#include <BNO08x.hpp>

Collaboration diagram for BNO08x:

[legend]

Classes
struct	bno08x_reports_t
	Contains report implementations. More...

Public Types
typedef struct BNO08x::bno08x_reports_t	bno08x_reports_t
	Contains report implementations.

Public Member Functions
	BNO08x (bno08x_config_t imu_config=bno08x_config_t())
	BNO08x imu constructor.

	~BNO08x ()
	BNO08x imu deconstructor.

bool	initialize ()
	Initializes BNO08x sensor.

bool	hard_reset ()
	Hard resets BNO08x device.

bool	soft_reset ()
	Soft resets BNO08x device by sending RESET (1) command on "device" channel.

BNO08xResetReason	get_reset_reason ()
	Returns reason for previous reset via product ID report.

bool	on ()
	Places BNO08x device in on state by sending ON (2) command on "device" channel.

bool	sleep ()
	Places BNO08x device in sleep state by sending SLEEP (3) command on "device" channel.

bool	calibration_start (uint32_t period_us)
	Starts simple calibration, see ref. manual 6.4.10.1.

bool	calibration_end (sh2_CalStatus_t &status)
	Ends turn-table calibration, see ref. manual 6.4.10.2.

bool	dynamic_calibration_enable (BNO08xCalSel sensor)
	Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1.

bool	dynamic_calibration_disable (BNO08xCalSel sensor)
	Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1.

bool	dynamic_calibration_autosave_enable ()
	Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6.4.7.1.

bool	dynamic_calibration_autosave_disable ()
	Disables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6.4.7.1.

bool	save_dynamic_calibration ()
	Saves dynamic/motion engine calibration data to BNO08x internal flash immediately. See ref manual 6.4.5.1.

bool	clear_dynamic_calibration ()
	Clears dynamic/motion engine calibration data and resets BNO08x device. See ref manual 6.4.9.1.

bool	get_frs (uint16_t frs_ID, uint32_t(&data)[16], uint16_t &rx_data_sz)
	Retrieves a record from flash record system (if your goal is to retrieve meta data use the BNO08xRpt:get_meta_data() method instead)

sh2_ProductIds_t	get_product_IDs ()
	Returns product ID info sent by IMU at initialization.

bool	data_available ()
	Polls for new data/report to become available.

bool	register_cb (std::function< void(void)> cb_fxn)
	Registers a callback to execute when new data from a report is received.

bool	register_cb (std::function< void(uint8_t report_ID)> cb_fxn)
	Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID.

void	print_product_ids ()
	Prints product IDs received at initialization.

Static Public Member Functions
static const char *	activity_to_str (BNO08xActivity activity)
	Converts a BNO08xActivity enum to string.

static const char *	stability_to_str (BNO08xStability stability)
	Converts a BNO08xStability enum to string.

static const char *	accuracy_to_str (BNO08xAccuracy accuracy)

Public Attributes
bno08x_reports_t	rpt

Private Member Functions
void	data_proc_task ()
	Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returned to user.

void	sh2_HAL_service_task ()
	Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbacks.

void	cb_task ()
	Task responsible for executing callbacks registered with register_cb().

void	lock_sh2_HAL ()
	Locks sh2 HAL lib to only allow the calling task to call its APIs.

void	unlock_sh2_HAL ()
	Unlocks sh2 HAL lib to allow other tasks to call its APIs.

void	lock_user_data ()
	Locks locks user data to only allow the calling task to read/modify it.

void	unlock_user_data ()
	Unlocks user data to allow other tasks to read/modify it.

void	handle_sensor_report (sh2_SensorValue_t *sensor_val)
	Parses receieved report and updates uer data with it.

void	handle_cb (uint8_t rpt_ID, BNO08xCbGeneric *cb_entry)
	Determines the flavor of a passed callback and executes it appropriately.

esp_err_t	init_config_args ()
	Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.

