mirror of
https://github.com/tinygo-org/drivers.git
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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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import "encoding/binary"
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// decodeSensor decodes a sensor report payload into a SensorValue.
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func decodeSensor(payload []byte, timestamp uint32) (SensorValue, bool) {
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if len(payload) < 4 {
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return SensorValue{}, false
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}
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value := SensorValue{
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id: SensorID(payload[0]),
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sequence: payload[1],
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status: payload[2] & 0x03,
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delay: payload[3],
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timestamp: uint64(timestamp),
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}
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data := payload[4:]
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switch value.id {
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case SensorRawAccelerometer:
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if len(data) >= 10 {
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value.rawAccelerometer = RawVector3{
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X: int16(binary.LittleEndian.Uint16(data[0:])),
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Y: int16(binary.LittleEndian.Uint16(data[2:])),
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Z: int16(binary.LittleEndian.Uint16(data[4:])),
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Timestamp: binary.LittleEndian.Uint32(data[6:]),
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}
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}
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case SensorAccelerometer:
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if len(data) >= 6 {
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value.accelerometer = Vector3{
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X: qToFloat(data[0:], scaleAccel),
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Y: qToFloat(data[2:], scaleAccel),
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Z: qToFloat(data[4:], scaleAccel),
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}
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}
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case SensorLinearAcceleration:
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if len(data) >= 6 {
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value.linearAcceleration = Vector3{
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X: qToFloat(data[0:], scaleAccel),
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Y: qToFloat(data[2:], scaleAccel),
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Z: qToFloat(data[4:], scaleAccel),
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}
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}
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case SensorGravity:
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if len(data) >= 6 {
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value.gravity = Vector3{
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X: qToFloat(data[0:], scaleAccel),
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Y: qToFloat(data[2:], scaleAccel),
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Z: qToFloat(data[4:], scaleAccel),
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}
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}
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case SensorRawGyroscope:
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if len(data) >= 12 {
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value.rawGyroscope = RawGyroscope{
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X: int16(binary.LittleEndian.Uint16(data[0:])),
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Y: int16(binary.LittleEndian.Uint16(data[2:])),
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Z: int16(binary.LittleEndian.Uint16(data[4:])),
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Temperature: int16(binary.LittleEndian.Uint16(data[6:])),
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Timestamp: binary.LittleEndian.Uint32(data[8:]),
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}
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}
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case SensorGyroscope:
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if len(data) >= 6 {
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value.gyroscope = Vector3{
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X: qToFloat(data[0:], scaleGyro),
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Y: qToFloat(data[2:], scaleGyro),
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Z: qToFloat(data[4:], scaleGyro),
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}
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}
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case SensorGyroscopeUncalibrated:
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if len(data) >= 12 {
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value.gyroscopeUncal = GyroscopeUncalibrated{
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X: qToFloat(data[0:], scaleGyro),
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Y: qToFloat(data[2:], scaleGyro),
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Z: qToFloat(data[4:], scaleGyro),
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BiasX: qToFloat(data[6:], scaleGyro),
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BiasY: qToFloat(data[8:], scaleGyro),
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BiasZ: qToFloat(data[10:], scaleGyro),
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}
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}
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case SensorRawMagnetometer:
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if len(data) >= 10 {
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value.rawMagnetometer = RawVector3{
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X: int16(binary.LittleEndian.Uint16(data[0:])),
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Y: int16(binary.LittleEndian.Uint16(data[2:])),
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Z: int16(binary.LittleEndian.Uint16(data[4:])),
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Timestamp: binary.LittleEndian.Uint32(data[6:]),
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}
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}
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case SensorMagneticField:
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if len(data) >= 6 {
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value.magneticField = Vector3{
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X: qToFloat(data[0:], scaleMag),
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Y: qToFloat(data[2:], scaleMag),
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Z: qToFloat(data[4:], scaleMag),
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}
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}
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case SensorMagneticFieldUncalibrated:
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if len(data) >= 12 {
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value.magneticFieldUncal = MagneticFieldUncalibrated{
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X: qToFloat(data[0:], scaleMag),
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Y: qToFloat(data[2:], scaleMag),
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Z: qToFloat(data[4:], scaleMag),
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BiasX: qToFloat(data[6:], scaleMag),
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BiasY: qToFloat(data[8:], scaleMag),
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BiasZ: qToFloat(data[10:], scaleMag),
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}
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}
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case SensorRotationVector:
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if len(data) >= 10 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
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}
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case SensorGameRotationVector:
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if len(data) >= 8 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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}
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case SensorGeomagneticRotationVector:
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if len(data) >= 10 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
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}
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case SensorARVRStabilizedRV:
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if len(data) >= 10 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
