; x < printLength ; x++) { _debugPort->printf(" "); if (shtpData[x] < 0x10) _debugPort->printf("0"); _debugPort->printf("%hhx", shtpData[x]); } _debugPort->printf(", Length:"); _debugPort->printf("%hhu", packetLength + SHTP_HEADER_SIZE); if(shtpHeader[1] >> 7) { _debugPort->printf("[C]"); } _debugPort->printf(", SeqNum: %hhu", shtpHeader[3]); _debugPort->printf(", Channel:"); if (shtpHeader[2] == 0) _debugPort->printf("Command"); else if (shtpHeader[2] == 1) _debugPort->printf("Executable"); else if (shtpHeader[2] == 2) _debugPort->printf("Control"); else if (shtpHeader[2] == 3) _debugPort->printf("Sensor-report"); else if (shtpHeader[2] == 4) _debugPort->printf("Wake-report"); else if (shtpHeader[2] == 5) _debugPort->printf("Gyro-vector"); else _debugPort->printf("%hhu", shtpHeader[2]); _debugPort->printf("\n"); #endif } void BNO080::zeroBuffer() { memset(shtpHeader, 0, SHTP_HEADER_SIZE); memset(shtpData, 0, STORED_PACKET_SIZE); packetLength = 0; } bool BNO080::loadReportMetadata(BNO080::Report report) { uint16_t reportMetaRecord = 0; // first, convert the report into the correct FRS record ID for that report's metadata // data from SH-2 section 5.1 switch(report) { case TOTAL_ACCELERATION: reportMetaRecord = 0xE301; break; case LINEAR_ACCELERATION: reportMetaRecord = 0xE303; break; case GRAVITY_ACCELERATION: reportMetaRecord = 0xE304; break; case GYROSCOPE: reportMetaRecord = 0xE306; break; case MAG_FIELD: reportMetaRecord = 0xE309; break; case MAG_FIELD_UNCALIBRATED: reportMetaRecord = 0xE30A; break; case ROTATION: reportMetaRecord = 0xE30B; break; case GEOMAGNETIC_ROTATION: reportMetaRecord = 0xE30D; break; case GAME_ROTATION: reportMetaRecord = 0xE30C; break; case TAP_DETECTOR: reportMetaRecord = 0xE313; break; case STABILITY_CLASSIFIER: reportMetaRecord = 0xE317; break; case STEP_DETECTOR: reportMetaRecord = 0xE314; break; case STEP_COUNTER: reportMetaRecord = 0xE315; break; case SIGNIFICANT_MOTION: reportMetaRecord = 0xE316; break; case SHAKE_DETECTOR: reportMetaRecord = 0xE318; break; } // if we already have that data stored, everything's OK if(bufferMetadataRecord == reportMetaRecord) { return true; } // now, load the metadata into the buffer if(!readFRSRecord(reportMetaRecord, metadataRecord, METADATA_BUFFER_LEN)) { // clear this so future calls won't try to use the cached version bufferMetadataRecord = 0; return false; } bufferMetadataRecord = reportMetaRecord; return true; }