esp32_BNO08x 1.4 C++ BNO08x IMU driver component for esp-idf.

BNO08xRptUncalGyro.hpp
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1
6#pragma once
7
8#include "BNO08xRpt.hpp"
9
15 class BNO08xRptUncalGyro : public BNO08xRpt
16{
17 public:
18 BNO08xRptUncalGyro(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
19 : BNO08xRpt(ID, rpt_bit, sync_ctx)
20 {
21 }
22
23 bool enable(
24 uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
25 void get(bno08x_gyro_t& vel, bno08x_gyro_bias_t& bias);
26 bno08x_gyro_t get_vel();
27 bno08x_gyro_bias_t get_bias();
28
29 private:
30 void update_data(sh2_SensorValue_t* sensor_val) override;
31 bno08x_gyro_t data;
32 bno08x_gyro_bias_t bias_data;
33 static const constexpr char* TAG = "BNO08xRptUncalGyro";
34};
BNO08xRpt.hpp
BNO08xRpt
Class to represent and manage reports returned from BNO08x.
Definition: BNO08xRpt.hpp:26
BNO08xRpt::sync_ctx
BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx
Definition: BNO08xRpt.hpp:42
BNO08xRpt::ID
uint8_t ID
Report ID, ex. SH2_ACCELERATION.
Definition: BNO08xRpt.hpp:39
BNO08xRpt::rpt_bit
EventBits_t rpt_bit
Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.
Definition: BNO08xRpt.hpp:40
BNO08xRptUncalGyro
Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)
Definition: BNO08xRptUncalGyro.hpp:16
BNO08xRptUncalGyro::get_bias
bno08x_gyro_bias_t get_bias()
Grabs most recent uncalibrated gyroscope bias data, units are in rad/s.
Definition: BNO08xRptUncalGyro.cpp:75
BNO08xRptUncalGyro::get_vel
bno08x_gyro_t get_vel()
Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s.
Definition: BNO08xRptUncalGyro.cpp:62
BNO08xRptUncalGyro::BNO08xRptUncalGyro
BNO08xRptUncalGyro(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
Definition: BNO08xRptUncalGyro.hpp:18
BNO08xRptUncalGyro::enable
bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override
Enables uncalibrated gyro reports such that the BNO08x begins sending them.
Definition: BNO08xRptUncalGyro.cpp:36
BNO08xRptUncalGyro::get
void get(bno08x_gyro_t &vel, bno08x_gyro_bias_t &bias)
Grabs most recent uncalibrated gyroscope data, units are in rad/s.
Definition: BNO08xRptUncalGyro.cpp:49
BNO08xPrivateTypes::bno08x_sync_ctx_t
Holds context used to synchronize tasks and callback execution.
Definition: BNO08xPrivateTypes.hpp:57
bno08x_gyro_bias_t
Struct to represent gyro bias data (units in rad/s)
Definition: BNO08xGlobalTypes.hpp:703
bno08x_gyro_t
Struct to represent gyro data (units in rad/s)
Definition: BNO08xGlobalTypes.hpp:667