Tell, Don't Ask

本文探讨了面向对象编程中Tell, Don't Ask的原则,强调直接指挥对象行动而非询问其状态的重要性,避免破坏封装性和提高代码的松耦合度。

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不知道看什么的时候看到了这篇文章,非常带感,所以这里写一些自己的感受。>>围观原文请猛击这里<<

 

啥是Tell,Don't Ask?

在这里,我把Alec Sharp大神的话摘抄在这里:

Procedural code gets information then makes decisions. Object-oriented code tells objects to do things. 
— Alec Sharp

我觉得这句话很好的将面向过程和面向对象区分了出来。也就是说,对于对象来说,我应该直接告诉它你该做什么,而不是先去问它的状态,然后根据这个状态再去告诉对象你需要做什么什么。

仔细回想一下,我还真在实际编程时做过这种事情:先去调用一个对象的getter方法得到某个状态,然后判断一下这个状态,最后根据这个状态调用对象的另外某个方法来让对象去完成某个操作。其实,仔细想想,对象的状态是什么样,该不该做,以及如何做都是对象自己该处理的,而不是我该操心的,这么做只能破坏了对象的封装,让调用它的代码和这个对象紧耦合起来。

 

那么,这个原则真的很重要么?

可以设想这样一种情景:我在程序中调用一个对象的某个getter方法,得到一个该对象的内部状态,比如得到的是一个String类型的东西。如果我接下来把这个String类型的东西用在了程序其它的地方,这时就产生了一种问题,我必须知道这个String类型的东西代表什么意思。比如说这个String类型的值是”RED”,那么,这个RED是什么意思?是一种颜色?还是一个人名?还是某种缩写?对于个东西的意思,那个对象再清楚不过了,而离开了那个对象,它就会被滥用和错用。

我们常说,一个对象就是数据和方法的抽象与封装。在我理解来看,就是使这写状态和方法有了上下文和语义,脱离了上下文,就破坏了它的封装。

 

除了上面所说的问题,还有么?

有!在编写程序的时候,难免与Iterator打交道。举个例子,比如有一组整数,我想在每个整数上加1,用Iterator的做法就是首先调用Iterator.hasNext()来判断是否为true,是的话调用Iterator.next()方法来取得一个整数,然后加1。但是这种做法在并行程序中就麻烦了。比如多线程程序,一个线程查询Iterator.hasNext()为true,但是另一个线程却在它之前调用Iterator.next()方法将最后一个数据取走了,那么前面的那个线程就杯具了。

仔细想想,其实我想做的仅仅是让这组整数自加1,我只要告诉这个对象:每一个都加1,就可以了。至于如何加1的,不应该是我考虑的事情,而是对象自己的事情。

换成代码应该是这样的:

 

好吧,我把该让对象做的,都移到对象内部去。

这样没问题了吧。我不在对象外边去查询它的状态了。我让对象内部自己去做。那么,是不是在对象内部我可以随便来查询和调用对象的方法了?

 

不行,我们要遵守迪米特法则(Law of Demeter)

迪米特法则也称为最小知识原则(Least Knowledge Principle, LKP),简单说,如果两个对象不必直接通信,那么这两个对象就不应当发生直接的相互作用。如果一个对象需要调用另外一个对象的某个方法的话,那么应该通过第三个对象来转发调用。迪米特法则可以简单的说成:Talk only to your immediate friends。

迪米特法则强调一个问题:如果我们在实现某个方法时调用的对象越多,那么我们的程序耦合度就越高。一旦某个地方需要修改,都会带来麻烦。所以根据迪米特法则,我们在实现对象O的方法M时,M能够调用的对象应该只有:

  • 对象O自己
  • M的参数
  • M内部创建的对象
  • O的直接组件对象

举个例子,我曾经这样写过某段代码:

代码很简单,我只是单纯的想往我们的商店中增加一本新的书。但是上面的这段简单的代码,依赖了bookStore、BookList甚至book对象,其实我们只是想单纯的在书店中加一本新书而已,我什么不能这么用呢?

