Add support for CEVA BNO08x 9DoF sensor

bno08x/bno08x.go

@@ -0,0 +1,256 @@
+// Package bno08x provides a TinyGo driver for the Adafruit BNO08x 9-DOF IMU sensors.
+//
+// This driver implements the CEVA SH-2 protocol over the SHTP transport layer,
+// providing access to orientation, motion, and environmental sensors.
+//
+// Datasheet: https://www.ceva-ip.com/wp-content/uploads/BNO080_085-Datasheet.pdf
+package bno08x
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+// Buser is the interface that wraps I2C or SPI bus operations.
+type Buser interface {
+	configure(address uint16, readChunk int) error
+	read(target []byte) (int, uint32, error)
+	write(data []byte) error
+	softReset() error
+}
+
+// Device represents a BNO08x sensor device.
+type Device struct {
+	bus      Buser
+	resetPin pin.OutputFunc
+
+	hal  *hal
+	shtp *shtp
+	sh2  *sh2Protocol
+
+	queue      [8]SensorValue
+	queueHead  int
+	queueTail  int
+	queueCount int
+
+	productIDs ProductIDs
+	lastReset  bool
+}
+
+// Config holds configuration options for the device.
+type Config struct {
+	// Address is the I2C address (used only for I2C bus).
+	Address uint16
+
+	// ResetPin is the optional hardware reset pin.
+	ResetPin pin.OutputFunc
+
+	// ReadChunk is the I2C read chunk size (used only for I2C bus).
+	ReadChunk int
+
+	// StartupDelay is the delay after reset (default: 100ms).
+	StartupDelay time.Duration
+}
+
+// Configure initializes the sensor and prepares it for use.
+func (d *Device) Configure(cfg Config) error {
+	// Configure bus-specific settings
+	if err := d.bus.configure(cfg.Address, cfg.ReadChunk); err != nil {
+		return err
+	}
+
+	if cfg.ResetPin != nil {
+		d.resetPin = cfg.ResetPin
+	}
+	if cfg.StartupDelay <= 0 {
+		cfg.StartupDelay = 100 * time.Millisecond
+	}
+
+	d.hal = newHAL(d)
+	d.shtp = newSHTP(d.hal)
+	d.sh2 = newSH2Protocol(d)
+
+	d.queueHead = 0
+	d.queueTail = 0
+	d.queueCount = 0
+	d.productIDs = ProductIDs{}
+	d.lastReset = false
+
+	if err := d.hal.open(); err != nil {
+		return err
+	}
+
+	// Now that handlers are registered, perform reset
+	// Try hardware reset first if available
+	if d.resetPin != nil {
+		d.hardwareReset()
+		time.Sleep(cfg.StartupDelay)
+	} else {
+		// No hardware reset pin - try soft reset via bus
+		if err := d.bus.softReset(); err != nil {
+			// If that fails, try soft reset via SHTP protocol
+			_ = d.sh2.softReset()
+			time.Sleep(50 * time.Millisecond)
+		}
+	}
+
+	// Wait for reset notification by actively polling
+	// The sensor should send reset complete message shortly after reset
+	deadline := time.Now().Add(1000 * time.Millisecond)
+	pollCount := 0
+	for time.Now().Before(deadline) {
+		pollCount++
+		if err := d.service(); err != nil {
+			// Ignore errors during initial polling - sensor might not be ready
+			time.Sleep(1 * time.Millisecond)
+			continue
+		}
+		if d.lastReset {
+			break
+		}
+		time.Sleep(1 * time.Millisecond)
+	}
+
+	if !d.lastReset {
+		return errTimeout
+	}
+
+	// NOTE: We intentionally skip the Initialize command (sh2_initialize)
+	// Testing revealed that sending the Initialize command (0xF2 0x00 0x04 0x01...)
+	// prevents the BNO08x from sending sensor reports on channel 3.
+	// The sensor works correctly without this command after a soft reset.
