Sheila Pham / BNOWrapper

start the wrapper burrito

BNO080.cpp@1:aac28ffd63ed, 2018-12-29 (annotated)

Committer:
Jamie Smith
Date:
Sat Dec 29 03:31:00 2018 -0800
Revision:
1:aac28ffd63ed
Parent:
0:f677e13975d0
Child:
2:2269b723d16a
Update from latest upstream, add missing headers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jamie Smith 1:aac28ffd63ed 1 //
Jamie Smith 1:aac28ffd63ed 2 // USC RPL BNO080 driver.
Jamie Smith 1:aac28ffd63ed 3 //
Jamie Smith 1:aac28ffd63ed 4
Jamie Smith 1:aac28ffd63ed 5 /*
Jamie Smith 1:aac28ffd63ed 6 * Overview of BNO080 Communications
Jamie Smith 1:aac28ffd63ed 7 * ===============================================
Jamie Smith 1:aac28ffd63ed 8 *
Jamie Smith 1:aac28ffd63ed 9 * Hilcrest has developed a protocol called SHTP (Sensor Hub Transport Protocol) for binary communications with
Jamie Smith 1:aac28ffd63ed 10 * the BNO080 and the other IMUs it sells. Over this protocol, SH-2 (Sensor Hub 2) messages are sent to configure
Jamie Smith 1:aac28ffd63ed 11 * the chip and read data back.
Jamie Smith 1:aac28ffd63ed 12 *
Jamie Smith 1:aac28ffd63ed 13 * SHTP messages are divided at two hierarchical levels: first the channel, then the report ID. Each category
Jamie Smith 1:aac28ffd63ed 14 * of messages (system commands, sensor data reports, etc.) has its own channel, and the individual messages
Jamie Smith 1:aac28ffd63ed 15 * in each channel are identified by their report id, which is the first byte of the message payload (note that the
Jamie Smith 1:aac28ffd63ed 16 * datasheets don't *always* call the first byte the report ID, but that byte does identify the report, so I'm going
Jamie Smith 1:aac28ffd63ed 17 * with it).
Jamie Smith 1:aac28ffd63ed 18 *
Jamie Smith 1:aac28ffd63ed 19 * ===============================================
Jamie Smith 1:aac28ffd63ed 20 *
Jamie Smith 1:aac28ffd63ed 21 * Information about the BNO080 is split into three datasheets. Here's the download links and what they cover:
Jamie Smith 1:aac28ffd63ed 22 *
Jamie Smith 1:aac28ffd63ed 23 * - the BNO080 datasheet: http://www.hillcrestlabs.com/download/5a05f340566d07c196001ec1
Jamie Smith 1:aac28ffd63ed 24 * -- Chip pinouts
Jamie Smith 1:aac28ffd63ed 25 * -- Example circuits
Jamie Smith 1:aac28ffd63ed 26 * -- Physical specifications
Jamie Smith 1:aac28ffd63ed 27 * -- Supported reports and configuration settings (at a high level)
Jamie Smith 1:aac28ffd63ed 28 * -- List of packets on the SHTP executable channel
Jamie Smith 1:aac28ffd63ed 29 *
Jamie Smith 1:aac28ffd63ed 30 * - the SHTP protocol: http://www.hillcrestlabs.com/download/59de8f99cd829e94dc0029d7
Jamie Smith 1:aac28ffd63ed 31 * -- SHTP transmit and receive protcols (for SPI, I2C, and UART)
Jamie Smith 1:aac28ffd63ed 32 * -- SHTP binary format
Jamie Smith 1:aac28ffd63ed 33 * -- packet types on the SHTP command channel
Jamie Smith 1:aac28ffd63ed 34 *
Jamie Smith 1:aac28ffd63ed 35 * - the SH-2 reference: http://www.hillcrestlabs.com/download/59de8f398934bf6faa00293f
Jamie Smith 1:aac28ffd63ed 36 * -- list of packets and their formats for all channels other than command and executable
Jamie Smith 1:aac28ffd63ed 37 * -- list of FRS (Flash Record System) entries and their formats
Jamie Smith 1:aac28ffd63ed 38 *
Jamie Smith 1:aac28ffd63ed 39 * ===============================================
Jamie Smith 1:aac28ffd63ed 40 *
Jamie Smith 1:aac28ffd63ed 41 * Overview of SHTP channels:
Jamie Smith 1:aac28ffd63ed 42 *
Jamie Smith 1:aac28ffd63ed 43 * 0 -> Command
Jamie Smith 1:aac28ffd63ed 44 * -- Used for protocol-global packets, currently only the advertisement packet (which lists all the channels) and error reports
Jamie Smith 1:aac28ffd63ed 45 *
Jamie Smith 1:aac28ffd63ed 46 * 1 -> Executable
Jamie Smith 1:aac28ffd63ed 47 * -- Used for things that control the software on the chip: commands to reset and sleep
Jamie Smith 1:aac28ffd63ed 48 * -- Also used by the chip to report when it's done booting up
Jamie Smith 1:aac28ffd63ed 49 *
Jamie Smith 1:aac28ffd63ed 50 * 2 -> Control
Jamie Smith 1:aac28ffd63ed 51 * -- Used to send configuration commands to the IMU and for it to send back responses.
Jamie Smith 1:aac28ffd63ed 52 * -- Common report IDs: Command Request (0xF2), Set Feature (0xFD)
Jamie Smith 1:aac28ffd63ed 53 *
Jamie Smith 1:aac28ffd63ed 54 * 3 -> Sensor Reports
Jamie Smith 1:aac28ffd63ed 55 * -- Used for sensors to send back data reports.
Jamie Smith 1:aac28ffd63ed 56 * -- AFAIK the only report ID on this channel will be 0xFB (Report Base Timestamp); sensor data is send in a series of structures
Jamie Smith 1:aac28ffd63ed 57 * following an 0xFB
Jamie Smith 1:aac28ffd63ed 58 *
Jamie Smith 1:aac28ffd63ed 59 * 4 -> Wake Sensor Reports
Jamie Smith 1:aac28ffd63ed 60 * -- same as above, but for sensors configured to wake the device
Jamie Smith 1:aac28ffd63ed 61 *
Jamie Smith 1:aac28ffd63ed 62 * 5 -> Gyro Rotation Vector
Jamie Smith 1:aac28ffd63ed 63 * -- a dedicated channel for the Gyro Rotation Vector sensor report
Jamie Smith 1:aac28ffd63ed 64 * -- Why does this get its own channel? I don't know!!!
Jamie Smith 1:aac28ffd63ed 65 */
Jamie Smith 1:aac28ffd63ed 66
Jamie Smith 1:aac28ffd63ed 67 #include "BNO080.h"
Jamie Smith 1:aac28ffd63ed 68 #include "BNO080Constants.h"
Jamie Smith 1:aac28ffd63ed 69
Jamie Smith 1:aac28ffd63ed 70 /// Set to 1 to enable debug printouts. Should be very useful if the chip is giving you trouble.
Jamie Smith 1:aac28ffd63ed 71 /// When debugging, it is recommended to use the highest possible serial baudrate so as not to interrupt the timing of operations.
Jamie Smith 1:aac28ffd63ed 72 #define BNO_DEBUG 1
Jamie Smith 1:aac28ffd63ed 73
Jamie Smith 1:aac28ffd63ed 74 BNO080::BNO080(Serial *debugPort, PinName user_SDApin, PinName user_SCLpin, PinName user_INTPin, PinName user_RSTPin,
Jamie Smith 1:aac28ffd63ed 75 uint8_t i2cAddress, int i2cPortSpeed) :
Jamie Smith 1:aac28ffd63ed 76 _debugPort(debugPort),
Jamie Smith 1:aac28ffd63ed 77 _i2cPort(user_SDApin, user_SCLpin),
Jamie Smith 1:aac28ffd63ed 78 _i2cAddress(i2cAddress),
Jamie Smith 1:aac28ffd63ed 79 _int(user_INTPin),
Jamie Smith 1:aac28ffd63ed 80 _rst(user_RSTPin, 1)
Jamie Smith 1:aac28ffd63ed 81 {
Jamie Smith 1:aac28ffd63ed 82 //Get user settings
Jamie Smith 1:aac28ffd63ed 83 _i2cPortSpeed = i2cPortSpeed;
Jamie Smith 1:aac28ffd63ed 84 if(_i2cPortSpeed > 4000000)
Jamie Smith 1:aac28ffd63ed 85 {
Jamie Smith 1:aac28ffd63ed 86 _i2cPortSpeed = 4000000; //BNO080 max is 400Khz
Jamie Smith 1:aac28ffd63ed 87 }
Jamie Smith 1:aac28ffd63ed 88 _i2cPort.frequency(_i2cPortSpeed);
Jamie Smith 1:aac28ffd63ed 89
Jamie Smith 1:aac28ffd63ed 90 }
Jamie Smith 1:aac28ffd63ed 91
Jamie Smith 1:aac28ffd63ed 92 bool BNO080::begin()
Jamie Smith 1:aac28ffd63ed 93 {
Jamie Smith 1:aac28ffd63ed 94 //Configure the BNO080 for SPI communication
Jamie Smith 1:aac28ffd63ed 95
Jamie Smith 1:aac28ffd63ed 96 _rst = 0; // Reset BNO080
Jamie Smith 1:aac28ffd63ed 97 wait(.002f); // Min length not specified in datasheet?
Jamie Smith 1:aac28ffd63ed 98 _rst = 1; // Bring out of reset
Jamie Smith 1:aac28ffd63ed 99
Jamie Smith 1:aac28ffd63ed 100 // wait for a falling edge (NOT just a low) on the INT pin to denote startup
Jamie Smith 1:aac28ffd63ed 101 Timer timeoutTimer;
Jamie Smith 1:aac28ffd63ed 102
Jamie Smith 1:aac28ffd63ed 103 bool highDetected = false;
Jamie Smith 1:aac28ffd63ed 104 bool lowDetected = false;
Jamie Smith 1:aac28ffd63ed 105
Jamie Smith 1:aac28ffd63ed 106 while(true)
Jamie Smith 1:aac28ffd63ed 107 {
Jamie Smith 1:aac28ffd63ed 108 if(timeoutTimer.read() > BNO080_RESET_TIMEOUT)
Jamie Smith 1:aac28ffd63ed 109 {
Jamie Smith 1:aac28ffd63ed 110 _debugPort->printf("Error: BNO080 reset timed out, chip not detected.\n");
Jamie Smith 1:aac28ffd63ed 111 return false;
Jamie Smith 1:aac28ffd63ed 112 }
Jamie Smith 1:aac28ffd63ed 113
Jamie Smith 1:aac28ffd63ed 114 // simple edge detector
Jamie Smith 1:aac28ffd63ed 115 if(!highDetected)
Jamie Smith 1:aac28ffd63ed 116 {
Jamie Smith 1:aac28ffd63ed 117 if(_int == 1)
Jamie Smith 1:aac28ffd63ed 118 {
Jamie Smith 1:aac28ffd63ed 119 highDetected = true;
Jamie Smith 1:aac28ffd63ed 120 }
Jamie Smith 1:aac28ffd63ed 121 }
Jamie Smith 1:aac28ffd63ed 122 else if(!lowDetected)
Jamie Smith 1:aac28ffd63ed 123 {
Jamie Smith 1:aac28ffd63ed 124 if(_int == 0)
Jamie Smith 1:aac28ffd63ed 125 {
Jamie Smith 1:aac28ffd63ed 126 lowDetected = true;
Jamie Smith 1:aac28ffd63ed 127 }
Jamie Smith 1:aac28ffd63ed 128 }
Jamie Smith 1:aac28ffd63ed 129 else
Jamie Smith 1:aac28ffd63ed 130 {
Jamie Smith 1:aac28ffd63ed 131 // high and low detected
Jamie Smith 1:aac28ffd63ed 132 break;
Jamie Smith 1:aac28ffd63ed 133 }
Jamie Smith 1:aac28ffd63ed 134 }
Jamie Smith 1:aac28ffd63ed 135
Jamie Smith 1:aac28ffd63ed 136 _debugPort->printf("BNO080 detected!\n");
Jamie Smith 1:aac28ffd63ed 137
Jamie Smith 1:aac28ffd63ed 138 // At system startup, the hub must send its full advertisement message (see SHTP 5.2 and 5.3) to the
Jamie Smith 1:aac28ffd63ed 139 // host. It must not send any other data until this step is complete.
Jamie Smith 1:aac28ffd63ed 140 // We don't actually care what's in it, we're just using it as a signal to indicate that the reset is complete.