esp_err_t	init_gpio ()
	Initializes required gpio.

esp_err_t	init_gpio_inputs ()
	Initializes required gpio inputs.

esp_err_t	init_gpio_outputs ()
	Initializes required gpio outputs.

esp_err_t	init_hint_isr ()
	Initializes host interrupt ISR.

esp_err_t	init_spi ()
	Initializes SPI.

esp_err_t	init_tasks ()
	Initializes data_proc_task.

esp_err_t	init_sh2_HAL ()
	Initializes sh2 HAL.

esp_err_t	deinit_gpio ()
	Deinitializes GPIO, called from deconstructor.

esp_err_t	deinit_gpio_inputs ()
	Deinitializes GPIO inputs, called from deconstructor.

esp_err_t	deinit_gpio_outputs ()
	Deinitializes GPIO outputs, called from deconstructor.

esp_err_t	deinit_hint_isr ()
	Deinitializes host interrupt ISR, called from deconstructor.

esp_err_t	deinit_spi ()
	Deinitializes SPI.

esp_err_t	deinit_tasks ()
	Deinitializes tasks used by BNO08x driver.

esp_err_t	deinit_sh2_HAL ()
	Deinitializes sh2 HAL.

esp_err_t	wait_for_hint ()
	Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.

esp_err_t	wait_for_reset ()
	Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.

void	toggle_reset ()
	Toggles reset gpio pin for hard reset of BNO08x device.

esp_err_t	re_enable_reports ()
	Re-enables all reports enabled by user (called when BNO08x reset is detected by sh2 HAL lib).

Static Private Member Functions
static void	data_proc_task_trampoline (void *arg)
	Static function used to launch data processing task.

static void	sh2_HAL_service_task_trampoline (void *arg)
	Static function used to launch sh2 HAL service task.

static void	cb_task_trampoline (void *arg)
	Static function used to launch cb_task task.

static void IRAM_ATTR	hint_handler (void *arg)
	HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

Private Attributes
TaskHandle_t	data_proc_task_hdl
	data_proc_task() task handle

TaskHandle_t	sh2_HAL_service_task_hdl
	sh2_HAL_service_task() task handle

TaskHandle_t	cb_task_hdl
	sh2_HAL_service_task() task handle

SemaphoreHandle_t	sem_kill_tasks
	Counting Semaphore to count amount of killed tasks.

sh2_Hal_t	sh2_HAL
	sh2 hardware abstraction layer struct for use with sh2 HAL lib.

QueueHandle_t	queue_rx_sensor_event
	Queue to send sensor events from sh2 HAL sensor event callback (BNO08xSH2HAL::sensor_event_cb()) to data_proc_task()

QueueHandle_t	queue_cb_report_id
	Queue to send report ID of most recent report to cb_task()

bno08x_config_t	imu_config {}
	IMU configuration settings.

spi_bus_config_t	bus_config {}
	SPI bus GPIO configuration settings.

spi_device_interface_config_t	imu_spi_config {}
	SPI slave device settings.

spi_device_handle_t	spi_hdl {}
	SPI device handle.

spi_transaction_t	spi_transaction {}
	SPI transaction handle.

BNO08xPrivateTypes::bno08x_init_status_t	init_status
	Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.

BNO08xPrivateTypes::bno08x_sync_ctx_t	sync_ctx
	Holds context used to synchronize tasks and callback execution.

sh2_ProductIds_t	product_IDs
	Product ID info returned IMU at initialization, can be viewed with print_product_ids()

etl::map< uint8_t, BNO08xRpt *, TOTAL_RPT_COUNT, etl::less< uint8_t > >	usr_reports

Static Private Attributes
static const constexpr configSTACK_DEPTH_TYPE	DATA_PROC_TASK_SZ
	Size of data_proc_task() stack in bytes.

static const constexpr configSTACK_DEPTH_TYPE	SH2_HAL_SERVICE_TASK_SZ
	Size of sh2_HAL_service_task() stack in bytes.

