BNO08xRptRVGeomag Class Reference

Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20) More...

#include <BNO08xRptRVGeomag.hpp>

Inheritance diagram for BNO08xRptRVGeomag:

Collaboration diagram for BNO08xRptRVGeomag:

Public Member Functions
	BNO08xRptRVGeomag (uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
bool	tare (bool x=true, bool y=true, bool z=true)
	Tares geomagnetic rotation vector.
bool	tare_persist ()
	Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.
void	tare_clear ()
	Clears most recent tare operation.
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 geomagnetic rotation vector data from decoded sensor event.

Static Private Attributes
static const constexpr char *	TAG = "BNO08xRptRVGeomag"

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 geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)

Constructor & Destructor Documentation

BNO08xRptRVGeomag()

BNO08xRptRVGeomag::BNO08xRptRVGeomag ( uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx )

inline

Member Function Documentation

tare()

bool BNO08xRptRVGeomag::tare	(	bool	x = true,
		bool	y = true,
		bool	z = true )

Tares geomagnetic rotation vector.

Parameters

x	If true tare x axis (optional, default true).
y	If true tare y axis (optional, default true).
z	If true tare z axis (optional, default true).

Returns

True if tare operation succeeded.

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tare_clear()

void BNO08xRptRVGeomag::tare_clear

(

)

Clears most recent tare operation.

Returns

void, nothing to return

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tare_persist()

bool BNO08xRptRVGeomag::tare_persist

(

)

Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.

Returns

True if tare operation succeeded.

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update_data()

void BNO08xRptRVGeomag::update_data ( sh2_SensorValue_t * sensor_val )

overrideprivatevirtual

Updates geomagnetic 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

TAG

const constexpr char* BNO08xRptRVGeomag::TAG = "BNO08xRptRVGeomag"

staticconstexprprivate

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

• include/report/BNO08xRptRVGeomag.hpp
• source/report/BNO08xRptRVGeomag.cpp