Jamie Smith 1:aac28ffd63ed 141 receivePacket();
Jamie Smith 1:aac28ffd63ed 142
Jamie Smith 1:aac28ffd63ed 143 // now, after startup, the BNO will send an Unsolicited Initialize response (SH-2 section 6.4.5.2), and an Executable Reset command
Jamie Smith 1:aac28ffd63ed 144 waitForPacket(CHANNEL_EXECUTABLE, EXECUTABLE_REPORTID_RESET);
Jamie Smith 1:aac28ffd63ed 145
Jamie Smith 1:aac28ffd63ed 146 // Next, officially tell it to initialize, and wait for a successful Initialize Response
Jamie Smith 1:aac28ffd63ed 147 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 148 shtpData[3] = 0;
Jamie Smith 1:aac28ffd63ed 149 sendCommand(COMMAND_INITIALIZE);
Jamie Smith 1:aac28ffd63ed 150
Jamie Smith 1:aac28ffd63ed 151
Jamie Smith 1:aac28ffd63ed 152 if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE) || shtpData[2] != COMMAND_INITIALIZE || shtpData[5] != 0)
Jamie Smith 1:aac28ffd63ed 153 {
Jamie Smith 1:aac28ffd63ed 154 _debugPort->printf("BNO080 reports initialization failed.\n");
Jamie Smith 1:aac28ffd63ed 155 __enable_irq();
Jamie Smith 1:aac28ffd63ed 156 return false;
Jamie Smith 1:aac28ffd63ed 157 }
Jamie Smith 1:aac28ffd63ed 158 else
Jamie Smith 1:aac28ffd63ed 159 {
Jamie Smith 1:aac28ffd63ed 160 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 161 _debugPort->printf("BNO080 reports initialization successful!\n");
Jamie Smith 1:aac28ffd63ed 162 #endif
Jamie Smith 1:aac28ffd63ed 163 }
Jamie Smith 1:aac28ffd63ed 164
Jamie Smith 1:aac28ffd63ed 165
Jamie Smith 1:aac28ffd63ed 166 // Finally, we want to interrogate the device about its model and version.
Jamie Smith 1:aac28ffd63ed 167 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 168 shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info
Jamie Smith 1:aac28ffd63ed 169 shtpData[1] = 0; //Reserved
Jamie Smith 1:aac28ffd63ed 170 sendPacket(CHANNEL_CONTROL, 2);
Jamie Smith 1:aac28ffd63ed 171
Jamie Smith 1:aac28ffd63ed 172 waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_PRODUCT_ID_RESPONSE, 5);
Jamie Smith 1:aac28ffd63ed 173
Jamie Smith 1:aac28ffd63ed 174 if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE)
Jamie Smith 1:aac28ffd63ed 175 {
Jamie Smith 1:aac28ffd63ed 176 majorSoftwareVersion = shtpData[2];
Jamie Smith 1:aac28ffd63ed 177 minorSoftwareVersion = shtpData[3];
Jamie Smith 1:aac28ffd63ed 178 patchSoftwareVersion = (shtpData[13] << 8) | shtpData[12];
Jamie Smith 1:aac28ffd63ed 179 partNumber = (shtpData[7] << 24) | (shtpData[6] << 16) | (shtpData[5] << 8) | shtpData[4];
Jamie Smith 1:aac28ffd63ed 180 buildNumber = (shtpData[11] << 24) | (shtpData[10] << 16) | (shtpData[9] << 8) | shtpData[8];
Jamie Smith 1:aac28ffd63ed 181
Jamie Smith 1:aac28ffd63ed 182 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 183 _debugPort->printf("BNO080 reports as SW version %hhu.%hhu.%hu, build %lu, part no. %lu\n",
Jamie Smith 1:aac28ffd63ed 184 majorSoftwareVersion, minorSoftwareVersion, patchSoftwareVersion,
Jamie Smith 1:aac28ffd63ed 185 buildNumber, partNumber);
Jamie Smith 1:aac28ffd63ed 186 #endif
Jamie Smith 1:aac28ffd63ed 187
Jamie Smith 1:aac28ffd63ed 188 }
Jamie Smith 1:aac28ffd63ed 189 else
Jamie Smith 1:aac28ffd63ed 190 {
Jamie Smith 1:aac28ffd63ed 191 _debugPort->printf("Bad response from product ID command.\n");
Jamie Smith 1:aac28ffd63ed 192 return false;
Jamie Smith 1:aac28ffd63ed 193 }
Jamie Smith 1:aac28ffd63ed 194
Jamie Smith 1:aac28ffd63ed 195 // successful init
Jamie Smith 1:aac28ffd63ed 196 return true;
Jamie Smith 1:aac28ffd63ed 197
Jamie Smith 1:aac28ffd63ed 198 }
Jamie Smith 1:aac28ffd63ed 199
Jamie Smith 1:aac28ffd63ed 200 void BNO080::tare(bool zOnly)
Jamie Smith 1:aac28ffd63ed 201 {
Jamie Smith 1:aac28ffd63ed 202 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 203
Jamie Smith 1:aac28ffd63ed 204 // from SH-2 section 6.4.4.1
Jamie Smith 1:aac28ffd63ed 205 shtpData[3] = 0; // perform tare now
Jamie Smith 1:aac28ffd63ed 206
Jamie Smith 1:aac28ffd63ed 207 if(zOnly)
Jamie Smith 1:aac28ffd63ed 208 {
Jamie Smith 1:aac28ffd63ed 209 shtpData[4] = 0b100; // tare Z axis
Jamie Smith 1:aac28ffd63ed 210 }
Jamie Smith 1:aac28ffd63ed 211 else
Jamie Smith 1:aac28ffd63ed 212 {
Jamie Smith 1:aac28ffd63ed 213 shtpData[4] = 0b111; // tare X, Y, and Z axes
Jamie Smith 1:aac28ffd63ed 214 }
Jamie Smith 1:aac28ffd63ed 215
Jamie Smith 1:aac28ffd63ed 216 shtpData[5] = 0; // reorient all motion outputs
Jamie Smith 1:aac28ffd63ed 217
Jamie Smith 1:aac28ffd63ed 218 sendCommand(COMMAND_TARE);
Jamie Smith 1:aac28ffd63ed 219 }
Jamie Smith 1:aac28ffd63ed 220
Jamie Smith 1:aac28ffd63ed 221 bool BNO080::enableCalibration(bool calibrateAccel, bool calibrateGyro, bool calibrateMag)
Jamie Smith 1:aac28ffd63ed 222 {
Jamie Smith 1:aac28ffd63ed 223 // send the Configure ME Calibration command
Jamie Smith 1:aac28ffd63ed 224 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 225
Jamie Smith 1:aac28ffd63ed 226 shtpData[3] = static_cast<uint8_t>(calibrateAccel ? 1 : 0);
Jamie Smith 1:aac28ffd63ed 227 shtpData[4] = static_cast<uint8_t>(calibrateGyro ? 1 : 0);
Jamie Smith 1:aac28ffd63ed 228 shtpData[5] = static_cast<uint8_t>(calibrateMag ? 1 : 0);
Jamie Smith 1:aac28ffd63ed 229
Jamie Smith 1:aac28ffd63ed 230 shtpData[6] = 0; // Configure ME Calibration command
Jamie Smith 1:aac28ffd63ed 231
Jamie Smith 1:aac28ffd63ed 232 shtpData[7] = 0; // planar accelerometer calibration always disabled
Jamie Smith 1:aac28ffd63ed 233
Jamie Smith 1:aac28ffd63ed 234 sendCommand(COMMAND_ME_CALIBRATE);
Jamie Smith 1:aac28ffd63ed 235
Jamie Smith 1:aac28ffd63ed 236 // now, wait for the response
Jamie Smith 1:aac28ffd63ed 237 if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE))
Jamie Smith 1:aac28ffd63ed 238 {
Jamie Smith 1:aac28ffd63ed 239 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 240 _debugPort->printf("Timeout waiting for calibration response!\n");
Jamie Smith 1:aac28ffd63ed 241 #endif
Jamie Smith 1:aac28ffd63ed 242 return false;
Jamie Smith 1:aac28ffd63ed 243 }
Jamie Smith 1:aac28ffd63ed 244
Jamie Smith 1:aac28ffd63ed 245 if(shtpData[2] != COMMAND_ME_CALIBRATE)
Jamie Smith 1:aac28ffd63ed 246 {
Jamie Smith 1:aac28ffd63ed 247 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 248 _debugPort->printf("Received wrong response to calibration command!\n");
Jamie Smith 1:aac28ffd63ed 249 #endif
Jamie Smith 1:aac28ffd63ed 250 return false;
Jamie Smith 1:aac28ffd63ed 251 }
Jamie Smith 1:aac28ffd63ed 252
Jamie Smith 1:aac28ffd63ed 253 if(shtpData[5] != 0)
Jamie Smith 1:aac28ffd63ed 254 {
Jamie Smith 1:aac28ffd63ed 255 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 256 _debugPort->printf("IMU reports calibrate command failed!\n");
Jamie Smith 1:aac28ffd63ed 257 #endif
Jamie Smith 1:aac28ffd63ed 258 return false;
Jamie Smith 1:aac28ffd63ed 259 }
Jamie Smith 1:aac28ffd63ed 260
Jamie Smith 1:aac28ffd63ed 261 // acknowledge checks out!
Jamie Smith 1:aac28ffd63ed 262 return true;
Jamie Smith 1:aac28ffd63ed 263 }
Jamie Smith 1:aac28ffd63ed 264
Jamie Smith 1:aac28ffd63ed 265 bool BNO080::saveCalibration()
Jamie Smith 1:aac28ffd63ed 266 {
Jamie Smith 1:aac28ffd63ed 267 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 268
Jamie Smith 1:aac28ffd63ed 269 // no arguments
Jamie Smith 1:aac28ffd63ed 270 sendCommand(COMMAND_SAVE_DCD);
Jamie Smith 1:aac28ffd63ed 271
Jamie Smith 1:aac28ffd63ed 272 // now, wait for the response
Jamie Smith 1:aac28ffd63ed 273 if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE))
Jamie Smith 1:aac28ffd63ed 274 {
Jamie Smith 1:aac28ffd63ed 275 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 276 _debugPort->printf("Timeout waiting for calibration response!\n");
Jamie Smith 1:aac28ffd63ed 277 #endif
Jamie Smith 1:aac28ffd63ed 278 return false;
Jamie Smith 1:aac28ffd63ed 279 }
Jamie Smith 1:aac28ffd63ed 280
Jamie Smith 1:aac28ffd63ed 281 if(shtpData[2] != COMMAND_SAVE_DCD)
Jamie Smith 1:aac28ffd63ed 282 {
Jamie Smith 1:aac28ffd63ed 283 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 284 _debugPort->printf("Received wrong response to calibration command!\n");
Jamie Smith 1:aac28ffd63ed 285 #endif
Jamie Smith 1:aac28ffd63ed 286 return false;
Jamie Smith 1:aac28ffd63ed 287 }
Jamie Smith 1:aac28ffd63ed 288
Jamie Smith 1:aac28ffd63ed 289 if(shtpData[5] != 0)
Jamie Smith 1:aac28ffd63ed 290 {
Jamie Smith 1:aac28ffd63ed 291 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 292 _debugPort->printf("IMU reports calibrate command failed!\n");
Jamie Smith 1:aac28ffd63ed 293 #endif
Jamie Smith 1:aac28ffd63ed 294 return false;
Jamie Smith 1:aac28ffd63ed 295 }
Jamie Smith 1:aac28ffd63ed 296
Jamie Smith 1:aac28ffd63ed 297 // acknowledge checks out!
Jamie Smith 1:aac28ffd63ed 298 return true;
Jamie Smith 1:aac28ffd63ed 299 }
Jamie Smith 1:aac28ffd63ed 300
Jamie Smith 1:aac28ffd63ed 301 void BNO080::setSensorOrientation(Quaternion orientation)
Jamie Smith 1:aac28ffd63ed 302 {
Jamie Smith 1:aac28ffd63ed 303 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 304
Jamie Smith 1:aac28ffd63ed 305 _debugPort->printf("y: %f", orientation.y());
Jamie Smith 1:aac28ffd63ed 306
Jamie Smith 1:aac28ffd63ed 307 // convert floats to Q
Jamie Smith 1:aac28ffd63ed 308 int16_t Q_x = floatToQ(orientation.x(), ORIENTATION_QUAT_Q_POINT);
Jamie Smith 1:aac28ffd63ed 309 int16_t Q_y = floatToQ(orientation.y(), ORIENTATION_QUAT_Q_POINT);
Jamie Smith 1:aac28ffd63ed 310 int16_t Q_z = floatToQ(orientation.z(), ORIENTATION_QUAT_Q_POINT);
Jamie Smith 1:aac28ffd63ed 311 int16_t Q_w = floatToQ(orientation.w(), ORIENTATION_QUAT_Q_POINT);
Jamie Smith 1:aac28ffd63ed 312
Jamie Smith 1:aac28ffd63ed 313 _debugPort->printf("Q_y: %hd", Q_y);
Jamie Smith 1:aac28ffd63ed 314
Jamie Smith 1:aac28ffd63ed 315 shtpData[3] = 2; // set reorientation
Jamie Smith 1:aac28ffd63ed 316
Jamie Smith 1:aac28ffd63ed 317 shtpData[4] = static_cast<uint8_t>(Q_x & 0xFF); //P1 - X component LSB
Jamie Smith 1:aac28ffd63ed 318 shtpData[5] = static_cast<uint8_t>(Q_x >> 8); //P2 - X component MSB
Jamie Smith 1:aac28ffd63ed 319
Jamie Smith 1:aac28ffd63ed 320 shtpData[6] = static_cast<uint8_t>(Q_y & 0xFF); //P3 - Y component LSB
Jamie Smith 1:aac28ffd63ed 321 shtpData[7] = static_cast<uint8_t>(Q_y >> 8); //P4 - Y component MSB
Jamie Smith 1:aac28ffd63ed 322
Jamie Smith 1:aac28ffd63ed 323 shtpData[8] = static_cast<uint8_t>(Q_z & 0xFF); //P5 - Z component LSB
Jamie Smith 1:aac28ffd63ed 324 shtpData[9] = static_cast<uint8_t>(Q_z >> 8); //P6 - Z component MSB
Jamie Smith 1:aac28ffd63ed 325
Jamie Smith 1:aac28ffd63ed 326 shtpData[10] = static_cast<uint8_t>(Q_w & 0xFF); //P7 - W component LSB
Jamie Smith 1:aac28ffd63ed 327 shtpData[11] = static_cast<uint8_t>(Q_w >> 8); //P8 - W component MSB
Jamie Smith 1:aac28ffd63ed 328
Jamie Smith 1:aac28ffd63ed 329 //Using this shtpData packet, send a command
Jamie Smith 1:aac28ffd63ed 330 sendCommand(COMMAND_TARE); // Send tare command
Jamie Smith 1:aac28ffd63ed 331
Jamie Smith 1:aac28ffd63ed 332 // NOTE: unlike literally every other command, a sensor orientation command is never acknowledged in any way.
