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Add support for CEVA BNO08x 9DoF sensor (#809)
* Add support for CEVA BNO08x 9DoF sensor. Also includes implementation of CEVA SH-2 and SHTP protocols.
* Replace machine.I2C with drivers.I2C interface to remove dependency on machine package
* Replace Pin functionality with that provided by tinygo.org/x/drivers/internal/pin
* Unexport fields on SensorValue and replace with accessor methods. Add check for correct SensorID validation
* Add example to smoketest.sh
* Change build target for smoketest to match development environment.. Probably not important, but matches reality.
* Fix decoding of some sensor data: Step Counter, Tap Detector, Flip Detector. These are experimental.
* Refactor to allow SPI/UART etc. SPI is currently under development, but is omitted from this commit.
Example code has been moved to i2c subdirectory.
This commit introduces some major refactoring changes. It introduces a "Buser" interface and tries to remove any I2C specific code from the core. It still retains a couple of I2C specific fields in the "Config" struct ("Address" and "ReadChunk") but they are ignored in the as yet uncommited SPI code.
* Fix CRLF -> LF for gofmt
* Update smoketest to point to new example file
This commit is contained in:
Mike Hughes
GitHub
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package bno08x
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// I2C and protocol constants
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const (
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shtpHeaderLength = 4
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maxTransferOut = 256
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maxTransferIn = 384
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i2cDefaultChunk = 32
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continueMask = 0x8000
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)
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// SHTP channel numbers
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const (
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channelCommand = 0
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channelExecutable = 1
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channelControl = 2
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channelSensorReport = 3
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channelWakeReport = 4
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channelGyroRV = 5
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)
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// SH-2 report IDs
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const (
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reportProdIDReq = 0xF9
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reportProdIDResp = 0xF8
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reportSetFeature = 0xFD
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reportGetFeature = 0xFE
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reportGetFeatureResp = 0xFC
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reportCommandReq = 0xF2
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reportCommandResp = 0xF1
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reportFRSWriteReq = 0xF7
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reportFRSWriteData = 0xF6
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reportFRSReadReq = 0xF4
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reportFRSReadResp = 0xF3
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reportBaseTimestamp = 0xFB
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reportTimestampReuse = 0xFA
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reportForceFlush = 0xF0
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reportFlushCompleted = 0xEF
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reportResetReq = 0xF1
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reportResetResp = 0xF0
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)
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// SH-2 commands
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const (
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cmdErrors = 0x01
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cmdCounts = 0x02
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cmdTare = 0x03
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cmdInitialize = 0x04
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cmdFRS = 0x05
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cmdDCD = 0x06
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cmdMECal = 0x07
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cmdProdIDReq = 0x07
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cmdDCDSave = 0x09
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cmdGetOscType = 0x0A
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cmdClearDCDReset = 0x0B
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cmdCal = 0x0C
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cmdBootloader = 0x0D
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cmdInteractiveZRO = 0x0E
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// Command parameters
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initSystem = 0x01
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initUnsolicited = 0x80
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countsClearCounts = 0x01
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countsGetCounts = 0x00
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tareTareNow = 0x00
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tarePersist = 0x01
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tareSetReorientation = 0x02
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calStart = 0x00
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calFinish = 0x01
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commandParamCount = 9
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responseValueCount = 11
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)
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// Feature report flags
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const (
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featChangeSensitivityRelative = 0x01
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featChangeSensitivityEnabled = 0x02
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featWakeEnabled = 0x04
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featAlwaysOnEnabled = 0x08
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)
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// Scaling factors for sensor data
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// These are derived from the Q-point encoding in the SH-2 specification
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const (
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scaleQuat = 1.0 / 16384.0 // Q14
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scaleAccel = 1.0 / 256.0 // Q8
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scaleGyro = 1.0 / 512.0 // Q9
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scaleMag = 1.0 / 16.0 // Q4
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scaleAccuracy = 1.0 / 4096.0 // Q12
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scalePressure = 1.0 / 1048576.0 // Q20
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scaleLight = 1.0 / 256.0 // Q8
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scaleHumidity = 1.0 / 256.0 // Q8
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scaleProximity = 1.0 / 16.0 // Q4
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scaleTemperature = 1.0 / 128.0 // Q7
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scaleAngle = 1.0 / 16.0 // Q4
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scaleHeartRate = 1.0 / 16.0 // Q4
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)
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// Activity classifier codes (extended beyond standard SH-2)
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const (
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ActivityUnknown = 0
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ActivityInVehicle = 1
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ActivityOnBicycle = 2
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ActivityOnFoot = 3
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ActivityStill = 4
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ActivityTilting = 5
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ActivityWalking = 6
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ActivityRunning = 7
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ActivityOnStairs = 8
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ActivityOptionCount = 9
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)
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// Stability classifier values
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const (
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StabilityUnknown = 0
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StabilityOnTable = 1
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StabilityStationary = 2
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StabilityStable = 3
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StabilityMotion = 4
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)
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// Tap detector flags
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const (
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TapX = 0x01 // 1 - X axis tapped
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TapXPos = 0x02 // 2 - X positive direction
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TapY = 0x04 // 4 - Y axis tapped
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TapYPos = 0x08 // 8 - Y positive direction
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TapZ = 0x10 // 16 - Z axis tapped
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TapZPos = 0x20 // 32 - Z positive direction
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TapDouble = 0x40 // 64 - Double tap occurred
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)
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// GUID values for SHTP
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const (
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guidSHTP = 0
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guidExecutable = 1
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guidSensorHub = 2
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)
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// Advertisement tags
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const (
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tagNull = 0
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tagGUID = 1
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tagMaxCargoHeaderWrite = 2
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tagMaxCargoHeaderRead = 3
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tagMaxTransferWrite = 4
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tagMaxTransferRead = 5
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tagNormalChannel = 6
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tagWakeChannel = 7
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tagAppName = 8
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tagChannelName = 9
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tagAdvCount = 10
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tagAppSpecific = 0x80
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tagSH2Version = 0x80
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tagSH2ReportLengths = 0x81
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)
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// Timeouts
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const (
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advertTimeout = 200000 // microseconds
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commandTimeout = 300000 // microseconds
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)
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// Executable device commands
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const (
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execDeviceCmdReset = 1
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execDeviceCmdOn = 2
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execDeviceCmdSleep = 3
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)
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// Executable device responses
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const (
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execDeviceRespResetComplete = 1
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)
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