+	// The Arduino library likely works because it does a hardware reset which
+	// may put the sensor in a different state, or their initialization sequence
+	// differs in a way that doesn't trigger this issue.
+
+	// Request product IDs
+	if err := d.sh2.requestProductIDs(); err != nil {
+		return err
+	}
+
+	// Wait for product IDs with polling delay
+	deadline = time.Now().Add(500 * time.Millisecond)
+	for time.Now().Before(deadline) {
+		if err := d.service(); err != nil {
+			time.Sleep(10 * time.Millisecond)
+			continue
+		}
+		if d.productIDs.NumEntries > 0 {
+			break
+		}
+		time.Sleep(10 * time.Millisecond)
+	}
+
+	if d.productIDs.NumEntries == 0 {
+		return errTimeout
+	}
+
+	return nil
+}
+
+// EnableReport enables a specific sensor report at the given interval.
+func (d *Device) EnableReport(id SensorID, intervalUs uint32) error {
+	err := d.sh2.enableReport(id, intervalUs)
+	if err != nil {
+		return err
+	}
+
+	// Poll a few times to let the sensor process the command
+	// and potentially send acknowledgment
+	for i := 0; i < 10; i++ {
+		_ = d.service()
+		time.Sleep(10 * time.Millisecond)
+	}
+
+	return nil
+}
+
+// GetSensorConfig retrieves the current configuration for a sensor.
+func (d *Device) GetSensorConfig(id SensorID) (SensorConfig, error) {
+	return d.sh2.getSensorConfig(id)
+}
+
+// SetSensorConfig sets the configuration for a sensor.
+func (d *Device) SetSensorConfig(id SensorID, config SensorConfig) error {
+	return d.sh2.setSensorConfig(id, config)
+}
+
+// WasReset returns true if the sensor signaled a reset since the last call.
+func (d *Device) WasReset() bool {
+	if d.lastReset {
+		d.lastReset = false
+		return true
+	}
+	return false
+}
+
+// GetSensorEvent retrieves the next available sensor event if present.
+func (d *Device) GetSensorEvent() (SensorValue, bool) {
+	if d.queueCount == 0 {
+		if err := d.service(); err != nil {
+			return SensorValue{}, false
+		}
+		if d.queueCount == 0 {
+			return SensorValue{}, false
+		}
+	}
+
+	value := d.queue[d.queueHead]
+	d.queueHead = (d.queueHead + 1) % len(d.queue)
+	d.queueCount--
+
+	return value, true
+}
+
+// ProductIDs returns the cached product identification information.
+func (d *Device) ProductIDs() ProductIDs {
+	return d.productIDs
+}
+
+// Service processes pending sensor data.
+// This is called automatically by GetSensorEvent but can be called manually
+// for more control over timing.
+func (d *Device) Service() error {
+	return d.service()
+}
+
+func (d *Device) enqueue(value SensorValue) {
+	next := (d.queueTail + 1) % len(d.queue)
+	if d.queueCount == len(d.queue) {
+		// Queue full, drop oldest
+		d.queueHead = (d.queueHead + 1) % len(d.queue)
+		d.queueCount--
+	}
+	d.queue[d.queueTail] = value
+	d.queueTail = next
+	d.queueCount++
+}
+
+func (d *Device) service() error {
+	if d.shtp == nil {
+		return nil
+	}
+	for {
+		processed, err := d.shtp.poll()
+		if err != nil {
+			return err
+		}
+		if !processed {
+			break
+		}
+	}
+	return nil
+}
+
+func (d *Device) hardwareReset() {
+	if d.resetPin == nil {
+		return
+	}
+	d.resetPin.High()
+	time.Sleep(10 * time.Millisecond)
+	d.resetPin.Low()
+	time.Sleep(10 * time.Millisecond)
+	d.resetPin.High()
+	time.Sleep(10 * time.Millisecond)
+}