static const constexpr configSTACK_DEPTH_TYPE	CB_TASK_SZ
	Size of sh2_HAL_service_task() stack in bytes.

static const constexpr uint16_t	RX_DATA_LENGTH = 300U
	length buffer containing data received over spi

static const constexpr TickType_t	HOST_INT_TIMEOUT_DEFAULT_MS
	Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds).

static const constexpr TickType_t	DATA_AVAILABLE_TIMEOUT_MS
	Max wait between data_available() being called and no new data/report being detected.

static const constexpr TickType_t	HARD_RESET_DELAY_MS
	How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)

static const constexpr uint32_t	SCLK_MAX_SPEED = 3000000UL
	Max SPI SCLK speed BNO08x is capable of.

static const constexpr char *	TAG = "BNO08x"
	Class tag used for serial print statements.

Friends
class	BNO08xSH2HAL

class	BNO08xTestHelper

Detailed Description

BNO08x IMU driver class.

Member Typedef Documentation

◆ bno08x_reports_t

typedef struct BNO08x::bno08x_reports_t BNO08x::bno08x_reports_t

Contains report implementations.

Constructor & Destructor Documentation

◆ BNO08x()

BNO08x::BNO08x ( bno08x_config_t imu_config = bno08x_config_t() )

BNO08x imu constructor.

Construct a BNO08x object for managing a BNO08x sensor.

Parameters

imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t

Returns: void, nothing to return

◆ ~BNO08x()

BNO08x::~BNO08x ( )

BNO08x imu deconstructor.

Deconstructs a BNO08x object and releases any utilized resources.

Returns: void, nothing to return.

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Member Function Documentation

◆ accuracy_to_str()

const char * BNO08x::accuracy_to_str ( BNO08xAccuracy accuracy )

static

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◆ activity_to_str()

const char * BNO08x::activity_to_str ( BNO08xActivity activity )

static

Converts a BNO08xActivity enum to string.

Returns: The resulting string conversion of the enum.

◆ calibration_end()

bool BNO08x::calibration_end ( sh2_CalStatus_t & status )

Ends turn-table calibration, see ref. manual 6.4.10.2.

Parameters

status Returned status bits indicating result of turntable calibration.

Returns: True if enable start turn-table calibration operation succeeded.

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◆ calibration_start()

bool BNO08x::calibration_start ( uint32_t period_us )

Starts simple calibration, see ref. manual 6.4.10.1.

Parameters

period_us This interval should be set to whatever rate the sensor hub is expected to run at after calibration.

After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call calibration_end(). See ref. manual 6.4.10 for more detailed instructions.

Returns: True if start simple calibration operation succeeded.

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◆ cb_task()

void BNO08x::cb_task ( )

private

Task responsible for executing callbacks registered with register_cb().

Returns: void, nothing to return

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◆ cb_task_trampoline()

void BNO08x::cb_task_trampoline ( void * arg )

staticprivate

Static function used to launch cb_task task.

Used such that cb_task() can be non-static class member.

Parameters

arg	void pointer to BNO08x imu object

Returns: void, nothing to return

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◆ clear_dynamic_calibration()

bool BNO08x::clear_dynamic_calibration ( )

Clears dynamic/motion engine calibration data and resets BNO08x device. See ref manual 6.4.9.1.

Returns: True if save dynamic/ME calibration data succeeded.

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◆ data_available()

bool BNO08x::data_available ( )

Polls for new data/report to become available.

Returns: True if new data/report became available before DATA_AVAILABLE_TIMEOUT_MS.

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◆ data_proc_task()

void BNO08x::data_proc_task ( )

private

Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returned to user.

Returns: void, nothing to return

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◆ data_proc_task_trampoline()

void BNO08x::data_proc_task_trampoline ( void * arg )

staticprivate

Static function used to launch data processing task.

Used such that data_proc_task() can be non-static class member.