Jamie Smith 1:aac28ffd63ed 333 }
Jamie Smith 1:aac28ffd63ed 334
Jamie Smith 1:aac28ffd63ed 335
Jamie Smith 1:aac28ffd63ed 336 bool BNO080::updateData()
Jamie Smith 1:aac28ffd63ed 337 {
Jamie Smith 1:aac28ffd63ed 338 if(_int.read() != 0)
Jamie Smith 1:aac28ffd63ed 339 {
Jamie Smith 1:aac28ffd63ed 340 // no waiting packets
Jamie Smith 1:aac28ffd63ed 341 return false;
Jamie Smith 1:aac28ffd63ed 342 }
Jamie Smith 1:aac28ffd63ed 343
Jamie Smith 1:aac28ffd63ed 344 while(_int.read() == 0)
Jamie Smith 1:aac28ffd63ed 345 {
Jamie Smith 1:aac28ffd63ed 346 if(!receivePacket())
Jamie Smith 1:aac28ffd63ed 347 {
Jamie Smith 1:aac28ffd63ed 348 // comms error
Jamie Smith 1:aac28ffd63ed 349 return false;
Jamie Smith 1:aac28ffd63ed 350 }
Jamie Smith 1:aac28ffd63ed 351
Jamie Smith 1:aac28ffd63ed 352 processPacket();
Jamie Smith 1:aac28ffd63ed 353 }
Jamie Smith 1:aac28ffd63ed 354
Jamie Smith 1:aac28ffd63ed 355 // packets were received, so data may have changed
Jamie Smith 1:aac28ffd63ed 356 return true;
Jamie Smith 1:aac28ffd63ed 357 }
Jamie Smith 1:aac28ffd63ed 358
Jamie Smith 1:aac28ffd63ed 359 uint8_t BNO080::getReportStatus(Report report)
Jamie Smith 1:aac28ffd63ed 360 {
Jamie Smith 1:aac28ffd63ed 361 uint8_t reportNum = static_cast<uint8_t>(report);
Jamie Smith 1:aac28ffd63ed 362 if(reportNum > STATUS_ARRAY_LEN)
Jamie Smith 1:aac28ffd63ed 363 {
Jamie Smith 1:aac28ffd63ed 364 return 0;
Jamie Smith 1:aac28ffd63ed 365 }
Jamie Smith 1:aac28ffd63ed 366
Jamie Smith 1:aac28ffd63ed 367 return reportStatus[reportNum];
Jamie Smith 1:aac28ffd63ed 368 }
Jamie Smith 1:aac28ffd63ed 369
Jamie Smith 1:aac28ffd63ed 370 const char* BNO080::getReportStatusString(Report report)
Jamie Smith 1:aac28ffd63ed 371 {
Jamie Smith 1:aac28ffd63ed 372 switch(getReportStatus(report))
Jamie Smith 1:aac28ffd63ed 373 {
Jamie Smith 1:aac28ffd63ed 374 case 0:
Jamie Smith 1:aac28ffd63ed 375 return "Unreliable";
Jamie Smith 1:aac28ffd63ed 376 case 1:
Jamie Smith 1:aac28ffd63ed 377 return "Accuracy Low";
Jamie Smith 1:aac28ffd63ed 378 case 2:
Jamie Smith 1:aac28ffd63ed 379 return "Accuracy Medium";
Jamie Smith 1:aac28ffd63ed 380 case 3:
Jamie Smith 1:aac28ffd63ed 381 return "Accuracy High";
Jamie Smith 1:aac28ffd63ed 382 default:
Jamie Smith 1:aac28ffd63ed 383 return "Error";
Jamie Smith 1:aac28ffd63ed 384 }
Jamie Smith 1:aac28ffd63ed 385 }
Jamie Smith 1:aac28ffd63ed 386
Jamie Smith 1:aac28ffd63ed 387 bool BNO080::hasNewData(Report report)
Jamie Smith 1:aac28ffd63ed 388 {
Jamie Smith 1:aac28ffd63ed 389 uint8_t reportNum = static_cast<uint8_t>(report);
Jamie Smith 1:aac28ffd63ed 390 if(reportNum > STATUS_ARRAY_LEN)
Jamie Smith 1:aac28ffd63ed 391 {
Jamie Smith 1:aac28ffd63ed 392 return false;
Jamie Smith 1:aac28ffd63ed 393 }
Jamie Smith 1:aac28ffd63ed 394
Jamie Smith 1:aac28ffd63ed 395 bool newData = reportHasBeenUpdated[reportNum];
Jamie Smith 1:aac28ffd63ed 396 reportHasBeenUpdated[reportNum] = false; // clear flag
Jamie Smith 1:aac28ffd63ed 397 return newData;
Jamie Smith 1:aac28ffd63ed 398 }
Jamie Smith 1:aac28ffd63ed 399
Jamie Smith 1:aac28ffd63ed 400 //Sends the packet to enable the rotation vector
Jamie Smith 1:aac28ffd63ed 401 void BNO080::enableReport(Report report, uint16_t timeBetweenReports)
Jamie Smith 1:aac28ffd63ed 402 {
Jamie Smith 1:aac28ffd63ed 403 // check time
Jamie Smith 1:aac28ffd63ed 404 float periodSeconds = timeBetweenReports / 1000.0;
Jamie Smith 1:aac28ffd63ed 405
Jamie Smith 1:aac28ffd63ed 406 if(periodSeconds < getMinPeriod(report))
Jamie Smith 1:aac28ffd63ed 407 {
Jamie Smith 1:aac28ffd63ed 408 _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.\n",
Jamie Smith 1:aac28ffd63ed 409 static_cast<uint8_t>(report), periodSeconds, getMinPeriod(report));
Jamie Smith 1:aac28ffd63ed 410 return;
Jamie Smith 1:aac28ffd63ed 411 }
Jamie Smith 1:aac28ffd63ed 412 /*
Jamie Smith 1:aac28ffd63ed 413 else if(getMaxPeriod(report) > 0 && periodSeconds > getMaxPeriod(report))
Jamie Smith 1:aac28ffd63ed 414 {
Jamie Smith 1:aac28ffd63ed 415 _debugPort->printf("Error: attempt made to set report 0x%02hhx to period of %.06f s, which is larger than its max period of %.06f s.\n",
Jamie Smith 1:aac28ffd63ed 416 static_cast<uint8_t>(report), periodSeconds, getMaxPeriod(report));
Jamie Smith 1:aac28ffd63ed 417 return;
Jamie Smith 1:aac28ffd63ed 418 }
Jamie Smith 1:aac28ffd63ed 419 */
Jamie Smith 1:aac28ffd63ed 420 setFeatureCommand(static_cast<uint8_t>(report), timeBetweenReports);
Jamie Smith 1:aac28ffd63ed 421
Jamie Smith 1:aac28ffd63ed 422 // note: we don't wait for ACKs on these packets because they can take quite a while, like half a second, to come in
Jamie Smith 1:aac28ffd63ed 423 }
Jamie Smith 1:aac28ffd63ed 424
Jamie Smith 1:aac28ffd63ed 425 void BNO080::disableReport(Report report)
Jamie Smith 1:aac28ffd63ed 426 {
Jamie Smith 1:aac28ffd63ed 427 // set the report's polling period to zero to disable it
Jamie Smith 1:aac28ffd63ed 428 setFeatureCommand(static_cast<uint8_t>(report), 0);
Jamie Smith 1:aac28ffd63ed 429 }
Jamie Smith 1:aac28ffd63ed 430
Jamie Smith 1:aac28ffd63ed 431 uint32_t BNO080::getSerialNumber()
Jamie Smith 1:aac28ffd63ed 432 {
Jamie Smith 1:aac28ffd63ed 433 uint32_t serNoBuffer;
Jamie Smith 1:aac28ffd63ed 434
Jamie Smith 1:aac28ffd63ed 435 if(!readFRSRecord(FRS_RECORDID_SERIAL_NUMBER, &serNoBuffer, 1))
Jamie Smith 1:aac28ffd63ed 436 {
Jamie Smith 1:aac28ffd63ed 437 return 0;
Jamie Smith 1:aac28ffd63ed 438 }
Jamie Smith 1:aac28ffd63ed 439
Jamie Smith 1:aac28ffd63ed 440 return serNoBuffer;
Jamie Smith 1:aac28ffd63ed 441 }
Jamie Smith 1:aac28ffd63ed 442
Jamie Smith 1:aac28ffd63ed 443 float BNO080::getRange(Report report)
Jamie Smith 1:aac28ffd63ed 444 {
Jamie Smith 1:aac28ffd63ed 445 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 446
Jamie Smith 1:aac28ffd63ed 447 return qToFloat_dword(metadataRecord[1], getQ1(report));
Jamie Smith 1:aac28ffd63ed 448 }
Jamie Smith 1:aac28ffd63ed 449
Jamie Smith 1:aac28ffd63ed 450
Jamie Smith 1:aac28ffd63ed 451 float BNO080::getResolution(Report report)
Jamie Smith 1:aac28ffd63ed 452 {
Jamie Smith 1:aac28ffd63ed 453 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 454
Jamie Smith 1:aac28ffd63ed 455 return qToFloat_dword(metadataRecord[2], getQ1(report));
Jamie Smith 1:aac28ffd63ed 456 }
Jamie Smith 1:aac28ffd63ed 457
Jamie Smith 1:aac28ffd63ed 458 float BNO080::getPower(Report report)
Jamie Smith 1:aac28ffd63ed 459 {
Jamie Smith 1:aac28ffd63ed 460 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 461
Jamie Smith 1:aac28ffd63ed 462 uint16_t powerQ = static_cast<uint16_t>(metadataRecord[3] & 0xFFFF);
Jamie Smith 1:aac28ffd63ed 463
Jamie Smith 1:aac28ffd63ed 464 return qToFloat_dword(powerQ, POWER_Q_POINT);
Jamie Smith 1:aac28ffd63ed 465 }
Jamie Smith 1:aac28ffd63ed 466
Jamie Smith 1:aac28ffd63ed 467 float BNO080::getMinPeriod(Report report)
Jamie Smith 1:aac28ffd63ed 468 {
Jamie Smith 1:aac28ffd63ed 469 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 470
Jamie Smith 1:aac28ffd63ed 471 return metadataRecord[4] / 1e6f; // convert from microseconds to seconds
Jamie Smith 1:aac28ffd63ed 472 }
Jamie Smith 1:aac28ffd63ed 473
Jamie Smith 1:aac28ffd63ed 474 float BNO080::getMaxPeriod(Report report)
Jamie Smith 1:aac28ffd63ed 475 {
Jamie Smith 1:aac28ffd63ed 476 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 477
Jamie Smith 1:aac28ffd63ed 478 if(getMetaVersion() == 3)
Jamie Smith 1:aac28ffd63ed 479 {
Jamie Smith 1:aac28ffd63ed 480 // no max period entry in this record format
Jamie Smith 1:aac28ffd63ed 481 return -1.0f;
Jamie Smith 1:aac28ffd63ed 482 }
Jamie Smith 1:aac28ffd63ed 483
Jamie Smith 1:aac28ffd63ed 484 return metadataRecord[9] / 1e6f; // convert from microseconds to seconds
Jamie Smith 1:aac28ffd63ed 485 }
Jamie Smith 1:aac28ffd63ed 486
Jamie Smith 1:aac28ffd63ed 487 void BNO080::printMetadataSummary(Report report)
Jamie Smith 1:aac28ffd63ed 488 {
Jamie Smith 1:aac28ffd63ed 489 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 490 if(!loadReportMetadata(report))
Jamie Smith 1:aac28ffd63ed 491 {
Jamie Smith 1:aac28ffd63ed 492 _debugPort->printf("Failed to load report metadata!\n");
Jamie Smith 1:aac28ffd63ed 493 }
Jamie Smith 1:aac28ffd63ed 494
Jamie Smith 1:aac28ffd63ed 495 _debugPort->printf("======= Metadata for report 0x%02hhx =======\n", static_cast<uint8_t>(report));
Jamie Smith 1:aac28ffd63ed 496
Jamie Smith 1:aac28ffd63ed 497 _debugPort->printf("Range: +- %.04f units\n", getRange(report));
Jamie Smith 1:aac28ffd63ed 498 _debugPort->printf("Resolution: %.04f units\n", getResolution(report));
Jamie Smith 1:aac28ffd63ed 499 _debugPort->printf("Power Used: %.03f mA\n", getPower(report));
Jamie Smith 1:aac28ffd63ed 500 _debugPort->printf("Min Period: %.06f s\n", getMinPeriod(report));
Jamie Smith 1:aac28ffd63ed 501 _debugPort->printf("Max Period: %.06f s\n\n", getMaxPeriod(report));
Jamie Smith 1:aac28ffd63ed 502
