BNO08xRptRVGeneric Class Reference

Class to represent rotation vector reports. More...

#include <BNO08xRptRVGeneric.hpp>

Inheritance diagram for BNO08xRptRVGeneric:

Collaboration diagram for BNO08xRptRVGeneric:

Public Member Functions
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).

Protected Member Functions
	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.
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
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
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 rotation vector reports.

Constructor & Destructor Documentation

BNO08xRptRVGeneric()

BNO08xRptRVGeneric::BNO08xRptRVGeneric ( uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx )

inlineprotected

Member Function Documentation

enable()

bool BNO08xRptRVGeneric::enable ( uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg )

overridevirtual

Enables a rotation vector report such that the BNO08x begins 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.

Implements BNO08xRpt.

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get_euler()

bno08x_euler_angle_t BNO08xRptRVGeneric::get_euler

(

bool

in_degrees = true

)

Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.

Parameters

in_degrees

If true returned euler angle is in degrees, if false in radians

Returns

Struct containing requested data.

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get_quat()

bno08x_quat_t BNO08xRptRVGeneric::get_quat

(

)

Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).

The following RV reports have rad accuracy data:

• rotation vector
• geomagnetic rotation vector

Returns

Struct containing requested data.

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tare()

bool BNO08xRptRVGeneric::tare ( bool x, bool y, bool z, sh2_TareBasis_t basis )

protected

Tares vector basis according to axis flags.

Parameters

x	If true tare x axis.
y	If true tare y axis.
z	If true tare z axis.
basis	Rotation vector basis to undergo tare operation.

Returns

True if tare operation succeeded.

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Member Data Documentation

data

bno08x_quat_t BNO08xRptRVGeneric::data

protected

TAG

const constexpr char* BNO08xRptRVGeneric::TAG = "BNO08xRptRVGeneric"

staticconstexprprotected

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

• include/report/BNO08xRptRVGeneric.hpp
• source/report/BNO08xRptRVGeneric.cpp