Add the ability to select fields that are polled by PolledBno055Data

OpenEphys.Onix1/ConfigurePolledBno055.cs

@@ -5,8 +5,7 @@
 namespace OpenEphys.Onix1
 {
     /// <summary>
-    /// Configures a Bosch Bno055 9-axis inertial measurement unit (IMU) that is polled by the
-    /// computer.
+    /// Configures a Bosch Bno055 9-axis inertial measurement unit (IMU) that is polled by the host computer.
     /// </summary>
     /// <remarks>
     /// This configuration operator can be linked to a data IO operator, such as <see
@@ -25,7 +24,8 @@ public ConfigurePolledBno055()
         }
 
         /// <summary>
-        /// Copy constructor for the <see cref="ConfigurePolledBno055"/> class.
+        /// Initializes a new instance of <see cref="ConfigurePolledBno055"/> with its properties copied from an
+        /// existing instance.
         /// </summary>
         /// <param name="configurePolledBno055">A pre-existing <see cref="ConfigurePolledBno055"/> object.</param>
         public ConfigurePolledBno055(ConfigurePolledBno055 configurePolledBno055)
@@ -126,7 +126,7 @@ void ConfigureBno055(DeviceContext device)
     static class PolledBno055
     {
         public const int BNO055Address = 0x28;
-        public const int DataAddress = 0x1A;
+        public const int EulerHeadingLsbAddress = 0x1A;
 
         internal class NameConverter : DeviceNameConverter
         {
@@ -216,7 +216,7 @@ public enum Bno055AxisSign : uint
         MirrorX = 0b00000_100,
     }
 
-    // NB: Can be used to remove axis map and sign properties from MutliDeviceFactories that include a
+    // NB: Can be used to remove axis map and sign properties from MultiDeviceFactories that include a
     // ConfigurePolledBno055 when having those options would cause confusion and potential
     // commutator malfunction
     internal class PolledBno055SingleDeviceFactoryConverter : SingleDeviceFactoryConverter

OpenEphys.Onix1/ConfigureUclaMiniscopeV4Camera.cs

@@ -213,8 +213,6 @@ internal static void ConfigureSerializer(DeviceContext device)
 
         internal static void ConfigureCameraSystem(DeviceContext device, UclaMiniscopeV4FramesPerSecond frameRate, bool interleaveLed)
         {
-            const int WaitUntilPllSettles = 200;
-
             // set up Python480
             var atMega = new I2CRegisterContext(device, UclaMiniscopeV4.AtMegaAddress);
             WriteCameraRegister(atMega, 16, 3); // Turn on PLL

OpenEphys.Onix1/PolledBno055Data.cs

@@ -1,14 +1,15 @@
 using System;
 using System.ComponentModel;
 using System.Linq;
+using System.Reactive.Concurrency;
 using System.Reactive.Linq;
 using Bonsai;
 
 namespace OpenEphys.Onix1
 {
     /// <summary>
     /// Produces a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see> from Bosch Bno055
-    /// 9-axis inertial measurement unit (IMU) 
+    /// 9-axis inertial measurement unit (IMU) by polling it from the host computer.
     /// </summary>
     /// <remarks>
     /// This data IO operator must be linked to an appropriate configuration, such as a <see
@@ -24,18 +25,36 @@ public class PolledBno055Data : Source<Bno055DataFrame>
         public string DeviceName { get; set; }
 
         /// <summary>
-        /// Generates a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see> at approximately 100
-        /// Hz.
+        /// Gets or sets which data registers should be collected from the Bno055.
         /// </summary>
         /// <remarks>
-        /// This will generate a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see> at approximately 100 Hz.
-        /// This rate may be limited by the hardware.
+        /// The rate that data is sampled is limited by communication with the Bno055 by the host PC (rather
+        /// than a dedicated controller on the headstage). If the user wishes to maximize the sampling rate of
+        /// particular measurements, they can select which should be sampled using this property. For
+        /// instance, specifying "Quaternion, Calibration" means that only the quaternion and sensor
+        /// calibration status registers will be polled and the rest of the members of <see
+        /// cref="Bno055DataFrame"/>, with the exception of <c>Clock</c> and <c>HubClock</c>, will be set to
+        /// 0.
+        /// </remarks>
+        [Category(DeviceFactory.ConfigurationCategory)]
+        [Description("Specifies which data registers should be read from the chip.")]
+        [TypeConverter(typeof(FlagsConverter))]
+        public PolledBno055Registers PolledRegisters { get; set; } = PolledBno055Registers.All;
+
+        /// <summary>
+        /// Use a ~100 Hz internal timer to generate a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see>.
+        /// </summary>
+        /// <remarks>
+        /// An internal timer will be used to poll the Bno055 in order to generate a sequence of <see
+        /// cref="Bno055DataFrame">Bno055DataFrames</see> at approximately 100 Hz. This rate may be limited by
+        /// hardware communication speeds (see <see cref="PolledRegisters"/>).
         /// </remarks>
         /// <returns>A sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see>.</returns>
         public override IObservable<Bno055DataFrame> Generate()
         {
-            // Max of 100 Hz, but limited by I2C bus
-            var source = Observable.Interval(TimeSpan.FromSeconds(0.01));
+            // NB: NewThreadScheduler runs polling on dedicated thread and uses StopWatch for high resolution
+            // periodic measurements. This results in much better performance than the default scheduler. 
+            var source = Observable.Interval(TimeSpan.FromMilliseconds(10), new NewThreadScheduler());
             return Generate(source);
         }
 