Jamie Smith 1:aac28ffd63ed 503 #endif
Jamie Smith 1:aac28ffd63ed 504 }
Jamie Smith 1:aac28ffd63ed 505
Jamie Smith 1:aac28ffd63ed 506 int16_t BNO080::getQ1(Report report)
Jamie Smith 1:aac28ffd63ed 507 {
Jamie Smith 1:aac28ffd63ed 508 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 509
Jamie Smith 1:aac28ffd63ed 510 return static_cast<int16_t>(metadataRecord[7] & 0xFFFF);
Jamie Smith 1:aac28ffd63ed 511 }
Jamie Smith 1:aac28ffd63ed 512
Jamie Smith 1:aac28ffd63ed 513 int16_t BNO080::getQ2(Report report)
Jamie Smith 1:aac28ffd63ed 514 {
Jamie Smith 1:aac28ffd63ed 515 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 516
Jamie Smith 1:aac28ffd63ed 517 return static_cast<int16_t>(metadataRecord[7] >> 16);
Jamie Smith 1:aac28ffd63ed 518 }
Jamie Smith 1:aac28ffd63ed 519
Jamie Smith 1:aac28ffd63ed 520 int16_t BNO080::getQ3(Report report)
Jamie Smith 1:aac28ffd63ed 521 {
Jamie Smith 1:aac28ffd63ed 522 loadReportMetadata(report);
Jamie Smith 1:aac28ffd63ed 523
Jamie Smith 1:aac28ffd63ed 524 return static_cast<int16_t>(metadataRecord[8] >> 16);
Jamie Smith 1:aac28ffd63ed 525 }
Jamie Smith 1:aac28ffd63ed 526
Jamie Smith 1:aac28ffd63ed 527 void BNO080::processPacket()
Jamie Smith 1:aac28ffd63ed 528 {
Jamie Smith 1:aac28ffd63ed 529 if(shtpHeader[2] == CHANNEL_CONTROL)
Jamie Smith 1:aac28ffd63ed 530 {
Jamie Smith 1:aac28ffd63ed 531 // currently no command reports are read
Jamie Smith 1:aac28ffd63ed 532 }
Jamie Smith 1:aac28ffd63ed 533 else if(shtpHeader[2] == CHANNEL_EXECUTABLE)
Jamie Smith 1:aac28ffd63ed 534 {
Jamie Smith 1:aac28ffd63ed 535 // currently no executable reports are read
Jamie Smith 1:aac28ffd63ed 536 }
Jamie Smith 1:aac28ffd63ed 537 else if(shtpHeader[2] == CHANNEL_COMMAND)
Jamie Smith 1:aac28ffd63ed 538 {
Jamie Smith 1:aac28ffd63ed 539
Jamie Smith 1:aac28ffd63ed 540 }
Jamie Smith 1:aac28ffd63ed 541 else if(shtpHeader[2] == CHANNEL_REPORTS || shtpHeader[2] == CHANNEL_WAKE_REPORTS)
Jamie Smith 1:aac28ffd63ed 542 {
Jamie Smith 1:aac28ffd63ed 543 if(shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP)
Jamie Smith 1:aac28ffd63ed 544 {
Jamie Smith 1:aac28ffd63ed 545 // sensor data packet
Jamie Smith 1:aac28ffd63ed 546 parseSensorDataPacket();
Jamie Smith 1:aac28ffd63ed 547 }
Jamie Smith 1:aac28ffd63ed 548 }
Jamie Smith 1:aac28ffd63ed 549 }
Jamie Smith 1:aac28ffd63ed 550
Jamie Smith 1:aac28ffd63ed 551 // sizes of various sensor data packet elements
Jamie Smith 1:aac28ffd63ed 552 #define SIZEOF_BASE_TIMESTAMP 5
Jamie Smith 1:aac28ffd63ed 553 #define SIZEOF_TIMESTAMP_REBASE 5
Jamie Smith 1:aac28ffd63ed 554 #define SIZEOF_ACCELEROMETER 10
Jamie Smith 1:aac28ffd63ed 555 #define SIZEOF_LINEAR_ACCELERATION 10
Jamie Smith 1:aac28ffd63ed 556 #define SIZEOF_GYROSCOPE_CALIBRATED 10
Jamie Smith 1:aac28ffd63ed 557 #define SIZEOF_MAGNETIC_FIELD_CALIBRATED 10
Jamie Smith 1:aac28ffd63ed 558 #define SIZEOF_MAGNETIC_FIELD_UNCALIBRATED 16
Jamie Smith 1:aac28ffd63ed 559 #define SIZEOF_ROTATION_VECTOR 14
Jamie Smith 1:aac28ffd63ed 560 #define SIZEOF_GAME_ROTATION_VECTOR 12
Jamie Smith 1:aac28ffd63ed 561 #define SIZEOF_GEOMAGNETIC_ROTATION_VECTOR 14
Jamie Smith 1:aac28ffd63ed 562 #define SIZEOF_TAP_DETECTOR 5
Jamie Smith 1:aac28ffd63ed 563 #define SIZEOF_STABILITY_REPORT 6
Jamie Smith 1:aac28ffd63ed 564 #define SIZEOF_STEP_DETECTOR 8
Jamie Smith 1:aac28ffd63ed 565 #define SIZEOF_STEP_COUNTER 12
Jamie Smith 1:aac28ffd63ed 566 #define SIZEOF_SIGNIFICANT_MOTION 6
Jamie Smith 1:aac28ffd63ed 567 #define SIZEOF_SHAKE_DETECTOR 6
Jamie Smith 1:aac28ffd63ed 568
Jamie Smith 1:aac28ffd63ed 569 void BNO080::parseSensorDataPacket()
Jamie Smith 1:aac28ffd63ed 570 {
Jamie Smith 1:aac28ffd63ed 571 size_t currReportOffset = 0;
Jamie Smith 1:aac28ffd63ed 572
Jamie Smith 1:aac28ffd63ed 573 // every sensor data report first contains a timestamp offset to show how long it has been between when
Jamie Smith 1:aac28ffd63ed 574 // the host interrupt was sent and when the packet was transmitted.
Jamie Smith 1:aac28ffd63ed 575 // We don't use interrupts and don't care about times, so we can throw this out.
Jamie Smith 1:aac28ffd63ed 576 currReportOffset += SIZEOF_BASE_TIMESTAMP;
Jamie Smith 1:aac28ffd63ed 577
Jamie Smith 1:aac28ffd63ed 578 while(currReportOffset < packetLength)
Jamie Smith 1:aac28ffd63ed 579 {
Jamie Smith 1:aac28ffd63ed 580 if(currReportOffset >= STORED_PACKET_SIZE)
Jamie Smith 1:aac28ffd63ed 581 {
Jamie Smith 1:aac28ffd63ed 582 _debugPort->printf("Error: sensor report longer than packet buffer!\n");
Jamie Smith 1:aac28ffd63ed 583 return;
Jamie Smith 1:aac28ffd63ed 584 }
Jamie Smith 1:aac28ffd63ed 585
Jamie Smith 1:aac28ffd63ed 586 // lots of sensor reports use 3 16-bit numbers stored in bytes 4 through 9
Jamie Smith 1:aac28ffd63ed 587 // we can save some time by parsing those out here.
Jamie Smith 1:aac28ffd63ed 588 uint16_t data1 = (uint16_t)shtpData[currReportOffset + 5] << 8 | shtpData[currReportOffset + 4];
Jamie Smith 1:aac28ffd63ed 589 uint16_t data2 = (uint16_t)shtpData[currReportOffset + 7] << 8 | shtpData[currReportOffset + 6];
Jamie Smith 1:aac28ffd63ed 590 uint16_t data3 = (uint16_t)shtpData[currReportOffset + 9] << 8 | shtpData[currReportOffset + 8];
Jamie Smith 1:aac28ffd63ed 591
Jamie Smith 1:aac28ffd63ed 592 uint8_t reportNum = shtpData[currReportOffset];
Jamie Smith 1:aac28ffd63ed 593
Jamie Smith 1:aac28ffd63ed 594 if(reportNum != SENSOR_REPORTID_TIMESTAMP_REBASE)
Jamie Smith 1:aac28ffd63ed 595 {
Jamie Smith 1:aac28ffd63ed 596 // set status from byte 2
Jamie Smith 1:aac28ffd63ed 597 reportStatus[reportNum] = static_cast<uint8_t>(shtpData[currReportOffset + 2] & 0b11);
Jamie Smith 1:aac28ffd63ed 598
Jamie Smith 1:aac28ffd63ed 599 // set updated flag
Jamie Smith 1:aac28ffd63ed 600 reportHasBeenUpdated[reportNum] = true;
Jamie Smith 1:aac28ffd63ed 601 }
Jamie Smith 1:aac28ffd63ed 602
Jamie Smith 1:aac28ffd63ed 603 switch(shtpData[currReportOffset])
Jamie Smith 1:aac28ffd63ed 604 {
Jamie Smith 1:aac28ffd63ed 605 case SENSOR_REPORTID_TIMESTAMP_REBASE:
Jamie Smith 1:aac28ffd63ed 606 currReportOffset += SIZEOF_TIMESTAMP_REBASE;
Jamie Smith 1:aac28ffd63ed 607 break;
Jamie Smith 1:aac28ffd63ed 608
Jamie Smith 1:aac28ffd63ed 609 case SENSOR_REPORTID_ACCELEROMETER:
Jamie Smith 1:aac28ffd63ed 610
Jamie Smith 1:aac28ffd63ed 611 totalAcceleration = TVector3(
Jamie Smith 1:aac28ffd63ed 612 qToFloat(data1, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 613 qToFloat(data2, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 614 qToFloat(data3, ACCELEROMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 615
Jamie Smith 1:aac28ffd63ed 616 currReportOffset += SIZEOF_ACCELEROMETER;
Jamie Smith 1:aac28ffd63ed 617 break;
Jamie Smith 1:aac28ffd63ed 618
Jamie Smith 1:aac28ffd63ed 619 case SENSOR_REPORTID_LINEAR_ACCELERATION:
Jamie Smith 1:aac28ffd63ed 620
Jamie Smith 1:aac28ffd63ed 621 linearAcceleration = TVector3(
Jamie Smith 1:aac28ffd63ed 622 qToFloat(data1, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 623 qToFloat(data2, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 624 qToFloat(data3, ACCELEROMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 625
Jamie Smith 1:aac28ffd63ed 626 currReportOffset += SIZEOF_LINEAR_ACCELERATION;
Jamie Smith 1:aac28ffd63ed 627 break;
Jamie Smith 1:aac28ffd63ed 628
Jamie Smith 1:aac28ffd63ed 629 case SENSOR_REPORTID_GRAVITY:
Jamie Smith 1:aac28ffd63ed 630
Jamie Smith 1:aac28ffd63ed 631 gravityAcceleration = TVector3(
Jamie Smith 1:aac28ffd63ed 632 qToFloat(data1, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 633 qToFloat(data2, ACCELEROMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 634 qToFloat(data3, ACCELEROMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 635
Jamie Smith 1:aac28ffd63ed 636 currReportOffset += SIZEOF_LINEAR_ACCELERATION;
Jamie Smith 1:aac28ffd63ed 637 break;
Jamie Smith 1:aac28ffd63ed 638
Jamie Smith 1:aac28ffd63ed 639 case SENSOR_REPORTID_GYROSCOPE_CALIBRATED:
Jamie Smith 1:aac28ffd63ed 640
Jamie Smith 1:aac28ffd63ed 641 gyroRotation = TVector3(
Jamie Smith 1:aac28ffd63ed 642 qToFloat(data1, GYRO_Q_POINT),
Jamie Smith 1:aac28ffd63ed 643 qToFloat(data2, GYRO_Q_POINT),
Jamie Smith 1:aac28ffd63ed 644 qToFloat(data3, GYRO_Q_POINT));
Jamie Smith 1:aac28ffd63ed 645
Jamie Smith 1:aac28ffd63ed 646 currReportOffset += SIZEOF_GYROSCOPE_CALIBRATED;
Jamie Smith 1:aac28ffd63ed 647 break;
Jamie Smith 1:aac28ffd63ed 648
Jamie Smith 1:aac28ffd63ed 649 case SENSOR_REPORTID_MAGNETIC_FIELD_CALIBRATED:
Jamie Smith 1:aac28ffd63ed 650
Jamie Smith 1:aac28ffd63ed 651 magField = TVector3(
Jamie Smith 1:aac28ffd63ed 652 qToFloat(data1, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 653 qToFloat(data2, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 654 qToFloat(data3, MAGNETOMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 655
Jamie Smith 1:aac28ffd63ed 656 currReportOffset += SIZEOF_MAGNETIC_FIELD_CALIBRATED;
