BNO08xRptIGyroRV Class Reference

Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44) More...

#include <BNO08xRptIGyroRV.hpp>

Inheritance diagram for BNO08xRptIGyroRV:

Collaboration diagram for BNO08xRptIGyroRV:

Public Member Functions
	BNO08xRptIGyroRV (uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
void	get (bno08x_quat_t &quat, bno08x_ang_vel_t &vel)
	Grabs most recent gyro integrated rotation vector data.
bno08x_ang_vel_t	get_vel ()
	Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.
Public Member Functions inherited from BNO08xRptRVGeneric
bool	enable (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override
	Enables a rotation vector report such that the BNO08x begins it.
bno08x_quat_t	get_quat ()
	Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).
bno08x_euler_angle_t	get_euler (bool in_degrees=true)
	Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.
Public Member Functions inherited from BNO08xRpt
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).

Private Member Functions
void	update_data (sh2_SensorValue_t *sensor_val) override
	Updates gyro integrated rotation vector data from decoded sensor event.

Private Attributes
bno08x_ang_vel_t	data_vel

Static Private Attributes
static const constexpr char *	TAG = "BNO08xRptIGyroRV"

Additional Inherited Members
Protected Member Functions inherited from BNO08xRptRVGeneric
	BNO08xRptRVGeneric (uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
bool	tare (bool x, bool y, bool z, sh2_TareBasis_t basis)
	Tares vector basis according to axis flags.
Protected Member Functions inherited from BNO08xRpt
bool	rpt_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.
	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 inherited from BNO08xRptRVGeneric
bno08x_quat_t	data
Protected Attributes inherited from BNO08xRpt
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 inherited from BNO08xRptRVGeneric
static const constexpr char *	TAG = "BNO08xRptRVGeneric"
Static Protected Attributes inherited from BNO08xRpt
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"

Detailed Description

Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)

Constructor & Destructor Documentation

BNO08xRptIGyroRV()

BNO08xRptIGyroRV::BNO08xRptIGyroRV ( uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx )

inline

Member Function Documentation

get()

void BNO08xRptIGyroRV::get	(	bno08x_quat_t &	quat,
		bno08x_ang_vel_t &	vel )

Grabs most recent gyro integrated rotation vector data.

Parameters

quat	Struct to store requested unit quaternion data.
vel	Struct to store requested velocity data (units in rad/s).

Returns

void, nothing to return

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get_vel()

bno08x_ang_vel_t BNO08xRptIGyroRV::get_vel

(

)

Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.

Returns

Struct containing requested data.

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update_data()

void BNO08xRptIGyroRV::update_data ( sh2_SensorValue_t * sensor_val )

overrideprivatevirtual

Updates gyro integrated rotation vector data from decoded sensor event.

Parameters

sensor_val

The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.

Returns

void, nothing to return

Implements BNO08xRpt.

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Member Data Documentation

data_vel

bno08x_ang_vel_t BNO08xRptIGyroRV::data_vel

private

TAG

const constexpr char* BNO08xRptIGyroRV::TAG = "BNO08xRptIGyroRV"

staticconstexprprivate

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

• include/report/BNO08xRptIGyroRV.hpp
• source/report/BNO08xRptIGyroRV.cpp