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}
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case SensorARVRStabilizedGRV:
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if len(data) >= 8 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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}
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case SensorGyroIntegratedRV:
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if len(data) >= 10 {
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value.quaternion = Quaternion{
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I: qToFloat(data[0:], scaleQuat),
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J: qToFloat(data[2:], scaleQuat),
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K: qToFloat(data[4:], scaleQuat),
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Real: qToFloat(data[6:], scaleQuat),
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}
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// Angular velocity X at data[8:10]
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}
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case SensorPressure:
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if len(data) >= 4 {
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value.pressure = float32(int32(binary.LittleEndian.Uint32(data[0:]))) * scalePressure
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}
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case SensorAmbientLight:
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if len(data) >= 4 {
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value.ambientLight = float32(int32(binary.LittleEndian.Uint32(data[0:]))) * scaleLight
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}
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case SensorHumidity:
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if len(data) >= 2 {
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value.humidity = qToFloat(data[0:], scaleHumidity)
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}
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case SensorProximity:
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if len(data) >= 2 {
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value.proximity = qToFloat(data[0:], scaleProximity)
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}
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case SensorTemperature:
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if len(data) >= 2 {
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value.temperature = qToFloat(data[0:], scaleTemperature)
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}
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case SensorTapDetector:
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if len(data) >= 1 {
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value.tapDetector = TapDetector{
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Flags: data[0],
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}
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}
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case SensorStepDetector:
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if len(data) >= 4 {
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value.stepDetector = StepDetector{
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Latency: binary.LittleEndian.Uint32(data[0:]),
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}
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}
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case SensorStepCounter:
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if len(data) >= 8 {
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value.stepCounter = StepCounter{
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Count: uint16(binary.LittleEndian.Uint32(data[4:8])),
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Latency: binary.LittleEndian.Uint32(data[0:4]),
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}
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}
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case SensorSignificantMotion:
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if len(data) >= 2 {
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value.significantMotion = SignificantMotion{
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Motion: binary.LittleEndian.Uint16(data[0:]),
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}
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}
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case SensorStabilityClassifier:
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if len(data) >= 1 {
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value.stabilityClassifier = StabilityClassifier{
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Classification: data[0],
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}
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}
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case SensorStabilityDetector:
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if len(data) >= 1 {
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value.stabilityDetector = data[0]
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}
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case SensorShakeDetector:
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if len(data) >= 2 {
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value.shakeDetector = ShakeDetector{
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Shake: binary.LittleEndian.Uint16(data[0:]),
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}
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}
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case SensorFlipDetector:
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if len(data) >= 2 {
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value.flipDetector = binary.LittleEndian.Uint16(data[0:2])
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}
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case SensorPickupDetector:
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if len(data) >= 2 {
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// Pickup detected at data[0:2]
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}
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case SensorPersonalActivityClassifier:
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if len(data) >= 16 {
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value.personalActivityClassifier = PersonalActivityClassifier{
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Page: data[0],
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MostLikelyState: data[1],
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EndOfPage: data[15],
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}
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for i := 0; i < 10 && i+2 < len(data); i++ {
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value.personalActivityClassifier.Confidence[i] = data[2+i]
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}
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}
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case SensorSleepDetector:
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if len(data) >= 1 {
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value.sleepDetector = data[0]
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}
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case SensorTiltDetector:
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if len(data) >= 1 {
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value.tiltDetector = data[0]
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}
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case SensorPocketDetector:
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if len(data) >= 1 {
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value.pocketDetector = data[0]
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}
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case SensorCircleDetector:
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if len(data) >= 1 {
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value.circleDetector = data[0]
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}
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case SensorHeartRateMonitor:
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if len(data) >= 2 {
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value.heartRateMonitor = binary.LittleEndian.Uint16(data[0:])
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}
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}
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return value, true
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}
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// qToFloat converts a Q-point fixed-point value to float32.
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func qToFloat(data []byte, scale float32) float32 {
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if len(data) < 2 {
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return 0
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}
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return float32(int16(binary.LittleEndian.Uint16(data))) * scale
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}
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