Jamie Smith 1:aac28ffd63ed 657 break;
Jamie Smith 1:aac28ffd63ed 658
Jamie Smith 1:aac28ffd63ed 659 case SENSOR_REPORTID_MAGNETIC_FIELD_UNCALIBRATED:
Jamie Smith 1:aac28ffd63ed 660 {
Jamie Smith 1:aac28ffd63ed 661 magFieldUncalibrated = TVector3(
Jamie Smith 1:aac28ffd63ed 662 qToFloat(data1, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 663 qToFloat(data2, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 664 qToFloat(data3, MAGNETOMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 665
Jamie Smith 1:aac28ffd63ed 666 uint16_t ironOffsetXQ = shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10];
Jamie Smith 1:aac28ffd63ed 667 uint16_t ironOffsetYQ = shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12];
Jamie Smith 1:aac28ffd63ed 668 uint16_t ironOffsetZQ = shtpData[currReportOffset + 15] << 8 | shtpData[currReportOffset + 14];
Jamie Smith 1:aac28ffd63ed 669
Jamie Smith 1:aac28ffd63ed 670 hardIronOffset = TVector3(
Jamie Smith 1:aac28ffd63ed 671 qToFloat(ironOffsetXQ, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 672 qToFloat(ironOffsetYQ, MAGNETOMETER_Q_POINT),
Jamie Smith 1:aac28ffd63ed 673 qToFloat(ironOffsetZQ, MAGNETOMETER_Q_POINT));
Jamie Smith 1:aac28ffd63ed 674
Jamie Smith 1:aac28ffd63ed 675 currReportOffset += SIZEOF_MAGNETIC_FIELD_UNCALIBRATED;
Jamie Smith 1:aac28ffd63ed 676 }
Jamie Smith 1:aac28ffd63ed 677 break;
Jamie Smith 1:aac28ffd63ed 678
Jamie Smith 1:aac28ffd63ed 679 case SENSOR_REPORTID_ROTATION_VECTOR:
Jamie Smith 1:aac28ffd63ed 680 {
Jamie Smith 1:aac28ffd63ed 681 uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10];
Jamie Smith 1:aac28ffd63ed 682 uint16_t accuracyQ = (uint16_t) shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12];
Jamie Smith 1:aac28ffd63ed 683
Jamie Smith 1:aac28ffd63ed 684 rotationVector = TVector4(
Jamie Smith 1:aac28ffd63ed 685 qToFloat(data1, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 686 qToFloat(data2, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 687 qToFloat(data3, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 688 qToFloat(realPartQ, ROTATION_Q_POINT));
Jamie Smith 1:aac28ffd63ed 689
Jamie Smith 1:aac28ffd63ed 690 rotationAccuracy = qToFloat(accuracyQ, ROTATION_ACCURACY_Q_POINT);
Jamie Smith 1:aac28ffd63ed 691
Jamie Smith 1:aac28ffd63ed 692 currReportOffset += SIZEOF_ROTATION_VECTOR;
Jamie Smith 1:aac28ffd63ed 693 }
Jamie Smith 1:aac28ffd63ed 694 break;
Jamie Smith 1:aac28ffd63ed 695
Jamie Smith 1:aac28ffd63ed 696 case SENSOR_REPORTID_GAME_ROTATION_VECTOR:
Jamie Smith 1:aac28ffd63ed 697 {
Jamie Smith 1:aac28ffd63ed 698 uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10];
Jamie Smith 1:aac28ffd63ed 699
Jamie Smith 1:aac28ffd63ed 700 gameRotationVector = TVector4(
Jamie Smith 1:aac28ffd63ed 701 qToFloat(data1, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 702 qToFloat(data2, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 703 qToFloat(data3, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 704 qToFloat(realPartQ, ROTATION_Q_POINT));
Jamie Smith 1:aac28ffd63ed 705
Jamie Smith 1:aac28ffd63ed 706 currReportOffset += SIZEOF_GAME_ROTATION_VECTOR;
Jamie Smith 1:aac28ffd63ed 707 }
Jamie Smith 1:aac28ffd63ed 708 break;
Jamie Smith 1:aac28ffd63ed 709
Jamie Smith 1:aac28ffd63ed 710 case SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR:
Jamie Smith 1:aac28ffd63ed 711 {
Jamie Smith 1:aac28ffd63ed 712 uint16_t realPartQ = (uint16_t) shtpData[currReportOffset + 11] << 8 | shtpData[currReportOffset + 10];
Jamie Smith 1:aac28ffd63ed 713 uint16_t accuracyQ = (uint16_t) shtpData[currReportOffset + 13] << 8 | shtpData[currReportOffset + 12];
Jamie Smith 1:aac28ffd63ed 714
Jamie Smith 1:aac28ffd63ed 715 geomagneticRotationVector = TVector4(
Jamie Smith 1:aac28ffd63ed 716 qToFloat(data1, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 717 qToFloat(data2, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 718 qToFloat(data3, ROTATION_Q_POINT),
Jamie Smith 1:aac28ffd63ed 719 qToFloat(realPartQ, ROTATION_Q_POINT));
Jamie Smith 1:aac28ffd63ed 720
Jamie Smith 1:aac28ffd63ed 721 geomagneticRotationAccuracy = qToFloat(accuracyQ, ROTATION_ACCURACY_Q_POINT);
Jamie Smith 1:aac28ffd63ed 722
Jamie Smith 1:aac28ffd63ed 723 currReportOffset += SIZEOF_GEOMAGNETIC_ROTATION_VECTOR;
Jamie Smith 1:aac28ffd63ed 724 }
Jamie Smith 1:aac28ffd63ed 725 break;
Jamie Smith 1:aac28ffd63ed 726
Jamie Smith 1:aac28ffd63ed 727 case SENSOR_REPORTID_TAP_DETECTOR:
Jamie Smith 1:aac28ffd63ed 728
Jamie Smith 1:aac28ffd63ed 729 // since we got the report, a tap was detected
Jamie Smith 1:aac28ffd63ed 730 tapDetected = true;
Jamie Smith 1:aac28ffd63ed 731
Jamie Smith 1:aac28ffd63ed 732 doubleTap = (shtpData[currReportOffset + 4] & (1 << 6)) != 0;
Jamie Smith 1:aac28ffd63ed 733
Jamie Smith 1:aac28ffd63ed 734 currReportOffset += SIZEOF_TAP_DETECTOR;
Jamie Smith 1:aac28ffd63ed 735 break;
Jamie Smith 1:aac28ffd63ed 736
Jamie Smith 1:aac28ffd63ed 737 case SENSOR_REPORTID_STABILITY_CLASSIFIER:
Jamie Smith 1:aac28ffd63ed 738 {
Jamie Smith 1:aac28ffd63ed 739 uint8_t classificationNumber = shtpData[currReportOffset + 4];
Jamie Smith 1:aac28ffd63ed 740
Jamie Smith 1:aac28ffd63ed 741 if(classificationNumber > 4)
Jamie Smith 1:aac28ffd63ed 742 {
Jamie Smith 1:aac28ffd63ed 743 classificationNumber = 0;
Jamie Smith 1:aac28ffd63ed 744 }
Jamie Smith 1:aac28ffd63ed 745
Jamie Smith 1:aac28ffd63ed 746 stability = static_cast<Stability>(classificationNumber);
Jamie Smith 1:aac28ffd63ed 747
Jamie Smith 1:aac28ffd63ed 748 currReportOffset += SIZEOF_STABILITY_REPORT;
Jamie Smith 1:aac28ffd63ed 749 }
Jamie Smith 1:aac28ffd63ed 750 break;
Jamie Smith 1:aac28ffd63ed 751
Jamie Smith 1:aac28ffd63ed 752 case SENSOR_REPORTID_STEP_DETECTOR:
Jamie Smith 1:aac28ffd63ed 753
Jamie Smith 1:aac28ffd63ed 754 // the fact that we got the report means that a step was detected
Jamie Smith 1:aac28ffd63ed 755 stepDetected = true;
Jamie Smith 1:aac28ffd63ed 756
Jamie Smith 1:aac28ffd63ed 757 currReportOffset += SIZEOF_STEP_DETECTOR;
Jamie Smith 1:aac28ffd63ed 758
Jamie Smith 1:aac28ffd63ed 759 break;
Jamie Smith 1:aac28ffd63ed 760
Jamie Smith 1:aac28ffd63ed 761 case SENSOR_REPORTID_STEP_COUNTER:
Jamie Smith 1:aac28ffd63ed 762
Jamie Smith 1:aac28ffd63ed 763 stepCount = shtpData[currReportOffset + 9] << 8 | shtpData[currReportOffset + 8];
Jamie Smith 1:aac28ffd63ed 764
Jamie Smith 1:aac28ffd63ed 765 currReportOffset += SIZEOF_STEP_COUNTER;
Jamie Smith 1:aac28ffd63ed 766
Jamie Smith 1:aac28ffd63ed 767 break;
Jamie Smith 1:aac28ffd63ed 768
Jamie Smith 1:aac28ffd63ed 769 case SENSOR_REPORTID_SIGNIFICANT_MOTION:
Jamie Smith 1:aac28ffd63ed 770
Jamie Smith 1:aac28ffd63ed 771 // the fact that we got the report means that significant motion was detected
Jamie Smith 1:aac28ffd63ed 772 significantMotionDetected = true;
Jamie Smith 1:aac28ffd63ed 773
Jamie Smith 1:aac28ffd63ed 774 currReportOffset += SIZEOF_SIGNIFICANT_MOTION;
Jamie Smith 1:aac28ffd63ed 775
Jamie Smith 1:aac28ffd63ed 776 case SENSOR_REPORTID_SHAKE_DETECTOR:
Jamie Smith 1:aac28ffd63ed 777
Jamie Smith 1:aac28ffd63ed 778 shakeDetected = true;
Jamie Smith 1:aac28ffd63ed 779
Jamie Smith 1:aac28ffd63ed 780 xAxisShake = (shtpData[currReportOffset + 4] & 1) != 0;
Jamie Smith 1:aac28ffd63ed 781 yAxisShake = (shtpData[currReportOffset + 4] & (1 << 1)) != 0;
Jamie Smith 1:aac28ffd63ed 782 zAxisShake = (shtpData[currReportOffset + 4] & (1 << 2)) != 0;
Jamie Smith 1:aac28ffd63ed 783
Jamie Smith 1:aac28ffd63ed 784 currReportOffset += SIZEOF_SHAKE_DETECTOR;
Jamie Smith 1:aac28ffd63ed 785
Jamie Smith 1:aac28ffd63ed 786 default:
Jamie Smith 1:aac28ffd63ed 787 _debugPort->printf("Error: unrecognized report ID in sensor report: %hhx. Byte %u, length %hu\n", shtpData[currReportOffset], currReportOffset, packetLength);
Jamie Smith 1:aac28ffd63ed 788 return;
Jamie Smith 1:aac28ffd63ed 789 }
Jamie Smith 1:aac28ffd63ed 790 }
Jamie Smith 1:aac28ffd63ed 791
Jamie Smith 1:aac28ffd63ed 792 }
Jamie Smith 1:aac28ffd63ed 793
Jamie Smith 1:aac28ffd63ed 794 bool BNO080::waitForPacket(int channel, uint8_t reportID, float timeout)
Jamie Smith 1:aac28ffd63ed 795 {
Jamie Smith 1:aac28ffd63ed 796 Timer timeoutTimer;
Jamie Smith 1:aac28ffd63ed 797 timeoutTimer.start();
Jamie Smith 1:aac28ffd63ed 798
Jamie Smith 1:aac28ffd63ed 799 while(timeoutTimer.read() <= timeout)
Jamie Smith 1:aac28ffd63ed 800 {
Jamie Smith 1:aac28ffd63ed 801 if(_int.read() == 0)
Jamie Smith 1:aac28ffd63ed 802 {
Jamie Smith 1:aac28ffd63ed 803 if(!receivePacket(timeout))
Jamie Smith 1:aac28ffd63ed 804 {
Jamie Smith 1:aac28ffd63ed 805 return false;
Jamie Smith 1:aac28ffd63ed 806 }
Jamie Smith 1:aac28ffd63ed 807
Jamie Smith 1:aac28ffd63ed 808 if(channel == shtpHeader[2] && reportID == shtpData[0])
Jamie Smith 1:aac28ffd63ed 809 {
Jamie Smith 1:aac28ffd63ed 810 // found correct packet!