这样,我们调用的代码仅仅以来bookStore一个对象了。

 

所以,请记住Tell,Don't Ask

这个真的可以帮助我,让我写出更加抽象的、松耦合的代码。

/* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "SparkFun_BNO080_Arduino_Library.h" //Attempt communication with the device //Return true if we got a 'Polo' back from Marco boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort) { _deviceAddress = deviceAddress; //If provided, store the I2C address from user _i2cPort = &wirePort; //Grab which port the user wants us to use //We expect caller to begin their I2C port, with the speed of their choice external to the library //But if they forget, we start the hardware here. _i2cPort->begin(); //Begin by resetting the IMU softReset(); //Check communication with device shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(true); } } return(false); //Something went wrong } //Calling this function with nothing sets the debug port to Serial //You can also call it with other streams like Serial1, SerialUSB, etc. void BNO080::enableDebugging(Stream &debugPort) { _debugPort = &debugPort; _printDebug = true; } //Updates the latest variables if possible //Returns false if new readings are not available bool BNO080::dataAvailable(void) { if (receivePacket() == true) { //Check to see if this packet is a sensor reporting its data to us if (shtpHeader[2] == CHANNEL_REPORTS && shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP) { parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found return(true); } } return(false); } //This function pulls the data from the input report //The input reports vary in length so this function stores the various 16-bit values as globals //Unit responds with packet that contains the following: //shtpHeader[0:3]: First, a 4 byte header //shtpData[0:4]: Then a 5 byte timestamp of microsecond clicks since reading was taken //shtpData[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector) //shtpData[5 + 1]: Sequence number (See 6.5.18.2) //shtpData[5 + 2]: Status //shtpData[3]: Delay //shtpData[4:5]: i/accel x/gyro x/etc //shtpData[6:7]: j/accel y/gyro y/etc //shtpData[8:9]: k/accel z/gyro z/etc //shtpData[10:11]: real/gyro temp/etc //shtpData[12:13]: Accuracy estimate void BNO080::parseInputReport(void) { //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]); dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last. //Ignore it for now. TODO catch this as an error and exit dataLength -= 4; //Remove the header bytes from the data count uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4]; uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6]; uint16_t data3 = (uint16_t)shtpData[5 + 9] << 8 | shtpData[5 + 8]; uint16_t data4 = 0; uint16_t data5 = 0; if(dataLength - 5 > 9) { data4= (uint16_t)shtpData[5 + 11] << 8 | shtpData[5 + 10]; } if(dataLength - 5 > 11) { data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12]; } //Store these generic values to their proper global variable if(shtpData[5] == SENSOR_REPORTID_ACCELEROMETER) { accelAccuracy = status; rawAccelX = data1; rawAccelY = data2; rawAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION) { accelLinAccuracy = status; rawLinAccelX = data1; rawLinAccelY = data2; rawLinAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_GYROSCOPE) { gyroAccuracy = status; rawGyroX = data1; rawGyroY = data2; rawGyroZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD) { magAccuracy = status; rawMagX = data1; rawMagY = data2; rawMagZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR) { quatAccuracy = status; rawQuatI = data1; rawQuatJ = data2; rawQuatK = data3; rawQuatReal = data4; rawQuatRadianAccuracy = data5; //Only available on rotation vector, not game rot vector } else if(shtpData[5] == SENSOR_REPORTID_STEP_COUNTER) { stepCount = data3; //Bytes 8/9 } else if(shtpData[5] == SENSOR_REPORTID_STABILITY_CLASSIFIER) { stabilityClassifier = shtpData[5 + 4]; //Byte 4 only } else if(shtpData[5] == SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER) { activityClassifier = shtpData[5 + 5]; //Most likely state //Load activity classification confidences into the array for(uint8_t x = 0 ; x < 9 ; x++) //Hardcoded to max of 9. TODO - bring in array size _activityConfidences[x] = shtpData[5 + 6 + x]; //5 bytes of timestamp, byte 6 is first confidence byte } else { //This sensor report ID is unhandled. //See reference manual to add additional feature reports as needed } //TODO additional feature reports may be strung together. Parse them all. } //Return the rotation vector quaternion I float BNO080::getQuatI() { float quat = qToFloat(rawQuatI, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion J float BNO080::getQuatJ() { float quat = qToFloat(rawQuatJ, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion K float BNO080::getQuatK() { float quat = qToFloat(rawQuatK, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion Real float BNO080::getQuatReal() { float quat = qToFloat(rawQuatReal, rotationVector_Q1); return(quat); } //Return the rotation vector accuracy float BNO080::getQuatRadianAccuracy() { float quat = qToFloat(rawQuatRadianAccuracy, rotationVector_Q1); return(quat); } //Return the acceleration component uint8_t BNO080::getQuatAccuracy() { return(quatAccuracy); } //Return the acceleration component float BNO080::getAccelX() { float accel = qToFloat(rawAccelX, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelY() { float accel = qToFloat(rawAccelY, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelZ() { float accel = qToFloat(rawAccelZ, accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getAccelAccuracy() { return(accelAccuracy); } // linear acceleration, i.e. minus gravity //Return the acceleration component float BNO080::getLinAccelX() { float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelY() { float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelZ() { float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getLinAccelAccuracy() { return(accelLinAccuracy); } //Return the gyro component float BNO080::getGyroX() { float gyro = qToFloat(rawGyroX, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroY() { float gyro = qToFloat(rawGyroY, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroZ() { float gyro = qToFloat(rawGyroZ, gyro_Q1); return(gyro); } //Return the gyro component uint8_t BNO080::getGyroAccuracy() { return(gyroAccuracy); } //Return the magnetometer component float BNO080::getMagX() { float mag = qToFloat(rawMagX, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagY() { float mag = qToFloat(rawMagY, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagZ() { float mag = qToFloat(rawMagZ, magnetometer_Q1); return(mag); } //Return the mag component uint8_t BNO080::getMagAccuracy() { return(magAccuracy); } //Return the step count uint16_t BNO080::getStepCount() { return(stepCount); } //Return the stability classifier uint8_t BNO080::getStabilityClassifier() { return(stabilityClassifier); } //Return the activity classifier uint8_t BNO080::getActivityClassifier() { return(activityClassifier); } //Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated) //Q1 is used for all sensor data calculations int16_t BNO080::getQ1(uint16_t recordID) { //Q1 is always the lower 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) & 0xFFFF; //Get word 7, lower 16 bits return(q); } //Given a record ID, read the Q2 value from the metaData record in the FRS //Q2 is used in sensor bias int16_t BNO080::getQ2(uint16_t recordID) { //Q2 is always the upper 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) >> 16; //Get word 7, upper 16 bits return(q); } //Given a record ID, read the Q3 value from the metaData record in the FRS //Q3 is used in sensor change sensitivity int16_t BNO080::getQ3(uint16_t recordID) { //Q3 is always the upper 16 bits of word 8 uint16_t q = readFRSword(recordID, 8) >> 16; //Get word 8, upper 16 bits return(q); } //Given a record ID, read the resolution value from the metaData record in the FRS for a given sensor float BNO080::getResolution(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Resolution is always word 2 uint32_t value = readFRSword(recordID, 2); //Get word 2 float resolution = qToFloat(value, Q); return(resolution); } //Given a record ID, read the range value from the metaData record in the FRS for a given sensor float BNO080::getRange(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Range is always word 1 uint32_t value = readFRSword(recordID, 1); //Get word 1 float range = qToFloat(value, Q); return(range); } //Given a record ID and a word number, look up the word data //Helpful for pulling out a Q value, range, etc. //Use readFRSdata for pulling out multi-word objects for a sensor (Vendor data for example) uint32_t BNO080::readFRSword(uint16_t recordID, uint8_t wordNumber) { if(readFRSdata(recordID, wordNumber, 1) == true) //Get word number, just one word in length from FRS return(metaData[0]); //Return this one word return(0); //Error } //Ask the sensor for data from the Flash Record System //See 6.3.6 page 40, FRS Read Request void BNO080::frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize) { shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; //FRS Read Request shtpData[1] = 0; //Reserved shtpData[2] = (readOffset >> 0) & 0xFF; //Read Offset LSB shtpData[3] = (readOffset >> 8) & 0xFF; //Read Offset MSB shtpData[4] = (recordID >> 