Parameters

arg	void pointer to BNO08x imu object

Returns: void, nothing to return

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◆ deinit_gpio()

esp_err_t BNO08x::deinit_gpio ( )

private

Deinitializes GPIO, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_gpio_inputs()

esp_err_t BNO08x::deinit_gpio_inputs ( )

private

Deinitializes GPIO inputs, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_gpio_outputs()

esp_err_t BNO08x::deinit_gpio_outputs ( )

private

Deinitializes GPIO outputs, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_hint_isr()

esp_err_t BNO08x::deinit_hint_isr ( )

private

Deinitializes host interrupt ISR, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_sh2_HAL()

esp_err_t BNO08x::deinit_sh2_HAL ( )

private

Deinitializes sh2 HAL.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_spi()

esp_err_t BNO08x::deinit_spi ( )

private

Deinitializes SPI.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_tasks()

esp_err_t BNO08x::deinit_tasks ( )

private

Deinitializes tasks used by BNO08x driver.

Returns: ESP_OK if deinitialization was success.

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◆ dynamic_calibration_autosave_disable()

bool BNO08x::dynamic_calibration_autosave_disable ( )

Disables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6.4.7.1.

Returns: True if dynamic/ME calibration autosave data enable succeeded.

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◆ dynamic_calibration_autosave_enable()

bool BNO08x::dynamic_calibration_autosave_enable ( )

Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6.4.7.1.

Returns: True if dynamic/ME calibration autosave data enable succeeded.

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◆ dynamic_calibration_disable()

bool BNO08x::dynamic_calibration_disable ( BNO08xCalSel sensor )

Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1.

Parameters

sensor The sensor(s) to disable dynamic/ME calibration for.

Returns: True if disable dynamic/ME calibration succeeded.

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◆ dynamic_calibration_enable()

bool BNO08x::dynamic_calibration_enable ( BNO08xCalSel sensor )

Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1.

Parameters

sensor The sensor(s) to enable dynamic/ME calibration for.

Returns: True if enable dynamic/ME calibration succeeded.

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◆ get_frs()

bool BNO08x::get_frs	(	uint16_t	frs_ID,
		uint32_t(&)	data[16],
		uint16_t &	rx_data_sz )

Retrieves a record from flash record system (if your goal is to retrieve meta data use the BNO08xRpt:get_meta_data() method instead)

For more details on returned and data and frs_ID see ref. manual 6.3.7 & 4.3

Parameters

frs_ID	The ID of the desired record to retrieve from flash.
data	Buffer of 16 uint32_t to store retrieved data.
rx_data_sz	Reference to store number of 32 bit words retrieved from flash.

Returns: True if get flash record system operation succeeded.

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◆ get_product_IDs()

sh2_ProductIds_t BNO08x::get_product_IDs ( )

Returns product ID info sent by IMU at initialization.

Returns: The product ID info returned at initialization.

◆ get_reset_reason()

BNO08xResetReason BNO08x::get_reset_reason ( )

Returns reason for previous reset via product ID report.

Returns: Enum object containing reset reason, BNO08xResetReason::UNDEFINED if failure.

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◆ handle_cb()

void BNO08x::handle_cb	(	uint8_t	rpt_ID,
		BNO08xCbGeneric *	cb_entry )

private

Determines the flavor of a passed callback and executes it appropriately.

Returns: void, nothing to return

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◆ handle_sensor_report()

void BNO08x::handle_sensor_report ( sh2_SensorValue_t * sensor_val )

private

Parses receieved report and updates uer data with it.

Returns: void, nothing to return

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◆ hard_reset()

bool BNO08x::hard_reset ( )

Hard resets BNO08x device.

Returns: True if reset was success.

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◆ hint_handler()

void IRAM_ATTR BNO08x::hint_handler ( void * arg )

staticprivate

HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

ISR that launches SPI task to perform transaction upon assertion of BNO08x interrupt pin.

