Sheila Pham
start the wrapper burrito
Diff: BNO080.cpp
- Revision:
- 1:aac28ffd63ed
- Parent:
- 0:f677e13975d0
- Child:
- 2:2269b723d16a
--- a/BNO080.cpp Sun Dec 23 05:23:21 2018 +0000
+++ b/BNO080.cpp Sat Dec 29 03:31:00 2018 -0800
@@ -1,743 +1,1275 @@
-//
-// 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 send 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),
- _scope(p21, 1)
-{
- //Get user settings
- _i2cPortSpeed = i2cPortSpeed;
- if(_i2cPortSpeed > 4000000)
- {
- _i2cPortSpeed = 4000000; //BNO080 max is 400Khz
- }
- _i2cPort.frequency(_i2cPortSpeed);
-
-}
-
-bool BNO080::begin()
-{
- //Configure the BNO080 for SPI 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;
-
- 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;
- }
- }
-
- _debugPort->printf("BNO080 detected!\n");
-
- // 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();
-
- // 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;
- _scope = 0;
- sendCommand(COMMAND_INITIALIZE);
-
-
- if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_COMMAND_RESPONSE) || shtpData[2] != COMMAND_INITIALIZE || shtpData[5] != 0)
- {
- _debugPort->printf("BNO080 reports initialization failed.\n");
- __enable_irq();
- return false;
- }
- else
- {
-#if BNO_DEBUG
- _debugPort->printf("BNO080 reports initialization successful!\n");
-#endif
- }
-
-
- // 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::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];
-}
-
-//Sends the packet to enable the rotation vector
-void BNO080::enableReport(Report report, uint16_t timeBetweenReports)
-{
- 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::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_ROTATION_VECTOR 14
-#define SIZEOF_GAME_ROTATION_VECTOR 12
-#define SIZEOF_GEOMAGNETIC_ROTATION_VECTOR 14
-#define SIZEOF_TAP_DETECTOR 5
-
-
-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)
- {
- // 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);
- }
-
- 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_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;
-
- 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))
- {
- return false;
- }
-
- if(channel == shtpHeader[2] && reportID == shtpData[0])
- {
- // found correct packet!
- return true;
- }
- else
- {
- // other data packet, send to proper channels
- 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);
-}
-
-//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;
-}
-
-//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);
-}
-
-
-//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");
- _scope = 0;
- _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();
-
- while(_int.read() != 0)
- {
- if(waitStartTime.read() > timeout)
- {
- _debugPort->printf("BNO I2C wait timeout\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);
-
- 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;
-
- 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
- }
-
- _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;
-}
+//
+// 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 send 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)
+{
+ //Get user settings
+ _i2cPortSpeed = i2cPortSpeed;
+ if(_i2cPortSpeed > 4000000)
+ {
+ _i2cPortSpeed = 4000000; //BNO080 max is 400Khz
+ }
+ _i2cPort.frequency(_i2cPortSpeed);
+
+}
+
+bool BNO080::begin()
+{
+ //Configure the BNO080 for SPI 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;
+
+ 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;
+ }
+ }
+
+ _debugPort->printf("BNO080 detected!\n");
+
+ // 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();
+
+ // 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("BNO080 reports initialization failed.\n");
+ __enable_irq();
+ return false;
+ }
+ else
+ {
+#if BNO_DEBUG
+ _debugPort->printf("BNO080 reports initialization successful!\n");
+#endif
+ }
+
+
+ // 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();
+
+ _debugPort->printf("y: %f", orientation.y());
+
+ // 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);
+
+ _debugPort->printf("Q_y: %hd", Q_y);
+
+ 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.
+}
+
+
+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)
+{
+ // check time
+ float periodSeconds = 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.\n",
+ static_cast<uint8_t>(report), periodSeconds, getMinPeriod(report));
+ return;
+ }
+ /*
+ else if(getMaxPeriod(report) > 0 && periodSeconds > getMaxPeriod(report))
+ {
+ _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",
+ static_cast<uint8_t>(report), periodSeconds, getMaxPeriod(report));
+ return;
+ }
+ */
+ 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!\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;
+
+ 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;
+
+ 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))
+ {
+ return false;
+ }
+
+ if(channel == shtpHeader[2] && reportID == shtpData[0])
+ {
+ // found correct packet!
+ return true;
+ }
+ else
+ {
+ // other data packet, send to proper channels
+ 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;
+}
+
+//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)
+ {
+ if(!waitForPacket(CHANNEL_CONTROL, SHTP_REPORT_FRS_READ_RESPONSE))
+ {
+#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;
+
+}
+
+//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();
+
+ while(_int.read() != 0)
+ {
+ if(waitStartTime.read() > timeout)
+ {
+ _debugPort->printf("BNO I2C wait timeout\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);
+
+ 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;
+
+ 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
+ }
+
+ _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;
+
+ // 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 Report::TOTAL_ACCELERATION:
+ reportMetaRecord = 0xE301;
+ break;
+ case Report::LINEAR_ACCELERATION:
+ reportMetaRecord = 0xE303;
+ break;
+ case Report::GRAVITY_ACCELERATION:
+ reportMetaRecord = 0xE304;
+ break;
+ case Report::GYROSCOPE:
+ reportMetaRecord = 0xE306;
+ break;
+ case Report::MAG_FIELD:
+ reportMetaRecord = 0xE309;
+ break;
+ case Report::MAG_FIELD_UNCALIBRATED:
+ reportMetaRecord = 0xE30A;
+ break;
+ case Report::ROTATION:
+ reportMetaRecord = 0xE30B;
+ break;
+ case Report::GEOMAGNETIC_ROTATION:
+ reportMetaRecord = 0xE30D;
+ break;
+ case Report::GAME_ROTATION:
+ reportMetaRecord = 0xE30C;
+ break;
+ case Report::TAP_DETECTOR:
+ reportMetaRecord = 0xE313;
+ break;
+ case Report::STABILITY_CLASSIFIER:
+ reportMetaRecord = 0xE317;
+ break;
+ case Report::STEP_DETECTOR:
+ reportMetaRecord = 0xE314;
+ break;
+ case Report::STEP_COUNTER:
+ reportMetaRecord = 0xE315;
+ break;
+ case Report::SIGNIFICANT_MOTION:
+ reportMetaRecord = 0xE316;
+ break;
+ case Report::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;
+}