BNO08xRpt Class Reference

Class to represent and manage reports returned from BNO08x. More...

#include <BNO08xRpt.hpp>

Inheritance diagram for BNO08xRpt:

Collaboration diagram for BNO08xRpt:

Public Member Functions
bool	enable (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)
	Enables a sensor report such that the BNO08x begins sending it.
bool	disable (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)
	Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.
bool	register_cb (std::function< void(void)> cb_fxn)
	Registers a callback to execute when new data from a specific report is received.
bool	has_new_data ()
	Checks if a new report has been received since the last time this function was called.
bool	flush ()
	Flush all buffered reports for this sensor/report module.
bool	get_sample_counts (bno08x_sample_counts_t &sample_counts)
	Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)
bool	clear_sample_counts ()
	Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)
bool	get_meta_data (bno08x_meta_data_t &meta_data)
	Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).

Protected Member Functions
virtual void	update_data (sh2_SensorValue_t *sensor_val)=0
	BNO08xRpt (uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
	BNO08xRpt report constructor.
void	unlock_sh2_HAL ()
	Unlocks sh2 HAL lib to allow other tasks to call its APIs.
void	lock_sh2_HAL ()
	Locks sh2 HAL lib to only allow the calling task to call its APIs.
void	unlock_user_data ()
	Unlocks user data to allow other tasks to read/modify it.
void	lock_user_data ()
	Locks locks user data to only allow the calling task to read/modify it.
void	signal_data_available ()
	Signals to BNO08x::data_available() that a new report has arrived.

Protected Attributes
uint8_t	ID
	Report ID, ex. SH2_ACCELERATION.
EventBits_t	rpt_bit
	Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.
uint32_t	period_us
	The period/interval of the report in microseconds.
BNO08xPrivateTypes::bno08x_sync_ctx_t *	sync_ctx

Static Protected Attributes
static const constexpr float	RAD_2_DEG
	Constant for radian to degree conversions, sed in quaternion to euler function conversions.
static const constexpr char *	TAG = "BNO08xRpt"

Friends
class	BNO08x

Detailed Description

Class to represent and manage reports returned from BNO08x.

Constructor & Destructor Documentation

BNO08xRpt()

BNO08xRpt::BNO08xRpt ( uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx )

inlineprotected

BNO08xRpt report constructor.

Construct a BNO08xRpt object for managing a BNO08x sensor report.

Parameters

imu	Pointer to BNO08x imu object.
report_ID	Report ID, ex. SH2_ACCELERATION.
rpt_bit	Respective enable bit for report in BNO08x::evt_grp_report_en.
period_us	The period/interval of the report in microseconds.

Returns

void, nothing to return

Member Function Documentation

clear_sample_counts()

bool BNO08xRpt::clear_sample_counts

(

)

Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)

Returns

True clear counts operation succeeded.

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disable()

bool BNO08xRpt::disable

(

sh2_SensorConfig_t

sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg

)

Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.

Parameters

sensor_ID	The ID of the sensor for the respective report to be disabled.
sensor_cfg	Sensor special configuration.

Returns

ESP_OK if report was successfully disabled.

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enable()

bool BNO08xRpt::enable	(	uint32_t	time_between_reports,
		sh2_SensorConfig_t	sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg )

Enables a sensor report such that the BNO08x begins sending it.

Parameters

report_period_us	The period/interval of the report in microseconds.
sensor_cfg	Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).

Returns

True if report was successfully enabled.

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flush()

bool BNO08xRpt::flush

(

)

Flush all buffered reports for this sensor/report module.

Returns

True if flush operation succeeded.

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get_meta_data()

bool BNO08xRpt::get_meta_data

(

bno08x_meta_data_t &

meta_data

)

Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).

Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.

Returns

True clear get meta data operation succeeded.

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get_sample_counts()

bool BNO08xRpt::get_sample_counts

(

bno08x_sample_counts_t &

sample_counts

)

Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)

Parameters

Struct

to store requested data.

Returns

True get counts operation succeeded.

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has_new_data()

bool BNO08xRpt::has_new_data

(

)

Checks if a new report has been received since the last time this function was called.

Returns

True if a new report was received since the last time this function was called.

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lock_sh2_HAL()

void BNO08xRpt::lock_sh2_HAL ( )

protected

Locks sh2 HAL lib to only allow the calling task to call its APIs.

Returns

void, nothing to return

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lock_user_data()

void BNO08xRpt::lock_user_data ( )

protected

Locks locks user data to only allow the calling task to read/modify it.

Returns

void, nothing to return

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register_cb()

bool BNO08xRpt::register_cb

(

std::function< void(void)>

cb_fxn

)

Registers a callback to execute when new data from a specific report is received.

Parameters

cb_fxn

Pointer to the call-back function should be of void return type void input param.

Returns

void, nothing to return

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signal_data_available()

void BNO08xRpt::signal_data_available ( )

protected

Signals to BNO08x::data_available() that a new report has arrived.

Returns

void, nothing to return

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unlock_sh2_HAL()

void BNO08xRpt::unlock_sh2_HAL ( )

protected

Unlocks sh2 HAL lib to allow other tasks to call its APIs.

Returns

void, nothing to return

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unlock_user_data()

void BNO08xRpt::unlock_user_data ( )

protected

Unlocks user data to allow other tasks to read/modify it.

Returns

void, nothing to return

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update_data()

virtual void BNO08xRpt::update_data ( sh2_SensorValue_t * sensor_val )

protectedpure virtual

Implemented in BNO08xRptAcceleration, BNO08xRptActivityClassifier, BNO08xRptARVRStabilizedGameRV, BNO08xRptARVRStabilizedRV, BNO08xRptCalGyro, BNO08xRptCalMagnetometer, BNO08xRptGameRV, BNO08xRptGravity, BNO08xRptIGyroRV, BNO08xRptLinearAcceleration, BNO08xRptRawMEMSAccelerometer, BNO08xRptRawMEMSGyro, BNO08xRptRawMEMSMagnetometer, BNO08xRptRV, BNO08xRptRVGeomag, BNO08xRptShakeDetector, BNO08xRptStabilityClassifier, BNO08xRptStepCounter, BNO08xRptTapDetector, BNO08xRptUncalGyro, and BNO08xRptUncalMagnetometer.

Friends And Related Symbol Documentation

BNO08x

friend class BNO08x

friend

Member Data Documentation

ID

uint8_t BNO08xRpt::ID

protected

Report ID, ex. SH2_ACCELERATION.

period_us

uint32_t BNO08xRpt::period_us

protected

The period/interval of the report in microseconds.

RAD_2_DEG

const constexpr float BNO08xRpt::RAD_2_DEG

staticconstexprprotected

Initial value:

=
                (180.0f / M_PI)

Constant for radian to degree conversions, sed in quaternion to euler function conversions.

rpt_bit

EventBits_t BNO08xRpt::rpt_bit

protected

Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.

sync_ctx

BNO08xPrivateTypes::bno08x_sync_ctx_t* BNO08xRpt::sync_ctx

protected

TAG

const constexpr char* BNO08xRpt::TAG = "BNO08xRpt"

staticconstexprprotected

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The documentation for this class was generated from the following files:

• BNO08xRpt.hpp
• BNO08xRpt.cpp