Returns: void, nothing to return

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◆ init_config_args()

esp_err_t BNO08x::init_config_args ( )

private

Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.

Returns: ESP_OK if initialization was success.

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◆ init_gpio()

esp_err_t BNO08x::init_gpio ( )

private

Initializes required gpio.

Returns: ESP_OK if initialization was success.

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◆ init_gpio_inputs()

esp_err_t BNO08x::init_gpio_inputs ( )

private

Initializes required gpio inputs.

Returns: ESP_OK if initialization was success.

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◆ init_gpio_outputs()

esp_err_t BNO08x::init_gpio_outputs ( )

private

Initializes required gpio outputs.

Returns: ESP_OK if initialization was success.

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◆ init_hint_isr()

esp_err_t BNO08x::init_hint_isr ( )

private

Initializes host interrupt ISR.

Returns: ESP_OK if initialization was success.

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◆ init_sh2_HAL()

esp_err_t BNO08x::init_sh2_HAL ( )

private

Initializes sh2 HAL.

Returns: ESP_OK if initialization was success.

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◆ init_spi()

esp_err_t BNO08x::init_spi ( )

private

Initializes SPI.

Returns: ESP_OK if initialization was success.

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◆ init_tasks()

esp_err_t BNO08x::init_tasks ( )

private

Initializes data_proc_task.

Returns: ESP_OK if initialization was success.

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◆ initialize()

bool BNO08x::initialize ( )

Initializes BNO08x sensor.

Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.

Returns: True if initialization was success, false if otherwise.

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◆ lock_sh2_HAL()

void BNO08x::lock_sh2_HAL ( )

private

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 BNO08x::lock_user_data ( )

private

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

Returns: void, nothing to return

◆ on()

bool BNO08x::on ( )

Places BNO08x device in on state by sending ON (2) command on "device" channel.

Returns: True if on operation succeeded.

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◆ print_product_ids()

void BNO08x::print_product_ids ( )

Prints product IDs received at initialization.

Returns: void, nothing to return

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◆ re_enable_reports()

esp_err_t BNO08x::re_enable_reports ( )

private

Re-enables all reports enabled by user (called when BNO08x reset is detected by sh2 HAL lib).

Returns: ESP_OK if enabled reports were successfuly re-enabled.

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◆ register_cb() [1/2]

bool BNO08x::register_cb ( std::function< void(uint8_t report_ID)> cb_fxn )

Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID.

Parameters

cb_fxn Pointer to the call-back function should be of void return type with single input param of uint8_t for most recent report ID.

Returns: void, nothing to return

◆ register_cb() [2/2]

bool BNO08x::register_cb ( std::function< void(void)> cb_fxn )

Registers a callback to execute when new data from a 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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◆ save_dynamic_calibration()

bool BNO08x::save_dynamic_calibration ( )

Saves dynamic/motion engine calibration data to BNO08x internal flash immediately. See ref manual 6.4.5.1.

Returns: True if save dynamic/ME calibration data succeeded.

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◆ sh2_HAL_service_task()

void BNO08x::sh2_HAL_service_task ( )

private

Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbacks.

Returns: void, nothing to return

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◆ sh2_HAL_service_task_trampoline()

void BNO08x::sh2_HAL_service_task_trampoline ( void * arg )

staticprivate

Static function used to launch sh2 HAL service task.

Used such that sh2_HAL_service_task() can be non-static class member.

Parameters

arg	void pointer to BNO08x imu object

Returns: void, nothing to return

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◆ sleep()

bool BNO08x::sleep ( )

Places BNO08x device in sleep state by sending SLEEP (3) command on "device" channel.

Returns: True if sleep operation succeeded.

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◆ soft_reset()

bool BNO08x::soft_reset ( )

Soft resets BNO08x device by sending RESET (1) command on "device" channel.

Returns: True if soft reset operation succeeded.