@@ -44,14 +63,17 @@ public override IObservable<Bno055DataFrame> Generate()
         /// input sequence.
         /// </summary>
         /// <remarks>
-        /// This will attempt to produce a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see> that is updated whenever
-        /// an item in the <paramref name="source"/> sequence is received. This rate is be limited by the
-        /// hardware and has a maximum meaningful rate of 100 Hz.
+        /// This will attempt to produce a sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see> that
+        /// is updated whenever an item in the <paramref name="source"/> sequence is received. This rate may
+        /// be limited by the hardware communication speeds (see <see cref="PolledRegisters"/>) and has a
+        /// maximum meaningful rate of 100 Hz, which is the update rate of the sensor fusion algorithm on the
+        /// Bno055 itself.
         /// </remarks>
         /// <param name="source">A sequence to drive sampling.</param>
-        /// <returns>A sequence of <see cref="Bno055DataFrame"/> objects.</returns>
+        /// <returns>A sequence of <see cref="Bno055DataFrame">Bno055DataFrames</see>.</returns>
         public unsafe IObservable<Bno055DataFrame> Generate<TSource>(IObservable<TSource> source)
         {
+            var polled = PolledRegisters;
             return DeviceManager.GetDevice(DeviceName).SelectMany(
                 deviceInfo =>
                 {
@@ -68,7 +90,42 @@ public unsafe IObservable<Bno055DataFrame> Generate<TSource>(IObservable<TSource
                                 Bno055DataFrame frame = default;
                                 device.Context.EnsureContext(() =>
                                 {
-                                    var data = i2c.ReadBytes(PolledBno055.DataAddress, sizeof(Bno055DataPayload));
+                                    byte[] data = {
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 0) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 1) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 2) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 3) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 4) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.EulerAngle) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 5) : (byte)0,
+
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 6) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 7) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 8) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 9) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 10) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 11) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 12) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Quaternion) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 13) : (byte)0,
+
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 14) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 15) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 16) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 17) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 18) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Acceleration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 19) : (byte)0,
+
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 20) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 21) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 22) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 23) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 24) : (byte)0,
+                                        polled.HasFlag(PolledBno055Registers.Gravity) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 25) : (byte)0,
+
+                                        polled.HasFlag(PolledBno055Registers.Temperature) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 26) : (byte)0,
+
+                                        polled.HasFlag(PolledBno055Registers.Calibration) ? i2c.ReadByte(PolledBno055.EulerHeadingLsbAddress + 27) : (byte)0,
+                                    };
+
                                     ulong clock = passthrough.ReadRegister(DS90UB9x.LASTI2CL);
                                     clock += (ulong)passthrough.ReadRegister(DS90UB9x.LASTI2CH) << 32;
                                     fixed (byte* dataPtr = data)
@@ -85,6 +142,69 @@ public unsafe IObservable<Bno055DataFrame> Generate<TSource>(IObservable<TSource
                         });
                 });
         }
+
+        class FlagsConverter : EnumConverter
+        {
+            public FlagsConverter(Type type)
+                : base(type)
+            {
+            }
+
+            public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
+            {
+                return new StandardValuesCollection(new[] {
+                    PolledBno055Registers.Quaternion,
+                    PolledBno055Registers.EulerAngle,
+                    PolledBno055Registers.Acceleration,
+                    PolledBno055Registers.Gravity,
+                    PolledBno055Registers.Temperature,
+                    PolledBno055Registers.Calibration,
+                    PolledBno055Registers.All
+                });
+            }
+        }
+    }
+
+    /// <summary>
+    /// Specifies which data registers will be read from the Bno055 during each polling cycle.
+    /// </summary>
+    [Flags]
+    public enum PolledBno055Registers
+    {
+        /// <summary>
+        /// Specifies that the Euler angles will be polled.
+        /// </summary>
+        EulerAngle = 0x1,
+
+        /// <summary>
+        /// Specifies that the quaternion will be polled.
+        /// </summary>
+        Quaternion = 0x2,
+
+        /// <summary>
+        /// Specifies that the linear acceleration will be polled.
+        /// </summary>
+        Acceleration = 0x4,
+
+        /// <summary>
+        /// Specifies that the gravity vector will be polled.
+        /// </summary>
+        Gravity = 0x8,
+
+        /// <summary>
+        /// Specifies that the temperature measurement will be polled.
+        /// </summary>
+        Temperature = 0x10,
+
+        /// <summary>
+        /// Specifies that the sensor calibration status will be polled.
+        /// </summary>
+        Calibration = 0x20,
+
+        /// <summary>
+        /// Specifies that all sensor measurements and calibration status will be polled.
+        /// </summary>
+        All = EulerAngle | Quaternion | Acceleration | Gravity | Temperature | Calibration,
     }
 
     /// <inheritdoc cref = "PolledBno055Data"/>v
@@ -98,5 +218,4 @@ public class NeuropixelsV2eBno055Data : PolledBno055Data { }
     /// <inheritdoc cref = "PolledBno055Data"/>v
     [Obsolete("This operator is obsolete. Use PolledBno055Data instead. Will be removed in version 1.0.0.")]
     public class NeuropixelsV2eBetaBno055Data : PolledBno055Data { }
-
 }