0) & 0xFF; //FRS Type LSB shtpData[5] = (recordID >> 8) & 0xFF; //FRS Type MSB shtpData[6] = (blockSize >> 0) & 0xFF; //Block size LSB shtpData[7] = (blockSize >> 8) & 0xFF; //Block size MSB //Transmit packet on channel 2, 8 bytes sendPacket(CHANNEL_CONTROL, 8); } //Given a sensor or record ID, and a given start/stop bytes, read the data from the Flash Record System (FRS) for this sensor //Returns true if metaData array is loaded successfully //Returns false if failure bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead) { uint8_t spot = 0; //First we send a Flash Record System (FRS) request frsReadRequest(recordID, startLocation, wordsToRead); //From startLocation of record, read a # of words //Read bytes until FRS reports that the read is complete while (1) { //Now we wait for response while (1) { uint8_t counter = 0; while(receivePacket() == false) { if(counter++ > 100) return(false); //Give up delay(1); } //We have the packet, inspect it for the right contents //See page 40. Report ID should be 0xF3 and the FRS types should match the thing we requested if (shtpData[0] == SHTP_REPORT_FRS_READ_RESPONSE) if ( ( (uint16_t)shtpData[13] << 8 | shtpData[12]) == recordID) break; //This packet is one we are looking for } uint8_t dataLength = shtpData[1] >> 4; uint8_t frsStatus = shtpData[1] & 0x0F; uint32_t data0 = (uint32_t)shtpData[7] << 24 | (uint32_t)shtpData[6] << 16 | (uint32_t)shtpData[5] << 8 | (uint32_t)shtpData[4]; uint32_t data1 = (uint32_t)shtpData[11] << 24 | (uint32_t)shtpData[10] << 16 | (uint32_t)shtpData[9] << 8 | (uint32_t)shtpData[8]; //Record these words to the metaData array if (dataLength > 0) { metaData[spot++] = data0; } if (dataLength > 1) { metaData[spot++] = data1; } if (spot >= MAX_METADATA_SIZE) { if(_printDebug == true) _debugPort->println(F("metaData array over run. Returning.")); return(true); //We have run out of space in our array. Bail. } if (frsStatus == 3 || frsStatus == 6 || frsStatus == 7) { return(true); //FRS status is read completed! We're done! } } } //Send command to reset IC //Read all advertisement packets from sensor //The sensor has been seen to reset twice if we attempt too much too quickly. //This seems to work reliably. void BNO080::softReset(void) { shtpData[0] = 1; //Reset //Attempt to start communication with sensor sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte //Read all incoming data and flush it delay(50); while (receivePacket() == true) ; delay(50); while (receivePacket() == true) ; } //Get the reason for the last reset //1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other uint8_t BNO080::resetReason() { shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(shtpData[1]); } } return(0); } //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); } //Sends the packet to enable the rotation vector void BNO080::enableRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the rotation vector void BNO080::enableGameRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports); } //Sends the packet to enable the gyro void BNO080::enableGyro(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports); } //Sends the packet to enable the magnetometer void BNO080::enableMagnetometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_MAGNETIC_FIELD, timeBetweenReports); } //Sends the packet to enable the step counter void BNO080::enableStepCounter(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STEP_COUNTER, timeBetweenReports); } //Sends the packet to enable the Stability Classifier void BNO080::enableStabilityClassifier(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STABILITY_CLASSIFIER, timeBetweenReports); } //Sends the packet to enable the various activity classifiers void BNO080::enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]) { _activityConfidences = activityConfidences; //Store pointer to array setFeatureCommand(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable); } //Sends the commands to begin calibration of the accelerometer void BNO080::calibrateAccelerometer() { sendCalibrateCommand(CALIBRATE_ACCEL); } //Sends the commands to begin calibration of the gyro void BNO080::calibrateGyro() { sendCalibrateCommand(CALIBRATE_GYRO); } //Sends the commands to begin calibration of the magnetometer void BNO080::calibrateMagnetometer() { sendCalibrateCommand(CALIBRATE_MAG); } //Sends the commands to begin calibration of the planar accelerometer void BNO080::calibratePlanarAccelerometer() { sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL); } //See 2.2 of the Calibration Procedure document 1000-4044 void BNO080::calibrateAll() { sendCalibrateCommand(CALIBRATE_ACCEL_GYRO_MAG); } void