\doxysection{BNO08x\+SH2\+HAL Class Reference}
\hypertarget{class_b_n_o08x_s_h2_h_a_l}{}\label{class_b_n_o08x_s_h2_h_a_l}\index{BNO08xSH2HAL@{BNO08xSH2HAL}}


Fully static class containing callback implementations for sh2 HAL lib.  




{\ttfamily \#include $<$BNO08x\+SH2\+HAL.\+hpp$>$}



Collaboration diagram for BNO08x\+SH2\+HAL\+:
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\doxysubsubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}{set\+\_\+hal\+\_\+imu}} (\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \texorpdfstring{$\ast$}{*}hal\+\_\+imu)
\begin{DoxyCompactList}\small\item\em Sets the \doxylink{class_b_n_o08x}{BNO08x} driver object to be used with sh2 HAL lib callbacks. \end{DoxyCompactList}\item 
static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}{spi\+\_\+open}} (sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}self)
\begin{DoxyCompactList}\small\item\em Opens SPI instance by waiting for interrupt. \end{DoxyCompactList}\item 
static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}{spi\+\_\+close}} (sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}self)
\begin{DoxyCompactList}\small\item\em Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) \end{DoxyCompactList}\item 
static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}{spi\+\_\+read}} (sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}self, uint8\+\_\+t \texorpdfstring{$\ast$}{*}p\+Buffer, unsigned len, uint32\+\_\+t \texorpdfstring{$\ast$}{*}t\+\_\+us)
\begin{DoxyCompactList}\small\item\em SPI rx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}{spi\+\_\+write}} (sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}self, uint8\+\_\+t \texorpdfstring{$\ast$}{*}p\+Buffer, unsigned len)
\begin{DoxyCompactList}\small\item\em SPI tx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
static uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}{get\+\_\+time\+\_\+us}} (sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}self)
\begin{DoxyCompactList}\small\item\em Get time in microseconds callback for sh2 HAL lib. \end{DoxyCompactList}\item 
static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}{hal\+\_\+cb}} (void \texorpdfstring{$\ast$}{*}cookie, sh2\+\_\+\+Async\+Event\+\_\+t \texorpdfstring{$\ast$}{*}p\+Event)
\begin{DoxyCompactList}\small\item\em General event callback for sh2 HAL lib, used to notify tasks of reset. \end{DoxyCompactList}\item 
static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}{sensor\+\_\+event\+\_\+cb}} (void \texorpdfstring{$\ast$}{*}cookie, sh2\+\_\+\+Sensor\+Event\+\_\+t \texorpdfstring{$\ast$}{*}event)
\begin{DoxyCompactList}\small\item\em Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsubsection*{Static Private Member Functions}
\begin{DoxyCompactItemize}
\item 
static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a0c4cc938180a997fb94c0c34c0dce07e}{hardware\+\_\+reset}} ()
\begin{DoxyCompactList}\small\item\em Hardware reset callback for sh2 HAL lib, toggle RST gpio. \end{DoxyCompactList}\item 
static bool \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a15b568922a498b988bd8b897b3ae2278}{spi\+\_\+wait\+\_\+for\+\_\+int}} ()
\begin{DoxyCompactList}\small\item\em SPI wait for HINT sh2 HAL lib callback. \end{DoxyCompactList}\item 
static uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ac63619162addd952a2af599cb414783f}{spi\+\_\+read\+\_\+sh2\+\_\+packet\+\_\+header}} (uint8\+\_\+t \texorpdfstring{$\ast$}{*}p\+Buffer)
\begin{DoxyCompactList}\small\item\em SPI rx packet header (invoked from SPI rx callback.) \end{DoxyCompactList}\item 
static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a6003e3011b0e8208e2632f729e195922}{spi\+\_\+read\+\_\+sh2\+\_\+packet\+\_\+body}} (uint8\+\_\+t \texorpdfstring{$\ast$}{*}p\+Buffer, uint16\+\_\+t packet\+\_\+sz)
\begin{DoxyCompactList}\small\item\em SPI rx packet body (invoked from SPI rx callback.) \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsubsection*{Static Private Attributes}
\begin{DoxyCompactItemize}
\item 
static \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1c77b8db18fc54406af8bb8a36e346c8}{imu}}
\item 
static const constexpr char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a36760cb9c002cfa410197ecd552f5a8a}{TAG}} = "{}BNO08x\+SH2\+HAL"{}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
Fully static class containing callback implementations for sh2 HAL lib. 