Jamie Smith 1:aac28ffd63ed 811 return true;
Jamie Smith 1:aac28ffd63ed 812 }
Jamie Smith 1:aac28ffd63ed 813 else
Jamie Smith 1:aac28ffd63ed 814 {
Jamie Smith 1:aac28ffd63ed 815 // other data packet, send to proper channels
Jamie Smith 1:aac28ffd63ed 816 processPacket();
Jamie Smith 1:aac28ffd63ed 817 }
Jamie Smith 1:aac28ffd63ed 818 }
Jamie Smith 1:aac28ffd63ed 819 }
Jamie Smith 1:aac28ffd63ed 820
Jamie Smith 1:aac28ffd63ed 821 _debugPort->printf("Packet wait timeout.\n");
Jamie Smith 1:aac28ffd63ed 822 return false;
Jamie Smith 1:aac28ffd63ed 823 }
Jamie Smith 1:aac28ffd63ed 824
Jamie Smith 1:aac28ffd63ed 825 //Given a register value and a Q point, convert to float
Jamie Smith 1:aac28ffd63ed 826 //See https://en.wikipedia.org/wiki/Q_(number_format)
Jamie Smith 1:aac28ffd63ed 827 float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint)
Jamie Smith 1:aac28ffd63ed 828 {
Jamie Smith 1:aac28ffd63ed 829 float qFloat = fixedPointValue;
Jamie Smith 1:aac28ffd63ed 830 qFloat *= pow(2, qPoint * -1);
Jamie Smith 1:aac28ffd63ed 831 return (qFloat);
Jamie Smith 1:aac28ffd63ed 832 }
Jamie Smith 1:aac28ffd63ed 833
Jamie Smith 1:aac28ffd63ed 834 float BNO080::qToFloat_dword(uint32_t fixedPointValue, int16_t qPoint)
Jamie Smith 1:aac28ffd63ed 835 {
Jamie Smith 1:aac28ffd63ed 836 float qFloat = fixedPointValue;
Jamie Smith 1:aac28ffd63ed 837 qFloat *= pow(2, qPoint * -1);
Jamie Smith 1:aac28ffd63ed 838 return (qFloat);
Jamie Smith 1:aac28ffd63ed 839 }
Jamie Smith 1:aac28ffd63ed 840
Jamie Smith 1:aac28ffd63ed 841 //Given a floating point value and a Q point, convert to Q
Jamie Smith 1:aac28ffd63ed 842 //See https://en.wikipedia.org/wiki/Q_(number_format)
Jamie Smith 1:aac28ffd63ed 843 int16_t BNO080::floatToQ(float qFloat, uint8_t qPoint)
Jamie Smith 1:aac28ffd63ed 844 {
Jamie Smith 1:aac28ffd63ed 845 int16_t qVal = static_cast<int16_t>(qFloat * pow(2, qPoint));
Jamie Smith 1:aac28ffd63ed 846 return qVal;
Jamie Smith 1:aac28ffd63ed 847 }
Jamie Smith 1:aac28ffd63ed 848
Jamie Smith 1:aac28ffd63ed 849 //Tell the sensor to do a command
Jamie Smith 1:aac28ffd63ed 850 //See 6.3.8 page 41, Command request
Jamie Smith 1:aac28ffd63ed 851 //The caller is expected to set P0 through P8 prior to calling
Jamie Smith 1:aac28ffd63ed 852 void BNO080::sendCommand(uint8_t command)
Jamie Smith 1:aac28ffd63ed 853 {
Jamie Smith 1:aac28ffd63ed 854 shtpData[0] = SHTP_REPORT_COMMAND_REQUEST; //Command Request
Jamie Smith 1:aac28ffd63ed 855 shtpData[1] = commandSequenceNumber++; //Increments automatically each function call
Jamie Smith 1:aac28ffd63ed 856 shtpData[2] = command; //Command
Jamie Smith 1:aac28ffd63ed 857
Jamie Smith 1:aac28ffd63ed 858 //Caller must set these
Jamie Smith 1:aac28ffd63ed 859 /*shtpData[3] = 0; //P0
Jamie Smith 1:aac28ffd63ed 860 shtpData[4] = 0; //P1
Jamie Smith 1:aac28ffd63ed 861 shtpData[5] = 0; //P2
Jamie Smith 1:aac28ffd63ed 862 shtpData[6] = 0;
Jamie Smith 1:aac28ffd63ed 863 shtpData[7] = 0;
Jamie Smith 1:aac28ffd63ed 864 shtpData[8] = 0;
Jamie Smith 1:aac28ffd63ed 865 shtpData[9] = 0;
Jamie Smith 1:aac28ffd63ed 866 shtpData[10] = 0;
Jamie Smith 1:aac28ffd63ed 867 shtpData[11] = 0;*/
Jamie Smith 1:aac28ffd63ed 868
Jamie Smith 1:aac28ffd63ed 869 //Transmit packet on channel 2, 12 bytes
Jamie Smith 1:aac28ffd63ed 870 sendPacket(CHANNEL_CONTROL, 12);
Jamie Smith 1:aac28ffd63ed 871 }
Jamie Smith 1:aac28ffd63ed 872
Jamie Smith 1:aac28ffd63ed 873 //Given a sensor's report ID, this tells the BNO080 to begin reporting the values
Jamie Smith 1:aac28ffd63ed 874 //Also sets the specific config word. Useful for personal activity classifier
Jamie Smith 1:aac28ffd63ed 875 void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig)
Jamie Smith 1:aac28ffd63ed 876 {
Jamie Smith 1:aac28ffd63ed 877 uint32_t microsBetweenReports = static_cast<uint32_t>(timeBetweenReports * 1000);
Jamie Smith 1:aac28ffd63ed 878
Jamie Smith 1:aac28ffd63ed 879 const uint32_t batchMicros = 0;
Jamie Smith 1:aac28ffd63ed 880
Jamie Smith 1:aac28ffd63ed 881 shtpData[0] = SHTP_REPORT_SET_FEATURE_COMMAND; //Set feature command. Reference page 55
Jamie Smith 1:aac28ffd63ed 882 shtpData[1] = reportID; //Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector
Jamie Smith 1:aac28ffd63ed 883 shtpData[2] = 0; //Feature flags
Jamie Smith 1:aac28ffd63ed 884 shtpData[3] = 0; //Change sensitivity (LSB)
Jamie Smith 1:aac28ffd63ed 885 shtpData[4] = 0; //Change sensitivity (MSB)
Jamie Smith 1:aac28ffd63ed 886 shtpData[5] = (microsBetweenReports >> 0) & 0xFF; //Report interval (LSB) in microseconds. 0x7A120 = 500ms
Jamie Smith 1:aac28ffd63ed 887 shtpData[6] = (microsBetweenReports >> 8) & 0xFF; //Report interval
Jamie Smith 1:aac28ffd63ed 888 shtpData[7] = (microsBetweenReports >> 16) & 0xFF; //Report interval
Jamie Smith 1:aac28ffd63ed 889 shtpData[8] = (microsBetweenReports >> 24) & 0xFF; //Report interval (MSB)
Jamie Smith 1:aac28ffd63ed 890 shtpData[9] = (batchMicros >> 0) & 0xFF; //Batch Interval (LSB)
Jamie Smith 1:aac28ffd63ed 891 shtpData[10] = (batchMicros >> 8) & 0xFF; //Batch Interval
Jamie Smith 1:aac28ffd63ed 892 shtpData[11] = (batchMicros >> 16) & 0xFF;//Batch Interval
Jamie Smith 1:aac28ffd63ed 893 shtpData[12] = (batchMicros >> 24) & 0xFF;//Batch Interval (MSB)
Jamie Smith 1:aac28ffd63ed 894 shtpData[13] = (specificConfig >> 0) & 0xFF; //Sensor-specific config (LSB)
Jamie Smith 1:aac28ffd63ed 895 shtpData[14] = (specificConfig >> 8) & 0xFF; //Sensor-specific config
Jamie Smith 1:aac28ffd63ed 896 shtpData[15] = (specificConfig >> 16) & 0xFF; //Sensor-specific config
Jamie Smith 1:aac28ffd63ed 897 shtpData[16] = (specificConfig >> 24) & 0xFF; //Sensor-specific config (MSB)
Jamie Smith 1:aac28ffd63ed 898
Jamie Smith 1:aac28ffd63ed 899 //Transmit packet on channel 2, 17 bytes
Jamie Smith 1:aac28ffd63ed 900 sendPacket(CHANNEL_CONTROL, 17);
Jamie Smith 1:aac28ffd63ed 901 }
Jamie Smith 1:aac28ffd63ed 902
Jamie Smith 1:aac28ffd63ed 903 bool BNO080::readFRSRecord(uint16_t recordID, uint32_t* readBuffer, uint16_t readLength)
Jamie Smith 1:aac28ffd63ed 904 {
Jamie Smith 1:aac28ffd63ed 905 // send initial read request
Jamie Smith 1:aac28ffd63ed 906 zeroBuffer();
Jamie Smith 1:aac28ffd63ed 907
Jamie Smith 1:aac28ffd63ed 908 shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST;
Jamie Smith 1:aac28ffd63ed 909 // read offset of 0 -> start at the start of the record
Jamie Smith 1:aac28ffd63ed 910 shtpData[2] = 0;
Jamie Smith 1:aac28ffd63ed 911 shtpData[3] = 0;
Jamie Smith 1:aac28ffd63ed 912 // record ID
Jamie Smith 1:aac28ffd63ed 913 shtpData[4] = static_cast<uint8_t>(recordID & 0xFF);
Jamie Smith 1:aac28ffd63ed 914 shtpData[5] = static_cast<uint8_t>(recordID >> 8);
Jamie Smith 1:aac28ffd63ed 915 // block size
Jamie Smith 1:aac28ffd63ed 916 shtpData[6] = static_cast<uint8_t>(readLength & 0xFF);
Jamie Smith 1:aac28ffd63ed 917 shtpData[7] = static_cast<uint8_t>(readLength >> 8);
Jamie Smith 1:aac28ffd63ed 918
Jamie Smith 1:aac28ffd63ed 919 sendPacket(CHANNEL_CONTROL, 8);
Jamie Smith 1:aac28ffd63ed 920
Jamie Smith 1:aac28ffd63ed 921 // now, read back the responses
Jamie Smith 1:aac28ffd63ed 922 size_t readOffset = 0;
Jamie Smith 1:aac28ffd63ed 923 while(readOffset < readLength)
Jamie Smith 1:aac28ffd63ed 924 {
Jamie Smith 1:aac28ffd63ed 925 if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_FRS_READ_RESPONSE))
Jamie Smith 1:aac28ffd63ed 926 {
Jamie Smith 1:aac28ffd63ed 927 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 928 _debugPort->printf("Error: did not receive FRS read response after sending read request!\n");
Jamie Smith 1:aac28ffd63ed 929 #endif
Jamie Smith 1:aac28ffd63ed 930 return false;
Jamie Smith 1:aac28ffd63ed 931 }
Jamie Smith 1:aac28ffd63ed 932
Jamie Smith 1:aac28ffd63ed 933 uint8_t status = static_cast<uint8_t>(shtpData[1] & 0b1111);
Jamie Smith 1:aac28ffd63ed 934 uint8_t dataLength = shtpData[1] >> 4;
Jamie Smith 1:aac28ffd63ed 935
Jamie Smith 1:aac28ffd63ed 936 // check status
Jamie Smith 1:aac28ffd63ed 937 if(status == 1)
Jamie Smith 1:aac28ffd63ed 938 {
Jamie Smith 1:aac28ffd63ed 939 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 940 _debugPort->printf("Error: FRS reports invalid record ID!\n");
Jamie Smith 1:aac28ffd63ed 941 #endif
Jamie Smith 1:aac28ffd63ed 942 return false;
Jamie Smith 1:aac28ffd63ed 943 }
Jamie Smith 1:aac28ffd63ed 944 else if(status == 2)
Jamie Smith 1:aac28ffd63ed 945 {
Jamie Smith 1:aac28ffd63ed 946 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 947 _debugPort->printf("Error: FRS is busy!\n");
Jamie Smith 1:aac28ffd63ed 948 #endif
Jamie Smith 1:aac28ffd63ed 949 return false;
Jamie Smith 1:aac28ffd63ed 950 }
Jamie Smith 1:aac28ffd63ed 951 else if(status == 4)
Jamie Smith 1:aac28ffd63ed 952 {
Jamie Smith 1:aac28ffd63ed 953 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 954 _debugPort->printf("Error: FRS reports offset is out of range!\n");
Jamie Smith 1:aac28ffd63ed 955 #endif
Jamie Smith 1:aac28ffd63ed 956 return false;
Jamie Smith 1:aac28ffd63ed 957 }
Jamie Smith 1:aac28ffd63ed 958 else if(status == 5)