BNO080::endCalibration() { sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports) { setFeatureCommand(reportID, timeBetweenReports, 0); //No specific config } //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) { long microsBetweenReports = (long)timeBetweenReports * 1000L; 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] = 0; //Batch Interval (LSB) shtpData[10] = 0; //Batch Interval shtpData[11] = 0; //Batch Interval shtpData[12] = 0; //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); } //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); } //This tells the BNO080 to begin calibrating //See page 50 of reference manual and the 1000-4044 calibration doc void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate) { /*shtpData[3] = 0; //P0 - Accel Cal Enable shtpData[4] = 0; //P1 - Gyro Cal Enable shtpData[5] = 0; //P2 - Mag Cal Enable shtpData[6] = 0; //P3 - Subcommand 0x00 shtpData[7] = 0; //P4 - Planar Accel Cal Enable shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; if(thingToCalibrate == CALIBRATE_ACCEL) shtpData[3] = 1; else if(thingToCalibrate == CALIBRATE_GYRO) shtpData[4] = 1; else if(thingToCalibrate == CALIBRATE_MAG) shtpData[5] = 1; else if(thingToCalibrate == CALIBRATE_PLANAR_ACCEL) shtpData[7] = 1; else if(thingToCalibrate == CALIBRATE_ACCEL_GYRO_MAG) { shtpData[3] = 1; shtpData[4] = 1; shtpData[5] = 1; } else if(thingToCalibrate == CALIBRATE_STOP) ; //Do nothing, bytes are set to zero //Using this shtpData packet, send a command sendCommand(COMMAND_ME_CALIBRATE); } //This tells the BNO080 to save the Dynamic Calibration Data (DCD) to flash //See page 49 of reference manual and the 1000-4044 calibration doc void BNO080::saveCalibration() { /*shtpData[3] = 0; //P0 - Reserved shtpData[4] = 0; //P1 - Reserved shtpData[5] = 0; //P2 - Reserved shtpData[6] = 0; //P3 - Reserved shtpData[7] = 0; //P4 - Reserved shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; //Using this shtpData packet, send a command sendCommand(COMMAND_DCD); //Save DCD command } //Wait a certain time for incoming I2C bytes before giving up //Returns false if failed boolean BNO080::waitForI2C() { for (uint8_t counter = 0 ; counter < 100 ; counter++) //Don't got more than 255 { if (_i2cPort->available() > 0) return (true); delay(1); } if(_printDebug == true) _debugPort->println(F("I2C timeout")); return (false); } //Check to see if there is any new data available //Read the contents of the incoming packet into the shtpData array boolean BNO080::receivePacket(void) { _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)4); //Ask for four bytes to find out how much data we need to read if (waitForI2C() == false) return (false); //Error //Get the first four bytes, aka the packet header uint8_t packetLSB = _i2cPort->read(); uint8_t packetMSB = _i2cPort->read(); uint8_t channelNumber = _i2cPort->read(); uint8_t sequenceNumber = _i2cPort->read(); //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] = sequenceNumber; //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)packetMSB << 8 | packetLSB); dataLength &= ~(1 << 15); //Clear the MSbit. //This bit indicates if this package is a continuation of the last. Ignore it for now. //TODO catch this as an error and exit if (dataLength == 0) { //Packet is empty return (false); //All done } dataLength -= 4; //Remove the header bytes from the data count getData(dataLength); return (true); //We're done! } //Sends multiple requests to sensor until all data bytes are received from sensor //The shtpData buffer has max capacity of MAX_PACKET_SIZE. Any bytes over this amount will be lost. //Arduino I2C read limit is 32 bytes. Header is 4 bytes, so max data we can read per interation is 28 bytes boolean BNO080::getData(uint16_t bytesRemaining) { uint16_t dataSpot = 0; //Start at the beginning of shtpData array //Setup a series of chunked 32 byte reads while (bytesRemaining > 0) { uint16_t numberOfBytesToRead = bytesRemaining; if (numberOfBytesToRead > (I2C_BUFFER_LENGTH-4)) numberOfBytesToRead = (I2C_BUFFER_LENGTH-4); _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)(numberOfBytesToRead + 4)); if (waitForI2C() == false) return (0); //Error //The first four bytes are header bytes and are throw away _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); for (uint8_t x = 0 ; x < numberOfBytesToRead ; x++) { uint8_t incoming = _i2cPort->read(); if (dataSpot < MAX_PACKET_SIZE) { shtpData[dataSpot++] = incoming; //Store data into the shtpData array } else { //Do nothing with the data } } bytesRemaining -= numberOfBytesToRead; } return (true); //Done! } //Given the data packet, send the header then the data //Returns false if sensor