\doxysubsection{Member Function Documentation}
\Hypertarget{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}\label{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5} 
\index{BNO08xSH2HAL@{BNO08xSH2HAL}!get\_time\_us@{get\_time\_us}}
\index{get\_time\_us@{get\_time\_us}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{get\_time\_us()}{get\_time\_us()}}
{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+SH2\+HAL\+::get\+\_\+time\+\_\+us (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



Get time in microseconds callback for sh2 HAL lib. 


\begin{DoxyParams}{Parameters}
{\em self} & sh2 HAL lib object being used with \doxylink{class_b_n_o08x}{BNO08x} driver instance.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Time in microseconds. 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!hal\_cb@{hal\_cb}}
\index{hal\_cb@{hal\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{hal\_cb()}{hal\_cb()}}
{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::hal\+\_\+cb (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{cookie,  }\item[{sh2\+\_\+\+Async\+Event\+\_\+t \texorpdfstring{$\ast$}{*}}]{p\+Event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



General event callback for sh2 HAL lib, used to notify tasks of reset. 


\begin{DoxyParams}{Parameters}
{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
\hline
{\em p\+Event} & Pointer to asynchronous event.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!hardware\_reset@{hardware\_reset}}
\index{hardware\_reset@{hardware\_reset}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{hardware\_reset()}{hardware\_reset()}}
{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::hardware\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}



Hardware reset callback for sh2 HAL lib, toggle RST gpio. 

\begin{DoxyReturn}{Returns}
void, nothing to return 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!sensor\_event\_cb@{sensor\_event\_cb}}
\index{sensor\_event\_cb@{sensor\_event\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{sensor\_event\_cb()}{sensor\_event\_cb()}}
{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::sensor\+\_\+event\+\_\+cb (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{cookie,  }\item[{sh2\+\_\+\+Sensor\+Event\+\_\+t \texorpdfstring{$\ast$}{*}}]{event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). 


\begin{DoxyParams}{Parameters}
{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
\hline
{\em event} & Pointer to sensor event.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!set\_hal\_imu@{set\_hal\_imu}}
\index{set\_hal\_imu@{set\_hal\_imu}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{set\_hal\_imu()}{set\_hal\_imu()}}
{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::set\+\_\+hal\+\_\+imu (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \texorpdfstring{$\ast$}{*}}]{hal\+\_\+imu }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



Sets the \doxylink{class_b_n_o08x}{BNO08x} driver object to be used with sh2 HAL lib callbacks. 


\begin{DoxyParams}{Parameters}
{\em hal\+\_\+imu} & Pointer to \doxylink{class_b_n_o08x}{BNO08x} driver object to be used with sh2 HAL lib callbacks.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_close@{spi\_close}}
\index{spi\_close@{spi\_close}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_close()}{spi\_close()}}
{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::spi\+\_\+close (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) 

\begin{DoxyReturn}{Returns}
void, nothing to return 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_open@{spi\_open}}
\index{spi\_open@{spi\_open}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_open()}{spi\_open()}}
{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+open (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



Opens SPI instance by waiting for interrupt. 

\begin{DoxyReturn}{Returns}
Always returns 0. 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_read@{spi\_read}}
\index{spi\_read@{spi\_read}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_read()}{spi\_read()}}
{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+read (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}}]{self,  }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{p\+Buffer,  }\item[{unsigned}]{len,  }\item[{uint32\+\_\+t \texorpdfstring{$\ast$}{*}}]{t\+\_\+us }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



SPI rx callback for sh2 HAL lib. 