Jamie Smith 1:aac28ffd63ed 959 {
Jamie Smith 1:aac28ffd63ed 960 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 961 _debugPort->printf("Error: FRS reports record %hx is empty!\n", recordID);
Jamie Smith 1:aac28ffd63ed 962 #endif
Jamie Smith 1:aac28ffd63ed 963 return false;
Jamie Smith 1:aac28ffd63ed 964 }
Jamie Smith 1:aac28ffd63ed 965 else if(status == 8)
Jamie Smith 1:aac28ffd63ed 966 {
Jamie Smith 1:aac28ffd63ed 967 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 968 _debugPort->printf("Error: FRS reports flash memory device unavailable!\n");
Jamie Smith 1:aac28ffd63ed 969 #endif
Jamie Smith 1:aac28ffd63ed 970 return false;
Jamie Smith 1:aac28ffd63ed 971 }
Jamie Smith 1:aac28ffd63ed 972
Jamie Smith 1:aac28ffd63ed 973 // check data length
Jamie Smith 1:aac28ffd63ed 974 if(dataLength == 0)
Jamie Smith 1:aac28ffd63ed 975 {
Jamie Smith 1:aac28ffd63ed 976 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 977 _debugPort->printf("Error: Received FRS packet with 0 data length!\n");
Jamie Smith 1:aac28ffd63ed 978 #endif
Jamie Smith 1:aac28ffd63ed 979 return false;
Jamie Smith 1:aac28ffd63ed 980 }
Jamie Smith 1:aac28ffd63ed 981 else if(dataLength == 1)
Jamie Smith 1:aac28ffd63ed 982 {
Jamie Smith 1:aac28ffd63ed 983 if(readOffset + 1 != readLength)
Jamie Smith 1:aac28ffd63ed 984 {
Jamie Smith 1:aac28ffd63ed 985 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 986 _debugPort->printf("Error: Received 1 length packet but more than 1 byte remains to be be read!\n");
Jamie Smith 1:aac28ffd63ed 987 #endif
Jamie Smith 1:aac28ffd63ed 988 return false;
Jamie Smith 1:aac28ffd63ed 989 }
Jamie Smith 1:aac28ffd63ed 990 }
Jamie Smith 1:aac28ffd63ed 991
Jamie Smith 1:aac28ffd63ed 992 // now, _finally_, read the dang words
Jamie Smith 1:aac28ffd63ed 993 readBuffer[readOffset] = (shtpData[7] << 24) | (shtpData[6] << 16) | (shtpData[5] << 8) | (shtpData[4]);
Jamie Smith 1:aac28ffd63ed 994
Jamie Smith 1:aac28ffd63ed 995 // check if we only wanted the first word
Jamie Smith 1:aac28ffd63ed 996 ++readOffset;
Jamie Smith 1:aac28ffd63ed 997 if(readOffset == readLength)
Jamie Smith 1:aac28ffd63ed 998 {
Jamie Smith 1:aac28ffd63ed 999 break;
Jamie Smith 1:aac28ffd63ed 1000 }
Jamie Smith 1:aac28ffd63ed 1001
Jamie Smith 1:aac28ffd63ed 1002 readBuffer[readOffset] = (shtpData[11] << 24) | (shtpData[10] << 16) | (shtpData[9] << 8) | (shtpData[8]);
Jamie Smith 1:aac28ffd63ed 1003 readOffset++;
Jamie Smith 1:aac28ffd63ed 1004 }
Jamie Smith 1:aac28ffd63ed 1005
Jamie Smith 1:aac28ffd63ed 1006 // read successful
Jamie Smith 1:aac28ffd63ed 1007 return true;
Jamie Smith 1:aac28ffd63ed 1008
Jamie Smith 1:aac28ffd63ed 1009 }
Jamie Smith 1:aac28ffd63ed 1010
Jamie Smith 1:aac28ffd63ed 1011 //Given the data packet, send the header then the data
Jamie Smith 1:aac28ffd63ed 1012 //Returns false if sensor does not ACK
Jamie Smith 1:aac28ffd63ed 1013 bool BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength)
Jamie Smith 1:aac28ffd63ed 1014 {
Jamie Smith 1:aac28ffd63ed 1015 // start the transaction and contact the IMU
Jamie Smith 1:aac28ffd63ed 1016 _i2cPort.start();
Jamie Smith 1:aac28ffd63ed 1017
Jamie Smith 1:aac28ffd63ed 1018 // to indicate an i2c read, shift the 7 bit address up 1 bit and keep bit 0 as a 0
Jamie Smith 1:aac28ffd63ed 1019 int writeResult = _i2cPort.write(_i2cAddress << 1);
Jamie Smith 1:aac28ffd63ed 1020
Jamie Smith 1:aac28ffd63ed 1021 if(writeResult != 1)
Jamie Smith 1:aac28ffd63ed 1022 {
Jamie Smith 1:aac28ffd63ed 1023 _debugPort->printf("BNO I2C write failed!\n");
Jamie Smith 1:aac28ffd63ed 1024 _i2cPort.stop();
Jamie Smith 1:aac28ffd63ed 1025 return false;
Jamie Smith 1:aac28ffd63ed 1026 }
Jamie Smith 1:aac28ffd63ed 1027
Jamie Smith 1:aac28ffd63ed 1028
Jamie Smith 1:aac28ffd63ed 1029 uint16_t totalLength = dataLength + 4; //Add four bytes for the header
Jamie Smith 1:aac28ffd63ed 1030 packetLength = dataLength;
Jamie Smith 1:aac28ffd63ed 1031
Jamie Smith 1:aac28ffd63ed 1032 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 1033 shtpHeader[0] = totalLength & 0xFF;
Jamie Smith 1:aac28ffd63ed 1034 shtpHeader[1] = totalLength >> 8;
Jamie Smith 1:aac28ffd63ed 1035 shtpHeader[2] = channelNumber;
Jamie Smith 1:aac28ffd63ed 1036 shtpHeader[3] = sequenceNumber[channelNumber];
Jamie Smith 1:aac28ffd63ed 1037
Jamie Smith 1:aac28ffd63ed 1038 _debugPort->printf("Transmitting packet: ----------------\n");
Jamie Smith 1:aac28ffd63ed 1039 printPacket();
Jamie Smith 1:aac28ffd63ed 1040 #endif
Jamie Smith 1:aac28ffd63ed 1041
Jamie Smith 1:aac28ffd63ed 1042 //Send the 4 byte packet header
Jamie Smith 1:aac28ffd63ed 1043 _i2cPort.write(totalLength & 0xFF); //Packet length LSB
Jamie Smith 1:aac28ffd63ed 1044 _i2cPort.write(totalLength >> 8); //Packet length MSB
Jamie Smith 1:aac28ffd63ed 1045 _i2cPort.write(channelNumber); //Channel number
Jamie Smith 1:aac28ffd63ed 1046 _i2cPort.write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel
Jamie Smith 1:aac28ffd63ed 1047
Jamie Smith 1:aac28ffd63ed 1048 //Send the user's data packet
Jamie Smith 1:aac28ffd63ed 1049 for (uint8_t i = 0 ; i < dataLength ; i++)
Jamie Smith 1:aac28ffd63ed 1050 {
Jamie Smith 1:aac28ffd63ed 1051 _i2cPort.write(shtpData[i]);
Jamie Smith 1:aac28ffd63ed 1052 }
Jamie Smith 1:aac28ffd63ed 1053 _i2cPort.stop();
Jamie Smith 1:aac28ffd63ed 1054
Jamie Smith 1:aac28ffd63ed 1055 return (true);
Jamie Smith 1:aac28ffd63ed 1056 }
Jamie Smith 1:aac28ffd63ed 1057
Jamie Smith 1:aac28ffd63ed 1058 //Check to see if there is any new data available
Jamie Smith 1:aac28ffd63ed 1059 //Read the contents of the incoming packet into the shtpData array
Jamie Smith 1:aac28ffd63ed 1060 bool BNO080::receivePacket(float timeout)
Jamie Smith 1:aac28ffd63ed 1061 {
Jamie Smith 1:aac28ffd63ed 1062 Timer waitStartTime;
Jamie Smith 1:aac28ffd63ed 1063 waitStartTime.start();
Jamie Smith 1:aac28ffd63ed 1064
Jamie Smith 1:aac28ffd63ed 1065 while(_int.read() != 0)
Jamie Smith 1:aac28ffd63ed 1066 {
Jamie Smith 1:aac28ffd63ed 1067 if(waitStartTime.read() > timeout)
Jamie Smith 1:aac28ffd63ed 1068 {
Jamie Smith 1:aac28ffd63ed 1069 _debugPort->printf("BNO I2C wait timeout\n");
Jamie Smith 1:aac28ffd63ed 1070 return false;
Jamie Smith 1:aac28ffd63ed 1071 }
Jamie Smith 1:aac28ffd63ed 1072
Jamie Smith 1:aac28ffd63ed 1073 }
Jamie Smith 1:aac28ffd63ed 1074
Jamie Smith 1:aac28ffd63ed 1075 // start the transaction and contact the IMU
Jamie Smith 1:aac28ffd63ed 1076 _i2cPort.start();
Jamie Smith 1:aac28ffd63ed 1077
Jamie Smith 1:aac28ffd63ed 1078 // to indicate an i2c read, shift the 7 bit address up 1 bit and set bit 0 to a 1
Jamie Smith 1:aac28ffd63ed 1079 int writeResult = _i2cPort.write((_i2cAddress << 1) | 0x1);
Jamie Smith 1:aac28ffd63ed 1080
Jamie Smith 1:aac28ffd63ed 1081 if(writeResult != 1)
Jamie Smith 1:aac28ffd63ed 1082 {
Jamie Smith 1:aac28ffd63ed 1083 _debugPort->printf("BNO I2C read failed!\n");
Jamie Smith 1:aac28ffd63ed 1084 return false;
Jamie Smith 1:aac28ffd63ed 1085 }
Jamie Smith 1:aac28ffd63ed 1086
Jamie Smith 1:aac28ffd63ed 1087 //Get the first four bytes, aka the packet header
Jamie Smith 1:aac28ffd63ed 1088 uint8_t packetLSB = static_cast<uint8_t>(_i2cPort.read(true));
Jamie Smith 1:aac28ffd63ed 1089 uint8_t packetMSB = static_cast<uint8_t>(_i2cPort.read(true));
Jamie Smith 1:aac28ffd63ed 1090 uint8_t channelNumber = static_cast<uint8_t>(_i2cPort.read(true));
Jamie Smith 1:aac28ffd63ed 1091 uint8_t sequenceNum = static_cast<uint8_t>(_i2cPort.read(true)); //Not sure if we need to store this or not
Jamie Smith 1:aac28ffd63ed 1092
Jamie Smith 1:aac28ffd63ed 1093 //Store the header info
Jamie Smith 1:aac28ffd63ed 1094 shtpHeader[0] = packetLSB;
Jamie Smith 1:aac28ffd63ed 1095 shtpHeader[1] = packetMSB;
Jamie Smith 1:aac28ffd63ed 1096 shtpHeader[2] = channelNumber;
Jamie Smith 1:aac28ffd63ed 1097 shtpHeader[3] = sequenceNum;
Jamie Smith 1:aac28ffd63ed 1098
Jamie Smith 1:aac28ffd63ed 1099 if(shtpHeader[0] == 0xFF && shtpHeader[1] == 0xFF)
Jamie Smith 1:aac28ffd63ed 1100 {
Jamie Smith 1:aac28ffd63ed 1101 // invalid according to BNO080 datasheet section 1.4.1
Jamie Smith 1:aac28ffd63ed 1102
Jamie Smith 1:aac28ffd63ed 1103 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 1104 _debugPort->printf("Recieved 0xFFFF packet length, protocol error!\n");
Jamie Smith 1:aac28ffd63ed 1105 #endif
Jamie Smith 1:aac28ffd63ed 1106 return false;
Jamie Smith 1:aac28ffd63ed 1107 }
Jamie Smith 1:aac28ffd63ed 1108
Jamie Smith 1:aac28ffd63ed 1109 //Calculate the number of data bytes in this packet
Jamie Smith 1:aac28ffd63ed 1110 packetLength = (static_cast<uint16_t>(packetMSB) << 8 | packetLSB);
Jamie Smith 1:aac28ffd63ed 1111
Jamie Smith 1:aac28ffd63ed 1112 // Clear the MSbit.
Jamie Smith 1:aac28ffd63ed 1113 // 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)
Jamie Smith 1:aac28ffd63ed 1114 // but we don't actually care about any of the advertisement packets
Jamie Smith 1:aac28ffd63ed 1115 // that use this, so we can just cut off the rest of the packet by releasing chip select.