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◆ stability_to_str()

const char * BNO08x::stability_to_str ( BNO08xStability stability )

static

Converts a BNO08xStability enum to string.

Returns: The resulting string conversion of the enum.

◆ toggle_reset()

void BNO08x::toggle_reset ( )

private

Toggles reset gpio pin for hard reset of BNO08x device.

Returns: void, nothing to return

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◆ unlock_sh2_HAL()

void BNO08x::unlock_sh2_HAL ( )

private

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 BNO08x::unlock_user_data ( )

private

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

Returns: void, nothing to return

◆ wait_for_hint()

esp_err_t BNO08x::wait_for_hint ( )

private

Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.

Returns: ESP_OK if HINT was asserted.

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◆ wait_for_reset()

esp_err_t BNO08x::wait_for_reset ( )

private

Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.

Returns: ESP_OK if reset was detected by SH2 HAL lib.

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Friends And Related Symbol Documentation

◆ BNO08xSH2HAL

friend class BNO08xSH2HAL

friend

◆ BNO08xTestHelper

friend class BNO08xTestHelper

friend

Member Data Documentation

◆ bus_config

spi_bus_config_t BNO08x::bus_config {}

private

SPI bus GPIO configuration settings.

◆ cb_task_hdl

TaskHandle_t BNO08x::cb_task_hdl

private

sh2_HAL_service_task() task handle

◆ CB_TASK_SZ

const constexpr configSTACK_DEPTH_TYPE BNO08x::CB_TASK_SZ

staticconstexprprivate

Initial value:

=

CONFIG_ESP32_BNO08X_CB_TASK_SZ

Size of sh2_HAL_service_task() stack in bytes.

◆ DATA_AVAILABLE_TIMEOUT_MS

const constexpr TickType_t BNO08x::DATA_AVAILABLE_TIMEOUT_MS

staticconstexprprivate

Initial value:

=
                CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /
                portTICK_PERIOD_MS

Max wait between data_available() being called and no new data/report being detected.

◆ data_proc_task_hdl

TaskHandle_t BNO08x::data_proc_task_hdl

private

data_proc_task() task handle

◆ DATA_PROC_TASK_SZ

const constexpr configSTACK_DEPTH_TYPE BNO08x::DATA_PROC_TASK_SZ

staticconstexprprivate

Initial value:

=

CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ

Size of data_proc_task() stack in bytes.

◆ HARD_RESET_DELAY_MS

const constexpr TickType_t BNO08x::HARD_RESET_DELAY_MS

staticconstexprprivate

Initial value:

=
                CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /
                portTICK_PERIOD_MS

How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)

◆ HOST_INT_TIMEOUT_DEFAULT_MS

const constexpr TickType_t BNO08x::HOST_INT_TIMEOUT_DEFAULT_MS

staticconstexprprivate

Initial value:

=
                CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /
                portTICK_PERIOD_MS

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds).

◆ imu_config

bno08x_config_t BNO08x::imu_config {}

private

IMU configuration settings.

◆ imu_spi_config

spi_device_interface_config_t BNO08x::imu_spi_config {}

private

SPI slave device settings.

◆ init_status

BNO08xPrivateTypes::bno08x_init_status_t BNO08x::init_status

private

Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.

◆ product_IDs

sh2_ProductIds_t BNO08x::product_IDs

private

Product ID info returned IMU at initialization, can be viewed with print_product_ids()

◆ queue_cb_report_id

QueueHandle_t BNO08x::queue_cb_report_id

private

Queue to send report ID of most recent report to cb_task()

◆ queue_rx_sensor_event

QueueHandle_t BNO08x::queue_rx_sensor_event

private

Queue to send sensor events from sh2 HAL sensor event callback (BNO08xSH2HAL::sensor_event_cb()) to data_proc_task()

◆ rpt

bno08x_reports_t BNO08x::rpt

◆ RX_DATA_LENGTH

const constexpr uint16_t BNO08x::RX_DATA_LENGTH = 300U

staticconstexprprivate

length buffer containing data received over spi

◆ SCLK_MAX_SPEED

const constexpr uint32_t BNO08x::SCLK_MAX_SPEED = 3000000UL

staticconstexprprivate

Max SPI SCLK speed BNO08x is capable of.