\begin{DoxyParams}{Parameters}
{\em self} & sh2 HAL lib object being used with \doxylink{class_b_n_o08x}{BNO08x} driver instance. \\
\hline
{\em p\+Buffer} & Buffer to store received packet. \\
\hline
{\em len} & Length of bytes to read. \\
\hline
{\em t\+\_\+us} & Time in microseconds (unused, forced sh2 HAL lib required function type)\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Size of received packet in bytes, 0 on failure. 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_read\_sh2\_packet\_body@{spi\_read\_sh2\_packet\_body}}
\index{spi\_read\_sh2\_packet\_body@{spi\_read\_sh2\_packet\_body}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_read\_sh2\_packet\_body()}{spi\_read\_sh2\_packet\_body()}}
{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+read\+\_\+sh2\+\_\+packet\+\_\+body (\begin{DoxyParamCaption}\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{p\+Buffer,  }\item[{uint16\+\_\+t}]{packet\+\_\+sz }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}



SPI rx packet body (invoked from SPI rx callback.) 


\begin{DoxyParams}{Parameters}
{\em p\+Buffer} & Buffer to store received packet body.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Packet size, 0 on failure. 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_read\_sh2\_packet\_header@{spi\_read\_sh2\_packet\_header}}
\index{spi\_read\_sh2\_packet\_header@{spi\_read\_sh2\_packet\_header}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_read\_sh2\_packet\_header()}{spi\_read\_sh2\_packet\_header()}}
{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+SH2\+HAL\+::spi\+\_\+read\+\_\+sh2\+\_\+packet\+\_\+header (\begin{DoxyParamCaption}\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{p\+Buffer }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}



SPI rx packet header (invoked from SPI rx callback.) 


\begin{DoxyParams}{Parameters}
{\em p\+Buffer} & Buffer to store received header.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Packet size (should always be 4), 0 on failure. 
\end{DoxyReturn}
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\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_wait\_for\_int@{spi\_wait\_for\_int}}
\index{spi\_wait\_for\_int@{spi\_wait\_for\_int}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_wait\_for\_int()}{spi\_wait\_for\_int()}}
{\footnotesize\ttfamily bool BNO08x\+SH2\+HAL\+::spi\+\_\+wait\+\_\+for\+\_\+int (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}



SPI wait for HINT sh2 HAL lib callback. 

\begin{DoxyReturn}{Returns}
True if interrupt was detected before timeout. 
\end{DoxyReturn}
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\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}\label{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299} 
\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_write@{spi\_write}}
\index{spi\_write@{spi\_write}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{spi\_write()}{spi\_write()}}
{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+write (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t \texorpdfstring{$\ast$}{*}}]{self,  }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{p\+Buffer,  }\item[{unsigned}]{len }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}



SPI tx callback for sh2 HAL lib. 


\begin{DoxyParams}{Parameters}
{\em self} & sh2 HAL lib object being used with \doxylink{class_b_n_o08x}{BNO08x} driver instance. \\
\hline
{\em p\+Buffer} & Buffer containing data to write. \\
\hline
{\em len} & Length in bytes to write.\\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Size of sent data (len param), 0 on failure. 
\end{DoxyReturn}
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\doxysubsection{Member Data Documentation}
\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a1c77b8db18fc54406af8bb8a36e346c8}\label{class_b_n_o08x_s_h2_h_a_l_a1c77b8db18fc54406af8bb8a36e346c8} 
\index{BNO08xSH2HAL@{BNO08xSH2HAL}!imu@{imu}}
\index{imu@{imu}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{imu}{imu}}
{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \texorpdfstring{$\ast$}{*} BNO08x\+SH2\+HAL\+::imu\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}

\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a36760cb9c002cfa410197ecd552f5a8a}\label{class_b_n_o08x_s_h2_h_a_l_a36760cb9c002cfa410197ecd552f5a8a} 
\index{BNO08xSH2HAL@{BNO08xSH2HAL}!TAG@{TAG}}
\index{TAG@{TAG}!BNO08xSH2HAL@{BNO08xSH2HAL}}
\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
{\footnotesize\ttfamily const constexpr char\texorpdfstring{$\ast$}{*} BNO08x\+SH2\+HAL\+::\+TAG = "{}BNO08x\+SH2\+HAL"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
include/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}}\item 
source/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8cpp}{BNO08x\+SH2\+HAL.\+cpp}}\end{DoxyCompactItemize}