Jamie Smith 1:aac28ffd63ed 1116 packetLength &= ~(1 << 15);
Jamie Smith 1:aac28ffd63ed 1117
Jamie Smith 1:aac28ffd63ed 1118 if (packetLength == 0)
Jamie Smith 1:aac28ffd63ed 1119 {
Jamie Smith 1:aac28ffd63ed 1120 // Packet is empty
Jamie Smith 1:aac28ffd63ed 1121 return (false); //All done
Jamie Smith 1:aac28ffd63ed 1122 }
Jamie Smith 1:aac28ffd63ed 1123
Jamie Smith 1:aac28ffd63ed 1124 packetLength -= 4; //Remove the header bytes from the data count
Jamie Smith 1:aac28ffd63ed 1125
Jamie Smith 1:aac28ffd63ed 1126 //Read incoming data into the shtpData array
Jamie Smith 1:aac28ffd63ed 1127 for (uint16_t dataSpot = 0 ; dataSpot < packetLength ; dataSpot++)
Jamie Smith 1:aac28ffd63ed 1128 {
Jamie Smith 1:aac28ffd63ed 1129 bool sendACK = dataSpot < packetLength - 1;
Jamie Smith 1:aac28ffd63ed 1130
Jamie Smith 1:aac28ffd63ed 1131 // per the datasheet, 0xFF is used as filler for the receiver to transmit back
Jamie Smith 1:aac28ffd63ed 1132 uint8_t incoming = static_cast<uint8_t>(_i2cPort.read(sendACK));
Jamie Smith 1:aac28ffd63ed 1133 if (dataSpot < STORED_PACKET_SIZE) //BNO080 can respond with upto 270 bytes, avoid overflow
Jamie Smith 1:aac28ffd63ed 1134 shtpData[dataSpot] = incoming; //Store data into the shtpData array
Jamie Smith 1:aac28ffd63ed 1135 }
Jamie Smith 1:aac28ffd63ed 1136
Jamie Smith 1:aac28ffd63ed 1137 _i2cPort.stop();
Jamie Smith 1:aac28ffd63ed 1138
Jamie Smith 1:aac28ffd63ed 1139 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 1140 _debugPort->printf("Recieved packet: ----------------\n");
Jamie Smith 1:aac28ffd63ed 1141 printPacket(); // note: add 4 for the header length
Jamie Smith 1:aac28ffd63ed 1142 #endif
Jamie Smith 1:aac28ffd63ed 1143
Jamie Smith 1:aac28ffd63ed 1144 return (true); //We're done!
Jamie Smith 1:aac28ffd63ed 1145 }
Jamie Smith 1:aac28ffd63ed 1146
Jamie Smith 1:aac28ffd63ed 1147 //Pretty prints the contents of the current shtp header and data packets
Jamie Smith 1:aac28ffd63ed 1148 void BNO080::printPacket()
Jamie Smith 1:aac28ffd63ed 1149 {
Jamie Smith 1:aac28ffd63ed 1150 #if BNO_DEBUG
Jamie Smith 1:aac28ffd63ed 1151 //Print the four byte header
Jamie Smith 1:aac28ffd63ed 1152 _debugPort->printf("Header:");
Jamie Smith 1:aac28ffd63ed 1153 for (uint8_t x = 0 ; x < 4 ; x++)
Jamie Smith 1:aac28ffd63ed 1154 {
Jamie Smith 1:aac28ffd63ed 1155 _debugPort->printf(" ");
Jamie Smith 1:aac28ffd63ed 1156 if (shtpHeader[x] < 0x10) _debugPort->printf("0");
Jamie Smith 1:aac28ffd63ed 1157 _debugPort->printf("%hhx", shtpHeader[x]);
Jamie Smith 1:aac28ffd63ed 1158 }
Jamie Smith 1:aac28ffd63ed 1159
Jamie Smith 1:aac28ffd63ed 1160 uint16_t printLength = packetLength;
Jamie Smith 1:aac28ffd63ed 1161 if (printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book.
Jamie Smith 1:aac28ffd63ed 1162
Jamie Smith 1:aac28ffd63ed 1163 _debugPort->printf(" Body:");
Jamie Smith 1:aac28ffd63ed 1164 for (uint16_t x = 0 ; x < printLength ; x++)
Jamie Smith 1:aac28ffd63ed 1165 {
Jamie Smith 1:aac28ffd63ed 1166 _debugPort->printf(" ");
Jamie Smith 1:aac28ffd63ed 1167 if (shtpData[x] < 0x10) _debugPort->printf("0");
Jamie Smith 1:aac28ffd63ed 1168 _debugPort->printf("%hhx", shtpData[x]);
Jamie Smith 1:aac28ffd63ed 1169 }
Jamie Smith 1:aac28ffd63ed 1170
Jamie Smith 1:aac28ffd63ed 1171 _debugPort->printf(", Length:");
Jamie Smith 1:aac28ffd63ed 1172 _debugPort->printf("%hhu", packetLength + SHTP_HEADER_SIZE);
Jamie Smith 1:aac28ffd63ed 1173
Jamie Smith 1:aac28ffd63ed 1174 if(shtpHeader[1] >> 7)
Jamie Smith 1:aac28ffd63ed 1175 {
Jamie Smith 1:aac28ffd63ed 1176 _debugPort->printf("[C]");
Jamie Smith 1:aac28ffd63ed 1177 }
Jamie Smith 1:aac28ffd63ed 1178
Jamie Smith 1:aac28ffd63ed 1179 _debugPort->printf(", SeqNum: %hhu", shtpHeader[3]);
Jamie Smith 1:aac28ffd63ed 1180
Jamie Smith 1:aac28ffd63ed 1181 _debugPort->printf(", Channel:");
Jamie Smith 1:aac28ffd63ed 1182 if (shtpHeader[2] == 0) _debugPort->printf("Command");
Jamie Smith 1:aac28ffd63ed 1183 else if (shtpHeader[2] == 1) _debugPort->printf("Executable");
Jamie Smith 1:aac28ffd63ed 1184 else if (shtpHeader[2] == 2) _debugPort->printf("Control");
Jamie Smith 1:aac28ffd63ed 1185 else if (shtpHeader[2] == 3) _debugPort->printf("Sensor-report");
Jamie Smith 1:aac28ffd63ed 1186 else if (shtpHeader[2] == 4) _debugPort->printf("Wake-report");
Jamie Smith 1:aac28ffd63ed 1187 else if (shtpHeader[2] == 5) _debugPort->printf("Gyro-vector");
Jamie Smith 1:aac28ffd63ed 1188 else _debugPort->printf("%hhu", shtpHeader[2]);
Jamie Smith 1:aac28ffd63ed 1189
Jamie Smith 1:aac28ffd63ed 1190 _debugPort->printf("\n");
Jamie Smith 1:aac28ffd63ed 1191 #endif
Jamie Smith 1:aac28ffd63ed 1192 }
Jamie Smith 1:aac28ffd63ed 1193
Jamie Smith 1:aac28ffd63ed 1194
Jamie Smith 1:aac28ffd63ed 1195 void BNO080::zeroBuffer()
Jamie Smith 1:aac28ffd63ed 1196 {
Jamie Smith 1:aac28ffd63ed 1197 memset(shtpHeader, 0, SHTP_HEADER_SIZE);
Jamie Smith 1:aac28ffd63ed 1198 memset(shtpData, 0, STORED_PACKET_SIZE);
Jamie Smith 1:aac28ffd63ed 1199 packetLength = 0;
Jamie Smith 1:aac28ffd63ed 1200 }
Jamie Smith 1:aac28ffd63ed 1201
Jamie Smith 1:aac28ffd63ed 1202 bool BNO080::loadReportMetadata(BNO080::Report report)
Jamie Smith 1:aac28ffd63ed 1203 {
Jamie Smith 1:aac28ffd63ed 1204 uint16_t reportMetaRecord;
Jamie Smith 1:aac28ffd63ed 1205
Jamie Smith 1:aac28ffd63ed 1206 // first, convert the report into the correct FRS record ID for that report's metadata
Jamie Smith 1:aac28ffd63ed 1207 // data from SH-2 section 5.1
Jamie Smith 1:aac28ffd63ed 1208 switch(report)
Jamie Smith 1:aac28ffd63ed 1209 {
Jamie Smith 1:aac28ffd63ed 1210 case Report::TOTAL_ACCELERATION:
Jamie Smith 1:aac28ffd63ed 1211 reportMetaRecord = 0xE301;
Jamie Smith 1:aac28ffd63ed 1212 break;
Jamie Smith 1:aac28ffd63ed 1213 case Report::LINEAR_ACCELERATION:
Jamie Smith 1:aac28ffd63ed 1214 reportMetaRecord = 0xE303;
Jamie Smith 1:aac28ffd63ed 1215 break;
Jamie Smith 1:aac28ffd63ed 1216 case Report::GRAVITY_ACCELERATION:
Jamie Smith 1:aac28ffd63ed 1217 reportMetaRecord = 0xE304;
Jamie Smith 1:aac28ffd63ed 1218 break;
Jamie Smith 1:aac28ffd63ed 1219 case Report::GYROSCOPE:
Jamie Smith 1:aac28ffd63ed 1220 reportMetaRecord = 0xE306;
Jamie Smith 1:aac28ffd63ed 1221 break;
Jamie Smith 1:aac28ffd63ed 1222 case Report::MAG_FIELD:
Jamie Smith 1:aac28ffd63ed 1223 reportMetaRecord = 0xE309;
Jamie Smith 1:aac28ffd63ed 1224 break;
Jamie Smith 1:aac28ffd63ed 1225 case Report::MAG_FIELD_UNCALIBRATED:
Jamie Smith 1:aac28ffd63ed 1226 reportMetaRecord = 0xE30A;
Jamie Smith 1:aac28ffd63ed 1227 break;
Jamie Smith 1:aac28ffd63ed 1228 case Report::ROTATION:
Jamie Smith 1:aac28ffd63ed 1229 reportMetaRecord = 0xE30B;
Jamie Smith 1:aac28ffd63ed 1230 break;
Jamie Smith 1:aac28ffd63ed 1231 case Report::GEOMAGNETIC_ROTATION:
Jamie Smith 1:aac28ffd63ed 1232 reportMetaRecord = 0xE30D;
Jamie Smith 1:aac28ffd63ed 1233 break;
Jamie Smith 1:aac28ffd63ed 1234 case Report::GAME_ROTATION:
Jamie Smith 1:aac28ffd63ed 1235 reportMetaRecord = 0xE30C;
Jamie Smith 1:aac28ffd63ed 1236 break;
Jamie Smith 1:aac28ffd63ed 1237 case Report::TAP_DETECTOR:
Jamie Smith 1:aac28ffd63ed 1238 reportMetaRecord = 0xE313;
Jamie Smith 1:aac28ffd63ed 1239 break;
Jamie Smith 1:aac28ffd63ed 1240 case Report::STABILITY_CLASSIFIER:
Jamie Smith 1:aac28ffd63ed 1241 reportMetaRecord = 0xE317;
Jamie Smith 1:aac28ffd63ed 1242 break;
Jamie Smith 1:aac28ffd63ed 1243 case Report::STEP_DETECTOR:
Jamie Smith 1:aac28ffd63ed 1244 reportMetaRecord = 0xE314;
Jamie Smith 1:aac28ffd63ed 1245 break;
Jamie Smith 1:aac28ffd63ed 1246 case Report::STEP_COUNTER:
Jamie Smith 1:aac28ffd63ed 1247 reportMetaRecord = 0xE315;
Jamie Smith 1:aac28ffd63ed 1248 break;
Jamie Smith 1:aac28ffd63ed 1249 case Report::SIGNIFICANT_MOTION:
Jamie Smith 1:aac28ffd63ed 1250 reportMetaRecord = 0xE316;
Jamie Smith 1:aac28ffd63ed 1251 break;
Jamie Smith 1:aac28ffd63ed 1252 case Report::SHAKE_DETECTOR:
Jamie Smith 1:aac28ffd63ed 1253 reportMetaRecord = 0xE318;
Jamie Smith 1:aac28ffd63ed 1254 break;
Jamie Smith 1:aac28ffd63ed 1255 }
Jamie Smith 1:aac28ffd63ed 1256
Jamie Smith 1:aac28ffd63ed 1257 // if we already have that data stored, everything's OK
Jamie Smith 1:aac28ffd63ed 1258 if(bufferMetadataRecord == reportMetaRecord)
Jamie Smith 1:aac28ffd63ed 1259 {
Jamie Smith 1:aac28ffd63ed 1260 return true;
Jamie Smith 1:aac28ffd63ed 1261 }
Jamie Smith 1:aac28ffd63ed 1262
Jamie Smith 1:aac28ffd63ed 1263 // now, load the metadata into the buffer
Jamie Smith 1:aac28ffd63ed 1264 if(!readFRSRecord(reportMetaRecord, metadataRecord, METADATA_BUFFER_LEN))
Jamie Smith 1:aac28ffd63ed 1265 {
Jamie Smith 1:aac28ffd63ed 1266 // clear this so future calls won't try to use the cached version
Jamie Smith 1:aac28ffd63ed 1267 bufferMetadataRecord = 0;
Jamie Smith 1:aac28ffd63ed 1268
Jamie Smith 1:aac28ffd63ed 1269 return false;
Jamie Smith 1:aac28ffd63ed 1270 }
Jamie Smith 1:aac28ffd63ed 1271
Jamie Smith 1:aac28ffd63ed 1272 bufferMetadataRecord = reportMetaRecord;
Jamie Smith 1:aac28ffd63ed 1273
Jamie Smith 1:aac28ffd63ed 1274 return true;
Jamie Smith 1:aac28ffd63ed 1275 }