◆ sem_kill_tasks

SemaphoreHandle_t BNO08x::sem_kill_tasks

private

Counting Semaphore to count amount of killed tasks.

◆ sh2_HAL

sh2_Hal_t BNO08x::sh2_HAL

private

sh2 hardware abstraction layer struct for use with sh2 HAL lib.

◆ sh2_HAL_service_task_hdl

TaskHandle_t BNO08x::sh2_HAL_service_task_hdl

private

sh2_HAL_service_task() task handle

◆ SH2_HAL_SERVICE_TASK_SZ

const constexpr configSTACK_DEPTH_TYPE BNO08x::SH2_HAL_SERVICE_TASK_SZ

staticconstexprprivate

Initial value:

=

CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ

Size of sh2_HAL_service_task() stack in bytes.

◆ spi_hdl

spi_device_handle_t BNO08x::spi_hdl {}

private

SPI device handle.

◆ spi_transaction

spi_transaction_t BNO08x::spi_transaction {}

private

SPI transaction handle.

◆ sync_ctx

BNO08xPrivateTypes::bno08x_sync_ctx_t BNO08x::sync_ctx

private

Holds context used to synchronize tasks and callback execution.

◆ TAG

const constexpr char* BNO08x::TAG = "BNO08x"

staticconstexprprivate

Class tag used for serial print statements.

◆ usr_reports

etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t> > BNO08x::usr_reports

private

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ bno08x_reports_t

Constructor & Destructor Documentation

◆ BNO08x()

◆ ~BNO08x()

Member Function Documentation

◆ accuracy_to_str()

◆ activity_to_str()

◆ calibration_end()

◆ calibration_start()

◆ cb_task()

◆ cb_task_trampoline()

◆ clear_dynamic_calibration()

◆ data_available()

◆ data_proc_task()

◆ data_proc_task_trampoline()

◆ deinit_gpio()

◆ deinit_gpio_inputs()

◆ deinit_gpio_outputs()

◆ deinit_hint_isr()

◆ deinit_sh2_HAL()

◆ deinit_spi()

◆ deinit_tasks()

◆ dynamic_calibration_autosave_disable()

◆ dynamic_calibration_autosave_enable()

◆ dynamic_calibration_disable()

◆ dynamic_calibration_enable()

◆ get_frs()

◆ get_product_IDs()

◆ get_reset_reason()

◆ handle_cb()

◆ handle_sensor_report()

◆ hard_reset()

◆ hint_handler()

◆ init_config_args()

◆ init_gpio()

◆ init_gpio_inputs()

◆ init_gpio_outputs()

◆ init_hint_isr()

◆ init_sh2_HAL()

◆ init_spi()

◆ init_tasks()

◆ initialize()

◆ lock_sh2_HAL()

◆ lock_user_data()

◆ on()

◆ print_product_ids()

◆ re_enable_reports()

◆ register_cb() [1/2]

◆ register_cb() [2/2]

◆ save_dynamic_calibration()

◆ sh2_HAL_service_task()

◆ sh2_HAL_service_task_trampoline()

◆ sleep()

◆ soft_reset()

◆ stability_to_str()

◆ toggle_reset()

◆ unlock_sh2_HAL()

◆ unlock_user_data()

◆ wait_for_hint()

◆ wait_for_reset()

Friends And Related Symbol Documentation

◆ BNO08xSH2HAL

◆ BNO08xTestHelper

Member Data Documentation

◆ bus_config

◆ cb_task_hdl

◆ CB_TASK_SZ

◆ DATA_AVAILABLE_TIMEOUT_MS