does not ACK //TODO - Arduino has a max 32 byte send. Break sending into multi packets if needed. boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength) { uint8_t packetLength = dataLength + 4; //Add four bytes for the header //if(packetLength > I2C_BUFFER_LENGTH) return(false); //You are trying to send too much. Break into smaller packets. _i2cPort->beginTransmission(_deviceAddress); //Send the 4 byte packet header _i2cPort->write(packetLength & 0xFF); //Packet length LSB _i2cPort->write(packetLength >> 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]); } if (_i2cPort->endTransmission() != 0) { return (false); } return (true); } //Pretty prints the contents of the current shtp header and data packets void BNO080::printPacket(void) { if(_printDebug == true) { uint16_t packetLength = (uint16_t)shtpHeader[1] << 8 | shtpHeader[0]; //Print the four byte header _debugPort->print(F("Header:")); for(uint8_t x = 0 ; x < 4 ; x++) { _debugPort->print(F(" ")); if(shtpHeader[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpHeader[x], HEX); } uint8_t printLength = packetLength - 4; if(printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book. _debugPort->print(F(" Body:")); for(uint8_t x = 0 ; x < printLength ; x++) { _debugPort->print(F(" ")); if(shtpData[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpData[x], HEX); } if (packetLength & 1 << 15) { _debugPort->println(F(" [Continued packet] ")); packetLength &= ~(1 << 15); } _debugPort->print(F(" Length:")); _debugPort->print (packetLength); _debugPort->print(F(" Channel:")); if (shtpHeader[2] == 0) _debugPort->print(F("Command")); else if (shtpHeader[2] == 1) _debugPort->print(F("Executable")); else if (shtpHeader[2] == 2) _debugPort->print(F("Control")); else if (shtpHeader[2] == 3) _debugPort->print(F("Sensor-report")); else if (shtpHeader[2] == 4) _debugPort->print(F("Wake-report")); else if (shtpHeader[2] == 5) _debugPort->print(F("Gyro-vector")); else _debugPort->print(shtpHeader[2]); _debugPort->println(); } } /* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #pragma once #if (ARDUINO >= 100) #include "Arduino.h" #else #include "WProgram.h" #endif #include <Wire.h> //The default I2C address for the BNO080 on the SparkX breakout is 0x4B. 0x4A is also possible. #define BNO080_DEFAULT_ADDRESS 0x4B //Platform specific configurations //Define the size of the I2C buffer based on the platform the user has //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) //I2C_BUFFER_LENGTH is defined in Wire.H #define I2C_BUFFER_LENGTH BUFFER_LENGTH #elif defined(__SAMD21G18A__) //SAMD21 uses RingBuffer.h #define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE #elif __MK20DX256__ //Teensy #elif ARDUINO_ARCH_ESP32 //ESP32 based platforms #else //The catch-all default is 32 #define I2C_BUFFER_LENGTH 32 #endif //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //Registers const byte CHANNEL_COMMAND = 0; const byte CHANNEL_EXECUTABLE = 1; const byte CHANNEL_CONTROL = 2; const byte CHANNEL_REPORTS = 3; const byte CHANNEL_WAKE_REPORTS = 4; const byte CHANNEL_GYRO = 5; //All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual //These are used for low level communication with the sensor, on channel 2 #define SHTP_REPORT_COMMAND_RESPONSE 0xF1 #define SHTP_REPORT_COMMAND_REQUEST 0xF2 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB #define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD //All the different sensors and features we can get reports from //These are used when enabling a given sensor #define SENSOR_REPORTID_ACCELEROMETER 0x01 #define SENSOR_REPORTID_GYROSCOPE 0x02 #define SENSOR_REPORTID_MAGNETIC_FIELD 0x03 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05 #define SENSOR_REPORTID_GRAVITY 0x06 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09 #define SENSOR_REPORTID_TAP_DETECTOR 0x10 #define SENSOR_REPORTID_STEP_COUNTER 0x11 #define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13 #define SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER 0x1E //Record IDs from figure 29, page 29 reference manual //These are used to read the metadata for each sensor type #define FRS_RECORDID_ACCELEROMETER 0xE302 #define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B //Command IDs from section 6.4, page 42 //These are used to calibrate, initialize, set orientation, tare etc the sensor #define COMMAND_ERRORS 1 #define COMMAND_COUNTER 2 #define COMMAND_TARE 3 #define COMMAND_INITIALIZE 4 #define COMMAND_DCD 6 #define COMMAND_ME_CALIBRATE 7 #define COMMAND_DCD_PERIOD_SAVE 9 #define COMMAND_OSCILLATOR 10 #define COMMAND_CLEAR_DCD 11 #define CALIBRATE_ACCEL 0 #define CALIBRATE_GYRO 1 #define CALIBRATE_MAG 2 #define CALIBRATE_PLANAR_ACCEL 3 #define CALIBRATE_ACCEL_GYRO_MAG 4 #define CALIBRATE_STOP 5 #define MAX_PACKET_SIZE 128 //Packets can be up to 32k but we don't have that much RAM. #define MAX_METADATA_SIZE 9 //This is in words. There can be many but we mostly only care about the first 9 (Qs, range, etc) class BNO080 { public: boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire); //By default use the default I2C addres, and use Wire port void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used. void softReset(); //Try to reset the IMU via software uint8_t resetReason(); //Query the IMU for the reason it last reset float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number boolean waitForI2C(); //Delay based polling for I2C traffic boolean receivePacket(void); boolean getData(uint16_t bytesRemaining); //Given a number of bytes, send the requests in I2C_BUFFER_LENGTH chunks boolean sendPacket(uint8_t channelNumber, uint8_t dataLength); void printPacket(void); //Prints the current shtp header and data packets void enableRotationVector(uint16_t timeBetweenReports); void enableGameRotationVector(uint16_t timeBetweenReports); void enableAccelerometer(uint16_t timeBetweenReports); void enableLinearAccelerometer(uint16_t timeBetweenReports); void enableGyro(uint16_t timeBetweenReports); void enableMagnetometer(uint16_t timeBetweenReports); void enableStepCounter(uint16_t timeBetweenReports); void enableStabilityClassifier(uint16_t timeBetweenReports); void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]); bool dataAvailable(void); void parseInputReport(void); float getQuatI(); float getQuatJ(); float getQuatK(); float getQuatReal(); float getQuatRadianAccuracy(); uint8_t getQuatAccuracy(); float getAccelX(); float getAccelY(); float getAccelZ(); uint8_t getAccelAccuracy(); float getLinAccelX(); float getLinAccelY(); float getLinAccelZ(); uint8_t getLinAccelAccuracy(); float getGyroX(); float getGyroY(); float getGyroZ(); uint8_t getGyroAccuracy(); float getMagX(); float getMagY(); float getMagZ(); uint8_t getMagAccuracy(); void calibrateAccelerometer(); void calibrateGyro(); void calibrateMagnetometer(); void calibratePlanarAccelerometer(); void calibrateAll(); void endCalibration(); void saveCalibration(); uint16_t getStepCount(); uint8_t getStabilityClassifier(); uint8_t getActivityClassifier(); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig); void sendCommand(uint8_t command); void sendCalibrateCommand(uint8_t thingToCalibrate); //Metadata functions int16_t getQ1(uint16_t recordID); int16_t getQ2(uint16_t recordID); int16_t getQ3(uint16_t recordID); float getResolution(uint16_t recordID); float getRange(uint16_t recordID); uint32_t readFRSword(uint16_t recordID, uint8_t wordNumber); void frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize); bool readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead); //Global Variables uint8_t shtpHeader[4]; //Each packet has a header of 4 bytes uint8_t shtpData[MAX_PACKET_SIZE]; uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0}; //There are 6 com channels. Each channel has its own seqnum uint8_t commandSequenceNumber = 0; //Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel uint32_t metaData[MAX_METADATA_SIZE]; //There is more than 10 words in a metadata record but we'll stop at Q point 3 private: //Variables TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware uint8_t _deviceAddress; //Keeps track of I2C address. setI2CAddress changes this. Stream *_debugPort; //The stream to send debug messages to if enabled. Usually Serial. boolean _printDebug = false; //Flag to print debugging variables //These are the raw sensor values pulled from the user requested Input Report uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy; uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy; uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy; uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy; uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy; uint16_t stepCount; uint8_t stabilityClassifier; uint8_t activityClassifier; uint8_t *_activityConfidences; //Array that store the confidences of the 9 possible activities //These Q values are defined in the datasheet but can also be obtained by querying the meta data records //See the read metadata example for more info int16_t rotationVector_Q1 = 14; int16_t accelerometer_Q1 = 8; int16_t linear_accelerometer_Q1 = 8; int16_t gyro_Q1 = 9; int16_t magnetometer_Q1 = 4; }; 请根据以上参考代码,写出我所需的STM32F411ceu6基于I2C控制BNO080的库函数
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07-23
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